diff --git a/ChangeLog.md b/ChangeLog.md
index b76079bbc799135c4e2220713104c2166a9c4467..a348a4784a125b028fe9b646c225c2672b4b0867 100644
--- a/ChangeLog.md
+++ b/ChangeLog.md
@@ -6,6 +6,9 @@ Note: This file only contains high level features or important fixes.
 
 ### 3.6.0 - Daily Build
 
+* ArduPilot: Copter - Update support to 3.5+
+* ArduPilot: Plane - Update support to 3.8+
+* ArduPilot: Rover - Update support to 3.4+
 * Plan/Pattern: Support named presets to simplify commonly used settings setup. Currently only supported by Survey.
 * ArduCopter: Handle 3.7 parameter name change from CH#_OPT to RC#_OPTION.
 * Improved support for flashing/connecting to ChibiOS bootloaders boards.
diff --git a/qgroundcontrol.qrc b/qgroundcontrol.qrc
index 2e37ae704a9fe57185e87a6a160890e163461437..4e1ff772926a5c3c97b81fca75cf72b1565c2f39 100644
--- a/qgroundcontrol.qrc
+++ b/qgroundcontrol.qrc
@@ -257,8 +257,6 @@
         <file alias="Video.SettingsGroup.json">src/Settings/Video.SettingsGroup.json</file>
     </qresource>
     <qresource prefix="/MockLink">
-        <file alias="APMArduCopterMockLink.params">src/comm/APMArduCopterMockLink.params</file>
-        <file alias="APMArduPlaneMockLink.params">src/comm/APMArduPlaneMockLink.params</file>
         <file alias="APMArduSubMockLink.params">src/comm/APMArduSubMockLink.params</file>
         <file alias="PX4MockLink.params">src/comm/PX4MockLink.params</file>
     </qresource>
diff --git a/src/AutoPilotPlugins/APM/APMCameraComponent.qml b/src/AutoPilotPlugins/APM/APMCameraComponent.qml
index df52605d179c8b001108d6a0c50af24995e9afc4..1a4ec6ae9bfda9130ed1b5b30bfb8dfaaf920233 100644
--- a/src/AutoPilotPlugins/APM/APMCameraComponent.qml
+++ b/src/AutoPilotPlugins/APM/APMCameraComponent.qml
@@ -55,16 +55,16 @@ SetupPage {
             property Fact _mountAngMinPan:      controller.getParameterFact(-1, "MNT_ANGMIN_PAN")
             property Fact _mountAngMaxPan:      controller.getParameterFact(-1, "MNT_ANGMAX_PAN")
 
-            property Fact _rc5Function:         controller.getParameterFact(-1, "r.SERVO5_FUNCTION")
-            property Fact _rc6Function:         controller.getParameterFact(-1, "r.SERVO6_FUNCTION")
-            property Fact _rc7Function:         controller.getParameterFact(-1, "r.SERVO7_FUNCTION")
-            property Fact _rc8Function:         controller.getParameterFact(-1, "r.SERVO8_FUNCTION")
-            property Fact _rc9Function:         controller.getParameterFact(-1, "r.SERVO9_FUNCTION")
-            property Fact _rc10Function:        controller.getParameterFact(-1, "r.SERVO10_FUNCTION")
-            property Fact _rc11Function:        controller.getParameterFact(-1, "r.SERVO11_FUNCTION")
-            property Fact _rc12Function:        controller.getParameterFact(-1, "r.SERVO12_FUNCTION")
-            property Fact _rc13Function:        controller.getParameterFact(-1, "r.SERVO13_FUNCTION")
-            property Fact _rc14Function:        controller.getParameterFact(-1, "r.SERVO14_FUNCTION")
+            property Fact _rc5Function:         controller.getParameterFact(-1, "SERVO5_FUNCTION")
+            property Fact _rc6Function:         controller.getParameterFact(-1, "SERVO6_FUNCTION")
+            property Fact _rc7Function:         controller.getParameterFact(-1, "SERVO7_FUNCTION")
+            property Fact _rc8Function:         controller.getParameterFact(-1, "SERVO8_FUNCTION")
+            property Fact _rc9Function:         controller.getParameterFact(-1, "SERVO9_FUNCTION")
+            property Fact _rc10Function:        controller.getParameterFact(-1, "SERVO10_FUNCTION")
+            property Fact _rc11Function:        controller.getParameterFact(-1, "SERVO11_FUNCTION")
+            property Fact _rc12Function:        controller.getParameterFact(-1, "SERVO12_FUNCTION")
+            property Fact _rc13Function:        controller.getParameterFact(-1, "SERVO13_FUNCTION")
+            property Fact _rc14Function:        controller.getParameterFact(-1, "SERVO14_FUNCTION")
 
             property bool _tiltEnabled:         false
             property bool _panEnabled:          false
@@ -92,7 +92,7 @@ SetupPage {
             }
 
             function setGimbalSettingsServoInfo(loader, channel) {
-                var rcPrefix = "r.SERVO" + channel + "_"
+                var rcPrefix = "SERVO" + channel + "_"
 
                 loader.gimbalOutIndex = channel - 4
                 loader.servoPWMMinFact = controller.getParameterFact(-1, rcPrefix + "MIN")
@@ -110,7 +110,7 @@ SetupPage {
                 _panEnabled = false
                 _rollEnabled = false
                 for (var channel=_firstGimbalOutChannel; channel<=_lastGimbalOutChannel; channel++) {
-                    var functionFact = controller.getParameterFact(-1, "r.SERVO" + channel + "_FUNCTION")
+                    var functionFact = controller.getParameterFact(-1, "SERVO" + channel + "_FUNCTION")
                     if (functionFact.value == _rcFunctionMountTilt) {
                         _tiltEnabled = true
                         setGimbalSettingsServoInfo(gimbalDirectionTiltLoader, channel)
@@ -127,7 +127,7 @@ SetupPage {
             function setRCFunction(channel, rcFunction) {
                 // First clear any previous settings for this function
                 for (var index=_firstGimbalOutChannel; index<=_lastGimbalOutChannel; index++) {
-                    var functionFact = controller.getParameterFact(-1, "r.SERVO" + index + "_FUNCTION")
+                    var functionFact = controller.getParameterFact(-1, "SERVO" + index + "_FUNCTION")
                     if (functionFact.value != _rcFunctionDisabled && functionFact.value == rcFunction) {
                         functionFact.value = _rcFunctionDisabled
                     }
@@ -135,7 +135,7 @@ SetupPage {
 
                 // Now set the function into the new channel
                 if (channel != 0) {
-                    var functionFact = controller.getParameterFact(-1, "r.SERVO" + channel + "_FUNCTION")
+                    var functionFact = controller.getParameterFact(-1, "SERVO" + channel + "_FUNCTION")
                     functionFact.value = rcFunction
                 }
             }
diff --git a/src/AutoPilotPlugins/APM/APMLightsComponent.qml b/src/AutoPilotPlugins/APM/APMLightsComponent.qml
index d976fb41d0884f820e25b74e76ba3c7ae88dbf77..9e0f4c31f82713341b8d646ddd5ba6c001710b51 100644
--- a/src/AutoPilotPlugins/APM/APMLightsComponent.qml
+++ b/src/AutoPilotPlugins/APM/APMLightsComponent.qml
@@ -35,16 +35,16 @@ SetupPage {
 
             property var  _activeVehicle:       QGroundControl.multiVehicleManager.activeVehicle
             property bool _oldFW:               _activeVehicle.versionCompare(3, 5, 2) < 0
-            property Fact _rc5Function:         controller.getParameterFact(-1, "r.SERVO5_FUNCTION")
-            property Fact _rc6Function:         controller.getParameterFact(-1, "r.SERVO6_FUNCTION")
-            property Fact _rc7Function:         controller.getParameterFact(-1, "r.SERVO7_FUNCTION")
-            property Fact _rc8Function:         controller.getParameterFact(-1, "r.SERVO8_FUNCTION")
-            property Fact _rc9Function:         controller.getParameterFact(-1, "r.SERVO9_FUNCTION")
-            property Fact _rc10Function:        controller.getParameterFact(-1, "r.SERVO10_FUNCTION")
-            property Fact _rc11Function:        controller.getParameterFact(-1, "r.SERVO11_FUNCTION")
-            property Fact _rc12Function:        controller.getParameterFact(-1, "r.SERVO12_FUNCTION")
-            property Fact _rc13Function:        controller.getParameterFact(-1, "r.SERVO13_FUNCTION")
-            property Fact _rc14Function:        controller.getParameterFact(-1, "r.SERVO14_FUNCTION")
+            property Fact _rc5Function:         controller.getParameterFact(-1, "SERVO5_FUNCTION")
+            property Fact _rc6Function:         controller.getParameterFact(-1, "SERVO6_FUNCTION")
+            property Fact _rc7Function:         controller.getParameterFact(-1, "SERVO7_FUNCTION")
+            property Fact _rc8Function:         controller.getParameterFact(-1, "SERVO8_FUNCTION")
+            property Fact _rc9Function:         controller.getParameterFact(-1, "SERVO9_FUNCTION")
+            property Fact _rc10Function:        controller.getParameterFact(-1, "SERVO10_FUNCTION")
+            property Fact _rc11Function:        controller.getParameterFact(-1, "SERVO11_FUNCTION")
+            property Fact _rc12Function:        controller.getParameterFact(-1, "SERVO12_FUNCTION")
+            property Fact _rc13Function:        controller.getParameterFact(-1, "SERVO13_FUNCTION")
+            property Fact _rc14Function:        controller.getParameterFact(-1, "SERVO14_FUNCTION")
             property Fact _stepSize:            _oldFW ? controller.getParameterFact(-1, "JS_LIGHTS_STEP") : null // v3.5.1 and prior
             property Fact _numSteps:            _oldFW ? null : controller.getParameterFact(-1, "JS_LIGHTS_STEPS") // v3.5.2 and up
 
@@ -66,7 +66,7 @@ SetupPage {
                 lightsLoader.lights1OutIndex = 0
                 lightsLoader.lights2OutIndex = 0
                 for (var channel=_firstLightsOutChannel; channel<=_lastLightsOutChannel; channel++) {
-                    var functionFact = controller.getParameterFact(-1, "r.SERVO" + channel + "_FUNCTION")
+                    var functionFact = controller.getParameterFact(-1, "SERVO" + channel + "_FUNCTION")
                     if (functionFact.value == _rcFunctionRCIN9) {
                         lightsLoader.lights1OutIndex = channel - 4
                     } else if (functionFact.value == _rcFunctionRCIN10) {
@@ -78,7 +78,7 @@ SetupPage {
             function setRCFunction(channel, rcFunction) {
                 // First clear any previous settings for this function
                 for (var index=_firstLightsOutChannel; index<=_lastLightsOutChannel; index++) {
-                    var functionFact = controller.getParameterFact(-1, "r.SERVO" + index + "_FUNCTION")
+                    var functionFact = controller.getParameterFact(-1, "SERVO" + index + "_FUNCTION")
                     if (functionFact.value != _rcFunctionDisabled && functionFact.value == rcFunction) {
                         functionFact.value = _rcFunctionDisabled
                     }
@@ -86,7 +86,7 @@ SetupPage {
 
                 // Now set the function into the new channel
                 if (channel != 0) {
-                    var functionFact = controller.getParameterFact(-1, "r.SERVO" + channel + "_FUNCTION")
+                    var functionFact = controller.getParameterFact(-1, "SERVO" + channel + "_FUNCTION")
                     functionFact.value = rcFunction
                 }
             }
diff --git a/src/AutoPilotPlugins/APM/APMLightsComponentSummary.qml b/src/AutoPilotPlugins/APM/APMLightsComponentSummary.qml
index ab5ceebe2af948304029a1969fe26a4957c43d1e..b04919acf47d13821c27c479021b75cbe92afc6b 100644
--- a/src/AutoPilotPlugins/APM/APMLightsComponentSummary.qml
+++ b/src/AutoPilotPlugins/APM/APMLightsComponentSummary.qml
@@ -14,16 +14,16 @@ FactPanel {
     QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
     FactPanelController { id: controller; factPanel: panel }
 
-    property Fact _rc5Function:         controller.getParameterFact(-1, "r.SERVO5_FUNCTION")
-    property Fact _rc6Function:         controller.getParameterFact(-1, "r.SERVO6_FUNCTION")
-    property Fact _rc7Function:         controller.getParameterFact(-1, "r.SERVO7_FUNCTION")
-    property Fact _rc8Function:         controller.getParameterFact(-1, "r.SERVO8_FUNCTION")
-    property Fact _rc9Function:         controller.getParameterFact(-1, "r.SERVO9_FUNCTION")
-    property Fact _rc10Function:        controller.getParameterFact(-1, "r.SERVO10_FUNCTION")
-    property Fact _rc11Function:        controller.getParameterFact(-1, "r.SERVO11_FUNCTION")
-    property Fact _rc12Function:        controller.getParameterFact(-1, "r.SERVO12_FUNCTION")
-    property Fact _rc13Function:        controller.getParameterFact(-1, "r.SERVO13_FUNCTION")
-    property Fact _rc14Function:        controller.getParameterFact(-1, "r.SERVO14_FUNCTION")
+    property Fact _rc5Function:         controller.getParameterFact(-1, "SERVO5_FUNCTION")
+    property Fact _rc6Function:         controller.getParameterFact(-1, "SERVO6_FUNCTION")
+    property Fact _rc7Function:         controller.getParameterFact(-1, "SERVO7_FUNCTION")
+    property Fact _rc8Function:         controller.getParameterFact(-1, "SERVO8_FUNCTION")
+    property Fact _rc9Function:         controller.getParameterFact(-1, "SERVO9_FUNCTION")
+    property Fact _rc10Function:        controller.getParameterFact(-1, "SERVO10_FUNCTION")
+    property Fact _rc11Function:        controller.getParameterFact(-1, "SERVO11_FUNCTION")
+    property Fact _rc12Function:        controller.getParameterFact(-1, "SERVO12_FUNCTION")
+    property Fact _rc13Function:        controller.getParameterFact(-1, "SERVO13_FUNCTION")
+    property Fact _rc14Function:        controller.getParameterFact(-1, "SERVO14_FUNCTION")
 
     readonly property int   _rcFunctionRCIN9:               59
     readonly property int   _rcFunctionRCIN10:              60
@@ -40,7 +40,7 @@ FactPanel {
         lightsLoader.lights1OutIndex = 0
         lightsLoader.lights2OutIndex = 0
         for (var channel=_firstLightsOutChannel; channel<=_lastLightsOutChannel; channel++) {
-            var functionFact = controller.getParameterFact(-1, "r.SERVO" + channel + "_FUNCTION")
+            var functionFact = controller.getParameterFact(-1, "SERVO" + channel + "_FUNCTION")
             if (functionFact.value == _rcFunctionRCIN9) {
                 lightsLoader.lights1OutIndex = channel - 4
             } else if (functionFact.value == _rcFunctionRCIN10) {
diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
index 76fcda2bbae8b3c754c5a6f0715fbed5d25d19ee..f1da4d45622e9ebddbc55ee49fb63a0a4672e0a1 100644
--- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
@@ -364,7 +364,7 @@ bool APMFirmwarePlugin::_handleIncomingStatusText(Vehicle* vehicle, mavlink_mess
                 case MAV_TYPE_VTOL_RESERVED5:
                 case MAV_TYPE_FIXED_WING:
                     supportedMajorNumber = 3;
-                    supportedMinorNumber = 4;
+                    supportedMinorNumber = 8;
                     break;
                 case MAV_TYPE_QUADROTOR:
                     // Start TCP video handshake with ARTOO in case it's a Solo running ArduPilot firmware
@@ -376,8 +376,12 @@ bool APMFirmwarePlugin::_handleIncomingStatusText(Vehicle* vehicle, mavlink_mess
                 case MAV_TYPE_OCTOROTOR:
                 case MAV_TYPE_TRICOPTER:
                     supportedMajorNumber = 3;
-                    supportedMinorNumber = 3;
+                    supportedMinorNumber = 5;
                     break;
+                case MAV_TYPE_GROUND_ROVER:
+                case MAV_TYPE_SURFACE_BOAT:
+                    supportedMajorNumber = 3;
+                    supportedMinorNumber = 4;
                 default:
                     break;
                 }
@@ -654,7 +658,7 @@ void APMFirmwarePlugin::initializeVehicle(Vehicle* vehicle)
         case MAV_TYPE_TRICOPTER:
         case MAV_TYPE_COAXIAL:
         case MAV_TYPE_HELICOPTER:
-            vehicle->setFirmwareVersion(3, 4, 0);
+            vehicle->setFirmwareVersion(3, 6, 0);
             break;
         case MAV_TYPE_VTOL_DUOROTOR:
         case MAV_TYPE_VTOL_QUADROTOR:
@@ -664,11 +668,11 @@ void APMFirmwarePlugin::initializeVehicle(Vehicle* vehicle)
         case MAV_TYPE_VTOL_RESERVED4:
         case MAV_TYPE_VTOL_RESERVED5:
         case MAV_TYPE_FIXED_WING:
-            vehicle->setFirmwareVersion(3, 5, 0);
+            vehicle->setFirmwareVersion(3, 9, 0);
             break;
         case MAV_TYPE_GROUND_ROVER:
         case MAV_TYPE_SURFACE_BOAT:
-            vehicle->setFirmwareVersion(3, 0, 0);
+            vehicle->setFirmwareVersion(3, 5, 0);
             break;
         case MAV_TYPE_SUBMARINE:
             vehicle->setFirmwareVersion(3, 4, 0);
@@ -813,14 +817,7 @@ QString APMFirmwarePlugin::internalParameterMetaDataFile(Vehicle* vehicle)
         if (vehicle->versionCompare(3, 6, 0) >= 0) {  // 3.6.0 and higher
              return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.6.xml");
         }
-        if (vehicle->versionCompare(3, 5, 0) >= 0) {  // 3.5.x
-            return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.5.xml");
-        }
-        if (vehicle->versionCompare(3, 4, 0) >= 0) {  // 3.4.x
-            return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.4.xml");
-        }
-        // Up to 3.3.x
-        return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.3.xml");
+        return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.5.xml");
 
     case MAV_TYPE_VTOL_DUOROTOR:
     case MAV_TYPE_VTOL_QUADROTOR:
@@ -830,28 +827,23 @@ QString APMFirmwarePlugin::internalParameterMetaDataFile(Vehicle* vehicle)
     case MAV_TYPE_VTOL_RESERVED4:
     case MAV_TYPE_VTOL_RESERVED5:
     case MAV_TYPE_FIXED_WING:
-        if (vehicle->versionCompare(3, 8, 0) >= 0) {  // 3.8.0 and higher
-            return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.8.xml");
+        if (vehicle->versionCompare(3, 10, 0) >= 0) {
+            return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.10.xml");
         }
-        if (vehicle->versionCompare(3, 7, 0) >= 0) {  // 3.7.x
-            return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.7.xml");
+        if (vehicle->versionCompare(3, 9, 0) >= 0) {
+            return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.9.xml");
         }
-        if (vehicle->versionCompare(3, 5, 0) >= 0) {  // 3.5.x to 3.6.x
-            return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.5.xml");
-        }
-        // up to 3.4.x
-        return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.3.xml");
+        return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.8.xml");
 
     case MAV_TYPE_GROUND_ROVER:
     case MAV_TYPE_SURFACE_BOAT:
-        if (vehicle->versionCompare(3, 4, 0) >= 0) {  // 3.4.0 and higher
-            return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.4.xml");
+        if (vehicle->versionCompare(3, 6, 0) >= 0) {
+            return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.6.xml");
         }
-        if (vehicle->versionCompare(3, 2, 0) >= 0) { // 3.2.x to 3.3.x
-            return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.2.xml");
+        if (vehicle->versionCompare(3, 5, 0) >= 0) {
+            return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.5.xml");
         }
-        // up to 3.1.x
-        return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.0.xml");
+        return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.4.xml");
 
     case MAV_TYPE_SUBMARINE:
         if (vehicle->versionCompare(3, 6, 0) >= 0) { // 3.5.x
diff --git a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.3.xml b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.3.xml
deleted file mode 100644
index a158320e5cda39ee6db12da0883b96778aa66496..0000000000000000000000000000000000000000
--- a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.3.xml
+++ /dev/null
@@ -1,5336 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-        <!-- Dynamically generated list of documented parameters (generated by param_parse.py) -->    
-        <paramfile>
-        <vehicles>
-        <parameters name="ArduPlane">
-<param humanName="Eeprom format version number" name="ArduPlane:FORMAT_VERSION" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
-</param>
-<param humanName="Software Type" name="ArduPlane:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
-</param>
-<param humanName="MAVLink system ID of this vehicle" name="ArduPlane:SYSID_THISMAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="Ground station MAVLink system ID" name="ArduPlane:SYSID_MYGCS" documentation="The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match." user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="CLI Enable" name="ArduPlane:CLI_ENABLED" documentation="This enables/disables the checking for three carriage returns on telemetry links on startup to enter the diagnostics command line interface" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Autotune level" name="ArduPlane:AUTOTUNE_LEVEL" documentation="Level of aggressiveness for autotune. When autotune is run a lower AUTOTUNE_LEVEL will result in a 'softer' tune, with less agressive gains. For most users a level of 6 is recommended." user="Standard">
-<field name="Range">1 10</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Telemetry startup delay " name="ArduPlane:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Standard">
-<field name="Range">0 10</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="GCS PID tuning mask" name="ArduPlane:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
-<field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
-<values>
-<value code="0">None</value>
-<value code="1">Roll</value>
-<value code="2">Pitch</value>
-<value code="4">Yaw</value>
-</values>
-</param>
-<param humanName="Rudder Mix" name="ArduPlane:KFF_RDDRMIX" documentation="The amount of rudder mix to apply during aileron movement 0 = 0 %, 1 = 100%" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Throttle to Pitch Mix" name="ArduPlane:KFF_THR2PTCH" documentation="Throttle to pitch feed-forward gain." user="Advanced">
-<field name="Range">0 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Low throttle pitch down trim " name="ArduPlane:STAB_PITCH_DOWN" documentation="This controls the amount of down pitch to add in FBWA and AUTOTUNE modes when at low throttle. No down trim is added when throttle is above TRIM_THROTTLE. Below TRIM_THROTTLE downtrim is added in proportion to the amount the throttle is below TRIM_THROTTLE. At zero throttle the full downpitch specified in this parameter is added. This parameter is meant to help keep airspeed up when flying in FBWA mode with low throttle, such as when on a landing approach, without relying on an airspeed sensor. A value of 2 degrees is good for many planes, although a higher value may be needed for high drag aircraft." user="Advanced">
-<field name="Range">0 15</field>
-<field name="Increment">0.1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Glide slope minimum" name="ArduPlane:GLIDE_SLOPE_MIN" documentation="This controls the minimum altitude change for a waypoint before a glide slope will be used instead of an immediate altitude change. The default value is 15 meters, which helps to smooth out waypoint missions where small altitude changes happen near waypoints. If you don't want glide slopes to be used in missions then you can set this to zero, which will disable glide slope calculations. Otherwise you can set it to a minimum number of meters of altitude error to the destination waypoint before a glide slope will be used to change altitude." user="Advanced">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Glide slope threshold" name="ArduPlane:GLIDE_SLOPE_THR" documentation="This controls the height above the glide slope the plane may be before rebuilding a glide slope. This is useful for smoothing out an autotakeoff" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Stick Mixing" name="ArduPlane:STICK_MIXING" documentation='When enabled, this adds user stick input to the control surfaces in auto modes, allowing the user to have some degree of flight control without changing modes.  There are two types of stick mixing available. If you set STICK_MIXING to 1 then it will use "fly by wire" mixing, which controls the roll and pitch in the same way that the FBWA mode does. This is the safest option if you usually fly ArduPlane in FBWA or FBWB mode. If you set STICK_MIXING to 2 then it will enable direct mixing mode, which is what the STABILIZE mode uses. That will allow for much more extreme maneuvers while in AUTO mode.' user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">FBWMixing</value>
-<value code="2">DirectMixing</value>
-</values>
-</param>
-<param humanName="Skip gyro calibration" name="ArduPlane:SKIP_GYRO_CAL" documentation="When enabled this tells the APM to skip the normal gyroscope calibration at startup, and instead use the saved gyro calibration from the last flight. You should only enable this if you are careful to check that your aircraft has good attitude control before flying, as some boards may have significantly different gyro calibration between boots, especially if the temperature changes a lot. If gyro calibration is skipped then APM relies on using the gyro drift detection code to get the right gyro calibration in the few minutes after it boots. This option is mostly useful where the requirement to hold the plane still while it is booting is a significant problem." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Use FBWA steering in AUTO" name="ArduPlane:AUTO_FBW_STEER" documentation="When enabled this option gives FBWA navigation and steering in AUTO mode. This can be used to allow manual stabilised piloting with waypoint logic for triggering payloads. With this enabled the pilot has the same control over the plane as in FBWA mode, and the normal AUTO navigation is completely disabled. This option is not recommended for normal use." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Takeoff throttle min speed" name="ArduPlane:TKOFF_THR_MINSPD" documentation="Minimum GPS ground speed in m/s used by the speed check that un-suppresses throttle in auto-takeoff. This can be be used for catapult launches where you want the motor to engage only after the plane leaves the catapult, but it is preferable to use the TKOFF_THR_MINACC and TKOFF_THR_DELAY parameters for catapult launches due to the errors associated with GPS measurements. For hand launches with a pusher prop it is strongly advised that this parameter be set to a value no less than 4 m/s to provide additional protection against premature motor start. Note that the GPS velocity will lag the real velocity by about 0.5 seconds. The ground speed check is delayed by the TKOFF_THR_DELAY parameter." user="User">
-<field name="Range">0 30</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Takeoff throttle min acceleration" name="ArduPlane:TKOFF_THR_MINACC" documentation="Minimum forward acceleration in m/s/s before arming the ground speed check in auto-takeoff. This is meant to be used for hand launches. Setting this value to 0 disables the acceleration test which means the ground speed check will always be armed which could allow GPS velocity jumps to start the engine. For hand launches and bungee launches this should be set to around 15." user="User">
-<field name="Range">0 30</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Takeoff throttle delay" name="ArduPlane:TKOFF_THR_DELAY" documentation="This parameter sets the time delay (in 1/10ths of a second) that the ground speed check is delayed after the forward acceleration check controlled by TKOFF_THR_MINACC has passed. For hand launches with pusher propellers it is essential that this is set to a value of no less than 2 (0.2 seconds) to ensure that the aircraft is safely clear of the throwers arm before the motor can start. For bungee launches a larger value can be used (such as 30) to give time for the bungee to release from the aircraft before the motor is started." user="User">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">0.1 seconds</field>
-</param>
-<param humanName="Takeoff tail dragger elevator" name="ArduPlane:TKOFF_TDRAG_ELEV" documentation="This parameter sets the amount of elevator to apply during the initial stage of a takeoff. It is used to hold the tail wheel of a taildragger on the ground during the initial takeoff stage to give maximum steering. This option should be combined with the TKOFF_TDRAG_SPD1 option and the GROUND_STEER_ALT option along with tuning of the ground steering controller. A value of zero means to bypass the initial &quot;tail hold&quot; stage of takeoff. Set to zero for hand and catapult launch. For tail-draggers you should normally set this to 100, meaning full up elevator during the initial stage of takeoff. For most tricycle undercarriage aircraft a value of zero will work well, but for some tricycle aircraft a small negative value (say around -20 to -30) will apply down elevator which will hold the nose wheel firmly on the ground during initial acceleration. Only use a negative value if you find that the nosewheel doesn't grip well during takeoff. Too much down elevator on a tricycle undercarriage may cause instability in steering as the plane pivots around the nosewheel. Add down elevator 10 percent at a time." user="User">
-<field name="Range">-100 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Takeoff tail dragger speed1" name="ArduPlane:TKOFF_TDRAG_SPD1" documentation='This parameter sets the airspeed at which to stop holding the tail down and transition to rudder control of steering on the ground. When TKOFF_TDRAG_SPD1 is reached the pitch of the aircraft will be held level until TKOFF_ROTATE_SPD is reached, at which point the takeoff pitch specified in the mission will be used to "rotate" the pitch for takeoff climb. Set TKOFF_TDRAG_SPD1 to zero to go straight to rotation. This should be set to zero for hand launch and catapult launch. It should also be set to zero for tricycle undercarriages. For tail dragger aircraft it should be set just below the stall speed.' user="User">
-<field name="Range">0 30</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Takeoff rotate speed" name="ArduPlane:TKOFF_ROTATE_SPD" documentation='This parameter sets the airspeed at which the aircraft will "rotate", setting climb pitch specified in the mission. If TKOFF_ROTATE_SPD is zero then the climb pitch will be used as soon as takeoff is started. For hand launch and catapult launches a TKOFF_ROTATE_SPD of zero should be set. For all ground launches TKOFF_ROTATE_SPD should be set above the stall speed, usually by about 10 to 30 percent' user="User">
-<field name="Range">0 30</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Takeoff throttle slew rate" name="ArduPlane:TKOFF_THR_SLEW" documentation="This parameter sets the slew rate for the throttle during auto takeoff. When this is zero the THR_SLEWRATE parameter is used during takeoff. For rolling takeoffs it can be a good idea to set a lower slewrate for takeoff to give a slower acceleration which can improve ground steering control. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on takeoff. Values below 20 are not recommended as they may cause the plane to try to climb out with too little throttle." user="User">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">percent</field>
-</param>
-<param humanName="Takeoff flap percentage" name="ArduPlane:TKOFF_FLAP_PCNT" documentation="The amount of flaps (as a percentage) to apply in automatic takeoff" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="FBWA taildragger channel" name="ArduPlane:FBWA_TDRAG_CHAN" documentation="This is a RC input channel which when it goes above 1700 enables FBWA taildragger takeoff mode. It should be assigned to a momentary switch. Once this feature is enabled it will stay enabled until the aircraft goes above TKOFF_TDRAG_SPD1 airspeed, changes mode, or the pitch goes above the initial pitch when this is engaged or goes below 0 pitch. When enabled the elevator will be forced to TKOFF_TDRAG_ELEV. This option allows for easier takeoffs on taildraggers in FBWA mode, and also makes it easier to test auto-takeoff steering handling in FBWA. Setting it to 0 disables this option." user="Standard">
-</param>
-<param humanName="Level flight roll limit" name="ArduPlane:LEVEL_ROLL_LIMIT" documentation="This controls the maximum bank angle in degrees during flight modes where level flight is desired, such as in the final stages of landing, and during auto takeoff. This should be a small angle (such as 5 degrees) to prevent a wing hitting the runway during takeoff or landing. Setting this to zero will completely disable heading hold on auto takeoff and final landing approach." user="User">
-<field name="Range">0 45</field>
-<field name="Increment">1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Landing Pitch" name="ArduPlane:LAND_PITCH_CD" documentation="Used in autoland to give the minimum pitch in the final stage of landing (after the flare). This parameter can be used to ensure that the final landing attitude is appropriate for the type of undercarriage on the aircraft. Note that it is a minimum pitch only - the landing code will control pitch above this value to try to achieve the configured landing sink rate." user="Advanced">
-<field name="Units">centi-Degrees</field>
-</param>
-<param humanName="Landing flare altitude" name="ArduPlane:LAND_FLARE_ALT" documentation="Altitude in autoland at which to lock heading and flare to the LAND_PITCH_CD pitch. Note that this option is secondary to LAND_FLARE_SEC. For a good landing it preferable that the flare is triggered by LAND_FLARE_SEC. " user="Advanced">
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Landing flare time" name="ArduPlane:LAND_FLARE_SEC" documentation="Vertical time before landing point at which to lock heading and flare with the motor stopped. This is vertical time, and is calculated based solely on the current height above the ground and the current descent rate.  Set to 0 if you only wish to flare based on altitude (see LAND_FLARE_ALT)." user="Advanced">
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Landing disarm delay" name="ArduPlane:LAND_DISARMDELAY" documentation="After a landing has completed using a LAND waypoint, automatically disarm after this many seconds have passed. Use 0 to not disarm." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Navigation controller selection" name="ArduPlane:NAV_CONTROLLER" documentation="Which navigation controller to enable. Currently the only navigation controller available is L1. From time to time other experimental controllers will be added which are selected using this parameter." user="Standard">
-<values>
-<value code="0">Default</value>
-<value code="1">L1Controller</value>
-</values>
-</param>
-<param humanName="GPS to Baro Mix" name="ArduPlane:ALT_MIX" documentation="The percent of mixing between GPS altitude and baro altitude. 0 = 100% gps, 1 = 100% baro. It is highly recommend that you not change this from the default of 1, as GPS altitude is notoriously unreliable. The only time I would recommend changing this is if you have a high altitude enabled GPS, and you are dropping a plane from a high altitude balloon many kilometers off the ground." user="Advanced">
-<field name="Range">0 1</field>
-<field name="Increment">0.1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Altitude control algorithm" name="ArduPlane:ALT_CTRL_ALG" documentation="This sets what algorithm will be used for altitude control. The default is zero, which selects the most appropriate algorithm for your airframe. Currently the default is to use TECS (total energy control system). From time to time we will add other experimental altitude control algorithms which will be selected using this parameter." user="Advanced">
-<values>
-<value code="0">Automatic</value>
-</values>
-</param>
-<param humanName="Altitude offset" name="ArduPlane:ALT_OFFSET" documentation="This is added to the target altitude in automatic flight. It can be used to add a global altitude offset to a mission" user="Advanced">
-<field name="Range">-32767 32767</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Waypoint Radius" name="ArduPlane:WP_RADIUS" documentation='Defines the maximum distance from a waypoint that when crossed indicates the waypoint may be complete. To avoid the aircraft looping around the waypoint in case it misses by more than the WP_RADIUS an additional check is made to see if the aircraft has crossed a "finish line" passing through the waypoint and perpendicular to the flight path from the previous waypoint. If that finish line is crossed then the waypoint is considered complete. Note that the navigation controller may decide to turn later than WP_RADIUS before a waypoint, based on how sharp the turn is and the speed of the aircraft. It is safe to set WP_RADIUS much larger than the usual turn radius of your aircraft and the navigation controller will work out when to turn. If you set WP_RADIUS too small then you will tend to overshoot the turns.' user="Standard">
-<field name="Range">1 32767</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Waypoint Maximum Radius" name="ArduPlane:WP_MAX_RADIUS" documentation='Sets the maximum distance to a waypoint for the waypoint to be considered complete. This overrides the "cross the finish line" logic that is normally used to consider a waypoint complete. For normal AUTO behaviour this parameter should be set to zero. Using a non-zero value is only recommended when it is critical that the aircraft does approach within the given radius, and should loop around until it has done so. This can cause the aircraft to loop forever if its turn radius is greater than the maximum radius set.' user="Standard">
-<field name="Range">0 32767</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Waypoint Loiter Radius" name="ArduPlane:WP_LOITER_RAD" documentation="Defines the distance from the waypoint center, the plane will maintain during a loiter. If you set this value to a negative number then the default loiter direction will be counter-clockwise instead of clockwise." user="Standard">
-<field name="Range">-32767 32767</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Action on geofence breach" name="ArduPlane:FENCE_ACTION" documentation="What to do on fence breach. If this is set to 0 then no action is taken, and geofencing is disabled. If this is set to 1 then the plane will enter GUIDED mode, with the target waypoint as the fence return point. If this is set to 2 then the fence breach is reported to the ground station, but no other action is taken. If set to 3 then the plane enters guided mode but the pilot retains manual throttle control." user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">GuidedMode</value>
-<value code="2">ReportOnly</value>
-<value code="3">GuidedModeThrPass</value>
-</values>
-</param>
-<param humanName="Fence Total" name="ArduPlane:FENCE_TOTAL" documentation="Number of geofence points currently loaded" user="Advanced">
-</param>
-<param humanName="Fence Channel" name="ArduPlane:FENCE_CHANNEL" documentation="RC Channel to use to enable geofence. PWM input above 1750 enables the geofence" user="Standard">
-</param>
-<param humanName="Fence Minimum Altitude" name="ArduPlane:FENCE_MINALT" documentation="Minimum altitude allowed before geofence triggers" user="Standard">
-<field name="Range">0 32767</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Fence Maximum Altitude" name="ArduPlane:FENCE_MAXALT" documentation="Maximum altitude allowed before geofence triggers" user="Standard">
-<field name="Range">0 32767</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Fence Return Altitude" name="ArduPlane:FENCE_RETALT" documentation="Altitude the aircraft will transit to when a fence breach occurs.  If FENCE_RETALT is &lt;= 0 then the midpoint between FENCE_MAXALT and FENCE_MINALT is used, unless FENCE_MAXALT &lt; FENCE_MINALT.  If FENCE_MAXALT &lt; FENCE_MINALT AND FENCE_RETALT is &lt;= 0 then ALT_HOLD_RTL is the altitude used on a fence breach." user="Standard">
-<field name="Range">0 32767</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Fence automatic enable" name="ArduPlane:FENCE_AUTOENABLE" documentation="When set to 1, geofence automatically enables after an auto takeoff and automatically disables at the beginning of an auto landing.  When on the ground before takeoff the fence is disabled.  When set to 2, the fence autoenables after an auto takeoff, but only disables the fence floor during landing. It is highly recommended to not use this option for line of sight flying and use a fence enable channel instead." user="Standard">
-<values>
-<value code="0">NoAutoEnable</value>
-<value code="1">AutoEnable</value>
-<value code="2">AutoEnableDisableFloorOnly</value>
-</values>
-</param>
-<param humanName="Fence Return to Rally" name="ArduPlane:FENCE_RET_RALLY" documentation="When set to 1: on fence breach the plane will return to the nearest rally point rather than the fence return point.  If no rally points have been defined the plane will return to the home point.  " user="Standard">
-<values>
-<value code="0">FenceReturnPoint</value>
-<value code="1">NearestRallyPoint</value>
-</values>
-</param>
-<param humanName="Enable stall prevention" name="ArduPlane:STALL_PREVENTION" documentation="This controls the use of stall prevention techniques, including roll limits at low speed and raising the minimum airspeed in turns. The limits are based on the aerodynamic load factor of a banked turn. This option relies on the correct ARSPD_FBW_MIN value being set correctly. Note that if you don't have an airspeed sensor then stall prevention will use an airspeed estimate based on the ground speed plus a wind estimate taken from the response of the autopilot banked turns. That synthetic airspeed estimate may be inaccurate, so you should not assume that stall prevention with no airspeed sensor will be effective." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Minimum Airspeed" name="ArduPlane:ARSPD_FBW_MIN" documentation="This is the minimum airspeed you want to fly at in modes where the autopilot controls the airspeed. This should be set to a value around 20% higher than the level flight stall speed for the airframe. This value is also used in the STALL_PREVENTION code." user="Standard">
-<field name="Range">5 100</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Maximum Airspeed" name="ArduPlane:ARSPD_FBW_MAX" documentation="This is the maximum airspeed that you want to allow for your airframe in auto-throttle modes. You should ensure that this value is sufficiently above the ARSPD_FBW_MIN value to allow for a sufficient flight envelope to accurately control altitude using airspeed. A value at least 50% above ARSPD_FBW_MIN is recommended." user="Standard">
-<field name="Range">5 100</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Fly By Wire elevator reverse" name="ArduPlane:FBWB_ELEV_REV" documentation="Reverse sense of elevator in FBWB and CRUISE modes. When set to 0 up elevator (pulling back on the stick) means to lower altitude. When set to 1, up elevator means to raise altitude." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Use terrain following" name="ArduPlane:TERRAIN_FOLLOW" documentation="This enables terrain following for CRUISE mode, FBWB mode, RTL and for rally points. To use this option you also need to set TERRAIN_ENABLE to 1, which enables terrain data fetching from the GCS, and you need to have a GCS that supports sending terrain data to the aircraft. When terrain following is enabled then CRUISE and FBWB mode will hold height above terrain rather than height above home. In RTL the return to launch altitude will be considered to be a height above the terrain. Rally point altitudes will be taken as height above the terrain. This option does not affect mission items, which have a per-waypoint flag for whether they are height above home or height above the terrain. To use terrain following missions you need a ground station which can set the waypoint type to be a terrain height waypoint when creating the mission." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Terrain lookahead" name="ArduPlane:TERRAIN_LOOKAHD" documentation="This controls how far ahead the terrain following code looks to ensure it stays above upcoming terrain. A value of zero means no lookahead, so the controller will track only the terrain directly below the aircraft. The lookahead will never extend beyond the next waypoint when in AUTO mode." user="Standard">
-<field name="Range">0 10000</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Fly By Wire B altitude change rate" name="ArduPlane:FBWB_CLIMB_RATE" documentation="This sets the rate in m/s at which FBWB and CRUISE modes will change its target altitude for full elevator deflection. Note that the actual climb rate of the aircraft can be lower than this, depending on your airspeed and throttle control settings. If you have this parameter set to the default value of 2.0, then holding the elevator at maximum deflection for 10 seconds would change the target altitude by 20 meters." user="Standard">
-<field name="Range">1-10</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Minimum Throttle" name="ArduPlane:THR_MIN" documentation="The minimum throttle setting (as a percentage) which the autopilot will apply. For the final stage of an automatic landing this is always zero." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Maximum Throttle" name="ArduPlane:THR_MAX" documentation="The maximum throttle setting (as a percentage) which the autopilot will apply." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Maximum Throttle for takeoff" name="ArduPlane:TKOFF_THR_MAX" documentation="The maximum throttle setting during automatic takeoff. If this is zero then THR_MAX is used for takeoff as well." user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Throttle slew rate" name="ArduPlane:THR_SLEWRATE" documentation="maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second." user="Standard">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Flap slew rate" name="ArduPlane:FLAP_SLEWRATE" documentation="maximum percentage change in flap output per second. A setting of 25 means to not change the flap by more than 25% of the full flap range in one second. A value of 0 means no rate limiting." user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Throttle suppress manual passthru" name="ArduPlane:THR_SUPP_MAN" documentation="When throttle is suppressed in auto mode it is normally forced to zero. If you enable this option, then while suppressed it will be manual throttle. This is useful on petrol engines to hold the idle throttle manually while waiting for takeoff" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Throttle passthru in stabilize" name="ArduPlane:THR_PASS_STAB" documentation="If this is set then when in STABILIZE, FBWA or ACRO modes the throttle is a direct passthru from the transmitter. This means the THR_MIN and THR_MAX settings are not used in these modes. This is useful for petrol engines where you setup a throttle cut switch that suppresses the throttle below the normal minimum." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Throttle Failsafe Enable" name="ArduPlane:THR_FAILSAFE" documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Throttle Failsafe Value" name="ArduPlane:THR_FS_VALUE" documentation="The PWM level on channel 3 below which throttle failsafe triggers" user="Standard">
-<field name="Range">925 1100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Throttle cruise percentage" name="ArduPlane:TRIM_THROTTLE" documentation="The target percentage of throttle to apply for normal flight" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Throttle nudge enable" name="ArduPlane:THROTTLE_NUDGE" documentation="When enabled, this uses the throttle input in auto-throttle modes to 'nudge' the throttle or airspeed to higher or lower values. When you have an airspeed sensor the nudge affects the target airspeed, so that throttle inputs above 50% will increase the target airspeed from TRIM_ARSPD_CM up to a maximum of ARSPD_FBW_MAX. When no airspeed sensor is enabled the throttle nudge will push up the target throttle for throttle inputs above 50%." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Short failsafe action" name="ArduPlane:FS_SHORT_ACTN" documentation="The action to take on a short (FS_SHORT_TIMEOUT) failsafe event. A short failsafe even can be triggered either by loss of RC control (see THR_FS_VALUE) or by loss of GCS control (see FS_GCS_ENABL). A short failsafe event in stabilization and manual modes will cause an change to CIRCLE mode if FS_SHORT_ACTN is 0 or 1, and a change to FBWA mode if FS_SHORT_ACTN is 2. In all other modes (including AUTO and GUIDED mode) a short failsafe event will cause no mode change is FS_SHORT_ACTN is set to 0, will cause a change to CIRCLE mode if set to 1 and will change to FBWA mode if set to 2. Please see the documentation for FS_LONG_ACTN for the behaviour after FS_LONG_TIMEOUT seconds of failsafe." user="Standard">
-<values>
-<value code="0">Continue</value>
-<value code="1">Circle/ReturnToLaunch</value>
-<value code="2">Glide</value>
-</values>
-</param>
-<param humanName="Short failsafe timeout" name="ArduPlane:FS_SHORT_TIMEOUT" documentation="The time in seconds that a failsafe condition has to persist before a short failsafe event will occur. This defaults to 1.5 seconds" user="Standard">
-<field name="Range">1 100</field>
-<field name="Increment">0.5</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Long failsafe action" name="ArduPlane:FS_LONG_ACTN" documentation="The action to take on a long (FS_LONG_TIMEOUT seconds) failsafe event. If the aircraft was in a stabilization or manual mode when failsafe started and a long failsafe occurs then it will change to RTL mode if FS_LONG_ACTN is 0 or 1, and will change to FBWA if FS_LONG_ACTN is set to 2. If the aircraft was in an auto mode (such as AUTO or GUIDED) when the failsafe started then it will continue in the auto mode if FS_LONG_ACTN is set to 0, will change to RTL mode if FS_LONG_ACTN is set to 1 and will change to FBWA mode if FS_LONG_ACTN is set to 2. " user="Standard">
-<values>
-<value code="0">Continue</value>
-<value code="1">ReturnToLaunch</value>
-<value code="2">Glide</value>
-</values>
-</param>
-<param humanName="Long failsafe timeout" name="ArduPlane:FS_LONG_TIMEOUT" documentation="The time in seconds that a failsafe condition has to persist before a long failsafe event will occur. This defaults to 5 seconds." user="Standard">
-<field name="Range">1 300</field>
-<field name="Increment">0.5</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Failsafe battery voltage" name="ArduPlane:FS_BATT_VOLTAGE" documentation="Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe. If the battery voltage drops below this voltage continuously for 10 seconds then the plane will switch to RTL mode." user="Standard">
-<field name="Increment">0.1</field>
-<field name="Units">Volts</field>
-</param>
-<param humanName="Failsafe battery milliAmpHours" name="ArduPlane:FS_BATT_MAH" documentation="Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe. If the battery remaining drops below this level then the plane will switch to RTL mode immediately." user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
-</param>
-<param humanName="GCS failsafe enable" name="ArduPlane:FS_GCS_ENABL" documentation="Enable ground control station telemetry failsafe. Failsafe will trigger after FS_LONG_TIMEOUT seconds of no MAVLink heartbeat messages. There are two possible enabled settings. Seeing FS_GCS_ENABL to 1 means that GCS failsafe will be triggered when the aircraft has not received a MAVLink HEARTBEAT message. Setting FS_GCS_ENABL to 2 means that GCS failsafe will be triggered on either a loss of HEARTBEAT messages, or a RADIO_STATUS message from a MAVLink enabled 3DR radio indicating that the ground station is not receiving status updates from the aircraft, which is indicated by the RADIO_STATUS.remrssi field being zero (this may happen if you have a one way link due to asymmetric noise on the ground station and aircraft radios).Setting FS_GCS_ENABL to 3 means that GCS failsafe will be triggered by Heartbeat(like option one), but only in AUTO mode. WARNING: Enabling this option opens up the possibility of your plane going into failsafe mode and running the motor on the ground it it loses contact with your ground station. If this option is enabled on an electric plane then you should enable ARMING_REQUIRED." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Heartbeat</value>
-<value code="2">HeartbeatAndREMRSSI</value>
-<value code="3">HeartbeatAndAUTO</value>
-</values>
-</param>
-<param humanName="Flightmode channel" name="ArduPlane:FLTMODE_CH" documentation="RC Channel to use for flight mode control" user="Advanced">
-</param>
-<param humanName="FlightMode1" name="ArduPlane:FLTMODE1" documentation="Flight mode for switch position 1 (910 to 1230 and above 2049)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="FlightMode2" name="ArduPlane:FLTMODE2" documentation="Flight mode for switch position 2 (1231 to 1360)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="FlightMode3" name="ArduPlane:FLTMODE3" documentation="Flight mode for switch position 3 (1361 to 1490)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="FlightMode4" name="ArduPlane:FLTMODE4" documentation="Flight mode for switch position 4 (1491 to 1620)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="FlightMode5" name="ArduPlane:FLTMODE5" documentation="Flight mode for switch position 5 (1621 to 1749)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="FlightMode6" name="ArduPlane:FLTMODE6" documentation="Flight mode for switch position 6 (1750 to 2049)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Initial flight mode" name="ArduPlane:INITIAL_MODE" documentation="This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver." user="Advanced">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Maximum Bank Angle" name="ArduPlane:LIM_ROLL_CD" documentation="The maximum commanded bank angle in either direction" user="Standard">
-<field name="Range">0 9000</field>
-<field name="Increment">1</field>
-<field name="Units">centi-Degrees</field>
-</param>
-<param humanName="Maximum Pitch Angle" name="ArduPlane:LIM_PITCH_MAX" documentation="The maximum commanded pitch up angle" user="Standard">
-<field name="Range">0 9000</field>
-<field name="Increment">1</field>
-<field name="Units">centi-Degrees</field>
-</param>
-<param humanName="Minimum Pitch Angle" name="ArduPlane:LIM_PITCH_MIN" documentation="The minimum commanded pitch down angle" user="Standard">
-<field name="Range">-9000 0</field>
-<field name="Increment">1</field>
-<field name="Units">centi-Degrees</field>
-</param>
-<param humanName="ACRO mode roll rate" name="ArduPlane:ACRO_ROLL_RATE" documentation="The maximum roll rate at full stick deflection in ACRO mode" user="Standard">
-<field name="Range">10 500</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="ACRO mode pitch rate" name="ArduPlane:ACRO_PITCH_RATE" documentation="The maximum pitch rate at full stick deflection in ACRO mode" user="Standard">
-<field name="Range">10 500</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="ACRO mode attitude locking" name="ArduPlane:ACRO_LOCKING" documentation="Enable attitude locking when sticks are released" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Ground steer altitude" name="ArduPlane:GROUND_STEER_ALT" documentation="Altitude at which to use the ground steering controller on the rudder. If non-zero then the STEER2SRV controller will be used to control the rudder for altitudes within this limit of the home altitude." user="Standard">
-<field name="Range">-100 100</field>
-<field name="Increment">0.1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Ground steer rate" name="ArduPlane:GROUND_STEER_DPS" documentation="Ground steering rate in degrees per second for full rudder stick deflection" user="Advanced">
-<field name="Range">10 360</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Automatic trim adjustment" name="ArduPlane:TRIM_AUTO" documentation="Set RC trim PWM levels to current levels when switching away from manual mode. When this option is enabled and you change from MANUAL to any other mode then the APM will take the current position of the control sticks as the trim values for aileron, elevator and rudder. It will use those to set RC1_TRIM, RC2_TRIM and RC4_TRIM. This option is disabled by default as if a pilot is not aware of this option and changes from MANUAL to another mode while control inputs are not centered then the trim could be changed to a dangerously bad value. You can enable this option to assist with trimming your plane, by enabling it before takeoff then switching briefly to MANUAL in flight, and seeing how the plane reacts. You can then switch back to FBWA, trim the surfaces then again test MANUAL mode. Each time you switch from MANUAL the APM will take your control inputs as the new trim. After you have good trim on your aircraft you can disable TRIM_AUTO for future flights." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Elevon mixing" name="ArduPlane:ELEVON_MIXING" documentation="This enables an older form of elevon mixing which is now deprecated. Please see the ELEVON_OUTPUT option for setting up elevons. The ELEVON_MIXING option should be set to 0 for elevon planes except for backwards compatibility with older setups." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Elevon reverse" name="ArduPlane:ELEVON_REVERSE" documentation="Reverse elevon mixing" user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Elevon reverse" name="ArduPlane:ELEVON_CH1_REV" documentation="Reverse elevon channel 1" user="User">
-<values>
-<value code="-1">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Elevon reverse" name="ArduPlane:ELEVON_CH2_REV" documentation="Reverse elevon channel 2" user="User">
-<values>
-<value code="-1">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="VTail output" name="ArduPlane:VTAIL_OUTPUT" documentation="Enable VTail output in software. If enabled then the APM will provide software VTail mixing on the elevator and rudder channels. There are 4 different mixing modes available, which refer to the 4 ways the elevator can be mapped to the two VTail servos. Note that you must not use VTail output mixing with hardware pass-through of RC values, such as with channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to something other than 8 before you enable VTAIL_OUTPUT. Please also see the MIXING_GAIN parameter for the output gain of the mixer." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">UpUp</value>
-<value code="2">UpDown</value>
-<value code="3">DownUp</value>
-<value code="4">DownDown</value>
-</values>
-</param>
-<param humanName="Elevon output" name="ArduPlane:ELEVON_OUTPUT" documentation="Enable software elevon output mixer. If enabled then the APM will provide software elevon mixing on the aileron and elevator channels. There are 4 different mixing modes available, which refer to the 4 ways the elevator can be mapped to the two elevon servos. Note that you must not use elevon output mixing with hardware pass-through of RC values, such as with channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to something other than 8 before you enable ELEVON_OUTPUT. Please also see the MIXING_GAIN parameter for the output gain of the mixer." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">UpUp</value>
-<value code="2">UpDown</value>
-<value code="3">DownUp</value>
-<value code="4">DownDown</value>
-</values>
-</param>
-<param humanName="Mixing Gain" name="ArduPlane:MIXING_GAIN" documentation="The gain for the Vtail and elevon output mixers. The default is 0.5, which ensures that the mixer doesn't saturate, allowing both input channels to go to extremes while retaining control over the output. Hardware mixers often have a 1.0 gain, which gives more servo throw, but can saturate. If you don't have enough throw on your servos with VTAIL_OUTPUT or ELEVON_OUTPUT enabled then you can raise the gain using MIXING_GAIN. The mixer allows outputs in the range 900 to 2100 microseconds." user="User">
-<field name="Range">0.5 1.2</field>
-</param>
-<param humanName="Rudder only aircraft" name="ArduPlane:RUDDER_ONLY" documentation="Enable rudder only mode. The rudder will control attitude in attitude controlled modes (such as FBWA). You should setup your transmitter to send roll stick inputs to the RCMAP_YAW channel (normally channel 4). The rudder servo should be attached to the RCMAP_YAW channel as well. Note that automatic ground steering will be disabled for rudder only aircraft. You should also set KFF_RDDRMIX to 1.0. You will also need to setup the YAW2SRV_DAMP yaw damping appropriately for your aircraft. A value of 0.5 for YAW2SRV_DAMP is a good starting point." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Num Resets" name="ArduPlane:SYS_NUM_RESETS" documentation="Number of APM board resets" user="Advanced">
-</param>
-<param humanName="Log bitmask" name="ArduPlane:LOG_BITMASK" documentation="Bitmap of what log types to enable in dataflash. This values is made up of the sum of each of the log types you want to be saved on dataflash. On a PX4 or Pixhawk the large storage size of a microSD card means it is usually best just to enable all log types by setting this to 65535. On APM2 the smaller 4 MByte dataflash means you need to be more selective in your logging or you may run out of log space while flying (in which case it will wrap and overwrite the start of the log). The individual bits are ATTITUDE_FAST=1, ATTITUDE_MEDIUM=2, GPS=4, PerformanceMonitoring=8, ControlTuning=16, NavigationTuning=32, Mode=64, IMU=128, Commands=256, Battery=512, Compass=1024, TECS=2048, Camera=4096, RCandServo=8192, Sonar=16384, Arming=32768, LogWhenDisarmed=65536, FullLogsArmedOnly=65535, FullLogsWhenDisarmed=131071" user="Advanced">
-<field name="Bitmask">0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:MODE,7:IMU,8:CMD,9:CURRENT,10:COMPASS,11:TECS,12:CAMERA,13:RC,14:SONAR,15:ARM/DISARM,16:WHEN_DISARMED,19:IMU_RAW</field>
-<values>
-<value code="0">Disabled</value>
-<value code="5190">APM2-Default</value>
-<value code="65535">PX4/Pixhawk-Default</value>
-</values>
-</param>
-<param humanName="Reset Switch Channel" name="ArduPlane:RST_SWITCH_CH" documentation="RC channel to use to reset to last flight mode&#9;after geofence takeover." user="Advanced">
-</param>
-<param humanName="Reset Mission Channel" name="ArduPlane:RST_MISSION_CH" documentation="RC channel to use to reset the mission to the first waypoint. When this channel goes above 1750 the mission is reset. Set RST_MISSION_CH to 0 to disable." user="Advanced">
-</param>
-<param humanName="Target airspeed" name="ArduPlane:TRIM_ARSPD_CM" documentation="Airspeed in cm/s to aim for when airspeed is enabled in auto mode. This is a calibrated (apparent) airspeed." user="User">
-<field name="Units">cm/s</field>
-</param>
-<param humanName="speed used for speed scaling calculations" name="ArduPlane:SCALING_SPEED" documentation="Airspeed in m/s to use when calculating surface speed scaling. Note that changing this value will affect all PID values" user="Advanced">
-<field name="Units">m/s</field>
-</param>
-<param humanName="Minimum ground speed" name="ArduPlane:MIN_GNDSPD_CM" documentation="Minimum ground speed in cm/s when under airspeed control" user="Advanced">
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Pitch angle offset" name="ArduPlane:TRIM_PITCH_CD" documentation="offset to add to pitch - used for in-flight pitch trimming. It is recommended that instead of using this parameter you level your plane correctly on the ground for good flight attitude." user="Advanced">
-<field name="Units">centi-Degrees</field>
-</param>
-<param humanName="RTL altitude" name="ArduPlane:ALT_HOLD_RTL" documentation="Return to launch target altitude. This is the altitude the plane will aim for and loiter at when returning home. If this is negative (usually -1) then the plane will use the current altitude at the time of entering RTL. Note that when transiting to a Rally Point the altitude of the Rally Point is used instead of ALT_HOLD_RTL." user="User">
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Minimum altitude for FBWB mode" name="ArduPlane:ALT_HOLD_FBWCM" documentation="This is the minimum altitude in centimeters that FBWB and CRUISE modes will allow. If you attempt to descend below this altitude then the plane will level off. A value of zero means no limit." user="User">
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Enable Compass" name="ArduPlane:MAG_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Flap input channel" name="ArduPlane:FLAP_IN_CHANNEL" documentation="An RC input channel to use for flaps control. If this is set to a RC channel number then that channel will be used for manual flaps control. When enabled, the percentage of flaps is taken as the percentage travel from the TRIM value of the channel to the MIN value of the channel. A value above the TRIM values will give inverse flaps (spoilers). This option needs to be enabled in conjunction with a FUNCTION setting on an output channel to one of the flap functions. When a FLAP_IN_CHANNEL is combined with auto-flaps the higher of the two flap percentages is taken. You must also enable a FLAPERON_OUTPUT flaperon mixer setting if using flaperons." user="User">
-</param>
-<param humanName="Flaperon output" name="ArduPlane:FLAPERON_OUTPUT" documentation="Enable flaperon output in software. If enabled then the APM will provide software flaperon mixing on the FLAPERON1 and FLAPERON2 output channels specified using the FUNCTION on two auxiliary channels. There are 4 different mixing modes available, which refer to the 4 ways the flap and aileron outputs can be mapped to the two flaperon servos. Note that you must not use flaperon output mixing with hardware pass-through of RC values, such as with channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to something other than 8 before you enable FLAPERON_OUTPUT. Please also see the MIXING_GAIN parameter for the output gain of the mixer. FLAPERON_OUTPUT cannot be combined with ELEVON_OUTPUT or ELEVON_MIXING." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">UpUp</value>
-<value code="2">UpDown</value>
-<value code="3">DownUp</value>
-<value code="4">DownDown</value>
-</values>
-</param>
-<param humanName="Flap 1 percentage" name="ArduPlane:FLAP_1_PERCNT" documentation="The percentage change in flap position when FLAP_1_SPEED is reached. Use zero to disable flaps" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Flap 1 speed" name="ArduPlane:FLAP_1_SPEED" documentation="The speed in meters per second at which to engage FLAP_1_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Flap 2 percentage" name="ArduPlane:FLAP_2_PERCNT" documentation="The percentage change in flap position when FLAP_2_SPEED is reached. Use zero to disable flaps" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Flap 2 speed" name="ArduPlane:FLAP_2_SPEED" documentation="The speed in meters per second at which to engage FLAP_2_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Landing flap percentage" name="ArduPlane:LAND_FLAP_PERCNT" documentation="The amount of flaps (as a percentage) to apply in the landing approach and flare of an automatic landing" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="PX4IO override channel" name="ArduPlane:OVERRIDE_CHAN" documentation="If set to a non-zero value then this is an RC input channel number to use for testing manual control in case the main FMU microcontroller on a PX4 or Pixhawk fails. When this RC input channel goes above 1750 the FMU will stop sending servo controls to the PX4IO board, which will trigger the PX4IO board to start using its failsafe override behaviour, which should give you manual control of the aircraft. That allows you to test for correct manual behaviour without actually crashing the FMU. This parameter is normally only set to a non-zero value for ground testing purposes. When the override channel is used it also forces the PX4 safety switch into an armed state. This allows it to be used as a way to re-arm a plane after an in-flight reboot. Use in that way is considered a developer option, for people testing unstable developer code. Note that you may set OVERRIDE_CHAN to the same channel as FLTMODE_CH to get PX4IO based override when in flight mode 6. Note that when override is triggered the 6 auxiliary output channels on Pixhawk will no longer be updated, so all the flight controls you need must be assigned to the first 8 channels." user="Advanced">
-</param>
-<param humanName="Receiver RSSI sensing pin" name="ArduPlane:RSSI_PIN" documentation="This selects an analog pin for the receiver RSSI voltage. It assumes the voltage is 5V for max rssi, 0V for minimum" user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 0">APM2 A0</value>
-<value code=" 1">APM2 A1</value>
-<value code=" 13">APM2 A13</value>
-<value code=" 103">Pixhawk SBUS</value>
-</values>
-</param>
-<param humanName="Receiver RSSI voltage range" name="ArduPlane:RSSI_RANGE" documentation="Receiver RSSI voltage range" user="Standard">
-<field name="Values">3.3:3.3V, 5.0:5V</field>
-<field name="Units">Volt</field>
-</param>
-<param humanName="Inverted flight channel" name="ArduPlane:INVERTEDFLT_CH" documentation="A RC input channel number to enable inverted flight. If this is non-zero then the APM will monitor the corresponding RC input channel and will enable inverted flight when the channel goes above 1750." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Channel1</value>
-<value code="2">Channel2</value>
-<value code="3">Channel3</value>
-<value code="4">Channel4</value>
-<value code="5">Channel5</value>
-<value code="6">Channel6</value>
-<value code="7">Channel7</value>
-<value code="8">Channel8</value>
-</values>
-</param>
-<param humanName="HIL mode enable" name="ArduPlane:HIL_MODE" documentation="This enables and disables hardware in the loop mode. If HIL_MODE is 1 then on the next reboot all sensors are replaced with HIL sensors which come from the GCS." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="HIL Servos enable" name="ArduPlane:HIL_SERVOS" documentation="This controls whether real servo controls are used in HIL mode. If you enable this then the APM will control the real servos in HIL mode. If disabled it will report servo values, but will not output to the real servos. Be careful that your motor and propeller are not connected if you enable this option." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Limit of error in HIL attitude before reset" name="ArduPlane:HIL_ERR_LIMIT" documentation="This controls the maximum error in degrees on any axis before HIL will reset the DCM attitude to match the HIL_STATE attitude. This limit will prevent poor timing on HIL from causing a major attitude error. If the value is zero then no limit applies." user="Advanced">
-<field name="Range">0 90</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="RTL auto land" name="ArduPlane:RTL_AUTOLAND" documentation="Automatically begin landing sequence after arriving at RTL location. This requires the addition of a DO_LAND_START mission item, which acts as a marker for the start of a landing sequence. The closest landing sequence will be chosen to the current location. " user="Standard">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable - go HOME then land</value>
-<value code="2">Enable - go directly to landing sequence</value>
-</values>
-</param>
-<param humanName="RC Trims auto set at start." name="ArduPlane:RC_TRIM_AT_START" documentation="Automatically set roll/pitch trim from Tx at ground start. This makes the assumption that the RC transmitter has not been altered since trims were last captured." user="Standard">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-<param humanName="Enable rangefinder for landing" name="ArduPlane:RNGFND_LANDING" documentation="This enables the use of a rangefinder for automatic landing. The rangefinder will be used both on the landing approach and for final flare" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-</parameters>
-<parameters name="ArduCopter">
-<param humanName="Eeprom format version number" name="ArduCopter:SYSID_SW_MREV" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
-</param>
-<param humanName="Software Type" name="ArduCopter:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
-<values>
-<value code="0">ArduPlane</value>
-<value code="4">AntennaTracker</value>
-<value code="10">Copter</value>
-<value code="20">Rover</value>
-</values>
-</param>
-<param humanName="MAVLink system ID of this vehicle" name="ArduCopter:SYSID_THISMAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="My ground station number" name="ArduCopter:SYSID_MYGCS" documentation="Allows restricting radio overrides to only come from my ground station" user="Advanced">
-<values>
-<value code="255">Mission Planner and DroidPlanner</value>
-<value code=" 252"> AP Planner 2</value>
-</values>
-</param>
-<param humanName="CLI Enable" name="ArduCopter:CLI_ENABLED" documentation="This enables/disables the checking for three carriage returns on telemetry links on startup to enter the diagnostics command line interface" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Throttle filter cutoff" name="ArduCopter:PILOT_THR_FILT" documentation="Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable" user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">.5</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Pilot takeoff altitude" name="ArduCopter:PILOT_TKOFF_ALT" documentation="Altitude that altitude control modes will climb to when a takeoff is triggered with the throttle stick." user="Standard">
-<field name="Range">0.0 1000.0</field>
-<field name="Increment">10</field>
-<field name="Units">Centimeters</field>
-</param>
-<param humanName="Takeoff trigger deadzone" name="ArduCopter:PILOT_TKOFF_DZ" documentation="Offset from mid stick at which takeoff is triggered" user="Standard">
-<field name="Range">0.0 500.0</field>
-<field name="Increment">10</field>
-</param>
-<param humanName="Throttle stick behavior" name="ArduCopter:PILOT_THR_BHV" documentation="Bits for: Feedback starts from mid stick" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">FeedbackFromMid</value>
-</values>
-</param>
-<param humanName="Telemetry startup delay" name="ArduCopter:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="GCS PID tuning mask" name="ArduCopter:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
-<field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
-<values>
-<value code="0">None</value>
-<value code="1">Roll</value>
-<value code="2">Pitch</value>
-<value code="4">Yaw</value>
-</values>
-</param>
-<param humanName="RTL Altitude" name="ArduCopter:RTL_ALT" documentation="The minimum altitude the model will move to before Returning to Launch.  Set to zero to return at current altitude." user="Standard">
-<field name="Range">0 8000</field>
-<field name="Increment">1</field>
-<field name="Units">Centimeters</field>
-</param>
-<param humanName="Rangefinder gain" name="ArduCopter:RNGFND_GAIN" documentation="Used to adjust the speed with which the target altitude is changed when objects are sensed below the copter" user="Standard">
-<field name="Range">0.01 2.0</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Battery Failsafe Enable" name="ArduCopter:FS_BATT_ENABLE" documentation="Controls whether failsafe will be invoked when battery voltage or current runs low" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Land</value>
-<value code="2">RTL</value>
-</values>
-</param>
-<param humanName="Failsafe battery voltage" name="ArduCopter:FS_BATT_VOLTAGE" documentation="Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe. If the battery voltage drops below this voltage then the copter will RTL" user="Standard">
-<field name="Increment">0.1</field>
-<field name="Units">Volts</field>
-</param>
-<param humanName="Failsafe battery milliAmpHours" name="ArduCopter:FS_BATT_MAH" documentation="Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe. If the battery remaining drops below this level then the copter will RTL" user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
-</param>
-<param humanName="Ground Station Failsafe Enable" name="ArduCopter:FS_GCS_ENABLE" documentation="Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. NB. The GCS Failsafe is only active when RC_OVERRIDE is being used to control the vehicle." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled always RTL</value>
-<value code="2">Enabled Continue with Mission in Auto Mode</value>
-</values>
-</param>
-<param humanName="GPS Hdop Good" name="ArduCopter:GPS_HDOP_GOOD" documentation="GPS Hdop value at or below this value represent a good position.  Used for pre-arm checks" user="Advanced">
-<field name="Range">100 900</field>
-</param>
-<param humanName="Compass enable/disable" name="ArduCopter:MAG_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Super Simple Mode" name="ArduCopter:SUPER_SIMPLE" documentation="Bitmask to enable Super Simple mode for some flight modes. Setting this to Disabled(0) will disable Super Simple Mode" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Mode1</value>
-<value code="2">Mode2</value>
-<value code="3">Mode1+2</value>
-<value code="4">Mode3</value>
-<value code="5">Mode1+3</value>
-<value code="6">Mode2+3</value>
-<value code="7">Mode1+2+3</value>
-<value code="8">Mode4</value>
-<value code="9">Mode1+4</value>
-<value code="10">Mode2+4</value>
-<value code="11">Mode1+2+4</value>
-<value code="12">Mode3+4</value>
-<value code="13">Mode1+3+4</value>
-<value code="14">Mode2+3+4</value>
-<value code="15">Mode1+2+3+4</value>
-<value code="16">Mode5</value>
-<value code="17">Mode1+5</value>
-<value code="18">Mode2+5</value>
-<value code="19">Mode1+2+5</value>
-<value code="20">Mode3+5</value>
-<value code="21">Mode1+3+5</value>
-<value code="22">Mode2+3+5</value>
-<value code="23">Mode1+2+3+5</value>
-<value code="24">Mode4+5</value>
-<value code="25">Mode1+4+5</value>
-<value code="26">Mode2+4+5</value>
-<value code="27">Mode1+2+4+5</value>
-<value code="28">Mode3+4+5</value>
-<value code="29">Mode1+3+4+5</value>
-<value code="30">Mode2+3+4+5</value>
-<value code="31">Mode1+2+3+4+5</value>
-<value code="32">Mode6</value>
-<value code="33">Mode1+6</value>
-<value code="34">Mode2+6</value>
-<value code="35">Mode1+2+6</value>
-<value code="36">Mode3+6</value>
-<value code="37">Mode1+3+6</value>
-<value code="38">Mode2+3+6</value>
-<value code="39">Mode1+2+3+6</value>
-<value code="40">Mode4+6</value>
-<value code="41">Mode1+4+6</value>
-<value code="42">Mode2+4+6</value>
-<value code="43">Mode1+2+4+6</value>
-<value code="44">Mode3+4+6</value>
-<value code="45">Mode1+3+4+6</value>
-<value code="46">Mode2+3+4+6</value>
-<value code="47">Mode1+2+3+4+6</value>
-<value code="48">Mode5+6</value>
-<value code="49">Mode1+5+6</value>
-<value code="50">Mode2+5+6</value>
-<value code="51">Mode1+2+5+6</value>
-<value code="52">Mode3+5+6</value>
-<value code="53">Mode1+3+5+6</value>
-<value code="54">Mode2+3+5+6</value>
-<value code="55">Mode1+2+3+5+6</value>
-<value code="56">Mode4+5+6</value>
-<value code="57">Mode1+4+5+6</value>
-<value code="58">Mode2+4+5+6</value>
-<value code="59">Mode1+2+4+5+6</value>
-<value code="60">Mode3+4+5+6</value>
-<value code="61">Mode1+3+4+5+6</value>
-<value code="62">Mode2+3+4+5+6</value>
-<value code="63">Mode1+2+3+4+5+6</value>
-</values>
-</param>
-<param humanName="RTL Final Altitude" name="ArduCopter:RTL_ALT_FINAL" documentation="This is the altitude the vehicle will move to as the final stage of Returning to Launch or after completing a mission.  Set to zero to land." user="Standard">
-<field name="Range">-1 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Centimeters</field>
-</param>
-<param humanName="RTL minimum climb" name="ArduCopter:RTL_CLIMB_MIN" documentation="The vehicle will climb this many cm during the initial climb portion of the RTL" user="Standard">
-<field name="Range">0 3000</field>
-<field name="Increment">10</field>
-<field name="Units">Centimeters</field>
-</param>
-<param humanName="Receiver RSSI sensing pin" name="ArduCopter:RSSI_PIN" documentation="This selects an analog pin for the receiver RSSI voltage. It assumes the voltage is RSSI_RANGE for max rssi, 0V for minimum" user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 0">APM2 A0</value>
-<value code=" 1">APM2 A1</value>
-<value code=" 2">APM2 A2</value>
-<value code=" 13">APM2 A13</value>
-<value code=" 103">Pixhawk SBUS</value>
-</values>
-</param>
-<param humanName="Receiver RSSI voltage range" name="ArduCopter:RSSI_RANGE" documentation="Receiver RSSI voltage range" user="Standard">
-<field name="Values">3.3:3.3V, 5:5V</field>
-<field name="Units">Volt</field>
-</param>
-<param humanName="Yaw behaviour during missions" name="ArduCopter:WP_YAW_BEHAVIOR" documentation="Determines how the autopilot controls the yaw during missions and RTL" user="Standard">
-<values>
-<value code="0">Never change yaw</value>
-<value code=" 1">Face next waypoint</value>
-<value code=" 2">Face next waypoint except RTL</value>
-<value code=" 3">Face along GPS course</value>
-</values>
-</param>
-<param humanName="RTL loiter time" name="ArduCopter:RTL_LOIT_TIME" documentation="Time (in milliseconds) to loiter above home before beginning final descent" user="Standard">
-<field name="Range">0 60000</field>
-<field name="Increment">1000</field>
-<field name="Units">ms</field>
-</param>
-<param humanName="Land speed" name="ArduCopter:LAND_SPEED" documentation="The descent speed for the final stage of landing in cm/s" user="Standard">
-<field name="Range">30 200</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Pilot maximum vertical speed" name="ArduCopter:PILOT_VELZ_MAX" documentation="The maximum vertical velocity the pilot may request in cm/s" user="Standard">
-<field name="Range">50 500</field>
-<field name="Increment">10</field>
-<field name="Units">Centimeters/Second</field>
-</param>
-<param humanName="Pilot vertical acceleration" name="ArduCopter:PILOT_ACCEL_Z" documentation="The vertical acceleration used when pilot is controlling the altitude" user="Standard">
-<field name="Range">50 500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Throttle Minimum" name="ArduCopter:THR_MIN" documentation="The minimum throttle that will be sent to the motors to keep them spinning" user="Standard">
-<field name="Range">0 300</field>
-<field name="Increment">1</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Throttle Failsafe Enable" name="ArduCopter:FS_THR_ENABLE" documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled always RTL</value>
-<value code="2">Enabled Continue with Mission in Auto Mode</value>
-<value code="3">Enabled always LAND</value>
-</values>
-</param>
-<param humanName="Throttle Failsafe Value" name="ArduCopter:FS_THR_VALUE" documentation="The PWM level on channel 3 below which throttle sailsafe triggers" user="Standard">
-<field name="Range">925 1100</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Throttle Mid Position" name="ArduCopter:THR_MID" documentation="The throttle output (0 ~ 1000) when throttle stick is in mid position.  Used to scale the manual throttle so that the mid throttle stick position is close to the throttle required to hover" user="Standard">
-<field name="Range">300 700</field>
-<field name="Increment">1</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Throttle deadzone" name="ArduCopter:THR_DZ" documentation="The deadzone above and below mid throttle.  Used in AltHold, Loiter, PosHold flight modes" user="Standard">
-<field name="Range">0 300</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Flight Mode 1" name="ArduCopter:FLTMODE1" documentation="Flight mode when Channel 5 pwm is &lt;= 1230" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-</values>
-</param>
-<param humanName="Flight Mode 2" name="ArduCopter:FLTMODE2" documentation="Flight mode when Channel 5 pwm is &gt;1230, &lt;= 1360" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-</values>
-</param>
-<param humanName="Flight Mode 3" name="ArduCopter:FLTMODE3" documentation="Flight mode when Channel 5 pwm is &gt;1360, &lt;= 1490" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-</values>
-</param>
-<param humanName="Flight Mode 4" name="ArduCopter:FLTMODE4" documentation="Flight mode when Channel 5 pwm is &gt;1490, &lt;= 1620" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-</values>
-</param>
-<param humanName="Flight Mode 5" name="ArduCopter:FLTMODE5" documentation="Flight mode when Channel 5 pwm is &gt;1620, &lt;= 1749" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-</values>
-</param>
-<param humanName="Flight Mode 6" name="ArduCopter:FLTMODE6" documentation="Flight mode when Channel 5 pwm is &gt;=1750" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-</values>
-</param>
-<param humanName="Simple mode bitmask" name="ArduCopter:SIMPLE" documentation="Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode)" user="Advanced">
-</param>
-<param humanName="Log bitmask" name="ArduCopter:LOG_BITMASK" documentation="4 byte bitmap of log types to enable" user="Standard">
-<field name="Bitmask">0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,16:WHEN_DISARMED,17:MOTBATT,18:IMU_FAST,19:IMU_RAW</field>
-<values>
-<value code="830">Default</value>
-<value code="894">Default+RCIN</value>
-<value code="958">Default+IMU</value>
-<value code="1854">Default+Motors</value>
-<value code="-6146">NearlyAll-AC315</value>
-<value code="45054">NearlyAll</value>
-<value code="131070">All+DisarmedLogging</value>
-<value code="131071">All+FastATT</value>
-<value code="262142">All+MotBatt</value>
-<value code="393214">All+FastIMU</value>
-<value code="397310">All+FastIMU+PID</value>
-<value code="655358">All+FullIMU</value>
-<value code="0">Disabled</value>
-</values>
-</param>
-<param humanName="ESC Calibration" name="ArduCopter:ESC_CALIBRATION" documentation="Controls whether ArduCopter will enter ESC calibration on the next restart.  Do not adjust this parameter manually." user="Advanced">
-<values>
-<value code="0">Normal Start-up</value>
-<value code=" 1">Start-up in ESC Calibration mode if throttle high</value>
-<value code=" 2">Start-up in ESC Calibration mode regardless of throttle</value>
-<value code=" 9">Disabled</value>
-</values>
-</param>
-<param humanName="Channel 6 Tuning" name="ArduCopter:TUNE" documentation="Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Stab Roll/Pitch kP</value>
-<value code="4">Rate Roll/Pitch kP</value>
-<value code="5">Rate Roll/Pitch kI</value>
-<value code="21">Rate Roll/Pitch kD</value>
-<value code="3">Stab Yaw kP</value>
-<value code="6">Rate Yaw kP</value>
-<value code="26">Rate Yaw kD</value>
-<value code="14">Altitude Hold kP</value>
-<value code="7">Throttle Rate kP</value>
-<value code="34">Throttle Accel kP</value>
-<value code="35">Throttle Accel kI</value>
-<value code="36">Throttle Accel kD</value>
-<value code="42">Loiter Speed</value>
-<value code="12">Loiter Pos kP</value>
-<value code="22">Velocity XY kP</value>
-<value code="28">Velocity XY kI</value>
-<value code="10">WP Speed</value>
-<value code="25">Acro RollPitch kP</value>
-<value code="40">Acro Yaw kP</value>
-<value code="13">Heli Ext Gyro</value>
-<value code="17">OF Loiter kP</value>
-<value code="18">OF Loiter kI</value>
-<value code="19">OF Loiter kD</value>
-<value code="38">Declination</value>
-<value code="39">Circle Rate</value>
-<value code="41">RangeFinder Gain</value>
-<value code="46">Rate Pitch kP</value>
-<value code="47">Rate Pitch kI</value>
-<value code="48">Rate Pitch kD</value>
-<value code="49">Rate Roll kP</value>
-<value code="50">Rate Roll kI</value>
-<value code="51">Rate Roll kD</value>
-<value code="52">Rate Pitch FF</value>
-<value code="53">Rate Roll FF</value>
-<value code="54">Rate Yaw FF</value>
-</values>
-</param>
-<param humanName="Tuning minimum" name="ArduCopter:TUNE_LOW" documentation="The minimum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob" user="Standard">
-<field name="Range">0 32767</field>
-</param>
-<param humanName="Tuning maximum" name="ArduCopter:TUNE_HIGH" documentation="The maximum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob" user="Standard">
-<field name="Range">0 32767</field>
-</param>
-<param humanName="Frame Orientation (+, X or V)" name="ArduCopter:FRAME" documentation="Controls motor mixing for multicopters.  Not used for Tri or Traditional Helicopters." user="Standard">
-<values>
-<value code="0">Plus</value>
-<value code=" 1">X</value>
-<value code=" 2">V</value>
-<value code=" 3">H</value>
-<value code=" 4">V-Tail</value>
-<value code=" 5">A-Tail</value>
-<value code=" 10">Y6B (New)</value>
-</values>
-</param>
-<param humanName="Channel 7 option" name="ArduCopter:CH7_OPT" documentation="Select which function if performed when CH7 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 12">ResetToArmedYaw</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-</values>
-</param>
-<param humanName="Channel 8 option" name="ArduCopter:CH8_OPT" documentation="Select which function if performed when CH8 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 12">ResetToArmedYaw</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-</values>
-</param>
-<param humanName="Channel 9 option" name="ArduCopter:CH9_OPT" documentation="Select which function if performed when CH9 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 12">ResetToArmedYaw</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-</values>
-</param>
-<param humanName="Channel 10 option" name="ArduCopter:CH10_OPT" documentation="Select which function if performed when CH10 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 12">ResetToArmedYaw</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-</values>
-</param>
-<param humanName="Channel 11 option" name="ArduCopter:CH11_OPT" documentation="Select which function if performed when CH11 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 12">ResetToArmedYaw</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-</values>
-</param>
-<param humanName="Channel 12 option" name="ArduCopter:CH12_OPT" documentation="Select which function if performed when CH12 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 12">ResetToArmedYaw</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-</values>
-</param>
-<param humanName="Arming check" name="ArduCopter:ARMING_CHECK" documentation="Allows enabling or disabling of pre-arming checks of receiver, accelerometer, barometer, compass and GPS" user="Standard">
-<field name="Bitmask">0:All,1:Baro,2:Compass,3:GPS,4:INS,5:Parameters+Sonar,6:RC,7:Voltage</field>
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-<value code=" -3">Skip Baro</value>
-<value code=" -5">Skip Compass</value>
-<value code=" -9">Skip GPS</value>
-<value code=" -17">Skip INS</value>
-<value code=" -33">Skip Params/Sonar</value>
-<value code=" -65">Skip RC</value>
-<value code=" 127">Skip Voltage</value>
-</values>
-</param>
-<param humanName="Disarm delay" name="ArduCopter:DISARM_DELAY" documentation="Delay before automatic disarm in seconds. A value of zero disables auto disarm." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="Angle Max" name="ArduCopter:ANGLE_MAX" documentation="Maximum lean angle in all flight modes" user="Advanced">
-<field name="Range">1000 8000</field>
-<field name="Units">Centi-degrees</field>
-</param>
-<param humanName="RC Feel Roll/Pitch" name="ArduCopter:RC_FEEL_RP" documentation="RC feel for roll/pitch which controls vehicle response to user input with 0 being extremely soft and 100 being crisp" user="Standard">
-<field name="Range">0 100</field>
-<values>
-<value code="0">Very Soft</value>
-<value code=" 25">Soft</value>
-<value code=" 50">Medium</value>
-<value code=" 75">Crisp</value>
-<value code=" 100">Very Crisp</value>
-</values>
-<field name="Increment">1</field>
-</param>
-<param humanName="PosHold braking rate" name="ArduCopter:PHLD_BRAKE_RATE" documentation="PosHold flight mode's rotation rate during braking in deg/sec" user="Advanced">
-<field name="Range">4 12</field>
-<field name="Units">deg/sec</field>
-</param>
-<param humanName="PosHold braking angle max" name="ArduCopter:PHLD_BRAKE_ANGLE" documentation="PosHold flight mode's max lean angle during braking in centi-degrees" user="Advanced">
-<field name="Range">2000 4500</field>
-<field name="Units">Centi-degrees</field>
-</param>
-<param humanName="Land repositioning" name="ArduCopter:LAND_REPOSITION" documentation="Enables user input during LAND mode, the landing phase of RTL, and auto mode landings." user="Advanced">
-<values>
-<value code="0">No repositioning</value>
-<value code=" 1">Repositioning</value>
-</values>
-</param>
-<param humanName="EKF Failsafe Action" name="ArduCopter:FS_EKF_ACTION" documentation="Controls the action that will be taken when an EKF failsafe is invoked" user="Advanced">
-<values>
-<value code="1">Land</value>
-<value code=" 2">AltHold</value>
-<value code=" 3">Land even in Stabilize</value>
-</values>
-</param>
-<param humanName="EKF failsafe variance threshold" name="ArduCopter:FS_EKF_THRESH" documentation="Allows setting the maximum acceptable compass and velocity variance" user="Advanced">
-<field name="Values">0.6:Strict, 0.8:Default, 1.0:Relaxed</field>
-</param>
-<param humanName="ESC Update Speed" name="ArduCopter:RC_SPEED" documentation="This is the speed in Hertz that your ESCs will receive updates" user="Advanced">
-<field name="Range">50 490</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Acro Roll and Pitch P gain" name="ArduCopter:ACRO_RP_P" documentation="Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode.  Higher values mean faster rate of rotation." user="Standard">
-<field name="Range">1 10</field>
-</param>
-<param humanName="Acro Yaw P gain" name="ArduCopter:ACRO_YAW_P" documentation="Converts pilot yaw input into a desired rate of rotation in ACRO, Stabilize and SPORT modes.  Higher values mean faster rate of rotation." user="Standard">
-<field name="Range">1 10</field>
-</param>
-<param humanName="Acro Balance Roll" name="ArduCopter:ACRO_BAL_ROLL" documentation="rate at which roll angle returns to level in acro mode.  A higher value causes the vehicle to return to level faster." user="Advanced">
-<field name="Range">0 3</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Acro Balance Pitch" name="ArduCopter:ACRO_BAL_PITCH" documentation="rate at which pitch angle returns to level in acro mode.  A higher value causes the vehicle to return to level faster." user="Advanced">
-<field name="Range">0 3</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Acro Trainer" name="ArduCopter:ACRO_TRAINER" documentation="Type of trainer used in acro mode" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Leveling</value>
-<value code="2">Leveling and Limited</value>
-</values>
-</param>
-<param humanName="Acro Expo" name="ArduCopter:ACRO_EXPO" documentation="Acro roll/pitch Expo to allow faster rotation when stick at edges" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="0.1">Very Low</value>
-<value code="0.2">Low</value>
-<value code="0.3">Medium</value>
-<value code="0.4">High</value>
-<value code="0.5">Very High</value>
-</values>
-</param>
-<param humanName="Roll axis rate controller P gain" name="ArduCopter:RATE_RLL_P" documentation="Roll axis rate controller P gain.  Converts the difference between desired roll rate and actual roll rate into a motor speed output" user="Standard">
-<field name="Range">0.08 0.30</field>
-<field name="Increment">0.005</field>
-</param>
-<param humanName="Roll axis rate controller I gain" name="ArduCopter:RATE_RLL_I" documentation="Roll axis rate controller I gain.  Corrects long-term difference in desired roll rate vs actual roll rate" user="Standard">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Roll axis rate controller I gain maximum" name="ArduCopter:RATE_RLL_IMAX" documentation="Roll axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 4500</field>
-<field name="Increment">10</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Pitch axis rate controller P gain" name="ArduCopter:RATE_PIT_P" documentation="Pitch axis rate controller P gain.  Converts the difference between desired pitch rate and actual pitch rate into a motor speed output" user="Standard">
-<field name="Range">0.08 0.30</field>
-<field name="Increment">0.005</field>
-</param>
-<param humanName="Pitch axis rate controller I gain" name="ArduCopter:RATE_PIT_I" documentation="Pitch axis rate controller I gain.  Corrects long-term difference in desired pitch rate vs actual pitch rate" user="Standard">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Pitch axis rate controller I gain maximum" name="ArduCopter:RATE_PIT_IMAX" documentation="Pitch axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 4500</field>
-<field name="Increment">10</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Yaw axis rate controller P gain" name="ArduCopter:RATE_YAW_P" documentation="Yaw axis rate controller P gain.  Converts the difference between desired yaw rate and actual yaw rate into a motor speed output" user="Standard">
-<field name="Range">0.150 0.50</field>
-<field name="Increment">0.005</field>
-</param>
-<param humanName="Yaw axis rate controller I gain" name="ArduCopter:RATE_YAW_I" documentation="Yaw axis rate controller I gain.  Corrects long-term difference in desired yaw rate vs actual yaw rate" user="Standard">
-<field name="Range">0.010 0.05</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Yaw axis rate controller I gain maximum" name="ArduCopter:RATE_YAW_IMAX" documentation="Yaw axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 4500</field>
-<field name="Increment">10</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Velocity (horizontal) P gain" name="ArduCopter:VEL_XY_P" documentation="Velocity (horizontal) P gain.  Converts the difference between desired velocity to a target acceleration" user="Advanced">
-<field name="Range">0.1 6.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Velocity (horizontal) I gain" name="ArduCopter:VEL_XY_I" documentation="Velocity (horizontal) I gain.  Corrects long-term difference in desired velocity to a target acceleration" user="Advanced">
-<field name="Range">0.02 1.00</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Velocity (horizontal) integrator maximum" name="ArduCopter:VEL_XY_IMAX" documentation="Velocity (horizontal) integrator maximum.  Constrains the target acceleration that the I gain will output" user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Velocity (vertical) P gain" name="ArduCopter:VEL_Z_P" documentation="Velocity (vertical) P gain.  Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller" user="Standard">
-<field name="Range">1.000 8.000</field>
-</param>
-<param humanName="Throttle acceleration controller P gain" name="ArduCopter:ACCEL_Z_P" documentation="Throttle acceleration controller P gain.  Converts the difference between desired vertical acceleration and actual acceleration into a motor output" user="Standard">
-<field name="Range">0.500 1.500</field>
-</param>
-<param humanName="Throttle acceleration controller I gain" name="ArduCopter:ACCEL_Z_I" documentation="Throttle acceleration controller I gain.  Corrects long-term difference in desired vertical acceleration and actual acceleration" user="Standard">
-<field name="Range">0.000 3.000</field>
-</param>
-<param humanName="Throttle acceleration controller I gain maximum" name="ArduCopter:ACCEL_Z_IMAX" documentation="Throttle acceleration controller I gain maximum.  Constrains the maximum pwm that the I term will generate" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Throttle acceleration controller D gain" name="ArduCopter:ACCEL_Z_D" documentation="Throttle acceleration controller D gain.  Compensates for short-term change in desired vertical acceleration vs actual acceleration" user="Standard">
-<field name="Range">0.000 0.400</field>
-</param>
-<param humanName="Throttle acceleration filter" name="ArduCopter:ACCEL_Z_FILT_HZ" documentation="Filter applied to acceleration to reduce noise.  Lower values reduce noise but add delay." user="Standard">
-<field name="Range">1.000 100.000</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Roll axis stabilize controller P gain" name="ArduCopter:STB_RLL_P" documentation="Roll axis stabilize (i.e. angle) controller P gain.  Converts the error between the desired roll angle and actual angle to a desired roll rate" user="Standard">
-<field name="Range">3.000 12.000</field>
-</param>
-<param humanName="Pitch axis stabilize controller P gain" name="ArduCopter:STB_PIT_P" documentation="Pitch axis stabilize (i.e. angle) controller P gain.  Converts the error between the desired pitch angle and actual angle to a desired pitch rate" user="Standard">
-<field name="Range">3.000 12.000</field>
-</param>
-<param humanName="Yaw axis stabilize controller P gain" name="ArduCopter:STB_YAW_P" documentation="Yaw axis stabilize (i.e. angle) controller P gain.  Converts the error between the desired yaw angle and actual angle to a desired yaw rate" user="Standard">
-<field name="Range">3.000 6.000</field>
-</param>
-<param humanName="Position (vertical) controller P gain" name="ArduCopter:POS_Z_P" documentation="Position (vertical) controller P gain.  Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller" user="Standard">
-<field name="Range">1.000 3.000</field>
-</param>
-<param humanName="Position (horizonal) controller P gain" name="ArduCopter:POS_XY_P" documentation="Loiter position controller P gain.  Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller" user="Standard">
-<field name="Range">0.500 2.000</field>
-</param>
-<param humanName="Autotune axis bitmask" name="ArduCopter:AUTOTUNE_AXES" documentation="1-byte bitmap of axes to autotune" user="Standard">
-<field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
-<values>
-<value code="7">All</value>
-<value code="1">Roll Only</value>
-<value code="2">Pitch Only</value>
-<value code="4">Yaw Only</value>
-<value code="3">Roll and Pitch</value>
-<value code="5">Roll and Yaw</value>
-<value code="6">Pitch and Yaw</value>
-</values>
-</param>
-<param humanName="Autotune aggressiveness" name="ArduCopter:AUTOTUNE_AGGR" documentation="Autotune aggressiveness. Defines the bounce back used to detect size of the D term." user="Standard">
-<field name="Range">0.05 0.10</field>
-</param>
-<param humanName="AutoTune minimum D" name="ArduCopter:AUTOTUNE_MIN_D" documentation="Defines the minimum D gain" user="Standard">
-<field name="Range">0.001 0.006</field>
-</param>
-</parameters>
-<parameters name="AntennaTracker">
-<param humanName="MAVLink system ID of this vehicle" name="AntennaTracker:SYSID_THISMAV" documentation="Allows setting an individual system id for this vehicle to distinguish it from others on the same network" user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="Ground station MAVLink system ID" name="AntennaTracker:SYSID_MYGCS" documentation="The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match." user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="Target vehicle's MAVLink system ID" name="AntennaTracker:SYSID_TARGET" documentation="The identifier of the vehicle being tracked. This should be zero (to auto detect) or be the same as the SYSID_THISMAV parameter of the vehicle being tracked." user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="Enable Compass" name="AntennaTracker:MAG_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Time for yaw to slew through its full range" name="AntennaTracker:YAW_SLEW_TIME" documentation="This controls how rapidly the tracker will change the servo output for yaw. It is set as the number of seconds to do a full rotation. You can use this parameter to slow the trackers movements, which may help with some types of trackers. A value of zero will allow for unlimited servo movement per update." user="Standard">
-<field name="Range">0 20</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Time for pitch to slew through its full range" name="AntennaTracker:PITCH_SLEW_TIME" documentation="This controls how rapidly the tracker will change the servo output for pitch. It is set as the number of seconds to do a full range of pitch movement. You can use this parameter to slow the trackers movements, which may help with some types of trackers. A value of zero will allow for unlimited servo movement per update." user="Standard">
-<field name="Range">0 20</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Speed at which to rotate in scan mode" name="AntennaTracker:SCAN_SPEED" documentation="This controls how rapidly the tracker will move the servos in SCAN mode" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Minimum time to apply a yaw reversal" name="AntennaTracker:MIN_REVERSE_TIME" documentation="When the tracker detects it has reached the limit of servo movement in yaw it will reverse and try moving to the other extreme of yaw. This parameter controls the minimum time it should reverse for. It is used to cope with trackers that have a significant lag in movement to ensure they do move all the way around." user="Standard">
-<field name="Range">0 20</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Initial Latitude before GPS lock" name="AntennaTracker:START_LATITUDE" documentation="Combined with START_LONGITUDE this parameter allows for an initial position of the tracker to be set. This position will be used until the GPS gets lock. It can also be used to run a stationary tracker with no GPS attached." user="Standard">
-<field name="Range">-90 90</field>
-<field name="Increment">0.000001</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Initial Longitude before GPS lock" name="AntennaTracker:START_LONGITUDE" documentation="Combined with START_LATITUDE this parameter allows for an initial position of the tracker to be set. This position will be used until the GPS gets lock. It can also be used to run a stationary tracker with no GPS attached." user="Standard">
-<field name="Range">-180 180</field>
-<field name="Increment">0.000001</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Delay before first servo movement from trim" name="AntennaTracker:STARTUP_DELAY" documentation="This parameter can be used to force the servos to their trim value for a time on startup. This can help with some servo types" user="Standard">
-<field name="Range">0 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Type of servo system being used" name="AntennaTracker:SERVO_TYPE" documentation="This allows selection of position servos or on/off servos" user="Standard">
-<values>
-<value code="0">Position</value>
-<value code="1">OnOff</value>
-<value code="2">ContinuousRotation</value>
-</values>
-</param>
-<param humanName="Yaw rate for on/off servos" name="AntennaTracker:ONOFF_YAW_RATE" documentation="Rate of change of yaw in degrees/second for on/off servos" user="Standard">
-<field name="Range">0 50</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Pitch rate for on/off servos" name="AntennaTracker:ONOFF_PITCH_RATE" documentation="Rate of change of pitch in degrees/second for on/off servos" user="Standard">
-<field name="Range">0 50</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Yaw minimum movement time" name="AntennaTracker:ONOFF_YAW_MINT" documentation="Minimum amount of time in seconds to move in yaw" user="Standard">
-<field name="Range">0 2</field>
-<field name="Increment">0.01</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Pitch minimum movement time" name="AntennaTracker:ONOFF_PITCH_MINT" documentation="Minimim amount of time in seconds to move in pitch" user="Standard">
-<field name="Range">0 2</field>
-<field name="Increment">0.01</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Yaw trim" name="AntennaTracker:YAW_TRIM" documentation="Amount of extra yaw to add when tracking. This allows for small adjustments for an out of trim compass." user="Standard">
-<field name="Range">-10 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Pitch trim" name="AntennaTracker:PITCH_TRIM" documentation="Amount of extra pitch to add when tracking. This allows for small adjustments for a badly calibrated barometer." user="Standard">
-<field name="Range">-10 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Yaw Angle Range" name="AntennaTracker:YAW_RANGE" documentation="Yaw axis total range of motion in degrees" user="Standard">
-<field name="Range">0 360</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Pitch Range" name="AntennaTracker:PITCH_RANGE" documentation="Pitch axis total range of motion in degrees" user="Standard">
-<field name="Range">0 180</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Distance minimum to target" name="AntennaTracker:DISTANCE_MIN" documentation="Tracker will track targets at least this distance away" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Number of loaded mission items" name="AntennaTracker:CMD_TOTAL" documentation="Set to 1 if HOME location has been loaded by the ground station. Do not change this manually." user="Advanced">
-<field name="Range">1 255</field>
-</param>
-</parameters>
-<parameters name="APMrover2">
-<param humanName="Log bitmask" name="APMrover2:LOG_BITMASK" documentation="Two byte bitmap of log types to enable in dataflash" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="3950">Default</value>
-<value code="4078">Default+IMU</value>
-</values>
-</param>
-<param humanName="Reset Switch Channel" name="APMrover2:RST_SWITCH_CH" documentation="RC channel to use to reset to last flight mode&#9;after geofence takeover." user="Advanced">
-</param>
-<param humanName="Initial driving mode" name="APMrover2:INITIAL_MODE" documentation="This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver. Usually used in combination with when AUTO_TRIGGER_PIN or AUTO_KICKSTART." user="Advanced">
-<values>
-<value code="0">MANUAL</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">AUTO</value>
-<value code="11">RTL</value>
-<value code="15">GUIDED</value>
-</values>
-</param>
-<param humanName="Receiver RSSI sensing pin" name="APMrover2:RSSI_PIN" documentation="This selects an analog pin for the receiver RSSI voltage. It assumes the voltage is 5V for max rssi, 0V for minimum" user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 0">APM2 A0</value>
-<value code=" 1">APM2 A1</value>
-<value code=" 2">APM2 A2</value>
-<value code=" 13">APM2 A13</value>
-<value code=" 103">Pixhawk SBUS</value>
-</values>
-</param>
-<param humanName="MAVLink system ID of this vehicle" name="APMrover2:SYSID_THIS_MAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="MAVLink ground station ID" name="APMrover2:SYSID_MYGCS" documentation="ID used in MAVLink protocol to identify the controlling ground station" user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="CLI Enable" name="APMrover2:CLI_ENABLED" documentation="This enables/disables the checking for three carriage returns on telemetry links on startup to enter the diagnostics command line interface" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Telemetry startup delay " name="APMrover2:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Standard">
-<field name="Range">0 10</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="GCS PID tuning mask" name="APMrover2:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
-<field name="Bitmask">0:Steering</field>
-<values>
-<value code="0">None</value>
-<value code="1">Steering</value>
-</values>
-</param>
-<param humanName="Skip gyro calibration" name="APMrover2:SKIP_GYRO_CAL" documentation="When enabled this tells the APM to skip the normal gyroscope calibration at startup, and instead use the saved gyro calibration from the last flight. You should only enable this if you are careful to check that your aircraft has good attitude control before flying, as some boards may have significantly different gyro calibration between boots, especially if the temperature changes a lot. If gyro calibration is skipped then APM relies on using the gyro drift detection code to get the right gyro calibration in the few minutes after it boots. This option is mostly useful where the requirement to hold the vehicle still while it is booting is a significant problem." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Magnetometer (compass) enabled" name="APMrover2:MAG_ENABLED" documentation="This should be set to 1 if a compass is installed" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Auto mode trigger pin" name="APMrover2:AUTO_TRIGGER_PIN" documentation="pin number to use to enable the throttle in auto mode. If set to -1 then don't use a trigger, otherwise this is a pin number which if held low in auto mode will enable the motor to run. If the switch is released while in AUTO then the motor will stop again. This can be used in combination with INITIAL_MODE to give a 'press button to start' rover with no receiver." user="standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 0-8">APM TriggerPin</value>
-<value code=" 50-55"> Pixhawk TriggerPin</value>
-</values>
-</param>
-<param humanName="Auto mode trigger kickstart acceleration" name="APMrover2:AUTO_KICKSTART" documentation="X acceleration in meters/second/second to use to trigger the motor start in auto mode. If set to zero then auto throttle starts immediately when the mode switch happens, otherwise the rover waits for the X acceleration to go above this value before it will start the motor" user="standard">
-<field name="Range">0 20</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Target cruise speed in auto modes" name="APMrover2:CRUISE_SPEED" documentation="The target speed in auto missions." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Target speed reduction while turning" name="APMrover2:SPEED_TURN_GAIN" documentation="The percentage to reduce the throttle while turning. If this is 100% then the target speed is not reduced while turning. If this is 50% then the target speed is reduced in proportion to the turn rate, with a reduction of 50% when the steering is maximally deflected." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">percent</field>
-</param>
-<param humanName="Distance to turn to start reducing speed" name="APMrover2:SPEED_TURN_DIST" documentation="The distance to the next turn at which the rover reduces its target speed by the SPEED_TURN_GAIN" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Percentage braking to apply" name="APMrover2:BRAKING_PERCENT" documentation="The maximum reverse throttle braking percentage to apply when cornering" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">percent</field>
-</param>
-<param humanName="Speed error at which to apply braking" name="APMrover2:BRAKING_SPEEDERR" documentation="The amount of overspeed error at which to start applying braking" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Pivot turn angle" name="APMrover2:PIVOT_TURN_ANGLE" documentation="Navigation angle threshold in degrees to switch to pivot steering when SKID_STEER_OUT is 1. This allows you to setup a skid steering rover to turn on the spot in auto mode when the angle it needs to turn it greater than this angle. An angle of zero means to disable pivot turning. Note that you will probably also want to set a low value for WP_RADIUS to get neat turns." user="Standard">
-<field name="Range">0 360</field>
-<field name="Increment">1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Channel 7 option" name="APMrover2:CH7_OPTION" documentation="What to do use channel 7 for" user="Standard">
-<values>
-<value code="0">Nothing</value>
-<value code="1">LearnWaypoint</value>
-</values>
-</param>
-<param humanName="Minimum Throttle" name="APMrover2:THR_MIN" documentation="The minimum throttle setting to which the autopilot will apply. This is mostly useful for rovers with internal combustion motors, to prevent the motor from cutting out in auto mode." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Maximum Throttle" name="APMrover2:THR_MAX" documentation="The maximum throttle setting to which the autopilot will apply. This can be used to prevent overheating a ESC or motor on an electric rover." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Base throttle percentage in auto" name="APMrover2:CRUISE_THROTTLE" documentation="The base throttle percentage to use in auto mode. The CRUISE_SPEED parameter controls the target speed, but the rover starts with the CRUISE_THROTTLE setting as the initial estimate for how much throttle is needed to achieve that speed. It then adjusts the throttle based on how fast the rover is actually going." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Throttle slew rate" name="APMrover2:THR_SLEWRATE" documentation="maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second. A value of zero means no limit. A value of 100 means the throttle can change over its full range in one second. Note that for some NiMH powered rovers setting a lower value like 40 or 50 may be worthwhile as the sudden current demand on the battery of a big rise in throttle may cause a brownout." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Skid steering output" name="APMrover2:SKID_STEER_OUT" documentation="Set this to 1 for skid steering controlled rovers (tank track style). When enabled, servo1 is used for the left track control, servo3 is used for right track control" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">SkidSteeringOutput</value>
-</values>
-</param>
-<param humanName="Skid steering input" name="APMrover2:SKID_STEER_IN" documentation="Set this to 1 for skid steering input rovers (tank track style in RC controller). When enabled, servo1 is used for the left track control, servo3 is used for right track control" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">SkidSteeringInput</value>
-</values>
-</param>
-<param humanName="Failsafe Action" name="APMrover2:FS_ACTION" documentation="What to do on a failsafe event" user="Standard">
-<values>
-<value code="0">Nothing</value>
-<value code="1">RTL</value>
-<value code="2">HOLD</value>
-</values>
-</param>
-<param humanName="Failsafe timeout" name="APMrover2:FS_TIMEOUT" documentation="How long a failsafe event need to happen for before we trigger the failsafe action" user="Standard">
-<field name="Units">seconds</field>
-</param>
-<param humanName="Throttle Failsafe Enable" name="APMrover2:FS_THR_ENABLE" documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel to a low value. This can be used to detect the RC transmitter going out of range. Failsafe will be triggered when the throttle channel goes below the FS_THR_VALUE for FS_TIMEOUT seconds." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Throttle Failsafe Value" name="APMrover2:FS_THR_VALUE" documentation="The PWM level on channel 3 below which throttle failsafe triggers." user="Standard">
-<field name="Range">925 1100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="GCS failsafe enable" name="APMrover2:FS_GCS_ENABLE" documentation="Enable ground control station telemetry failsafe. When enabled the Rover will execute the FS_ACTION when it fails to receive MAVLink heartbeat packets for FS_TIMEOUT seconds." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Rangefinder trigger distance" name="APMrover2:RNGFND_TRIGGR_CM" documentation="The distance from an obstacle in centimeters at which the rangefinder triggers a turn to avoid the obstacle" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Rangefinder trigger angle" name="APMrover2:RNGFND_TURN_ANGL" documentation="The course deviation in degrees to apply while avoiding an obstacle detected with the rangefinder. A positive number means to turn right, and a negative angle means to turn left." user="Standard">
-<field name="Range">-45 45</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Rangefinder turn time" name="APMrover2:RNGFND_TURN_TIME" documentation="The amount of time in seconds to apply the RNGFND_TURN_ANGL after detecting an obstacle." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Rangefinder debounce count" name="APMrover2:RNGFND_DEBOUNCE" documentation="The number of 50Hz rangefinder hits needed to trigger an obstacle avoidance event. If you get a lot of false sonar events then raise this number, but if you make it too large then it will cause lag in detecting obstacles, which could cause you go hit the obstacle." user="Standard">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Learning channel" name="APMrover2:LEARN_CH" documentation="RC Channel to use for learning waypoints" user="Advanced">
-</param>
-<param humanName="Mode channel" name="APMrover2:MODE_CH" documentation="RC Channel to use for driving mode control" user="Advanced">
-</param>
-<param humanName="Mode1" name="APMrover2:MODE1" documentation="Driving mode for switch position 1 (910 to 1230 and above 2049)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Mode2" name="APMrover2:MODE2" documentation="Driving mode for switch position 2 (1231 to 1360)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Mode3" name="APMrover2:MODE3" documentation="Driving mode for switch position 3 (1361 to 1490)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Mode4" name="APMrover2:MODE4" documentation="Driving mode for switch position 4 (1491 to 1620)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Mode5" name="APMrover2:MODE5" documentation="Driving mode for switch position 5 (1621 to 1749)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Mode6" name="APMrover2:MODE6" documentation="Driving mode for switch position 6 (1750 to 2049)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Waypoint radius" name="APMrover2:WP_RADIUS" documentation="The distance in meters from a waypoint when we consider the waypoint has been reached. This determines when the rover will turn along the next waypoint path." user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Turning maximum G force" name="APMrover2:TURN_MAX_G" documentation="The maximum turning acceleration (in units of gravities) that the rover can handle while remaining stable. The navigation code will keep the lateral acceleration below this level to avoid rolling over or slipping the wheels in turns" user="Standard">
-<field name="Range">0.2 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">gravities</field>
-</param>
-</parameters>
-</vehicles><libraries><parameters name="SERIAL">
-<param humanName="Serial0 baud rate" name="SERIAL0_BAUD" documentation="The baud rate used on the USB console. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Telem1 protocol selection" name="SERIAL1_PROTOCOL" documentation="Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="1">GCS Mavlink</value>
-<value code=" 3">Frsky D-PORT</value>
-<value code=" 4">Frsky S-PORT</value>
-<value code=" 5">GPS</value>
-<value code=" 7">Alexmos Gimbal Serial</value>
-<value code=" 8">SToRM32 Gimbal Serial</value>
-</values>
-</param>
-<param humanName="Telem1 Baud Rate" name="SERIAL1_BAUD" documentation="The baud rate used on the Telem1 port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Telemetry 2 protocol selection" name="SERIAL2_PROTOCOL" documentation="Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="1">GCS Mavlink</value>
-<value code=" 3">Frsky D-PORT</value>
-<value code=" 4">Frsky S-PORT</value>
-<value code=" 5">GPS</value>
-<value code=" 7">Alexmos Gimbal Serial</value>
-<value code=" 8">SToRM32 Gimbal Serial</value>
-</values>
-</param>
-<param humanName="Telemetry 2 Baud Rate" name="SERIAL2_BAUD" documentation="The baud rate of the Telem2 port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Serial 3 (GPS) protocol selection" name="SERIAL3_PROTOCOL" documentation="Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="1">GCS Mavlink</value>
-<value code=" 3">Frsky D-PORT</value>
-<value code=" 4">Frsky S-PORT</value>
-<value code=" 5">GPS</value>
-<value code=" 7">Alexmos Gimbal Serial</value>
-<value code=" 8">SToRM32 Gimbal Serial</value>
-</values>
-</param>
-<param humanName="Serial 3 (GPS) Baud Rate" name="SERIAL3_BAUD" documentation="The baud rate used for the Serial 3 (GPS). The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Serial4 protocol selection" name="SERIAL4_PROTOCOL" documentation="Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="1">GCS Mavlink</value>
-<value code=" 3">Frsky D-PORT</value>
-<value code=" 4">Frsky S-PORT</value>
-<value code=" 5">GPS</value>
-<value code=" 7">Alexmos Gimbal Serial</value>
-<value code=" 8">SToRM32 Gimbal Serial</value>
-</values>
-</param>
-<param humanName="Serial 4 Baud Rate" name="SERIAL4_BAUD" documentation="The baud rate used for Serial4. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-</parameters>
-<parameters name="GND_">
-<param humanName="Absolute Pressure" name="GND_ABS_PRESS" documentation="calibrated ground pressure in Pascals">
-<field name="Units">pascals</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="ground temperature" name="GND_TEMP" documentation="calibrated ground temperature in degrees Celsius">
-<field name="Units">degrees celsius</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="altitude offset" name="GND_ALT_OFFSET" documentation="altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.">
-<field name="Range">-128 127</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-</parameters>
-<parameters name="GPS_">
-<param humanName="GPS type" name="GPS_TYPE" documentation="GPS type">
-<values>
-<value code="0">None</value>
-<value code="1">AUTO</value>
-<value code="2">uBlox</value>
-<value code="3">MTK</value>
-<value code="4">MTK19</value>
-<value code="5">NMEA</value>
-<value code="6">SiRF</value>
-<value code="7">HIL</value>
-<value code="8">SwiftNav</value>
-<value code="9">PX4-UAVCAN</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="2nd GPS type" name="GPS_TYPE2" documentation="GPS type of 2nd GPS">
-<values>
-<value code="0">None</value>
-<value code="1">AUTO</value>
-<value code="2">uBlox</value>
-<value code="3">MTK</value>
-<value code="4">MTK19</value>
-<value code="5">NMEA</value>
-<value code="6">SiRF</value>
-<value code="7">HIL</value>
-<value code="8">SwiftNav</value>
-<value code="9">PX4-UAVCAN</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Navigation filter setting" name="GPS_NAVFILTER" documentation="Navigation filter engine setting">
-<values>
-<value code="0">Portable</value>
-<value code="2">Stationary</value>
-<value code="3">Pedestrian</value>
-<value code="4">Automotive</value>
-<value code="5">Sea</value>
-<value code="6">Airborne1G</value>
-<value code="7">Airborne2G</value>
-<value code="8">Airborne4G</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Automatic Switchover Setting" name="GPS_AUTO_SWITCH" documentation="Automatic switchover to GPS reporting best lock" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Minimum Lock Type Accepted for DGPS" name="GPS_MIN_DGPS" documentation="Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode." user="Advanced">
-<values>
-<value code="0">Any</value>
-<value code="50">FloatRTK</value>
-<value code="100">IntegerRTK</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="SBAS Mode" name="GPS_SBAS_MODE" documentation="This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code="2">NoChange</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Minimum elevation" name="GPS_MIN_ELEV" documentation="This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default." user="Advanced">
-<field name="Range">-100 90</field>
-<field name="Units">Degrees</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Destination for GPS_INJECT_DATA MAVLink packets" name="GPS_INJECT_TO" documentation="The GGS can send raw serial packets to inject data to multiple GPSes.">
-<values>
-<value code="0">send to first GPS</value>
-<value code=" 1">send to 2nd GPS</value>
-<value code=" 127">send to all</value>
-</values>
-</param>
-<param humanName="Swift Binary Protocol Logging Mask" name="GPS_SBP_LOGMASK" documentation="Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged" user="Advanced">
-<values>
-<value code="0x0000">None</value>
-<value code=" 0xFFFF">All</value>
-<value code=" 0xFF00">External only</value>
-</values>
-</param>
-<param humanName="Raw data logging" name="GPS_RAW_DATA" documentation="Enable logging of RXM raw data from uBlox which includes carrier phase and pseudo range information. This allows for post processing of dataflash logs for more precise positioning. Note that this requires a raw capable uBlox such as the 6P or 6T.">
-<values>
-<value code="0">Disabled</value>
-<value code="1">log at 1MHz</value>
-<value code="5">log at 5MHz</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="GNSS system configuration" name="GPS_GNSS_MODE" documentation="Bitmask for what GNSS system to use" user="Advanced">
-<field name="Values">0: Leave as currently configured 1: GPS 2: SBAS 4: Galileo 8: Beidou 16: IMES 32: QZSS 64: GLONASS</field>
-<field name="RebootRequired">True</field>
-</param>
-</parameters>
-<parameters name="CAM_">
-<param humanName="Camera shutter (trigger) type" name="CAM_TRIGG_TYPE" documentation="how to trigger the camera to take a picture" user="Standard">
-<values>
-<value code="0">Servo</value>
-<value code="1">Relay</value>
-</values>
-</param>
-<param humanName="Duration that shutter is held open" name="CAM_DURATION" documentation="How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)" user="Standard">
-<field name="Range">0 50</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Servo ON PWM value" name="CAM_SERVO_ON" documentation="PWM value to move servo to when shutter is activated" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo OFF PWM value" name="CAM_SERVO_OFF" documentation="PWM value to move servo to when shutter is deactivated" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Camera trigger distance" name="CAM_TRIGG_DIST" documentation="Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the GPS position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight." user="Standard">
-<field name="Range">0 1000</field>
-<field name="Units">meters</field>
-</param>
-</parameters>
-<parameters name="ARMING_">
-<param humanName="Require Arming Motors " name="ARMING_REQUIRE" documentation="Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately).  If 1, require rudder stick or GCS arming before arming motors and send THR_MIN PWM to throttle channel when disarmed.  If 2, require rudder stick or GCS arming and send 0 PWM to throttle channel when disarmed. See the ARMING_CHECK_* parameters to see what checks are done before arming. Note, if setting this parameter to 0 a reboot is required to arm the plane.  Also note, even with this parameter at 0, if ARMING_CHECK parameter is not also zero the plane may fail to arm throttle at boot due to a pre-arm check failure." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">THR_MIN PWM when disarmed</value>
-<value code="2">0 PWM when disarmed</value>
-</values>
-</param>
-<param humanName="Arm Checks to Peform (bitmask)" name="ARMING_CHECK" documentation="Checks prior to arming motor. This is a bitmask of checks that will be performed befor allowing arming. The default is no checks, allowing arming at any time. You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72. For most users it is recommended that you set this to 1 to enable all checks." user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">All</value>
-<value code="2">Barometer</value>
-<value code="4">Compass</value>
-<value code="8">GPS</value>
-<value code="16">INS</value>
-<value code="32">Parameters</value>
-<value code="64">RC Failsafe</value>
-<value code="128">Board voltage</value>
-<value code="256">Battery Level</value>
-<value code="512">Airspeed</value>
-<value code="1024">LoggingAvailable</value>
-</values>
-</param>
-<param humanName="Rudder Arming" name="ARMING_RUDDER" documentation="Control arm/disarm by rudder input. When enabled arming is done with right rudder, disarming with left rudder. Rudder arming only works in manual throttle modes with throttle at zero" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">ArmingOnly</value>
-<value code="2">ArmOrDisarm</value>
-</values>
-</param>
-</parameters>
-<parameters name="RELAY_">
-<param humanName="First Relay Pin" name="RELAY_PIN" documentation="Digital pin number for first relay control. This is the pin used for camera control." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="13">APM2 A9 pin</value>
-<value code="47">APM1 relay</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Second Relay Pin" name="RELAY_PIN2" documentation="Digital pin number for 2nd relay control." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="13">APM2 A9 pin</value>
-<value code="47">APM1 relay</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Third Relay Pin" name="RELAY_PIN3" documentation="Digital pin number for 3rd relay control." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="13">APM2 A9 pin</value>
-<value code="47">APM1 relay</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Fourth Relay Pin" name="RELAY_PIN4" documentation="Digital pin number for 4th relay control." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="13">APM2 A9 pin</value>
-<value code="47">APM1 relay</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Default relay state" name="RELAY_DEFAULT" documentation="The state of the relay on boot. " user="Standard">
-<values>
-<value code="0">Off</value>
-<value code="1">On</value>
-<value code="2">NoChange</value>
-</values>
-</param>
-</parameters>
-<parameters name="RNGFND">
-<param humanName="Rangefinder type" name="RNGFND_TYPE" documentation="What type of rangefinder device that is connected">
-<values>
-<value code="0">None</value>
-<value code="1">Analog</value>
-<value code="2">APM2-MaxbotixI2C</value>
-<value code="3">APM2-PulsedLightI2C</value>
-<value code="4">PX4-I2C</value>
-<value code="5">PX4-PWM</value>
-<value code="6">BBB-PRU</value>
-</values>
-</param>
-<param humanName="Rangefinder pin" name="RNGFND_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port.">
-<values>
-<value code="-1">Not Used</value>
-<value code=" 0">APM2-A0</value>
-<value code=" 1">APM2-A1</value>
-<value code=" 2">APM2-A2</value>
-<value code=" 3">APM2-A3</value>
-<value code=" 4">APM2-A4</value>
-<value code=" 5">APM2-A5</value>
-<value code=" 6">APM2-A6</value>
-<value code=" 7">APM2-A7</value>
-<value code=" 8">APM2-A8</value>
-<value code=" 9">APM2-A9</value>
-<value code=" 11">PX4-airspeed port</value>
-<value code=" 15">Pixhawk-airspeed port</value>
-<value code=" 64">APM1-airspeed port</value>
-</values>
-</param>
-<param humanName="Rangefinder scaling" name="RNGFND_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.">
-<field name="Units">meters/Volt</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="rangefinder offset" name="RNGFND_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars">
-<field name="Units">Volts</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Rangefinder function" name="RNGFND_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.">
-<values>
-<value code="0">Linear</value>
-<value code="1">Inverted</value>
-<value code="2">Hyperbolic</value>
-</values>
-</param>
-<param humanName="Rangefinder minimum distance" name="RNGFND_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read">
-<field name="Units">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder maximum distance" name="RNGFND_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read">
-<field name="Units">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder stop pin" name="RNGFND_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other.">
-<values>
-<value code="-1">Not Used</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Rangefinder settle time" name="RNGFND_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.">
-<field name="Units">milliseconds</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Ratiometric" name="RNGFND_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.">
-<values>
-<value code="0">No</value>
-<value code="1">Yes</value>
-</values>
-</param>
-<param humanName="Powersave range" name="RNGFNDRNGFND_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled">
-<field name="Units">meters</field>
-<field name="Range">0 32767</field>
-</param>
-<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Second Rangefinder type" name="RNGFND2_TYPE" documentation="What type of rangefinder device that is connected">
-<values>
-<value code="0">None</value>
-<value code="1">Analog</value>
-<value code="2">APM2-MaxbotixI2C</value>
-<value code="3">APM2-PulsedLightI2C</value>
-<value code="4">PX4-I2C</value>
-<value code="5">PX4-PWM</value>
-<value code="6">BBB-PRU</value>
-</values>
-</param>
-<param humanName="Rangefinder pin" name="RNGFND2_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port.">
-<values>
-<value code="-1">Not Used</value>
-<value code=" 0">APM2-A0</value>
-<value code=" 1">APM2-A1</value>
-<value code=" 2">APM2-A2</value>
-<value code=" 3">APM2-A3</value>
-<value code=" 4">APM2-A4</value>
-<value code=" 5">APM2-A5</value>
-<value code=" 6">APM2-A6</value>
-<value code=" 7">APM2-A7</value>
-<value code=" 8">APM2-A8</value>
-<value code=" 9">APM2-A9</value>
-<value code=" 11">PX4-airspeed port</value>
-<value code=" 15">Pixhawk-airspeed port</value>
-<value code=" 64">APM1-airspeed port</value>
-</values>
-</param>
-<param humanName="Rangefinder scaling" name="RNGFND2_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.">
-<field name="Units">meters/Volt</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="rangefinder offset" name="RNGFND2_OFFSET" documentation="Offset in volts for zero distance">
-<field name="Units">Volts</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Rangefinder function" name="RNGFND2_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.">
-<values>
-<value code="0">Linear</value>
-<value code="1">Inverted</value>
-<value code="2">Hyperbolic</value>
-</values>
-</param>
-<param humanName="Rangefinder minimum distance" name="RNGFND2_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read">
-<field name="Units">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder maximum distance" name="RNGFND2_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read">
-<field name="Units">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder stop pin" name="RNGFND2_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other.">
-<values>
-<value code="-1">Not Used</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Sonar settle time" name="RNGFND2_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.">
-<field name="Units">milliseconds</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Ratiometric" name="RNGFND2_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.">
-<values>
-<value code="0">No</value>
-<value code="1">Yes</value>
-</values>
-</param>
-<param humanName="Distance (in cm) from the second range finder to the ground" name="RNGFND2_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the second range finder should return when the vehicle is on the ground." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-</parameters>
-<parameters name="TERRAIN_">
-<param humanName="Terrain data enable" name="TERRAIN_ENABLE" documentation="enable terrain data. This enables the vehicle storing a database of terrain data on the SD card. The terrain data is requested from the ground station as needed, and stored for later use on the SD card. To be useful the ground station must support TERRAIN_REQUEST messages and have access to a terrain database, such as the SRTM database.">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-<param humanName="Terrain grid spacing" name="TERRAIN_SPACING" documentation="Distance between terrain grid points in meters. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station. If your GCS is using the worldwide SRTM database then a resolution of 100 meters is appropriate. Some parts of the world may have higher resolution data available, such as 30 meter data available in the SRTM database in the USA. The grid spacing also controls how much data is kept in memory during flight. A larger grid spacing will allow for a larger amount of data in memory. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2.7 kilometers by 3.2 kilometers. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be demand loaded as needed.">
-<field name="Units">meters</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="RC1_">
-<param humanName="RC min PWM" name="RC1_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC1_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC1_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC1_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC1_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="RC2_">
-<param humanName="RC min PWM" name="RC2_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC2_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC2_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC2_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC2_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="RC3_">
-<param humanName="RC min PWM" name="RC3_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC3_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC3_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC3_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC3_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="RC4_">
-<param humanName="RC min PWM" name="RC4_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC4_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC4_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC4_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC4_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="RC5_">
-<param humanName="RC min PWM" name="RC5_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC5_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC5_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC5_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC5_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC5_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC6_">
-<param humanName="RC min PWM" name="RC6_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC6_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC6_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC6_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC6_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC6_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC7_">
-<param humanName="RC min PWM" name="RC7_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC7_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC7_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC7_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC7_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC7_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC8_">
-<param humanName="RC min PWM" name="RC8_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC8_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC8_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC8_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC8_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC8_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC9_">
-<param humanName="RC min PWM" name="RC9_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC9_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC9_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC9_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC9_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC9_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC10_">
-<param humanName="RC min PWM" name="RC10_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC10_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC10_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC10_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC10_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC10_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC11_">
-<param humanName="RC min PWM" name="RC11_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC11_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC11_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC11_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC11_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC11_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC12_">
-<param humanName="RC min PWM" name="RC12_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC12_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC12_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC12_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC12_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC12_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC13_">
-<param humanName="RC min PWM" name="RC13_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC13_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC13_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC13_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC13_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC13_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC14_">
-<param humanName="RC min PWM" name="RC14_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC14_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC14_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC14_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC14_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC14_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-</values>
-</param>
-</parameters>
-<parameters name="RLL2SRV_">
-<param humanName="Roll Time Constant" name="RLL2SRV_TCONST" documentation="This controls the time constant in seconds from demanded to achieved bank angle. A value of 0.5 is a good default and will work with nearly all models. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the aircraft can achieve." user="Advanced">
-<field name="Range">0.4 1.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Proportional Gain" name="RLL2SRV_P" documentation="This is the gain from bank angle error to aileron." user="User">
-<field name="Range">0.1 4.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Damping Gain" name="RLL2SRV_D" documentation="This is the gain from roll rate to aileron. This adjusts the damping of the roll control loop. It has the same effect as RLL2SRV_D in the old PID controller but without the spikes in servo demands. This gain helps to reduce rolling in turbulence. It should be increased in 0.01 increments as too high a value can lead to a high frequency roll oscillation that could overstress the airframe." user="User">
-<field name="Range">0 0.1</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Integrator Gain" name="RLL2SRV_I" documentation="This is the gain from the integral of bank angle to aileron. It has the same effect as RLL2SRV_I in the old PID controller. Increasing this gain causes the controller to trim out steady offsets due to an out of trim aircraft." user="User">
-<field name="Range">0 1.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Maximum Roll Rate" name="RLL2SRV_RMAX" documentation="This sets the maximum roll rate that the controller will demand (degrees/sec). Setting it to zero disables the limit. If this value is set too low, then the roll can't keep up with the navigation demands and the plane will start weaving. If it is set too high (or disabled by setting to zero) then ailerons will get large inputs at the start of turns. A limit of 60 degrees/sec is a good default." user="Advanced">
-<field name="Range">0 180</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Integrator limit" name="RLL2SRV_IMAX" documentation="This limits the number of degrees of aileron in centi-degrees over which the integrator will operate. At the default setting of 3000 centi-degrees, the integrator will be limited to +- 30 degrees of servo travel. The maximum servo deflection is +- 45 centi-degrees, so the default value represents a 2/3rd of the total control throw which is adequate unless the aircraft is severely out of trim." user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Feed forward Gain" name="RLL2SRV_FF" documentation="This is the gain from demanded rate to aileron output. " user="User">
-<field name="Range">0.1 4.0</field>
-<field name="Increment">0.1</field>
-</param>
-</parameters>
-<parameters name="PTCH2SRV_">
-<param humanName="Pitch Time Constant" name="PTCH2SRV_TCONST" documentation="This controls the time constant in seconds from demanded to achieved pitch angle. A value of 0.5 is a good default and will work with nearly all models. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the aircraft can achieve." user="Advanced">
-<field name="Range">0.4 1.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Proportional Gain" name="PTCH2SRV_P" documentation="This is the gain from pitch angle to elevator. This gain works the same way as PTCH2SRV_P in the old PID controller and can be set to the same value." user="User">
-<field name="Range">0.1 3.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Damping Gain" name="PTCH2SRV_D" documentation="This is the gain from pitch rate to elevator. This adjusts the damping of the pitch control loop. It has the same effect as PTCH2SRV_D in the old PID controller and can be set to the same value, but without the spikes in servo demands. This gain helps to reduce pitching in turbulence. Some airframes such as flying wings that have poor pitch damping can benefit from increasing this gain term. This should be increased in 0.01 increments as too high a value can lead to a high frequency pitch oscillation that could overstress the airframe." user="User">
-<field name="Range">0 0.1</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Integrator Gain" name="PTCH2SRV_I" documentation="This is the gain applied to the integral of pitch angle. It has the same effect as PTCH2SRV_I in the old PID controller and can be set to the same value. Increasing this gain causes the controller to trim out constant offsets between demanded and measured pitch angle." user="User">
-<field name="Range">0 0.5</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Pitch up max rate" name="PTCH2SRV_RMAX_UP" documentation="This sets the maximum nose up pitch rate that the controller will demand (degrees/sec). Setting it to zero disables the limit." user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Pitch down max rate" name="PTCH2SRV_RMAX_DN" documentation="This sets the maximum nose down pitch rate that the controller will demand (degrees/sec). Setting it to zero disables the limit." user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Roll compensation" name="PTCH2SRV_RLL" documentation="This is the gain term that is applied to the pitch rate offset calculated as required to keep the nose level during turns. The default value is 1 which will work for all models. Advanced users can use it to correct for height variation in turns. If height is lost initially in turns this can be increased in small increments of 0.05 to compensate. If height is gained initially in turns then it can be decreased." user="User">
-<field name="Range">0.7 1.5</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Integrator limit" name="PTCH2SRV_IMAX" documentation="This limits the number of centi-degrees of elevator over which the integrator will operate. At the default setting of 3000 centi-degrees, the integrator will be limited to +- 30 degrees of servo travel. The maximum servo deflection is +- 45 degrees, so the default value represents a 2/3rd of the total control throw which is adequate for most aircraft unless they are severely out of trim or have very limited elevator control effectiveness." user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Feed forward Gain" name="PTCH2SRV_FF" documentation="This is the gain from demanded rate to elevator output. " user="User">
-<field name="Range">0.1 4.0</field>
-<field name="Increment">0.1</field>
-</param>
-</parameters>
-<parameters name="YAW2SRV_">
-<param humanName="Sideslip control gain" name="YAW2SRV_SLIP" documentation="This is the gain from measured lateral acceleration to demanded yaw rate. It should be set to zero unless active control of sideslip is desired. This will only work effectively if there is enough fuselage side area to generate a measureable lateral acceleration when the model sideslips. Flying wings and most gliders cannot use this term. This term should only be adjusted after the basic yaw damper gain YAW2SRV_DAMP is tuned and the YAW2SRV_INT integrator gain has been set. Set this gain to zero if only yaw damping is required.">
-<field name="Range">0 4</field>
-<field name="Increment">0.25</field>
-</param>
-<param humanName="Sideslip control integrator" name="YAW2SRV_INT" documentation="This is the integral gain from lateral acceleration error. This gain should only be non-zero if active control over sideslip is desired. If active control over sideslip is required then this can be set to 1.0 as a first try.">
-<field name="Range">0 2</field>
-<field name="Increment">0.25</field>
-</param>
-<param humanName="Yaw damping" name="YAW2SRV_DAMP" documentation="This is the gain from yaw rate to rudder. It acts as a damper on yaw motion. If a basic yaw damper is required, this gain term can be incremented, whilst leaving the YAW2SRV_SLIP and YAW2SRV_INT gains at zero. Note that unlike with a standard PID controller, if this damping term is zero then the integrator will also be disabled.">
-<field name="Range">0 2</field>
-<field name="Increment">0.25</field>
-</param>
-<param humanName="Yaw coordination gain" name="YAW2SRV_RLL" documentation="This is the gain term that is applied to the yaw rate offset calculated as required to keep the yaw rate consistent with the turn rate for a coordinated turn. The default value is 1 which will work for all models. Advanced users can use it to correct for any tendency to yaw away from or into the turn once the turn is established. Increase to make the model yaw more initially and decrease to make the model yaw less initially. If values greater than 1.1 or less than 0.9 are required then it normally indicates a problem with the airspeed calibration.">
-<field name="Range">0.8 1.2</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Integrator limit" name="YAW2SRV_IMAX" documentation="This limits the number of centi-degrees of rudder over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 degrees, so the default value represents a 1/3rd of the total control throw which is adequate for most aircraft unless they are severely out of trim or have very limited rudder control effectiveness." user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="STEER2SRV_">
-<param humanName="Steering Time Constant" name="STEER2SRV_TCONST" documentation="This controls the time constant in seconds from demanded to achieved steering angle. A value of 0.75 is a good default and will work with nearly all rovers. Ground steering in aircraft needs a bit smaller time constant, and a value of 0.5 is recommended for best ground handling in fixed wing aircraft. A value of 0.75 means that the controller will try to correct any deviation between the desired and actual steering angle in 0.75 seconds. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the vehicle can achieve." user="Advanced">
-<field name="Range">0.4 1.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Steering turning gain" name="STEER2SRV_P" documentation="The proportional gain for steering. This should be approximately equal to the diameter of the turning circle of the vehicle at low speed and maximum steering angle" user="User">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Integrator Gain" name="STEER2SRV_I" documentation="This is the gain from the integral of steering angle. Increasing this gain causes the controller to trim out steady offsets due to an out of trim vehicle." user="User">
-<field name="Range">0 1.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Damping Gain" name="STEER2SRV_D" documentation="This adjusts the damping of the steering control loop. This gain helps to reduce steering jitter with vibration. It should be increased in 0.01 increments as too high a value can lead to a high frequency steering oscillation that could overstress the vehicle." user="User">
-<field name="Range">0 0.1</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Integrator limit" name="STEER2SRV_IMAX" documentation="This limits the number of degrees of steering in centi-degrees over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 centi-degrees, so the default value represents a 1/3rd of the total control throw which is adequate unless the vehicle is severely out of trim." user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Minimum speed" name="STEER2SRV_MINSPD" documentation="This is the minimum assumed ground speed in meters/second for steering. Having a minimum speed prevents oscillations when the vehicle first starts moving. The vehicle can still driver slower than this limit, but the steering calculations will be done based on this minimum speed." user="User">
-<field name="Range">0 5</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Steering feed forward" name="STEER2SRV_FF" documentation="The feed forward gain for steering this is the ratio of the achieved turn rate to applied steering. A value of 1 means that the vehicle would yaw at a rate of 45 degrees per second with full steering deflection at 1m/s ground speed." user="User">
-<field name="Range">0.0 10.0</field>
-<field name="Increment">0.1</field>
-</param>
-</parameters>
-<parameters name="COMPASS_">
-<param humanName="Compass offsets on the X axis" name="COMPASS_OFS_X" documentation="Offset to be added to the compass x-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Compass offsets on the Y axis" name="COMPASS_OFS_Y" documentation="Offset to be added to the compass y-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Compass offsets on the Z axis" name="COMPASS_OFS_Z" documentation="Offset to be added to the compass z-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Compass declination" name="COMPASS_DEC" documentation="An angle to compensate between the true north and magnetic north" user="Standard">
-<field name="Range">-3.142 3.142</field>
-<field name="Increment">0.01</field>
-<field name="Units">Radians</field>
-</param>
-<param humanName="Learn compass offsets automatically" name="COMPASS_LEARN" documentation="Enable or disable the automatic learning of compass offsets" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Use compass for yaw" name="COMPASS_USE" documentation="Enable or disable the use of the compass (instead of the GPS) for determining heading" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Auto Declination" name="COMPASS_AUTODEC" documentation="Enable or disable the automatic calculation of the declination based on gps location" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Motor interference compensation type" name="COMPASS_MOTCT" documentation="Set motor interference compensation type to disabled, throttle or current.  Do not change manually.">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Use Throttle</value>
-<value code="2">Use Current</value>
-</values>
-<field name="Increment">1</field>
-</param>
-<param humanName="Motor interference compensation for body frame X axis" name="COMPASS_MOT_X" documentation="Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation for body frame Y axis" name="COMPASS_MOT_Y" documentation="Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation for body frame Z axis" name="COMPASS_MOT_Z" documentation="Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Compass orientation" name="COMPASS_ORIENT" documentation="The orientation of the compass relative to the autopilot board. This will default to the right value for each board type, but can be changed if you have an external compass. See the documentation for your external compass for the right value. The correct orientation should give the X axis forward, the Y axis to the right and the Z axis down. So if your aircraft is pointing west it should show a positive value for the Y axis, and a value close to zero for the X axis. On a PX4 or Pixhawk with an external compass the correct value is zero if the compass is correctly oriented. NOTE: This orientation is combined with any AHRS_ORIENTATION setting.">
-<values>
-<value code="0">None</value>
-<value code="1">Yaw45</value>
-<value code="2">Yaw90</value>
-<value code="3">Yaw135</value>
-<value code="4">Yaw180</value>
-<value code="5">Yaw225</value>
-<value code="6">Yaw270</value>
-<value code="7">Yaw315</value>
-<value code="8">Roll180</value>
-<value code="9">Roll180Yaw45</value>
-<value code="10">Roll180Yaw90</value>
-<value code="11">Roll180Yaw135</value>
-<value code="12">Pitch180</value>
-<value code="13">Roll180Yaw225</value>
-<value code="14">Roll180Yaw270</value>
-<value code="15">Roll180Yaw315</value>
-<value code="16">Roll90</value>
-<value code="17">Roll90Yaw45</value>
-<value code="18">Roll90Yaw90</value>
-<value code="19">Roll90Yaw135</value>
-<value code="20">Roll270</value>
-<value code="21">Roll270Yaw45</value>
-<value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw136</value>
-<value code="24">Pitch90</value>
-<value code="25">Pitch270</value>
-<value code="26">Pitch180Yaw90</value>
-<value code="27">Pitch180Yaw270</value>
-<value code="28">Roll90Pitch90</value>
-<value code="29">Roll180Pitch90</value>
-<value code="30">Roll270Pitch90</value>
-<value code="31">Roll90Pitch180</value>
-<value code="32">Roll270Pitch180</value>
-<value code="33">Roll90Pitch270</value>
-<value code="34">Roll180Pitch270</value>
-<value code="35">Roll270Pitch270</value>
-<value code="36">Roll90Pitch180Yaw90</value>
-<value code="37">Roll90Yaw270</value>
-<value code="38">Yaw293Pitch68Roll90</value>
-</values>
-</param>
-<param humanName="Compass is attached via an external cable" name="COMPASS_EXTERNAL" documentation="Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk, but must be set correctly on an APM2. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option" user="Advanced">
-<values>
-<value code="0">Internal</value>
-<value code="1">External</value>
-</values>
-</param>
-<param humanName="Compass2 offsets on the X axis" name="COMPASS_OFS2_X" documentation="Offset to be added to compass2's x-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Compass2 offsets on the Y axis" name="COMPASS_OFS2_Y" documentation="Offset to be added to compass2's y-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Compass2 offsets on the Z axis" name="COMPASS_OFS2_Z" documentation="Offset to be added to compass2's z-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Motor interference compensation to compass2 for body frame X axis" name="COMPASS_MOT2_X" documentation="Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation to compass2 for body frame Y axis" name="COMPASS_MOT2_Y" documentation="Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation to compass2 for body frame Z axis" name="COMPASS_MOT2_Z" documentation="Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Choose primary compass" name="COMPASS_PRIMARY" documentation="If more than one compass is available this selects which compass is the primary. Normally 0=External, 1=Internal. If no External compass is attached this parameter is ignored" user="Advanced">
-<values>
-<value code="0">FirstCompass</value>
-<value code="1">SecondCompass</value>
-<value code="2">ThirdCompass</value>
-</values>
-</param>
-<param humanName="Compass3 offsets on the X axis" name="COMPASS_OFS3_X" documentation="Offset to be added to compass3's x-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Compass3 offsets on the Y axis" name="COMPASS_OFS3_Y" documentation="Offset to be added to compass3's y-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Compass3 offsets on the Z axis" name="COMPASS_OFS3_Z" documentation="Offset to be added to compass3's z-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Motor interference compensation to compass3 for body frame X axis" name="COMPASS_MOT3_X" documentation="Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation to compass3 for body frame Y axis" name="COMPASS_MOT3_Y" documentation="Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation to compass3 for body frame Z axis" name="COMPASS_MOT3_Z" documentation="Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Compass device id" name="COMPASS_DEV_ID" documentation="Compass device id.  Automatically detected, do not set manually" user="Advanced">
-</param>
-<param humanName="Compass2 device id" name="COMPASS_DEV_ID2" documentation="Second compass's device id.  Automatically detected, do not set manually" user="Advanced">
-</param>
-<param humanName="Compass3 device id" name="COMPASS_DEV_ID3" documentation="Third compass's device id.  Automatically detected, do not set manually" user="Advanced">
-</param>
-<param humanName="Compass2 used for yaw" name="COMPASS_USE2" documentation="Enable or disable the second compass for determining heading." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Compass2 orientation" name="COMPASS_ORIENT2" documentation="The orientation of the second compass relative to the frame (if external) or autopilot board (if internal).">
-<values>
-<value code="0">None</value>
-<value code="1">Yaw45</value>
-<value code="2">Yaw90</value>
-<value code="3">Yaw135</value>
-<value code="4">Yaw180</value>
-<value code="5">Yaw225</value>
-<value code="6">Yaw270</value>
-<value code="7">Yaw315</value>
-<value code="8">Roll180</value>
-<value code="9">Roll180Yaw45</value>
-<value code="10">Roll180Yaw90</value>
-<value code="11">Roll180Yaw135</value>
-<value code="12">Pitch180</value>
-<value code="13">Roll180Yaw225</value>
-<value code="14">Roll180Yaw270</value>
-<value code="15">Roll180Yaw315</value>
-<value code="16">Roll90</value>
-<value code="17">Roll90Yaw45</value>
-<value code="18">Roll90Yaw90</value>
-<value code="19">Roll90Yaw135</value>
-<value code="20">Roll270</value>
-<value code="21">Roll270Yaw45</value>
-<value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw136</value>
-<value code="24">Pitch90</value>
-<value code="25">Pitch270</value>
-<value code="26">Pitch180Yaw90</value>
-<value code="27">Pitch180Yaw270</value>
-<value code="28">Roll90Pitch90</value>
-<value code="29">Roll180Pitch90</value>
-<value code="30">Roll270Pitch90</value>
-<value code="31">Roll90Pitch180</value>
-<value code="32">Roll270Pitch180</value>
-<value code="33">Roll90Pitch270</value>
-<value code="34">Roll180Pitch270</value>
-<value code="35">Roll270Pitch270</value>
-<value code="36">Roll90Pitch180Yaw90</value>
-<value code="37">Roll90Yaw270</value>
-<value code="38">Yaw293Pitch68Roll90</value>
-</values>
-</param>
-<param humanName="Compass2 is attached via an external cable" name="COMPASS_EXTERN2" documentation="Configure second compass so it is attached externally. This is auto-detected on PX4 and Pixhawk." user="Advanced">
-<values>
-<value code="0">Internal</value>
-<value code="1">External</value>
-</values>
-</param>
-<param humanName="Compass3 used for yaw" name="COMPASS_USE3" documentation="Enable or disable the third compass for determining heading." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Compass3 orientation" name="COMPASS_ORIENT3" documentation="The orientation of the third compass relative to the frame (if external) or autopilot board (if internal).">
-<values>
-<value code="0">None</value>
-<value code="1">Yaw45</value>
-<value code="2">Yaw90</value>
-<value code="3">Yaw135</value>
-<value code="4">Yaw180</value>
-<value code="5">Yaw225</value>
-<value code="6">Yaw270</value>
-<value code="7">Yaw315</value>
-<value code="8">Roll180</value>
-<value code="9">Roll180Yaw45</value>
-<value code="10">Roll180Yaw90</value>
-<value code="11">Roll180Yaw135</value>
-<value code="12">Pitch180</value>
-<value code="13">Roll180Yaw225</value>
-<value code="14">Roll180Yaw270</value>
-<value code="15">Roll180Yaw315</value>
-<value code="16">Roll90</value>
-<value code="17">Roll90Yaw45</value>
-<value code="18">Roll90Yaw90</value>
-<value code="19">Roll90Yaw135</value>
-<value code="20">Roll270</value>
-<value code="21">Roll270Yaw45</value>
-<value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw136</value>
-<value code="24">Pitch90</value>
-<value code="25">Pitch270</value>
-<value code="26">Pitch180Yaw90</value>
-<value code="27">Pitch180Yaw270</value>
-<value code="28">Roll90Pitch90</value>
-<value code="29">Roll180Pitch90</value>
-<value code="30">Roll270Pitch90</value>
-<value code="31">Roll90Pitch180</value>
-<value code="32">Roll270Pitch180</value>
-<value code="33">Roll90Pitch270</value>
-<value code="34">Roll180Pitch270</value>
-<value code="35">Roll270Pitch270</value>
-<value code="36">Roll90Pitch180Yaw90</value>
-<value code="37">Roll90Yaw270</value>
-<value code="38">Yaw293Pitch68Roll90</value>
-</values>
-</param>
-<param humanName="Compass3 is attached via an external cable" name="COMPASS_EXTERN3" documentation="Configure third compass so it is attached externally. This is auto-detected on PX4 and Pixhawk." user="Advanced">
-<values>
-<value code="0">Internal</value>
-<value code="1">External</value>
-</values>
-</param>
-</parameters>
-<parameters name="SCHED_">
-<param humanName="Scheduler debug level" name="SCHED_DEBUG" documentation='Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.' user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="2">ShowSlips</value>
-<value code="3">ShowOverruns</value>
-</values>
-</param>
-</parameters>
-<parameters name="RCMAP_">
-<param humanName="Roll channel" name="RCMAP_ROLL" documentation="Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect." user="Advanced">
-<field name="Range">1 8</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Pitch channel" name="RCMAP_PITCH" documentation="Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect." user="Advanced">
-<field name="Range">1 8</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Throttle channel" name="RCMAP_THROTTLE" documentation="Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Warning APM 2.X: Changing the throttle channel could produce unexpected fail-safe results if connection between receiver and on-board PPM Encoder is lost. Disabling on-board PPM Encoder is recommended.  Reboot is required for changes to take effect." user="Advanced">
-<field name="Range">1 8</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Yaw channel" name="RCMAP_YAW" documentation="Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect." user="Advanced">
-<field name="Range">1 8</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-</parameters>
-<parameters name="INS_">
-<param humanName="IMU Product ID" name="INS_PRODUCT_ID" documentation="Which type of IMU is installed (read-only). " user="Advanced">
-<values>
-<value code="0">Unknown</value>
-<value code="1">APM1-1280</value>
-<value code="2">APM1-2560</value>
-<value code="88">APM2</value>
-<value code="3">SITL</value>
-<value code="4">PX4v1</value>
-<value code="5">PX4v2</value>
-<value code="256">Flymaple</value>
-<value code="257">Linux</value>
-</values>
-</param>
-<param humanName="Gyro offsets of X axis" name="INS_GYROFFS_X" documentation="Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro offsets of Y axis" name="INS_GYROFFS_Y" documentation="Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro offsets of Z axis" name="INS_GYROFFS_Z" documentation="Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro2 offsets of X axis" name="INS_GYR2OFFS_X" documentation="Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro2 offsets of Y axis" name="INS_GYR2OFFS_Y" documentation="Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro2 offsets of Z axis" name="INS_GYR2OFFS_Z" documentation="Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro3 offsets of X axis" name="INS_GYR3OFFS_X" documentation="Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro3 offsets of Y axis" name="INS_GYR3OFFS_Y" documentation="Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro3 offsets of Z axis" name="INS_GYR3OFFS_Z" documentation="Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Accelerometer scaling of X axis" name="INS_ACCSCAL_X" documentation="Accelerometer scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer scaling of Y axis" name="INS_ACCSCAL_Y" documentation="Accelerometer scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer scaling of Z axis" name="INS_ACCSCAL_Z" documentation="Accelerometer scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer offsets of X axis" name="INS_ACCOFFS_X" documentation="Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer offsets of Y axis" name="INS_ACCOFFS_Y" documentation="Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer offsets of Z axis" name="INS_ACCOFFS_Z" documentation="Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer2 scaling of X axis" name="INS_ACC2SCAL_X" documentation="Accelerometer2 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer2 scaling of Y axis" name="INS_ACC2SCAL_Y" documentation="Accelerometer2 scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer2 scaling of Z axis" name="INS_ACC2SCAL_Z" documentation="Accelerometer2 scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer2 offsets of X axis" name="INS_ACC2OFFS_X" documentation="Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer2 offsets of Y axis" name="INS_ACC2OFFS_Y" documentation="Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer2 offsets of Z axis" name="INS_ACC2OFFS_Z" documentation="Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer3 scaling of X axis" name="INS_ACC3SCAL_X" documentation="Accelerometer3 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer3 scaling of Y axis" name="INS_ACC3SCAL_Y" documentation="Accelerometer3 scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer3 scaling of Z axis" name="INS_ACC3SCAL_Z" documentation="Accelerometer3 scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer3 offsets of X axis" name="INS_ACC3OFFS_X" documentation="Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer3 offsets of Y axis" name="INS_ACC3OFFS_Y" documentation="Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer3 offsets of Z axis" name="INS_ACC3OFFS_Z" documentation="Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Gyro filter cutoff frequency" name="INS_GYRO_FILTER" documentation="Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)" user="Advanced">
-<field name="Range">0 127</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Accel filter cutoff frequency" name="INS_ACCEL_FILTER" documentation="Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)" user="Advanced">
-<field name="Range">0 127</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Use first IMU for attitude, velocity and position estimates" name="INS_USE" documentation="Use first IMU for attitude, velocity and position estimates" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Use second IMU for attitude, velocity and position estimates" name="INS_USE2" documentation="Use second IMU for attitude, velocity and position estimates" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Use third IMU for attitude, velocity and position estimates" name="INS_USE3" documentation="Use third IMU for attitude, velocity and position estimates" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-</parameters>
-<parameters name="AHRS_">
-<param humanName="AHRS GPS gain" name="AHRS_GPS_GAIN" documentation="This controls how how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.">
-<field name="Range">0.0 1.0</field>
-<field name="Increment">.01</field>
-</param>
-<param humanName="AHRS use GPS for navigation" name="AHRS_GPS_USE" documentation="This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Yaw P" name="AHRS_YAW_P" documentation="This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.">
-<field name="Range">0.1 0.4</field>
-<field name="Increment">.01</field>
-</param>
-<param humanName="AHRS RP_P" name="AHRS_RP_P" documentation="This controls how fast the accelerometers correct the attitude">
-<field name="Range">0.1 0.4</field>
-<field name="Increment">.01</field>
-</param>
-<param humanName="Maximum wind" name="AHRS_WIND_MAX" documentation="This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is.">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="AHRS Trim Roll" name="AHRS_TRIM_X" documentation="Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right." user="User">
-<field name="Range">-0.1745 +0.1745</field>
-<field name="Increment">0.01</field>
-<field name="Units">Radians</field>
-</param>
-<param humanName="AHRS Trim Pitch" name="AHRS_TRIM_Y" documentation="Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back." user="User">
-<field name="Range">-0.1745 +0.1745</field>
-<field name="Increment">0.01</field>
-<field name="Units">Radians</field>
-</param>
-<param humanName="AHRS Trim Yaw" name="AHRS_TRIM_Z" documentation="Not Used" user="Advanced">
-<field name="Range">-0.1745 +0.1745</field>
-<field name="Increment">0.01</field>
-<field name="Units">Radians</field>
-</param>
-<param humanName="Board Orientation" name="AHRS_ORIENTATION" documentation="Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle." user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Yaw45</value>
-<value code="2">Yaw90</value>
-<value code="3">Yaw135</value>
-<value code="4">Yaw180</value>
-<value code="5">Yaw225</value>
-<value code="6">Yaw270</value>
-<value code="7">Yaw315</value>
-<value code="8">Roll180</value>
-<value code="9">Roll180Yaw45</value>
-<value code="10">Roll180Yaw90</value>
-<value code="11">Roll180Yaw135</value>
-<value code="12">Pitch180</value>
-<value code="13">Roll180Yaw225</value>
-<value code="14">Roll180Yaw270</value>
-<value code="15">Roll180Yaw315</value>
-<value code="16">Roll90</value>
-<value code="17">Roll90Yaw45</value>
-<value code="18">Roll90Yaw90</value>
-<value code="19">Roll90Yaw135</value>
-<value code="20">Roll270</value>
-<value code="21">Roll270Yaw45</value>
-<value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw136</value>
-<value code="24">Pitch90</value>
-<value code="25">Pitch270</value>
-<value code="26">Pitch180Yaw90</value>
-<value code="27">Pitch180Yaw270</value>
-<value code="28">Roll90Pitch90</value>
-<value code="29">Roll180Pitch90</value>
-<value code="30">Roll270Pitch90</value>
-<value code="31">Roll90Pitch180</value>
-<value code="32">Roll270Pitch180</value>
-<value code="33">Roll90Pitch270</value>
-<value code="34">Roll180Pitch270</value>
-<value code="35">Roll270Pitch270</value>
-<value code="36">Roll90Pitch180Yaw90</value>
-<value code="37">Roll90Yaw270</value>
-</values>
-</param>
-<param humanName="AHRS Velocity Complmentary Filter Beta Coefficient" name="AHRS_COMP_BETA" documentation="This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less." user="Advanced">
-<field name="Range">0.001 0.5</field>
-<field name="Increment">.01</field>
-</param>
-<param humanName="AHRS GPS Minimum satellites" name="AHRS_GPS_MINSATS" documentation="Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers." user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Use NavEKF Kalman filter for attitude and position estimation" name="AHRS_EKF_USE" documentation="This controls whether the NavEKF Kalman filter is used for attitude and position estimation and whether fallback to the DCM algorithm is allowed" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code=" 2">Enabled - No Fallback</value>
-</values>
-</param>
-</parameters>
-<parameters name="ARSPD_">
-<param humanName="Airspeed enable" name="ARSPD_ENABLE" documentation="enable airspeed sensor">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-<param humanName="Airspeed use" name="ARSPD_USE" documentation="use airspeed for flight control">
-<values>
-<value code="1">Use</value>
-<value code="0">Don't Use</value>
-</values>
-</param>
-<param humanName="Airspeed offset" name="ARSPD_OFFSET" documentation="Airspeed calibration offset">
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Airspeed ratio" name="ARSPD_RATIO" documentation="Airspeed calibration ratio">
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Airspeed pin" name="ARSPD_PIN" documentation="The analog pin number that the airspeed sensor is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated airspeed port on the end of the board. Set to 11 on PX4 for the analog airspeed port. Set to 15 on the Pixhawk for the analog airspeed port. Set to 65 on the PX4 or Pixhawk for an EagleTree or MEAS I2C airspeed sensor." user="Advanced">
-</param>
-<param humanName="Automatic airspeed ratio calibration" name="ARSPD_AUTOCAL" documentation="If this is enabled then the APM will automatically adjust the ARSPD_RATIO during flight, based upon an estimation filter using ground speed and true airspeed. The automatic calibration will save the new ratio to EEPROM every 2 minutes if it changes by more than 5%. This option should be enabled for a calibration flight then disabled again when calibration is complete. Leaving it enabled all the time is not recommended." user="Advanced">
-</param>
-<param humanName="Control pitot tube order" name="ARSPD_TUBE_ORDER" documentation="This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the top connector on the sensor needs to be the dynamic pressure. If set to 1 then the bottom connector needs to be the dynamic pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft it receiving excessive pressure on the static port, which would otherwise be seen as a positive airspeed." user="Advanced">
-</param>
-<param humanName="Skip airspeed calibration on startup" name="ARSPD_SKIP_CAL" documentation="This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot." user="Advanced">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-</parameters>
-<parameters name="NAVL1_">
-<param humanName="L1 control period" name="NAVL1_PERIOD" documentation="Period in seconds of L1 tracking loop. This parameter is the primary control for agressiveness of turns in auto mode. This needs to be larger for less responsive airframes. The default of 20 is quite conservative, but for most RC aircraft will lead to reasonable flight. For smaller more agile aircraft a value closer to 15 is appropriate, or even as low as 10 for some very agile aircraft. When tuning, change this value in small increments, as a value that is much too small (say 5 or 10 below the right value) can lead to very radical turns, and a risk of stalling.">
-<field name="Range">1-60</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="L1 control damping ratio" name="NAVL1_DAMPING" documentation="Damping ratio for L1 control. Increase this in increments of 0.05 if you are getting overshoot in path tracking. You should not need a value below 0.7 or above 0.85.">
-<field name="Range">0.6-1.0</field>
-<field name="Increment">0.05</field>
-</param>
-</parameters>
-<parameters name="TECS_">
-<param humanName="Maximum Climb Rate (metres/sec)" name="TECS_CLMB_MAX" documentation="This is the best climb rate that the aircraft can achieve with the throttle set to THR_MAX and the airspeed set to the default value. For electric aircraft make sure this number can be achieved towards the end of flight when the battery voltage has reduced. The setting of this parameter can be checked by commanding a positive altitude change of 100m in loiter, RTL or guided mode. If the throttle required to climb is close to THR_MAX and the aircraft is maintaining airspeed, then this parameter is set correctly. If the airspeed starts to reduce, then the parameter is set to high, and if the throttle demand require to climb and maintain speed is noticeably less than THR_MAX, then either CLMB_MAX should be increased or THR_MAX reduced." user="User">
-<field name="Range">0.1 20.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Minimum Sink Rate (metres/sec)" name="TECS_SINK_MIN" documentation="This is the sink rate of the aircraft with the throttle set to THR_MIN and the same airspeed as used to measure CLMB_MAX." user="User">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Controller time constant (sec)" name="TECS_TIME_CONST" documentation="This is the time constant of the TECS control algorithm. Smaller values make it faster to respond, large values make it slower to respond." user="Advanced">
-<field name="Range">3.0 10.0</field>
-<field name="Increment">0.2</field>
-</param>
-<param humanName="Controller throttle damping" name="TECS_THR_DAMP" documentation="This is the damping gain for the throttle demand loop. Increase to add damping  to correct for oscillations in speed and height." user="Advanced">
-<field name="Range">0.1 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Controller integrator" name="TECS_INTEG_GAIN" documentation="This is the integrator gain on the control loop. Increase to increase the rate at which speed and height offsets are trimmed out" user="Advanced">
-<field name="Range">0.0 0.5</field>
-<field name="Increment">0.02</field>
-</param>
-<param humanName="Vertical Acceleration Limit (metres/sec^2)" name="TECS_VERT_ACC" documentation="This is the maximum vertical acceleration either up or down that the  controller will use to correct speed or height errors." user="Advanced">
-<field name="Range">1.0 10.0</field>
-<field name="Increment">0.5</field>
-</param>
-<param humanName="Height complementary filter frequency (radians/sec)" name="TECS_HGT_OMEGA" documentation="This is the cross-over frequency of the complementary filter used to fuse vertical acceleration and baro alt to obtain an estimate of height rate and height." user="Advanced">
-<field name="Range">1.0 5.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Speed complementary filter frequency (radians/sec)" name="TECS_SPD_OMEGA" documentation="This is the cross-over frequency of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain a lower noise and lag estimate of airspeed." user="Advanced">
-<field name="Range">0.5 2.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Bank angle compensation gain" name="TECS_RLL2THR" documentation="Increasing this gain turn increases the amount of throttle that will be used to compensate for the additional drag created by turning. Ideally this should be set to approximately 10 x the extra sink rate in m/s created by a 45 degree bank turn. Increase this gain if the aircraft initially loses energy in turns and reduce if the aircraft initially gains energy in turns. Efficient high aspect-ratio aircraft (eg powered sailplanes) can use a lower value, whereas inefficient low aspect-ratio models (eg delta wings) can use a higher value." user="Advanced">
-<field name="Range">5.0 30.0</field>
-<field name="Increment">1.0</field>
-</param>
-<param humanName="Weighting applied to speed control" name="TECS_SPDWEIGHT" documentation="This parameter adjusts the amount of weighting that the pitch control applies to speed vs height errors. Setting it to 0.0 will cause the pitch control to control height and ignore speed errors. This will normally improve height accuracy but give larger airspeed errors. Setting it to 2.0 will cause the pitch control loop to control speed and ignore height errors. This will normally reduce airsped errors, but give larger height errors.&#9;A value of 1.0 gives a balanced response and is the default." user="Advanced">
-<field name="Range">0.0 2.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Controller pitch damping" name="TECS_PTCH_DAMP" documentation="This is the damping gain for the pitch demand loop. Increase to add damping  to correct for oscillations in speed and height." user="Advanced">
-<field name="Range">0.1 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Maximum Descent Rate (metres/sec)" name="TECS_SINK_MAX" documentation="This sets the maximum descent rate that the controller will use.  If this value is too large, the aircraft will reach the pitch angle limit first and be unable to achieve the descent rate. This should be set to a value that can be achieved at the lower pitch angle limit." user="User">
-<field name="Range">0.0 20.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Airspeed during landing approach (m/s)" name="TECS_LAND_ARSPD" documentation="When performing an autonomus landing, this value is used as the goal airspeed during approach.  Note that this parameter is not useful if your platform does not have an airspeed sensor (use TECS_LAND_THR instead).  If negative then this value is not used during landing." user="User">
-<field name="Range">-1 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Cruise throttle during landing approach (percentage)" name="TECS_LAND_THR" documentation="Use this parameter instead of LAND_ASPD if your platform does not have an airspeed sensor.  It is the cruise throttle during landing approach.  If it is negative if TECS_LAND_ASPD is in use then this value is not used during landing." user="User">
-<field name="Range">-1 to 100</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Weighting applied to speed control during landing." name="TECS_LAND_SPDWGT" documentation="Same as SPDWEIGHT parameter, with the exception that this parameter is applied during landing flight stages.  A value closer to 2 will result in the plane ignoring height error during landing and our experience has been that the plane will therefore keep the nose up -- sometimes good for a glider landing (with the side effect that you will likely glide a ways past the landing point).  A value closer to 0 results in the plane ignoring speed error -- use caution when lowering the value below 1 -- ignoring speed could result in a stall." user="Advanced">
-<field name="Range">0.0 2.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Maximum pitch in auto flight" name="TECS_PITCH_MAX" documentation="This controls maximum pitch up in automatic throttle modes. If this is set to zero then LIM_PITCH_MAX is used instead. The purpose of this parameter is to allow the use of a smaller pitch range when in automatic flight than what is used in FBWA mode." user="Advanced">
-<field name="Range">0 45</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Minimum pitch in auto flight" name="TECS_PITCH_MIN" documentation="This controls minimum pitch in automatic throttle modes. If this is set to zero then LIM_PITCH_MIN is used instead. The purpose of this parameter is to allow the use of a smaller pitch range when in automatic flight than what is used in FBWA mode. Note that TECS_PITCH_MIN should be a negative number." user="Advanced">
-<field name="Range">-45 0</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Sink rate for final landing stage" name="TECS_LAND_SINK" documentation="The sink rate in meters/second for the final stage of landing." user="Advanced">
-<field name="Range">0.0 2.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Land controller time constant (sec)" name="TECS_LAND_TCONST" documentation="This is the time constant of the TECS control algorithm when in final landing stage of flight. It should be smaller than TECS_TIME_CONST to allow for faster flare" user="Advanced">
-<field name="Range">1.0 5.0</field>
-<field name="Increment">0.2</field>
-</param>
-<param humanName="Controller sink rate to pitch gain during flare" name="TECS_LAND_DAMP" documentation="This is the sink rate gain for the pitch demand loop when in final landing stage of flight. It should be larger than TECS_PTCH_DAMP to allow for better sink rate control during flare." user="Advanced">
-<field name="Range">0.1 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Maximum pitch during final stage of landing" name="TECS_LAND_PMAX" documentation="This limits the pitch used during the final stage of automatic landing. During the final landing stage most planes need to keep their pitch small to avoid stalling. A maximum of 10 degrees is usually good. A value of zero means to use the normal pitch limits." user="Advanced">
-<field name="Range">0 40</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="MNT">
-<param humanName="Mount default operating mode" name="MNT_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
-<values>
-<value code="0">Retracted</value>
-<value code="1">Neutral</value>
-<value code="2">MavLink Targeting</value>
-<value code="3">RC Targeting</value>
-<value code="4">GPS Point</value>
-</values>
-</param>
-<param humanName="Mount roll angle when in retracted position" name="MNT_RETRACT_X" documentation="Mount roll angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount tilt/pitch angle when in retracted position" name="MNT_RETRACT_Y" documentation="Mount tilt/pitch angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount yaw/pan angle when in retracted position" name="MNT_RETRACT_Z" documentation="Mount yaw/pan angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount roll angle when in neutral position" name="MNT_NEUTRAL_X" documentation="Mount roll angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount tilt/pitch angle when in neutral position" name="MNT_NEUTRAL_Y" documentation="Mount tilt/pitch angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount pan/yaw angle when in neutral position" name="MNT_NEUTRAL_Z" documentation="Mount pan/yaw angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Stabilize mount's roll angle" name="MNT_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stabilize mount's pitch/tilt angle" name="MNT_STAB_TILT" documentation="enable tilt/pitch stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stabilize mount pan/yaw angle" name="MNT_STAB_PAN" documentation="enable pan/yaw stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="roll RC input channel" name="MNT_RC_IN_ROLL" documentation="0 for none, any other for the RC channel to be used to control roll movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-</values>
-</param>
-<param humanName="Minimum roll angle" name="MNT_ANGMIN_ROL" documentation="Minimum physical roll angular position of mount." user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Maximum roll angle" name="MNT_ANGMAX_ROL" documentation="Maximum physical roll angular position of the mount" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="tilt (pitch) RC input channel" name="MNT_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-</values>
-</param>
-<param humanName="Minimum tilt angle" name="MNT_ANGMIN_TIL" documentation="Minimum physical tilt (pitch) angular position of mount." user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Maximum tilt angle" name="MNT_ANGMAX_TIL" documentation="Maximum physical tilt (pitch) angular position of the mount" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="pan (yaw) RC input channel" name="MNT_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-</values>
-</param>
-<param humanName="Minimum pan angle" name="MNT_ANGMIN_PAN" documentation="Minimum physical pan (yaw) angular position of mount." user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Maximum pan angle" name="MNT_ANGMAX_PAN" documentation="Maximum physical pan (yaw) angular position of the mount" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="mount joystick speed" name="MNT_JSTICK_SPD" documentation="0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Roll stabilization lead time" name="MNT_LEAD_RLL" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="Pitch stabilization lead time" name="MNT_LEAD_PTCH" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="Mount Type" name="MNT_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
-<values>
-<value code="0">None</value>
-<value code=" 1">Servo</value>
-<value code=" 2">3DR Solo</value>
-<value code=" 3">Alexmos Serial</value>
-<value code=" 4">SToRM32 MAVLink</value>
-<value code=" 5">SToRM32 Serial</value>
-</values>
-</param>
-<param humanName="MAVLink Mount's roll angle offsets" name="MNT_OFF_JNT_X" documentation="MAVLink Mount's roll angle offsets" user="Advanced">
-<field name="Range">0 0.5</field>
-<field name="Units">radians</field>
-</param>
-<param humanName="MAVLink Mount's pitch angle offsets" name="MNT_OFF_JNT_Y" documentation="MAVLink Mount's pitch angle offsets" user="Advanced">
-<field name="Range">0 0.5</field>
-<field name="Units">radians</field>
-</param>
-<param humanName="MAVLink Mount's yaw angle offsets" name="MNT_OFF_JNT_Z" documentation="MAVLink Mount's yaw angle offsets" user="Advanced">
-<field name="Range">0 0.5</field>
-<field name="Units">radians</field>
-</param>
-<param humanName="MAVLink Mount's roll velocity offsets" name="MNT_OFF_ACC_X" documentation="MAVLink Mount's roll velocity offsets" user="Advanced">
-<field name="Range">0 2</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="MAVLink Mount's pitch velocity offsets" name="MNT_OFF_ACC_Y" documentation="MAVLink Mount's pitch velocity offsets" user="Advanced">
-<field name="Range">0 2</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="MAVLink Mount's yaw velocity offsets" name="MNT_OFF_ACC_Z" documentation="MAVLink Mount's yaw velocity offsets" user="Advanced">
-<field name="Range">0 2</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="MAVLink Mount's roll gyro offsets" name="MNT_OFF_GYRO_X" documentation="MAVLink Mount's roll gyro offsets" user="Advanced">
-<field name="Range">0 0.5</field>
-<field name="Units">radians/sec</field>
-</param>
-<param humanName="MAVLink Mount's pitch gyro offsets" name="MNT_OFF_GYRO_Y" documentation="MAVLink Mount's pitch gyro offsets" user="Advanced">
-<field name="Range">0 0.5</field>
-<field name="Units">radians/sec</field>
-</param>
-<param humanName="MAVLink Mount's yaw gyro offsets" name="MNT_OFF_GYRO_Z" documentation="MAVLink Mount's yaw gyro offsets" user="Advanced">
-<field name="Range">0 0.5</field>
-<field name="Units">radians/sec</field>
-</param>
-<param humanName="MAVLink Mount's rate gain" name="MNT_K_RATE" documentation="MAVLink Mount's rate gain" user="Advanced">
-<field name="Range">0 10</field>
-</param>
-<param humanName="Mount default operating mode" name="MNT2_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
-<values>
-<value code="0">Retracted</value>
-<value code="1">Neutral</value>
-<value code="2">MavLink Targeting</value>
-<value code="3">RC Targeting</value>
-<value code="4">GPS Point</value>
-</values>
-</param>
-<param humanName="Mount2 roll angle when in retracted position" name="MNT2_RETRACT_X" documentation="Mount2 roll angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount2 tilt/pitch angle when in retracted position" name="MNT2_RETRACT_Y" documentation="Mount2 tilt/pitch angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount2 yaw/pan angle when in retracted position" name="MNT2_RETRACT_Z" documentation="Mount2 yaw/pan angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount2 roll angle when in neutral position" name="MNT2_NEUTRAL_X" documentation="Mount2 roll angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount2 tilt/pitch angle when in neutral position" name="MNT2_NEUTRAL_Y" documentation="Mount2 tilt/pitch angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount2 pan/yaw angle when in neutral position" name="MNT2_NEUTRAL_Z" documentation="Mount2 pan/yaw angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Stabilize Mount2's roll angle" name="MNT2_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stabilize Mount2's pitch/tilt angle" name="MNT2_STAB_TILT" documentation="enable tilt/pitch stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stabilize mount2 pan/yaw angle" name="MNT2_STAB_PAN" documentation="enable pan/yaw stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Mount2's roll RC input channel" name="MNT2_RC_IN_ROLL" documentation="0 for none, any other for the RC channel to be used to control roll movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-</values>
-</param>
-<param humanName="Mount2's minimum roll angle" name="MNT2_ANGMIN_ROL" documentation="Mount2's minimum physical roll angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's maximum roll angle" name="MNT2_ANGMAX_ROL" documentation="Mount2's maximum physical roll angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's tilt (pitch) RC input channel" name="MNT2_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-</values>
-</param>
-<param humanName="Mount2's minimum tilt angle" name="MNT2_ANGMIN_TIL" documentation="Mount2's minimum physical tilt (pitch) angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's maximum tilt angle" name="MNT2_ANGMAX_TIL" documentation="Mount2's maximum physical tilt (pitch) angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's pan (yaw) RC input channel" name="MNT2_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-</values>
-</param>
-<param humanName="Mount2's minimum pan angle" name="MNT2_ANGMIN_PAN" documentation="Mount2's minimum physical pan (yaw) angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's maximum pan angle" name="MNT2_ANGMAX_PAN" documentation="MOunt2's maximum physical pan (yaw) angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's Roll stabilization lead time" name="MNT2_LEAD_RLL" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="Mount2's Pitch stabilization lead time" name="MNT2_LEAD_PTCH" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="Mount2 Type" name="MNT2_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
-<values>
-<value code="0">None</value>
-<value code=" 1">Servo</value>
-<value code=" 2">3DR Solo</value>
-<value code=" 3">Alexmos Serial</value>
-<value code=" 4">SToRM32 MAVLink</value>
-<value code=" 5">SToRM32 Serial</value>
-</values>
-</param>
-</parameters>
-<parameters name="BATT_">
-<param humanName="Battery monitoring" name="BATT__MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="3">Analog Voltage Only</value>
-<value code="4">Analog Voltage and Current</value>
-<value code="5">SMBus</value>
-<value code="6">Bebop</value>
-</values>
-</param>
-<param humanName="Battery Voltage sensing pin" name="BATT__VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100. On the Pixhawk powered from the PM connector it should be set to 2." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 0">A0</value>
-<value code=" 1">A1</value>
-<value code=" 2">Pixhawk</value>
-<value code=" 13">A13</value>
-<value code=" 100">PX4</value>
-</values>
-</param>
-<param humanName="Battery Current sensing pin" name="BATT__CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 1">A1</value>
-<value code=" 2">A2</value>
-<value code=" 3">Pixhawk</value>
-<value code=" 12">A12</value>
-<value code=" 101">PX4</value>
-</values>
-</param>
-<param humanName="Voltage Multiplier" name="BATT__VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1." user="Advanced">
-</param>
-<param humanName="Amps per volt" name="BATT__AMP_PERVOLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
-<field name="Units">Amps/Volt</field>
-</param>
-<param humanName="AMP offset" name="BATT__AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
-<field name="Units">Volts</field>
-</param>
-<param humanName="Battery capacity" name="BATT__CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
-</param>
-<param humanName="Battery monitoring" name="BATT_2_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="3">Analog Voltage Only</value>
-<value code="4">Analog Voltage and Current</value>
-<value code="5">SMBus</value>
-<value code="6">Bebop</value>
-</values>
-</param>
-<param humanName="Battery Voltage sensing pin" name="BATT_2_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100. On the Pixhawk powered from the PM connector it should be set to 2." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 0">A0</value>
-<value code=" 1">A1</value>
-<value code=" 2">Pixhawk</value>
-<value code=" 13">A13</value>
-<value code=" 100">PX4</value>
-</values>
-</param>
-<param humanName="Battery Current sensing pin" name="BATT_2_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 1">A1</value>
-<value code=" 2">A2</value>
-<value code=" 3">Pixhawk</value>
-<value code=" 12">A12</value>
-<value code=" 101">PX4</value>
-</values>
-</param>
-<param humanName="Voltage Multiplier" name="BATT_2_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1." user="Advanced">
-</param>
-<param humanName="Amps per volt" name="BATT_2_AMP_PERVOL" documentation="Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
-<field name="Units">Amps/Volt</field>
-</param>
-<param humanName="AMP offset" name="BATT_2_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
-<field name="Units">Volts</field>
-</param>
-<param humanName="Battery capacity" name="BATT_2_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
-</param>
-</parameters>
-<parameters name="BRD_">
-<param humanName="PWM Count" name="BRD_PWM_COUNT" documentation="Number of auxillary PWMs to enable. On PX4v1 only 0 or 2 is valid. On Pixhawk 0, 2, 4 or 6 is valid.">
-<values>
-<value code="0">No PWMs</value>
-<value code="2">Two PWMs</value>
-<value code="4">Four PWMs</value>
-<value code="6">Six PWMs</value>
-</values>
-</param>
-<param humanName="Serial 1 flow control" name="BRD_SER1_RTSCTS" documentation="Enable flow control on serial 1 (telemetry 1) on Pixhawk. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled.">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code="2">Auto</value>
-</values>
-</param>
-<param humanName="Serial 2 flow control" name="BRD_SER2_RTSCTS" documentation="Enable flow control on serial 2 (telemetry 2) on Pixhawk and PX4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code="2">Auto</value>
-</values>
-</param>
-<param humanName=" Enable use of safety arming switch" name="BRD_SAFETYENABLE" documentation="Disabling this option will disable the use of the safety switch on PX4 for arming. Use of the safety switch is highly recommended, so you should leave this option set to 1 except in unusual circumstances.">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName=" Enable use of SBUS output" name="BRD_SBUS_OUT" documentation="Enabling this option on a Pixhawk enables SBUS servo output from the SBUS output connector">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="User-defined serial number" name="BRD_SERIAL_NUM" documentation="User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot" user="Standard">
-<field name="Range">-32767 to 32768 (any 16bit signed number)</field>
-</param>
-</parameters>
-<parameters name="AFS_">
-<param humanName="Manual Pin" name="AFS_MAN_PIN" documentation="This sets a digital output pin to set high when in manual mode" user="Advanced">
-</param>
-<param humanName="Heartbeat Pin" name="AFS_HB_PIN" documentation="This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination." user="Advanced">
-</param>
-<param humanName="Comms Waypoint" name="AFS_WP_COMMS" documentation="Waypoint number to navigate to on comms loss" user="Advanced">
-</param>
-<param humanName="GPS Loss Waypoint" name="AFS_GPS_LOSS" documentation="Waypoint number to navigate to on GPS lock loss" user="Advanced">
-</param>
-<param humanName="Force Terminate" name="AFS_TERMINATE" documentation="Can be set in flight to force termination of the heartbeat signal" user="Advanced">
-</param>
-<param humanName="Terminate action" name="AFS_TERM_ACTION" documentation="This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup APM to handle it here. If set to 0 (which is the default) then no extra action is taken. If set to the magic value 42 then the plane will deliberately crash itself by setting maximum throws on all surfaces, and zero throttle" user="Advanced">
-</param>
-<param humanName="Terminate Pin" name="AFS_TERM_PIN" documentation="This sets a digital output pin to set high on flight termination" user="Advanced">
-</param>
-<param humanName="AMSL limit" name="AFS_AMSL_LIMIT" documentation="This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit." user="Advanced">
-<field name="Units">meters</field>
-</param>
-<param humanName="Error margin for GPS based AMSL limit" name="AFS_AMSL_ERR_GPS" documentation="This sets margin for error in GPS derived altitude limit. This error margin is only used if the barometer has failed. If the barometer fails then the GPS will be used to enforce the AMSL_LIMIT, but this margin will be subtracted from the AMSL_LIMIT first, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached. OBC users should set this to comply with their D2 safety case. A value of -1 will mean that barometer failure will lead to immediate termination." user="Advanced">
-<field name="Units">meters</field>
-</param>
-<param humanName="QNH pressure" name="AFS_QNH_PRESSURE" documentation="This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit. A value of zero disables the altitude limit." user="Advanced">
-<field name="Units">millibar</field>
-</param>
-<param humanName="Enable Advanced Failsafe" name="AFS_ENABLE" documentation="This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect" user="Advanced">
-</param>
-<param humanName="RC failure time" name="AFS_RC_FAIL_MS" documentation="This is the time in milliseconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be 1500. Use 0 to disable." user="Advanced">
-</param>
-<param humanName="Maximum number of GPS loss events" name="AFS_MAX_GPS_LOSS" documentation="Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events." user="Advanced">
-</param>
-<param humanName="Maximum number of comms loss events" name="AFS_MAX_COM_LOSS" documentation="Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events." user="Advanced">
-</param>
-</parameters>
-<parameters name="FLOW">
-<param humanName="Optical flow enable/disable" name="FLOW_ENABLE" documentation="Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="X axis optical flow scale factor correction" name="FLOW_FXSCALER" documentation="This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor." user="Standard">
-<field name="Range">-200 +200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Y axis optical flow scale factor correction" name="FLOW_FYSCALER" documentation="This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor." user="Standard">
-<field name="Range">-200 +200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Flow sensor yaw alignment" name="FLOW_ORIENT_YAW" documentation="Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle." user="Standard">
-<field name="Range">-18000 +18000</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="MIS_">
-<param humanName="Total mission commands" name="MIS_TOTAL" documentation="The number of mission mission items that has been loaded by the ground station. Do not change this manually." user="Advanced">
-<field name="Range">0 32766</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Mission Restart when entering Auto mode" name="MIS_RESTART" documentation="Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)">
-<values>
-<value code="0">Resume Mission</value>
-<value code=" 1">Restart Mission</value>
-</values>
-</param>
-</parameters>
-<parameters name="RALLY_">
-<param humanName="Rally Total" name="RALLY_TOTAL" documentation="Number of rally points currently loaded" user="Advanced">
-</param>
-<param humanName="Rally Limit" name="RALLY_LIMIT_KM" documentation="Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used." user="Advanced">
-<field name="Increment">0.1</field>
-<field name="Units">kilometers</field>
-</param>
-<param humanName="Rally Include Home" name="RALLY_INCL_HOME" documentation="Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL" user="Standard">
-<values>
-<value code="0">DoNotIncludeHome</value>
-<value code="1">IncludeHome</value>
-</values>
-</param>
-</parameters>
-<parameters name="EKF_">
-<param humanName="GPS horizontal velocity measurement noise scaler" name="EKF_VELNE_NOISE" documentation="This is the scaler that is applied to the speed accuracy reported by the receiver to estimate the horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then a speed acuracy of 1 is assumed. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.05 5.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="GPS vertical velocity measurement noise scaler" name="EKF_VELD_NOISE" documentation="This is the scaler that is applied to the speed accuracy reported by the receiver to estimate the vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then a speed acuracy of 1 is assumed. Increasing it reduces the weighting on this measurement." user="Advanced">
-<field name="Range">0.05 5.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="GPS horizontal position measurement noise (m)" name="EKF_POSNE_NOISE" documentation="This is the RMS value of noise in the GPS horizontal position measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Altitude measurement noise (m)" name="EKF_ALT_NOISE" documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Magnetometer measurement noise (Gauss)" name="EKF_MAG_NOISE" documentation="This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Equivalent airspeed measurement noise (m/s)" name="EKF_EAS_NOISE" documentation="This is the RMS value of noise in equivalent airspeed measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.5 5.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Wind velocity process noise (m/s^2)" name="EKF_WIND_PNOISE" documentation="This noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier." user="Advanced">
-<field name="Range">0.01 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Height rate to wind procss noise scaler" name="EKF_WIND_PSCALE" documentation="Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind speed estimation noiser." user="Advanced">
-<field name="Range">0.0 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Rate gyro noise (rad/s)" name="EKF_GYRO_PNOISE" documentation="This noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more." user="Advanced">
-<field name="Range">0.001 0.05</field>
-<field name="Increment">0.001</field>
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Accelerometer noise (m/s^2)" name="EKF_ACC_PNOISE" documentation="This noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more." user="Advanced">
-<field name="Range">0.05 1.0</field>
-<field name="Increment">0.01</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Rate gyro bias process noise (rad/s)" name="EKF_GBIAS_PNOISE" documentation="This noise controls the growth of gyro bias state error estimates. Increasing it makes rate gyro bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.0000001 0.00001</field>
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Accelerometer bias process noise (m/s^2)" name="EKF_ABIAS_PNOISE" documentation="This noise controls the growth of the vertical acelerometer bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.00001 0.001</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Earth magnetic field process noise (gauss/s)" name="EKF_MAGE_PNOISE" documentation="This noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.0001 0.01</field>
-<field name="Units">gauss/s</field>
-</param>
-<param humanName="Body magnetic field process noise (gauss/s)" name="EKF_MAGB_PNOISE" documentation="This noise controls the growth of body magnetic field state error estimates. Increasing it makes compass offset estimation faster and noisier." user="Advanced">
-<field name="Range">0.0001 0.01</field>
-<field name="Units">gauss/s</field>
-</param>
-<param humanName="GPS velocity measurement delay (msec)" name="EKF_VEL_DELAY" documentation="This is the number of msec that the GPS velocity measurements lag behind the inertial measurements." user="Advanced">
-<field name="Range">0 500</field>
-<field name="Increment">10</field>
-<field name="Units">milliseconds</field>
-</param>
-<param humanName="GPS position measurement delay (msec)" name="EKF_POS_DELAY" documentation="This is the number of msec that the GPS position measurements lag behind the inertial measurements." user="Advanced">
-<field name="Range">0 500</field>
-<field name="Increment">10</field>
-<field name="Units">milliseconds</field>
-</param>
-<param humanName="GPS mode control" name="EKF_GPS_TYPE" documentation="This parameter controls use of GPS measurements : 0 = use 3D velocity &amp; 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = use no GPS (optical flow will be used if available)" user="Advanced">
-<values>
-<value code="0">GPS 3D Vel and 2D Pos</value>
-<value code=" 1">GPS 2D vel and 2D pos</value>
-<value code=" 2">GPS 2D pos</value>
-<value code=" 3">No GPS use optical flow</value>
-</values>
-</param>
-<param humanName="GPS velocity measurement gate size" name="EKF_VEL_GATE" documentation="This parameter sets the number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="GPS position measurement gate size" name="EKF_POS_GATE" documentation="This parameter sets the number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Height measurement gate size" name="EKF_HGT_GATE" documentation="This parameter sets the number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Magnetometer measurement gate size" name="EKF_MAG_GATE" documentation="This parameter sets the number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Airspeed measurement gate size" name="EKF_EAS_GATE" documentation="This parameter sets the number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Magnetometer calibration mode" name="EKF_MAG_CAL" documentation="EKF_MAG_CAL = 0 enables calibration based on flying speed and altitude and is the default setting for Plane users. EKF_MAG_CAL = 1 enables calibration based on manoeuvre level and is the default setting for Copter and Rover users. EKF_MAG_CAL = 2 prevents magnetometer calibration regardless of flight condition and is recommended if in-flight magnetometer calibration is unreliable." user="Advanced">
-<values>
-<value code="0">Speed and Height</value>
-<value code="1">Acceleration</value>
-<value code="2">Never</value>
-<value code="3">Always</value>
-</values>
-</param>
-<param humanName="GPS glitch accel gate size (cm/s^2)" name="EKF_GLITCH_ACCEL" documentation="This parameter controls the maximum amount of difference in horizontal acceleration between the value predicted by the filter and the value measured by the GPS before the GPS position data is rejected. If this value is set too low, then valid GPS data will be regularly discarded, and the position accuracy will degrade. If this parameter is set too high, then large GPS glitches will cause large rapid changes in position." user="Advanced">
-<field name="Range">100 500</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="GPS glitch radius gate size (m)" name="EKF_GLITCH_RAD" documentation="This parameter controls the maximum amount of difference in horizontal position (in m) between the value predicted by the filter and the value measured by the GPS before the long term glitch protection logic is activated and an offset is applied to the GPS measurement to compensate. Position steps smaller than this value will be temporarily ignored, but will then be accepted and the filter will move to the new position. Position steps larger than this value will be ignored initially, but the filter will then apply an offset to the GPS position measurement." user="Advanced">
-<field name="Range">10 50</field>
-<field name="Increment">5</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Terrain Gradient % RMS" name="EKF_GND_GRADIENT" documentation="This parameter sets the RMS terrain gradient percentage assumed by the terrain height estimation. Terrain height can be estimated using optical flow and/or range finder sensor data if fitted. Smaller values cause the terrain height estimate to be slower to respond to changes in measurement. Larger values casue the terrain height estimate to be faster to respond, but also more noisy. Generally this value can be reduced if operating over very flat terrain and increased if operating over uneven terrain." user="Advanced">
-<field name="Range">1 - 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Optical flow measurement noise (rad/s)" name="EKF_FLOW_NOISE" documentation="This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.05 - 1.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Optical Flow measurement gate size" name="EKF_FLOW_GATE" documentation="This parameter sets the number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 - 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Optical Flow measurement delay (msec)" name="EKF_FLOW_DELAY" documentation="This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
-<field name="Range">0 - 500</field>
-<field name="Increment">10</field>
-<field name="Units">milliseconds</field>
-</param>
-<param humanName="Range finder measurement gate size" name="EKF_RNG_GATE" documentation="This parameter sets the number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 - 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Maximum valid optical flow rate" name="EKF_MAX_FLOW" documentation="This parameter sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter" user="Advanced">
-<field name="Range">1.0 - 4.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Fallback strictness" name="EKF_FALLBACK" documentation="This parameter controls the conditions necessary to trigger a fallback to DCM and INAV. A value of 1 will cause fallbacks to occur on loss of GPS and other conditions. A value of 0 will trust the EKF more." user="Advanced">
-<values>
-<value code="0">Trust EKF more</value>
-<value code=" 1">Trust DCM more</value>
-</values>
-</param>
-<param humanName="Primary height source" name="EKF_ALT_SOURCE" documentation="This parameter controls which height sensor is used by the EKF during optical flow navigation (when EKF_GPS_TYPE = 3). A value of will 0 cause it to always use baro altitude. A value of 1 will casue it to use range finder if available." user="Advanced">
-<values>
-<value code="0">Use Baro</value>
-<value code=" 1">Use Range Finder</value>
-</values>
-</param>
-</parameters>
-<parameters name="HS1_">
-<param humanName="RC min PWM" name="HS1_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="HS1_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="HS1_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="HS1_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="HS1_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="HS2_">
-<param humanName="RC min PWM" name="HS2_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="HS2_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="HS2_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="HS2_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="HS2_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="HS3_">
-<param humanName="RC min PWM" name="HS3_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="HS3_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="HS3_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="HS3_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="HS3_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="HS4_">
-<param humanName="RC min PWM" name="HS4_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="HS4_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="HS4_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="HS4_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="HS4_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="H_RSC_">
-<param humanName="RC min PWM" name="H_RSC_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="H_RSC_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="H_RSC_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="H_RSC_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="H_RSC_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="EPM_">
-<param humanName="EPM Enable/Disable" name="EPM_ENABLE" documentation="EPM enable/disable" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="EPM Grab PWM" name="EPM_GRAB" documentation="PWM value sent to EPM to initiate grabbing the cargo" user="Advanced">
-<field name="Range">1000 2000</field>
-</param>
-<param humanName="EPM Release PWM" name="EPM_RELEASE" documentation="PWM value sent to EPM to release the cargo" user="Advanced">
-<field name="Range">1000 2000</field>
-</param>
-<param humanName="EPM Neutral PWM" name="EPM_NEUTRAL" documentation="PWM value sent to EPM when not grabbing or releasing" user="Advanced">
-<field name="Range">1000 2000</field>
-</param>
-<param humanName="EPM Regrab interval" name="EPM_REGRAB" documentation="Time in seconds that gripper will regrab the cargo to ensure grip has not weakend" user="Advanced">
-<values>
-<value code="0">Never</value>
-<value code=" 15">every 15 seconds</value>
-<value code=" 30">every 30 seconds</value>
-<value code=" 60">once per minute</value>
-</values>
-</param>
-</parameters>
-<parameters name="CHUTE_">
-<param humanName="Parachute release enabled or disabled" name="CHUTE_ENABLED" documentation="Parachute release enabled or disabled" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Parachute release mechanism type (relay or servo)" name="CHUTE_TYPE" documentation="Parachute release mechanism type (relay or servo)" user="Standard">
-<values>
-<value code="0">First Relay</value>
-<value code="1">Second Relay</value>
-<value code="2">Third Relay</value>
-<value code="3">Fourth Relay</value>
-<value code="10">Servo</value>
-</values>
-</param>
-<param humanName="Parachute Servo ON PWM value" name="CHUTE_SERVO_ON" documentation="Parachute Servo PWM value when parachute is released" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo OFF PWM value" name="CHUTE_SERVO_OFF" documentation="Parachute Servo PWM value when parachute is not released" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Parachute min altitude in meters above home" name="CHUTE_ALT_MIN" documentation="Parachute min altitude above home.  Parachute will not be released below this altitude.  0 to disable alt check." user="Standard">
-<field name="Range">0 32000</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-</parameters>
-<parameters name="LGR_">
-<param humanName="Landing Gear Servo Retracted PWM Value" name="LGR_SERVO_RTRACT" documentation="Servo PWM value when landing gear is retracted" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Landing Gear Servo Deployed PWM Value" name="LGR_SERVO_DEPLOY" documentation="Servo PWM value when landing gear is deployed" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="WPNAV_">
-<param humanName="Waypoint Horizontal Speed Target" name="WPNAV_SPEED" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission" user="Standard">
-<field name="Range">0 2000</field>
-<field name="Increment">50</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Waypoint Radius" name="WPNAV_RADIUS" documentation="Defines the distance from a waypoint, that when crossed indicates the wp has been hit." user="Standard">
-<field name="Range">100 1000</field>
-<field name="Increment">1</field>
-<field name="Units">cm</field>
-</param>
-<param humanName="Waypoint Climb Speed Target" name="WPNAV_SPEED_UP" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">50</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Waypoint Descent Speed Target" name="WPNAV_SPEED_DN" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission" user="Standard">
-<field name="Range">0 500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Loiter Horizontal Maximum Speed" name="WPNAV_LOIT_SPEED" documentation="Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode" user="Standard">
-<field name="Range">0 2000</field>
-<field name="Increment">50</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Waypoint Acceleration " name="WPNAV_ACCEL" documentation="Defines the horizontal acceleration in cm/s/s used during missions" user="Standard">
-<field name="Range">50 500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Waypoint Vertical Acceleration" name="WPNAV_ACCEL_Z" documentation="Defines the vertical acceleration in cm/s/s used during missions" user="Standard">
-<field name="Range">50 500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Loiter maximum jerk" name="WPNAV_LOIT_JERK" documentation="Loiter maximum jerk in cm/s/s/s" user="Advanced">
-<field name="Range">500 2000</field>
-<field name="Increment">1</field>
-<field name="Units">cm/s/s/s</field>
-</param>
-<param humanName="Loiter maximum acceleration" name="WPNAV_LOIT_MAXA" documentation="Loiter maximum acceleration in cm/s/s.  Higher values cause the copter to accelerate and stop more quickly." user="Advanced">
-<field name="Range">100 981</field>
-<field name="Increment">1</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Loiter minimum acceleration" name="WPNAV_LOIT_MINA" documentation="Loiter minimum acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered, but cause a larger jerk when the copter stops." user="Advanced">
-<field name="Range">100 981</field>
-<field name="Increment">1</field>
-<field name="Units">cm/s/s</field>
-</param>
-</parameters>
-<parameters name="CIRCLE_">
-<param humanName="Circle Radius" name="CIRCLE_RADIUS" documentation="Defines the radius of the circle the vehicle will fly when in Circle flight mode" user="Standard">
-<field name="Range">0 10000</field>
-<field name="Increment">100</field>
-<field name="Units">cm</field>
-</param>
-<param humanName="Circle rate" name="CIRCLE_RATE" documentation="Circle mode's turn rate in deg/sec.  Positive to turn clockwise, negative for counter clockwise" user="Standard">
-<field name="Range">-90 90</field>
-<field name="Increment">1</field>
-<field name="Units">deg/s</field>
-</param>
-</parameters>
-<parameters name="ATC_">
-<param humanName="Yaw target slew rate" name="ATC_SLEW_YAW" documentation="Maximum rate the yaw target can be updated in Loiter, RTL, Auto flight modes" user="Advanced">
-<field name="Range">500 18000</field>
-<field name="Increment">100</field>
-<field name="Units">Centi-Degrees/Sec</field>
-</param>
-<param humanName="Acceleration Max for Yaw" name="ATC_ACCEL_Y_MAX" documentation="Maximum acceleration in yaw axis" user="Advanced">
-<field name="Range">0 72000</field>
-<values>
-<value code="0">Disabled</value>
-<value code=" 18000">Slow</value>
-<value code=" 36000">Medium</value>
-<value code=" 54000">Fast</value>
-</values>
-<field name="Increment">1000</field>
-<field name="Units">Centi-Degrees/Sec/Sec</field>
-</param>
-<param humanName="Rate Feedforward Enable" name="ATC_RATE_FF_ENAB" documentation="Controls whether body-frame rate feedfoward is enabled or disabled" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="Acceleration Max for Roll" name="ATC_ACCEL_R_MAX" documentation="Maximum acceleration in roll axis" user="Advanced">
-<field name="Range">0 180000</field>
-<values>
-<value code="0">Disabled</value>
-<value code=" 72000">Slow</value>
-<value code=" 108000">Medium</value>
-<value code=" 162000">Fast</value>
-</values>
-<field name="Increment">1000</field>
-<field name="Units">Centi-Degrees/Sec/Sec</field>
-</param>
-<param humanName="Acceleration Max for Pitch" name="ATC_ACCEL_P_MAX" documentation="Maximum acceleration in pitch axis" user="Advanced">
-<field name="Range">0 180000</field>
-<values>
-<value code="0">Disabled</value>
-<value code=" 72000">Slow</value>
-<value code=" 108000">Medium</value>
-<value code=" 162000">Fast</value>
-</values>
-<field name="Increment">1000</field>
-<field name="Units">Centi-Degrees/Sec/Sec</field>
-</param>
-</parameters>
-<parameters name="POSCON_">
-<param humanName="XY Acceleration filter cutoff frequency" name="POSCON__ACC_XY_FILT" documentation="Lower values will slow the response of the navigation controller and reduce twitchiness" user="Advanced">
-<field name="Range">0.5 5</field>
-<field name="Increment">0.1</field>
-<field name="Units">Hz</field>
-</param>
-</parameters>
-<parameters name="BATT">
-<param humanName="Battery monitoring" name="BATT_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="3">Analog Voltage Only</value>
-<value code="4">Analog Voltage and Current</value>
-<value code="5">SMBus</value>
-<value code="6">Bebop</value>
-</values>
-</param>
-<param humanName="Battery Voltage sensing pin" name="BATT_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100. On the Pixhawk powered from the PM connector it should be set to 2." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 0">A0</value>
-<value code=" 1">A1</value>
-<value code=" 2">Pixhawk</value>
-<value code=" 13">A13</value>
-<value code=" 100">PX4</value>
-</values>
-</param>
-<param humanName="Battery Current sensing pin" name="BATT_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 1">A1</value>
-<value code=" 2">A2</value>
-<value code=" 3">Pixhawk</value>
-<value code=" 12">A12</value>
-<value code=" 101">PX4</value>
-</values>
-</param>
-<param humanName="Voltage Multiplier" name="BATT_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1." user="Advanced">
-</param>
-<param humanName="Amps per volt" name="BATT_AMP_PERVOLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
-<field name="Units">Amps/Volt</field>
-</param>
-<param humanName="AMP offset" name="BATT_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
-<field name="Units">Volts</field>
-</param>
-<param humanName="Battery capacity" name="BATT_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
-</param>
-<param humanName="Battery monitoring" name="BATT2_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="3">Analog Voltage Only</value>
-<value code="4">Analog Voltage and Current</value>
-<value code="5">SMBus</value>
-<value code="6">Bebop</value>
-</values>
-</param>
-<param humanName="Battery Voltage sensing pin" name="BATT2_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100. On the Pixhawk powered from the PM connector it should be set to 2." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 0">A0</value>
-<value code=" 1">A1</value>
-<value code=" 2">Pixhawk</value>
-<value code=" 13">A13</value>
-<value code=" 100">PX4</value>
-</values>
-</param>
-<param humanName="Battery Current sensing pin" name="BATT2_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 1">A1</value>
-<value code=" 2">A2</value>
-<value code=" 3">Pixhawk</value>
-<value code=" 12">A12</value>
-<value code=" 101">PX4</value>
-</values>
-</param>
-<param humanName="Voltage Multiplier" name="BATT2_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1." user="Advanced">
-</param>
-<param humanName="Amps per volt" name="BATT2_AMP_PERVOL" documentation="Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
-<field name="Units">Amps/Volt</field>
-</param>
-<param humanName="AMP offset" name="BATT2_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
-<field name="Units">Volts</field>
-</param>
-<param humanName="Battery capacity" name="BATT2_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
-</param>
-</parameters>
-<parameters name="SPRAY_">
-<param humanName="Sprayer enable/disable" name="SPRAY_ENABLE" documentation="Allows you to enable (1) or disable (0) the sprayer" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Pump speed" name="SPRAY_PUMP_RATE" documentation="Desired pump speed when travelling 1m/s expressed as a percentage" user="Standard">
-<field name="Range">0 100</field>
-<field name="Units">percentage</field>
-</param>
-<param humanName="Spinner rotation speed" name="SPRAY_SPINNER" documentation="Spinner's rotation speed in PWM (a higher rate will disperse the spray over a wider area horizontally)" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Units">ms</field>
-</param>
-<param humanName="Speed minimum" name="SPRAY_SPEED_MIN" documentation="Speed minimum at which we will begin spraying" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Pump speed minimum" name="SPRAY_PUMP_MIN" documentation="Minimum pump speed expressed as a percentage" user="Standard">
-<field name="Range">0 100</field>
-<field name="Units">percentage</field>
-</param>
-</parameters>
-<parameters name="FENCE_">
-<param humanName="Fence enable/disable" name="FENCE_ENABLE" documentation="Allows you to enable (1) or disable (0) the fence functionality" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Fence Type" name="FENCE_TYPE" documentation="Enabled fence types held as bitmask" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Altitude</value>
-<value code="2">Circle</value>
-<value code="3">Altitude and Circle</value>
-</values>
-</param>
-<param humanName="Fence Action" name="FENCE_ACTION" documentation="What action should be taken when fence is breached" user="Standard">
-<values>
-<value code="0">Report Only</value>
-<value code="1">RTL or Land</value>
-</values>
-</param>
-<param humanName="Fence Maximum Altitude" name="FENCE_ALT_MAX" documentation="Maximum altitude allowed before geofence triggers" user="Standard">
-<field name="Range">10 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Circular Fence Radius" name="FENCE_RADIUS" documentation="Circle fence radius which when breached will cause an RTL" user="Standard">
-<field name="Range">30 10000</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Fence Margin" name="FENCE_MARGIN" documentation="Distance that autopilot's should maintain from the fence to avoid a breach" user="Standard">
-<field name="Range">1 10</field>
-<field name="Units">Meters</field>
-</param>
-</parameters>
-<parameters name="H_">
-<param humanName="Servo 1 Position" name="H_SV1_POS" documentation="Angular location of swash servo #1" user="Standard">
-<field name="Range">-180 180</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Servo 2 Position" name="H_SV2_POS" documentation="Angular location of swash servo #2" user="Standard">
-<field name="Range">-180 180</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Servo 3 Position" name="H_SV3_POS" documentation="Angular location of swash servo #3" user="Standard">
-<field name="Range">-180 180</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Tail Type" name="H_TAIL_TYPE" documentation="Tail type selection.  Simpler yaw controller used if external gyro is selected" user="Standard">
-<values>
-<value code="0">Servo only</value>
-<value code="1">Servo with ExtGyro</value>
-<value code="2">DirectDrive VarPitch</value>
-<value code="3">DirectDrive FixedPitch</value>
-</values>
-</param>
-<param humanName="Swash Type" name="H_SWASH_TYPE" documentation="Swash Type Setting - either 3-servo CCPM or H1 Mechanical Mixing" user="Standard">
-<values>
-<value code="0">3-Servo CCPM</value>
-<value code=" 1">H1 Mechanical Mixing</value>
-</values>
-</param>
-<param humanName="External Gyro Gain" name="H_GYR_GAIN" documentation="PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">PWM</field>
-</param>
-<param humanName="Swashplate Phase Angle Compensation" name="H_PHANG" documentation="Phase angle correction for rotor head.  If pitching the swash forward induces a roll, this can be correct the problem" user="Advanced">
-<field name="Range">-90 90</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Collective-Yaw Mixing" name="H_COLYAW" documentation="Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.">
-<field name="Range">-10 10</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Flybar Mode Selector" name="H_FLYBAR_MODE" documentation="Flybar present or not.  Affects attitude controller used during ACRO flight mode" user="Standard">
-<field name="Range">0:NoFlybar 1:Flybar</field>
-</param>
-<param humanName="Direct Drive VarPitch Tail ESC speed" name="H_TAIL_SPEED" documentation="Direct Drive VarPitch Tail ESC speed.  Only used when TailType is DirectDrive VarPitch" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">PWM</field>
-</param>
-</parameters>
-<parameters name="SS1_">
-<param humanName="RC min PWM" name="SS1_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="SS1_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="SS1_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="SS1_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="SS1_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="SS2_">
-<param humanName="RC min PWM" name="SS2_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="SS2_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="SS2_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="SS2_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="SS2_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="SS3_">
-<param humanName="RC min PWM" name="SS3_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="SS3_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="SS3_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="SS3_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="SS3_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="SS4_">
-<param humanName="RC min PWM" name="SS4_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="SS4_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="SS4_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="SS4_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="SS4_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="MOT_">
-<param humanName="Reverse roll feedback " name="MOT_ROLL_SV_REV" documentation="Ensure the feedback is negative">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="Reverse pitch feedback " name="MOT_PITCH_SV_REV" documentation="Ensure the feedback is negative">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="Reverse yaw feedback " name="MOT_YAW_SV_REV" documentation="Ensure the feedback is negative">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="Servo speed " name="MOT_SV_SPEED" documentation="Servo update speed in hz">
-<field name="Values">50, 125, 250</field>
-</param>
-</parameters>
-<parameters name="RPM">
-<param humanName="RPM type" name="RPM_TYPE" documentation="What type of RPM sensor is connected">
-<values>
-<value code="0">None</value>
-<value code="1">PX4-PWM</value>
-</values>
-</param>
-<param humanName="RPM scaling" name="RPM_SCALING" documentation="Scaling factor between sensor reading and RPM.">
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Maximum RPM" name="RPM_MAX" documentation="Maximum RPM to report">
-<field name="Increment">1</field>
-</param>
-<param humanName="Second RPM type" name="RPM2_TYPE" documentation="What type of RPM sensor is connected">
-<values>
-<value code="0">None</value>
-<value code="1">PX4-PWM</value>
-</values>
-</param>
-<param humanName="RPM scaling" name="RPM2_SCALING" documentation="Scaling factor between sensor reading and RPM.">
-<field name="Increment">0.001</field>
-</param>
-</parameters>
-</libraries></paramfile>
diff --git a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.4.xml b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.4.xml
deleted file mode 100644
index baec5b6c14ec78f147cb8e081b8cb017ae3b03d6..0000000000000000000000000000000000000000
--- a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.4.xml
+++ /dev/null
@@ -1,6695 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-        <!-- Dynamically generated list of documented parameters (generated by param_parse.py) -->    
-        <paramfile>
-        <vehicles>
-        <parameters name="ArduPlane">
-<param humanName="Eeprom format version number" name="ArduPlane:FORMAT_VERSION" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
-</param>
-<param humanName="Software Type" name="ArduPlane:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="MAVLink system ID of this vehicle" name="ArduPlane:SYSID_THISMAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="Ground station MAVLink system ID" name="ArduPlane:SYSID_MYGCS" documentation="The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match." user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="CLI Enable" name="ArduPlane:CLI_ENABLED" documentation="This enables/disables the checking for three carriage returns on telemetry links on startup to enter the diagnostics command line interface" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Autotune level" name="ArduPlane:AUTOTUNE_LEVEL" documentation="Level of aggressiveness for autotune. When autotune is run a lower AUTOTUNE_LEVEL will result in a 'softer' tune, with less aggressive gains. For most users a level of 6 is recommended." user="Standard">
-<field name="Range">1 10</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Telemetry startup delay " name="ArduPlane:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Standard">
-<field name="Range">0 10</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="GCS PID tuning mask" name="ArduPlane:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
-<field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
-<values>
-<value code="0">None</value>
-<value code="1">Roll</value>
-<value code="2">Pitch</value>
-<value code="4">Yaw</value>
-</values>
-</param>
-<param humanName="Rudder Mix" name="ArduPlane:KFF_RDDRMIX" documentation="The amount of rudder mix to apply during aileron movement 0 = 0 %, 1 = 100%" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Throttle to Pitch Mix" name="ArduPlane:KFF_THR2PTCH" documentation="Throttle to pitch feed-forward gain." user="Advanced">
-<field name="Range">0 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Low throttle pitch down trim " name="ArduPlane:STAB_PITCH_DOWN" documentation="This controls the amount of down pitch to add in FBWA and AUTOTUNE modes when at low throttle. No down trim is added when throttle is above TRIM_THROTTLE. Below TRIM_THROTTLE downtrim is added in proportion to the amount the throttle is below TRIM_THROTTLE. At zero throttle the full downpitch specified in this parameter is added. This parameter is meant to help keep airspeed up when flying in FBWA mode with low throttle, such as when on a landing approach, without relying on an airspeed sensor. A value of 2 degrees is good for many planes, although a higher value may be needed for high drag aircraft." user="Advanced">
-<field name="Range">0 15</field>
-<field name="Increment">0.1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Glide slope minimum" name="ArduPlane:GLIDE_SLOPE_MIN" documentation="This controls the minimum altitude change for a waypoint before a glide slope will be used instead of an immediate altitude change. The default value is 15 meters, which helps to smooth out waypoint missions where small altitude changes happen near waypoints. If you don't want glide slopes to be used in missions then you can set this to zero, which will disable glide slope calculations. Otherwise you can set it to a minimum number of meters of altitude error to the destination waypoint before a glide slope will be used to change altitude." user="Advanced">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Glide slope threshold" name="ArduPlane:GLIDE_SLOPE_THR" documentation="This controls the height above the glide slope the plane may be before rebuilding a glide slope. This is useful for smoothing out an autotakeoff" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Stick Mixing" name="ArduPlane:STICK_MIXING" documentation='When enabled, this adds user stick input to the control surfaces in auto modes, allowing the user to have some degree of flight control without changing modes.  There are two types of stick mixing available. If you set STICK_MIXING to 1 then it will use "fly by wire" mixing, which controls the roll and pitch in the same way that the FBWA mode does. This is the safest option if you usually fly ArduPlane in FBWA or FBWB mode. If you set STICK_MIXING to 2 then it will enable direct mixing mode, which is what the STABILIZE mode uses. That will allow for much more extreme maneuvers while in AUTO mode.' user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">FBWMixing</value>
-<value code="2">DirectMixing</value>
-</values>
-</param>
-<param humanName="Use FBWA steering in AUTO" name="ArduPlane:AUTO_FBW_STEER" documentation="When enabled this option gives FBWA navigation and steering in AUTO mode. This can be used to allow manual stabilised piloting with waypoint logic for triggering payloads. With this enabled the pilot has the same control over the plane as in FBWA mode, and the normal AUTO navigation is completely disabled. THIS OPTION IS NOT RECOMMENDED FOR NORMAL USE." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="42">Enabled</value>
-</values>
-</param>
-<param humanName="Takeoff throttle min speed" name="ArduPlane:TKOFF_THR_MINSPD" documentation="Minimum GPS ground speed in m/s used by the speed check that un-suppresses throttle in auto-takeoff. This can be be used for catapult launches where you want the motor to engage only after the plane leaves the catapult, but it is preferable to use the TKOFF_THR_MINACC and TKOFF_THR_DELAY parameters for catapult launches due to the errors associated with GPS measurements. For hand launches with a pusher prop it is strongly advised that this parameter be set to a value no less than 4 m/s to provide additional protection against premature motor start. Note that the GPS velocity will lag the real velocity by about 0.5 seconds. The ground speed check is delayed by the TKOFF_THR_DELAY parameter." user="User">
-<field name="Range">0 30</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Takeoff throttle min acceleration" name="ArduPlane:TKOFF_THR_MINACC" documentation="Minimum forward acceleration in m/s/s before arming the ground speed check in auto-takeoff. This is meant to be used for hand launches. Setting this value to 0 disables the acceleration test which means the ground speed check will always be armed which could allow GPS velocity jumps to start the engine. For hand launches and bungee launches this should be set to around 15." user="User">
-<field name="Range">0 30</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Takeoff throttle delay" name="ArduPlane:TKOFF_THR_DELAY" documentation="This parameter sets the time delay (in 1/10ths of a second) that the ground speed check is delayed after the forward acceleration check controlled by TKOFF_THR_MINACC has passed. For hand launches with pusher propellers it is essential that this is set to a value of no less than 2 (0.2 seconds) to ensure that the aircraft is safely clear of the throwers arm before the motor can start. For bungee launches a larger value can be used (such as 30) to give time for the bungee to release from the aircraft before the motor is started." user="User">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">0.1 seconds</field>
-</param>
-<param humanName="Takeoff tail dragger elevator" name="ArduPlane:TKOFF_TDRAG_ELEV" documentation="This parameter sets the amount of elevator to apply during the initial stage of a takeoff. It is used to hold the tail wheel of a taildragger on the ground during the initial takeoff stage to give maximum steering. This option should be combined with the TKOFF_TDRAG_SPD1 option and the GROUND_STEER_ALT option along with tuning of the ground steering controller. A value of zero means to bypass the initial &quot;tail hold&quot; stage of takeoff. Set to zero for hand and catapult launch. For tail-draggers you should normally set this to 100, meaning full up elevator during the initial stage of takeoff. For most tricycle undercarriage aircraft a value of zero will work well, but for some tricycle aircraft a small negative value (say around -20 to -30) will apply down elevator which will hold the nose wheel firmly on the ground during initial acceleration. Only use a negative value if you find that the nosewheel doesn't grip well during takeoff. Too much down elevator on a tricycle undercarriage may cause instability in steering as the plane pivots around the nosewheel. Add down elevator 10 percent at a time." user="User">
-<field name="Range">-100 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Takeoff tail dragger speed1" name="ArduPlane:TKOFF_TDRAG_SPD1" documentation='This parameter sets the airspeed at which to stop holding the tail down and transition to rudder control of steering on the ground. When TKOFF_TDRAG_SPD1 is reached the pitch of the aircraft will be held level until TKOFF_ROTATE_SPD is reached, at which point the takeoff pitch specified in the mission will be used to "rotate" the pitch for takeoff climb. Set TKOFF_TDRAG_SPD1 to zero to go straight to rotation. This should be set to zero for hand launch and catapult launch. It should also be set to zero for tricycle undercarriages unless you are using the method above to genetly hold the nose wheel down. For tail dragger aircraft it should be set just below the stall speed.' user="User">
-<field name="Range">0 30</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Takeoff rotate speed" name="ArduPlane:TKOFF_ROTATE_SPD" documentation='This parameter sets the airspeed at which the aircraft will "rotate", setting climb pitch specified in the mission. If TKOFF_ROTATE_SPD is zero then the climb pitch will be used as soon as takeoff is started. For hand launch and catapult launches a TKOFF_ROTATE_SPD of zero should be set. For all ground launches TKOFF_ROTATE_SPD should be set above the stall speed, usually by about 10 to 30 percent' user="User">
-<field name="Range">0 30</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Takeoff throttle slew rate" name="ArduPlane:TKOFF_THR_SLEW" documentation="This parameter sets the slew rate for the throttle during auto takeoff. When this is zero the THR_SLEWRATE parameter is used during takeoff. For rolling takeoffs it can be a good idea to set a lower slewrate for takeoff to give a slower acceleration which can improve ground steering control. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on takeoff. Values below 20 are not recommended as they may cause the plane to try to climb out with too little throttle." user="User">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">percent</field>
-</param>
-<param humanName="Takeoff pitch limit reduction" name="ArduPlane:TKOFF_PLIM_SEC" documentation="This parameter reduces the pitch minimum limit of an auto-takeoff just a few seconds before it reaches the target altitude. This reduces overshoot by allowing the flight controller to start leveling off a few seconds before reaching the target height. When set to zero, the mission pitch min is enforced all the way to and through the target altitude, otherwise the pitch min slowly reduces to zero in the final segment. This is the pitch_min, not the demand. The flight controller should still be commanding to gain altitude to finish the takeoff but with this param it is not forcing it higher than it wants to be." user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">0.5</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Landing throttle slew rate" name="ArduPlane:LAND_THR_SLEW" documentation="This parameter sets the slew rate for the throttle during auto landing. When this is zero the THR_SLEWRATE parameter is used during landing. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on landing. Values below 50 are not recommended as it may cause a stall when airspeed is low and you can not throttle up fast enough." user="User">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">percent</field>
-</param>
-<param humanName="Takeoff flap percentage" name="ArduPlane:TKOFF_FLAP_PCNT" documentation="The amount of flaps (as a percentage) to apply in automatic takeoff" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="FBWA taildragger channel" name="ArduPlane:FBWA_TDRAG_CHAN" documentation="This is a RC input channel which when it goes above 1700 enables FBWA taildragger takeoff mode. It should be assigned to a momentary switch. Once this feature is enabled it will stay enabled until the aircraft goes above TKOFF_TDRAG_SPD1 airspeed, changes mode, or the pitch goes above the initial pitch when this is engaged or goes below 0 pitch. When enabled the elevator will be forced to TKOFF_TDRAG_ELEV. This option allows for easier takeoffs on taildraggers in FBWA mode, and also makes it easier to test auto-takeoff steering handling in FBWA. Setting it to 0 disables this option." user="Standard">
-</param>
-<param humanName="Level flight roll limit" name="ArduPlane:LEVEL_ROLL_LIMIT" documentation="This controls the maximum bank angle in degrees during flight modes where level flight is desired, such as in the final stages of landing, and during auto takeoff. This should be a small angle (such as 5 degrees) to prevent a wing hitting the runway during takeoff or landing. Setting this to zero will completely disable heading hold on auto takeoff and final landing approach." user="User">
-<field name="Range">0 45</field>
-<field name="Increment">1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Landing slope re-calc threshold" name="ArduPlane:LAND_SLOPE_RCALC" documentation="This parameter is used when using a rangefinder during landing for altitude correction from baro drift (RNGFND_LANDING=1) and the altitude correction indicates your altitude is lower than the intended slope path. This value is the threshold of the correction to re-calculate the landing approach slope. Set to zero to keep the original slope all the way down and any detected baro drift will be corrected by pitching/throttling up to snap back to resume the original slope path. Otherwise, when a rangefinder altitude correction exceeds this threshold it will trigger a slope re-calculate to give a shallower slope. This also smoothes out the approach when flying over objects such as trees. Recommend a value of 2m." user="Advanced">
-<field name="Range">0 5</field>
-<field name="Increment">0.5</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Landing auto-abort slope threshold" name="ArduPlane:LAND_ABORT_DEG" documentation="This parameter is used when using a rangefinder during landing for altitude correction from baro drift (RNGFND_LANDING=1) and the altitude correction indicates your actual altitude is higher than the intended slope path. Normally it would pitch down steeply but that can result in a crash with high airspeed so this allows remembering the baro offset and self-abort the landing and come around for another landing with the correct baro offset applied for a perfect slope. An auto-abort go-around will only happen once, next attempt will not auto-abort again. This operation happens entirely automatically in AUTO mode. This value is the delta degrees threshold to trigger the go-around compared to the origional slope. Example: if set to 5 deg and the mission planned slope is 15 deg then if the new slope is 21 then it will go-around. Set to 0 to disable. Requires LAND_SLOPE_RCALC &gt; 0." user="Advanced">
-<field name="Range">0 90</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Landing Pitch" name="ArduPlane:LAND_PITCH_CD" documentation="Used in autoland to give the minimum pitch in the final stage of landing (after the flare). This parameter can be used to ensure that the final landing attitude is appropriate for the type of undercarriage on the aircraft. Note that it is a minimum pitch only - the landing code will control pitch above this value to try to achieve the configured landing sink rate." user="Advanced">
-<field name="Units">centi-Degrees</field>
-</param>
-<param humanName="Landing flare altitude" name="ArduPlane:LAND_FLARE_ALT" documentation="Altitude in autoland at which to lock heading and flare to the LAND_PITCH_CD pitch. Note that this option is secondary to LAND_FLARE_SEC. For a good landing it preferable that the flare is triggered by LAND_FLARE_SEC. " user="Advanced">
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Landing flare time" name="ArduPlane:LAND_FLARE_SEC" documentation="Vertical time before landing point at which to lock heading and flare with the motor stopped. This is vertical time, and is calculated based solely on the current height above the ground and the current descent rate.  Set to 0 if you only wish to flare based on altitude (see LAND_FLARE_ALT)." user="Advanced">
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Landing pre-flare altitude" name="ArduPlane:LAND_PF_ALT" documentation="Altitude to trigger pre-flare flight stage where LAND_PF_ARSPD controls airspeed. The pre-flare flight stage trigger works just like LAND_FLARE_ALT but higher. Disabled when LAND_PF_ARSPD is 0." user="Advanced">
-<field name="Range">0 30</field>
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Landing pre-flare time" name="ArduPlane:LAND_PF_SEC" documentation="Vertical time to ground to trigger pre-flare flight stage where LAND_PF_ARSPD controls airspeed. This pre-flare flight stage trigger works just like LAND_FLARE_SEC but earlier. Disabled when LAND_PF_ARSPD is 0." user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Landing pre-flare airspeed" name="ArduPlane:LAND_PF_ARSPD" documentation="Desired airspeed during pre-flare flight stage. This is useful to reduce airspeed just before the flare. Use 0 to disable." user="Advanced">
-<field name="Range">0 30</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Bitmask for when to allow negative reverse thrust" name="ArduPlane:USE_REV_THRUST" documentation="Typically THR_MIN will be clipped to zero unless reverse thrust is available. Since you may not want negative thrust available at all times this bitmask allows THR_MIN to go below 0 while executing certain auto-mission commands." user="Advanced">
-<field name="Bitmask">0:AUTO_ALWAYS,1:AUTO_LAND,2:AUTO_LOITER_TO_ALT,3:AUTO_LOITER_ALL,4:AUTO_WAYPOINTS,5:LOITER,6:RTL,7:CIRCLE,8:CRUISE,9:FBWB,10:GUIDED</field>
-<values>
-<value code="0">Disabled</value>
-<value code="1">AlwaysAllowedInAuto</value>
-<value code="2">Auto_LandApproach</value>
-<value code="4">Auto_LoiterToAlt</value>
-<value code="8">Auto_Loiter</value>
-<value code="16">Auto_Waypoint</value>
-<value code="32">Loiter</value>
-<value code="64">RTL</value>
-<value code="128">Circle</value>
-<value code="256">Cruise</value>
-<value code="512">FBWB</value>
-<value code="1024">Guided</value>
-</values>
-</param>
-<param humanName="Landing disarm delay" name="ArduPlane:LAND_DISARMDELAY" documentation="After a landing has completed using a LAND waypoint, automatically disarm after this many seconds have passed. Use 0 to not disarm." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Set servos to neutral after landing" name="ArduPlane:LAND_THEN_NEUTRL" documentation="When enabled, after an autoland and auto-disarm via LAND_DISARMDELAY happens then set all servos to neutral. This is helpful when an aircraft has a rough landing upside down or a crazy angle causing the servos to strain." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Servos to Neutral</value>
-<value code=" 2">Servos to Zero PWM</value>
-</values>
-</param>
-<param humanName="Landing abort using throttle" name="ArduPlane:LAND_ABORT_THR" documentation="Allow a landing abort to trigger with a throttle &gt; 95%" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="Navigation controller selection" name="ArduPlane:NAV_CONTROLLER" documentation="Which navigation controller to enable. Currently the only navigation controller available is L1. From time to time other experimental controllers will be added which are selected using this parameter." user="Standard">
-<values>
-<value code="0">Default</value>
-<value code="1">L1Controller</value>
-</values>
-</param>
-<param humanName="GPS to Baro Mix" name="ArduPlane:ALT_MIX" documentation="The percent of mixing between GPS altitude and baro altitude. 0 = 100% gps, 1 = 100% baro. It is highly recommend that you not change this from the default of 1, as GPS altitude is notoriously unreliable. The only time I would recommend changing this is if you have a high altitude enabled GPS, and you are dropping a plane from a high altitude balloon many kilometers off the ground." user="Advanced">
-<field name="Range">0 1</field>
-<field name="Increment">0.1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Altitude control algorithm" name="ArduPlane:ALT_CTRL_ALG" documentation="This sets what algorithm will be used for altitude control. The default is zero, which selects the most appropriate algorithm for your airframe. Currently the default is to use TECS (total energy control system). From time to time we will add other experimental altitude control algorithms which will be selected using this parameter." user="Advanced">
-<values>
-<value code="0">Automatic</value>
-</values>
-</param>
-<param humanName="Altitude offset" name="ArduPlane:ALT_OFFSET" documentation="This is added to the target altitude in automatic flight. It can be used to add a global altitude offset to a mission" user="Advanced">
-<field name="Range">-32767 32767</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Waypoint Radius" name="ArduPlane:WP_RADIUS" documentation='Defines the maximum distance from a waypoint that when crossed indicates the waypoint may be complete. To avoid the aircraft looping around the waypoint in case it misses by more than the WP_RADIUS an additional check is made to see if the aircraft has crossed a "finish line" passing through the waypoint and perpendicular to the flight path from the previous waypoint. If that finish line is crossed then the waypoint is considered complete. Note that the navigation controller may decide to turn later than WP_RADIUS before a waypoint, based on how sharp the turn is and the speed of the aircraft. It is safe to set WP_RADIUS much larger than the usual turn radius of your aircraft and the navigation controller will work out when to turn. If you set WP_RADIUS too small then you will tend to overshoot the turns.' user="Standard">
-<field name="Range">1 32767</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Waypoint Maximum Radius" name="ArduPlane:WP_MAX_RADIUS" documentation='Sets the maximum distance to a waypoint for the waypoint to be considered complete. This overrides the "cross the finish line" logic that is normally used to consider a waypoint complete. For normal AUTO behaviour this parameter should be set to zero. Using a non-zero value is only recommended when it is critical that the aircraft does approach within the given radius, and should loop around until it has done so. This can cause the aircraft to loop forever if its turn radius is greater than the maximum radius set.' user="Standard">
-<field name="Range">0 32767</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Waypoint Loiter Radius" name="ArduPlane:WP_LOITER_RAD" documentation="Defines the distance from the waypoint center, the plane will maintain during a loiter. If you set this value to a negative number then the default loiter direction will be counter-clockwise instead of clockwise." user="Standard">
-<field name="Range">-32767 32767</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="RTL loiter radius" name="ArduPlane:RTL_RADIUS" documentation="Defines the radius of the loiter circle when in RTL mode. If this is zero then WP_LOITER_RAD is used. If the radius is negative then a counter-clockwise is used. If positive then a clockwise loiter is used." user="Standard">
-<field name="Range">-32767 32767</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Action on geofence breach" name="ArduPlane:FENCE_ACTION" documentation="What to do on fence breach. If this is set to 0 then no action is taken, and geofencing is disabled. If this is set to 1 then the plane will enter GUIDED mode, with the target waypoint as the fence return point. If this is set to 2 then the fence breach is reported to the ground station, but no other action is taken. If set to 3 then the plane enters guided mode but the pilot retains manual throttle control. If set to 4 the plane enters RTL mode, with the target waypoint as the closest rally point (or home point if there are no rally points)." user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">GuidedMode</value>
-<value code="2">ReportOnly</value>
-<value code="3">GuidedModeThrPass</value>
-<value code="4">RTL_Mode</value>
-</values>
-</param>
-<param humanName="Fence Total" name="ArduPlane:FENCE_TOTAL" documentation="Number of geofence points currently loaded" user="Advanced">
-</param>
-<param humanName="Fence Channel" name="ArduPlane:FENCE_CHANNEL" documentation="RC Channel to use to enable geofence. PWM input above 1750 enables the geofence" user="Standard">
-</param>
-<param humanName="Fence Minimum Altitude" name="ArduPlane:FENCE_MINALT" documentation="Minimum altitude allowed before geofence triggers" user="Standard">
-<field name="Range">0 32767</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Fence Maximum Altitude" name="ArduPlane:FENCE_MAXALT" documentation="Maximum altitude allowed before geofence triggers" user="Standard">
-<field name="Range">0 32767</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Fence Return Altitude" name="ArduPlane:FENCE_RETALT" documentation="Altitude the aircraft will transit to when a fence breach occurs.  If FENCE_RETALT is &lt;= 0 then the midpoint between FENCE_MAXALT and FENCE_MINALT is used, unless FENCE_MAXALT &lt; FENCE_MINALT.  If FENCE_MAXALT &lt; FENCE_MINALT AND FENCE_RETALT is &lt;= 0 then ALT_HOLD_RTL is the altitude used on a fence breach." user="Standard">
-<field name="Range">0 32767</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Fence automatic enable" name="ArduPlane:FENCE_AUTOENABLE" documentation="When set to 1, geofence automatically enables after an auto takeoff and automatically disables at the beginning of an auto landing.  When on the ground before takeoff the fence is disabled.  When set to 2, the fence autoenables after an auto takeoff, but only disables the fence floor during landing. It is highly recommended to not use this option for line of sight flying and use a fence enable channel instead." user="Standard">
-<values>
-<value code="0">NoAutoEnable</value>
-<value code="1">AutoEnable</value>
-<value code="2">AutoEnableDisableFloorOnly</value>
-</values>
-</param>
-<param humanName="Fence Return to Rally" name="ArduPlane:FENCE_RET_RALLY" documentation="When set to 1: on fence breach the plane will return to the nearest rally point rather than the fence return point.  If no rally points have been defined the plane will return to the home point.  " user="Standard">
-<values>
-<value code="0">FenceReturnPoint</value>
-<value code="1">NearestRallyPoint</value>
-</values>
-</param>
-<param humanName="Enable stall prevention" name="ArduPlane:STALL_PREVENTION" documentation="This controls the use of stall prevention techniques, including roll limits at low speed and raising the minimum airspeed in turns. The limits are based on the aerodynamic load factor of a banked turn. This option relies on the correct ARSPD_FBW_MIN value being set correctly. Note that if you don't have an airspeed sensor then stall prevention will use an airspeed estimate based on the ground speed plus a wind estimate taken from the response of the autopilot banked turns. That synthetic airspeed estimate may be inaccurate, so you should not assume that stall prevention with no airspeed sensor will be effective." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Minimum Airspeed" name="ArduPlane:ARSPD_FBW_MIN" documentation="This is the minimum airspeed you want to fly at in modes where the autopilot controls the airspeed. This should be set to a value around 20% higher than the level flight stall speed for the airframe. This value is also used in the STALL_PREVENTION code." user="Standard">
-<field name="Range">5 100</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Maximum Airspeed" name="ArduPlane:ARSPD_FBW_MAX" documentation="This is the maximum airspeed that you want to allow for your airframe in auto-throttle modes. You should ensure that this value is sufficiently above the ARSPD_FBW_MIN value to allow for a sufficient flight envelope to accurately control altitude using airspeed. A value at least 50% above ARSPD_FBW_MIN is recommended." user="Standard">
-<field name="Range">5 100</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Fly By Wire elevator reverse" name="ArduPlane:FBWB_ELEV_REV" documentation="Reverse sense of elevator in FBWB and CRUISE modes. When set to 0 up elevator (pulling back on the stick) means to lower altitude. When set to 1, up elevator means to raise altitude." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Use terrain following" name="ArduPlane:TERRAIN_FOLLOW" documentation="This enables terrain following for CRUISE mode, FBWB mode, RTL and for rally points. To use this option you also need to set TERRAIN_ENABLE to 1, which enables terrain data fetching from the GCS, and you need to have a GCS that supports sending terrain data to the aircraft. When terrain following is enabled then CRUISE and FBWB mode will hold height above terrain rather than height above home. In RTL the return to launch altitude will be considered to be a height above the terrain. Rally point altitudes will be taken as height above the terrain. This option does not affect mission items, which have a per-waypoint flag for whether they are height above home or height above the terrain. To use terrain following missions you need a ground station which can set the waypoint type to be a terrain height waypoint when creating the mission." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Terrain lookahead" name="ArduPlane:TERRAIN_LOOKAHD" documentation="This controls how far ahead the terrain following code looks to ensure it stays above upcoming terrain. A value of zero means no lookahead, so the controller will track only the terrain directly below the aircraft. The lookahead will never extend beyond the next waypoint when in AUTO mode." user="Standard">
-<field name="Range">0 10000</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Fly By Wire B altitude change rate" name="ArduPlane:FBWB_CLIMB_RATE" documentation="This sets the rate in m/s at which FBWB and CRUISE modes will change its target altitude for full elevator deflection. Note that the actual climb rate of the aircraft can be lower than this, depending on your airspeed and throttle control settings. If you have this parameter set to the default value of 2.0, then holding the elevator at maximum deflection for 10 seconds would change the target altitude by 20 meters." user="Standard">
-<field name="Range">1 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Minimum Throttle" name="ArduPlane:THR_MIN" documentation="The minimum throttle setting (as a percentage) which the autopilot will apply. For the final stage of an automatic landing this is always zero. If your ESC supports reverse, use a negative value to configure for reverse thrust." user="Standard">
-<field name="Range">-100 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Maximum Throttle" name="ArduPlane:THR_MAX" documentation="The maximum throttle setting (as a percentage) which the autopilot will apply." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Maximum Throttle for takeoff" name="ArduPlane:TKOFF_THR_MAX" documentation="The maximum throttle setting during automatic takeoff. If this is zero then THR_MAX is used for takeoff as well." user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Throttle slew rate" name="ArduPlane:THR_SLEWRATE" documentation="maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second." user="Standard">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Flap slew rate" name="ArduPlane:FLAP_SLEWRATE" documentation="maximum percentage change in flap output per second. A setting of 25 means to not change the flap by more than 25% of the full flap range in one second. A value of 0 means no rate limiting." user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Throttle suppress manual passthru" name="ArduPlane:THR_SUPP_MAN" documentation="When throttle is suppressed in auto mode it is normally forced to zero. If you enable this option, then while suppressed it will be manual throttle. This is useful on petrol engines to hold the idle throttle manually while waiting for takeoff" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Throttle passthru in stabilize" name="ArduPlane:THR_PASS_STAB" documentation="If this is set then when in STABILIZE, FBWA or ACRO modes the throttle is a direct passthru from the transmitter. This means the THR_MIN and THR_MAX settings are not used in these modes. This is useful for petrol engines where you setup a throttle cut switch that suppresses the throttle below the normal minimum." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Throttle Failsafe Enable" name="ArduPlane:THR_FAILSAFE" documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Throttle Failsafe Value" name="ArduPlane:THR_FS_VALUE" documentation="The PWM level on channel 3 below which throttle failsafe triggers" user="Standard">
-<field name="Range">925 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Throttle cruise percentage" name="ArduPlane:TRIM_THROTTLE" documentation="The target percentage of throttle to apply for normal flight" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Throttle nudge enable" name="ArduPlane:THROTTLE_NUDGE" documentation="When enabled, this uses the throttle input in auto-throttle modes to 'nudge' the throttle or airspeed to higher or lower values. When you have an airspeed sensor the nudge affects the target airspeed, so that throttle inputs above 50% will increase the target airspeed from TRIM_ARSPD_CM up to a maximum of ARSPD_FBW_MAX. When no airspeed sensor is enabled the throttle nudge will push up the target throttle for throttle inputs above 50%." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Short failsafe action" name="ArduPlane:FS_SHORT_ACTN" documentation="The action to take on a short (FS_SHORT_TIMEOUT) failsafe event. A short failsafe even can be triggered either by loss of RC control (see THR_FS_VALUE) or by loss of GCS control (see FS_GCS_ENABL). If in CIRCLE or RTL mode this parameter is ignored. A short failsafe event in stabilization and manual modes will cause an change to CIRCLE mode if FS_SHORT_ACTN is 0 or 1, and a change to FBWA mode if FS_SHORT_ACTN is 2. In all other modes (AUTO, GUIDED and LOITER) a short failsafe event will cause no mode change is FS_SHORT_ACTN is set to 0, will cause a change to CIRCLE mode if set to 1 and will change to FBWA mode if set to 2. Please see the documentation for FS_LONG_ACTN for the behaviour after FS_LONG_TIMEOUT seconds of failsafe." user="Standard">
-<values>
-<value code="0">CIRCLE/no change(if already in AUTO|GUIDED|LOITER)</value>
-<value code="1">CIRCLE</value>
-<value code="2">FBWA</value>
-</values>
-</param>
-<param humanName="Short failsafe timeout" name="ArduPlane:FS_SHORT_TIMEOUT" documentation="The time in seconds that a failsafe condition has to persist before a short failsafe event will occur. This defaults to 1.5 seconds" user="Standard">
-<field name="Range">1 100</field>
-<field name="Increment">0.5</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Long failsafe action" name="ArduPlane:FS_LONG_ACTN" documentation="The action to take on a long (FS_LONG_TIMEOUT seconds) failsafe event. If the aircraft was in a stabilization or manual mode when failsafe started and a long failsafe occurs then it will change to RTL mode if FS_LONG_ACTN is 0 or 1, and will change to FBWA if FS_LONG_ACTN is set to 2. If the aircraft was in an auto mode (such as AUTO or GUIDED) when the failsafe started then it will continue in the auto mode if FS_LONG_ACTN is set to 0, will change to RTL mode if FS_LONG_ACTN is set to 1 and will change to FBWA mode if FS_LONG_ACTN is set to 2. If FS_LONG_ACTION is set to 3, the parachute will be deployed (make sure the chute is configured and enabled). " user="Standard">
-<values>
-<value code="0">Continue</value>
-<value code="1">ReturnToLaunch</value>
-<value code="2">Glide</value>
-<value code="3">Deploy Parachute</value>
-</values>
-</param>
-<param humanName="Long failsafe timeout" name="ArduPlane:FS_LONG_TIMEOUT" documentation="The time in seconds that a failsafe condition has to persist before a long failsafe event will occur. This defaults to 5 seconds." user="Standard">
-<field name="Range">1 300</field>
-<field name="Increment">0.5</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Failsafe battery voltage" name="ArduPlane:FS_BATT_VOLTAGE" documentation="Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe. If the battery voltage drops below this voltage continuously for 10 seconds then the plane will switch to RTL mode." user="Standard">
-<field name="Increment">0.1</field>
-<field name="Units">Volts</field>
-</param>
-<param humanName="Failsafe battery milliAmpHours" name="ArduPlane:FS_BATT_MAH" documentation="Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe. If the battery remaining drops below this level then the plane will switch to RTL mode immediately." user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
-</param>
-<param humanName="GCS failsafe enable" name="ArduPlane:FS_GCS_ENABL" documentation="Enable ground control station telemetry failsafe. Failsafe will trigger after FS_LONG_TIMEOUT seconds of no MAVLink heartbeat messages. There are two possible enabled settings. Seeing FS_GCS_ENABL to 1 means that GCS failsafe will be triggered when the aircraft has not received a MAVLink HEARTBEAT message. Setting FS_GCS_ENABL to 2 means that GCS failsafe will be triggered on either a loss of HEARTBEAT messages, or a RADIO_STATUS message from a MAVLink enabled 3DR radio indicating that the ground station is not receiving status updates from the aircraft, which is indicated by the RADIO_STATUS.remrssi field being zero (this may happen if you have a one way link due to asymmetric noise on the ground station and aircraft radios).Setting FS_GCS_ENABL to 3 means that GCS failsafe will be triggered by Heartbeat(like option one), but only in AUTO mode. WARNING: Enabling this option opens up the possibility of your plane going into failsafe mode and running the motor on the ground it it loses contact with your ground station. If this option is enabled on an electric plane then you should enable ARMING_REQUIRED." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Heartbeat</value>
-<value code="2">HeartbeatAndREMRSSI</value>
-<value code="3">HeartbeatAndAUTO</value>
-</values>
-</param>
-<param humanName="Flightmode channel" name="ArduPlane:FLTMODE_CH" documentation="RC Channel to use for flight mode control" user="Advanced">
-</param>
-<param humanName="FlightMode1" name="ArduPlane:FLTMODE1" documentation="Flight mode for switch position 1 (910 to 1230 and above 2049)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="FlightMode2" name="ArduPlane:FLTMODE2" documentation="Flight mode for switch position 2 (1231 to 1360)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="FlightMode3" name="ArduPlane:FLTMODE3" documentation="Flight mode for switch position 3 (1361 to 1490)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="FlightMode4" name="ArduPlane:FLTMODE4" documentation="Flight mode for switch position 4 (1491 to 1620)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="FlightMode5" name="ArduPlane:FLTMODE5" documentation="Flight mode for switch position 5 (1621 to 1749)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="FlightMode6" name="ArduPlane:FLTMODE6" documentation="Flight mode for switch position 6 (1750 to 2049)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Initial flight mode" name="ArduPlane:INITIAL_MODE" documentation="This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver." user="Advanced">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Maximum Bank Angle" name="ArduPlane:LIM_ROLL_CD" documentation="The maximum commanded bank angle in either direction" user="Standard">
-<field name="Range">0 9000</field>
-<field name="Increment">1</field>
-<field name="Units">centi-Degrees</field>
-</param>
-<param humanName="Maximum Pitch Angle" name="ArduPlane:LIM_PITCH_MAX" documentation="The maximum commanded pitch up angle" user="Standard">
-<field name="Range">0 9000</field>
-<field name="Increment">1</field>
-<field name="Units">centi-Degrees</field>
-</param>
-<param humanName="Minimum Pitch Angle" name="ArduPlane:LIM_PITCH_MIN" documentation="The minimum commanded pitch down angle" user="Standard">
-<field name="Range">-9000 0</field>
-<field name="Increment">1</field>
-<field name="Units">centi-Degrees</field>
-</param>
-<param humanName="ACRO mode roll rate" name="ArduPlane:ACRO_ROLL_RATE" documentation="The maximum roll rate at full stick deflection in ACRO mode" user="Standard">
-<field name="Range">10 500</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="ACRO mode pitch rate" name="ArduPlane:ACRO_PITCH_RATE" documentation="The maximum pitch rate at full stick deflection in ACRO mode" user="Standard">
-<field name="Range">10 500</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="ACRO mode attitude locking" name="ArduPlane:ACRO_LOCKING" documentation="Enable attitude locking when sticks are released" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Ground steer altitude" name="ArduPlane:GROUND_STEER_ALT" documentation="Altitude at which to use the ground steering controller on the rudder. If non-zero then the STEER2SRV controller will be used to control the rudder for altitudes within this limit of the home altitude." user="Standard">
-<field name="Range">-100 100</field>
-<field name="Increment">0.1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Ground steer rate" name="ArduPlane:GROUND_STEER_DPS" documentation="Ground steering rate in degrees per second for full rudder stick deflection" user="Advanced">
-<field name="Range">10 360</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Automatic trim adjustment" name="ArduPlane:TRIM_AUTO" documentation="Set RC trim PWM levels to current levels when switching away from manual mode. When this option is enabled and you change from MANUAL to any other mode then the APM will take the current position of the control sticks as the trim values for aileron, elevator and rudder. It will use those to set RC1_TRIM, RC2_TRIM and RC4_TRIM. This option is disabled by default as if a pilot is not aware of this option and changes from MANUAL to another mode while control inputs are not centered then the trim could be changed to a dangerously bad value. You can enable this option to assist with trimming your plane, by enabling it before takeoff then switching briefly to MANUAL in flight, and seeing how the plane reacts. You can then switch back to FBWA, trim the surfaces then again test MANUAL mode. Each time you switch from MANUAL the APM will take your control inputs as the new trim. After you have good trim on your aircraft you can disable TRIM_AUTO for future flights." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Elevon mixing" name="ArduPlane:ELEVON_MIXING" documentation="This enables an older form of elevon mixing which is now deprecated. Please see the ELEVON_OUTPUT option for setting up elevons. The ELEVON_MIXING option should be set to 0 for elevon planes except for backwards compatibility with older setups." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Elevon reverse" name="ArduPlane:ELEVON_REVERSE" documentation="Reverse elevon mixing" user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Elevon reverse" name="ArduPlane:ELEVON_CH1_REV" documentation="Reverse elevon channel 1" user="User">
-<values>
-<value code="-1">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Elevon reverse" name="ArduPlane:ELEVON_CH2_REV" documentation="Reverse elevon channel 2" user="User">
-<values>
-<value code="-1">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="VTail output" name="ArduPlane:VTAIL_OUTPUT" documentation="Enable VTail output in software. If enabled then the APM will provide software VTail mixing on the elevator and rudder channels. There are 4 different mixing modes available, which refer to the 4 ways the elevator can be mapped to the two VTail servos. Note that you must not use VTail output mixing with hardware pass-through of RC values, such as with channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to something other than 8 before you enable VTAIL_OUTPUT. Please also see the MIXING_GAIN parameter for the output gain of the mixer." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">UpUp</value>
-<value code="2">UpDown</value>
-<value code="3">DownUp</value>
-<value code="4">DownDown</value>
-</values>
-</param>
-<param humanName="Elevon output" name="ArduPlane:ELEVON_OUTPUT" documentation="Enable software elevon output mixer. If enabled then the APM will provide software elevon mixing on the aileron and elevator channels. There are 4 different mixing modes available, which refer to the 4 ways the elevator can be mapped to the two elevon servos. Note that you must not use elevon output mixing with hardware pass-through of RC values, such as with channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to something other than 8 before you enable ELEVON_OUTPUT. Please also see the MIXING_GAIN parameter for the output gain of the mixer." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">UpUp</value>
-<value code="2">UpDown</value>
-<value code="3">DownUp</value>
-<value code="4">DownDown</value>
-</values>
-</param>
-<param humanName="Mixing Gain" name="ArduPlane:MIXING_GAIN" documentation="The gain for the Vtail and elevon output mixers. The default is 0.5, which ensures that the mixer doesn't saturate, allowing both input channels to go to extremes while retaining control over the output. Hardware mixers often have a 1.0 gain, which gives more servo throw, but can saturate. If you don't have enough throw on your servos with VTAIL_OUTPUT or ELEVON_OUTPUT enabled then you can raise the gain using MIXING_GAIN. The mixer allows outputs in the range 900 to 2100 microseconds." user="User">
-<field name="Range">0.5 1.2</field>
-</param>
-<param humanName="Rudder only aircraft" name="ArduPlane:RUDDER_ONLY" documentation="Enable rudder only mode. The rudder will control attitude in attitude controlled modes (such as FBWA). You should setup your transmitter to send roll stick inputs to the RCMAP_YAW channel (normally channel 4). The rudder servo should be attached to the RCMAP_YAW channel as well. Note that automatic ground steering will be disabled for rudder only aircraft. You should also set KFF_RDDRMIX to 1.0. You will also need to setup the YAW2SRV_DAMP yaw damping appropriately for your aircraft. A value of 0.5 for YAW2SRV_DAMP is a good starting point." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Mixing Offset" name="ArduPlane:MIXING_OFFSET" documentation="The offset for the Vtail and elevon output mixers, as a percentage. This can be used in combination with MIXING_GAIN to configure how the control surfaces respond to input. The response to aileron or elevator input can be increased by setting this parameter to a positive or negative value. A common usage is to enter a positive value to increase the aileron response of the elevons of a flying wing. The default value of zero will leave the aileron-input response equal to the elevator-input response." user="User">
-<field name="Range">-1000 1000</field>
-<field name="Units">percent</field>
-</param>
-<param humanName="Differential spoilers rudder rate" name="ArduPlane:DSPOILR_RUD_RATE" documentation="Sets the amount of deflection that the rudder output will apply to the differential spoilers, as a percentage. The default value of 100 results in full rudder applying full deflection. A value of 0 will result in the differential spoilers exactly following the elevons (no rudder effect)." user="User">
-<field name="Range">-1000 1000</field>
-<field name="Units">percent</field>
-</param>
-<param humanName="Num Resets" name="ArduPlane:SYS_NUM_RESETS" documentation="Number of APM board resets" user="Advanced">
-</param>
-<param humanName="Log bitmask" name="ArduPlane:LOG_BITMASK" documentation="Bitmap of what log types to enable in dataflash. This values is made up of the sum of each of the log types you want to be saved on dataflash. On a PX4 or Pixhawk the large storage size of a microSD card means it is usually best just to enable all log types by setting this to 65535. On APM2 the smaller 4 MByte dataflash means you need to be more selective in your logging or you may run out of log space while flying (in which case it will wrap and overwrite the start of the log). The individual bits are ATTITUDE_FAST=1, ATTITUDE_MEDIUM=2, GPS=4, PerformanceMonitoring=8, ControlTuning=16, NavigationTuning=32, Mode=64, IMU=128, Commands=256, Battery=512, Compass=1024, TECS=2048, Camera=4096, RCandServo=8192, Sonar=16384, Arming=32768, FullLogs=65535" user="Advanced">
-<field name="Bitmask">0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:MODE,7:IMU,8:CMD,9:CURRENT,10:COMPASS,11:TECS,12:CAMERA,13:RC,14:SONAR,15:ARM/DISARM,19:IMU_RAW</field>
-<values>
-<value code="0">Disabled</value>
-<value code="5190">APM2-Default</value>
-<value code="65535">PX4/Pixhawk-Default</value>
-</values>
-</param>
-<param humanName="Reset Switch Channel" name="ArduPlane:RST_SWITCH_CH" documentation="RC channel to use to reset to last flight mode&#9;after geofence takeover." user="Advanced">
-</param>
-<param humanName="Reset Mission Channel" name="ArduPlane:RST_MISSION_CH" documentation="RC channel to use to reset the mission to the first waypoint. When this channel goes above 1750 the mission is reset. Set RST_MISSION_CH to 0 to disable." user="Advanced">
-</param>
-<param humanName="Target airspeed" name="ArduPlane:TRIM_ARSPD_CM" documentation="Airspeed in cm/s to aim for when airspeed is enabled in auto mode. This is a calibrated (apparent) airspeed." user="User">
-<field name="Units">cm/s</field>
-</param>
-<param humanName="speed used for speed scaling calculations" name="ArduPlane:SCALING_SPEED" documentation="Airspeed in m/s to use when calculating surface speed scaling. Note that changing this value will affect all PID values" user="Advanced">
-<field name="Units">m/s</field>
-</param>
-<param humanName="Minimum ground speed" name="ArduPlane:MIN_GNDSPD_CM" documentation="Minimum ground speed in cm/s when under airspeed control" user="Advanced">
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Pitch angle offset" name="ArduPlane:TRIM_PITCH_CD" documentation="offset to add to pitch - used for in-flight pitch trimming. It is recommended that instead of using this parameter you level your plane correctly on the ground for good flight attitude." user="Advanced">
-<field name="Units">centi-Degrees</field>
-</param>
-<param humanName="RTL altitude" name="ArduPlane:ALT_HOLD_RTL" documentation="Return to launch target altitude. This is the relative altitude the plane will aim for and loiter at when returning home. If this is negative (usually -1) then the plane will use the current altitude at the time of entering RTL. Note that when transiting to a Rally Point the altitude of the Rally Point is used instead of ALT_HOLD_RTL." user="User">
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Minimum altitude for FBWB mode" name="ArduPlane:ALT_HOLD_FBWCM" documentation="This is the minimum altitude in centimeters that FBWB and CRUISE modes will allow. If you attempt to descend below this altitude then the plane will level off. A value of zero means no limit." user="User">
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Enable Compass" name="ArduPlane:MAG_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Flap input channel" name="ArduPlane:FLAP_IN_CHANNEL" documentation="An RC input channel to use for flaps control. If this is set to a RC channel number then that channel will be used for manual flaps control. When enabled, the percentage of flaps is taken as the percentage travel from the TRIM value of the channel to the MIN value of the channel. A value above the TRIM values will give inverse flaps (spoilers). This option needs to be enabled in conjunction with a FUNCTION setting on an output channel to one of the flap functions. When a FLAP_IN_CHANNEL is combined with auto-flaps the higher of the two flap percentages is taken. You must also enable a FLAPERON_OUTPUT flaperon mixer setting if using flaperons." user="User">
-</param>
-<param humanName="Flaperon output" name="ArduPlane:FLAPERON_OUTPUT" documentation="Enable flaperon output in software. If enabled then the APM will provide software flaperon mixing on the FLAPERON1 and FLAPERON2 output channels specified using the FUNCTION on two auxiliary channels. There are 4 different mixing modes available, which refer to the 4 ways the flap and aileron outputs can be mapped to the two flaperon servos. Note that you must not use flaperon output mixing with hardware pass-through of RC values, such as with channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to something other than 8 before you enable FLAPERON_OUTPUT. Please also see the MIXING_GAIN parameter for the output gain of the mixer. FLAPERON_OUTPUT cannot be combined with ELEVON_OUTPUT or ELEVON_MIXING." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">UpUp</value>
-<value code="2">UpDown</value>
-<value code="3">DownUp</value>
-<value code="4">DownDown</value>
-</values>
-</param>
-<param humanName="Flap 1 percentage" name="ArduPlane:FLAP_1_PERCNT" documentation="The percentage change in flap position when FLAP_1_SPEED is reached. Use zero to disable flaps" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Flap 1 speed" name="ArduPlane:FLAP_1_SPEED" documentation="The speed in meters per second at which to engage FLAP_1_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Flap 2 percentage" name="ArduPlane:FLAP_2_PERCNT" documentation="The percentage change in flap position when FLAP_2_SPEED is reached. Use zero to disable flaps" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Flap 2 speed" name="ArduPlane:FLAP_2_SPEED" documentation="The speed in meters per second at which to engage FLAP_2_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Landing flap percentage" name="ArduPlane:LAND_FLAP_PERCNT" documentation="The amount of flaps (as a percentage) to apply in the landing approach and flare of an automatic landing" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="PX4IO override channel" name="ArduPlane:OVERRIDE_CHAN" documentation="If set to a non-zero value then this is an RC input channel number to use for giving PX4IO manual control in case the main FMU microcontroller on a PX4 or Pixhawk fails. When this RC input channel goes above 1750 the FMU microcontroller will no longer be involved in controlling the servos and instead the PX4IO microcontroller will directly control the servos. Note that PX4IO manual control will be automatically activated if the FMU crashes for any reason. This parameter allows you to test for correct manual behaviour without actually crashing the FMU. This parameter is can be set to a non-zero value either for ground testing purposes or for giving the effect of an external override control board. Please also see the docs on OVERRIDE_SAFETY. Note that you may set OVERRIDE_CHAN to the same channel as FLTMODE_CH to get PX4IO based override when in flight mode 6. Note that when override is triggered due to a FMU crash the 6 auxiliary output channels on Pixhawk will no longer be updated, so all the flight controls you need must be assigned to the first 8 channels." user="Advanced">
-</param>
-<param humanName="PX4IO override safety switch" name="ArduPlane:OVERRIDE_SAFETY" documentation="This controls whether the safety switch is turned off when you activate override with OVERRIDE_CHAN. When set to 1 the safety switch is de-activated (activating the servos) then a PX4IO override is triggered. In that case the safety remains de-activated after override is disabled. If OVERRIDE_SAFETTY is set to 0 then the safety switch state does not change. Note that regardless of the value of this parameter the servos will be active while override is active." user="Advanced">
-</param>
-<param humanName="Inverted flight channel" name="ArduPlane:INVERTEDFLT_CH" documentation="A RC input channel number to enable inverted flight. If this is non-zero then the APM will monitor the corresponding RC input channel and will enable inverted flight when the channel goes above 1750." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Channel1</value>
-<value code="2">Channel2</value>
-<value code="3">Channel3</value>
-<value code="4">Channel4</value>
-<value code="5">Channel5</value>
-<value code="6">Channel6</value>
-<value code="7">Channel7</value>
-<value code="8">Channel8</value>
-</values>
-</param>
-<param humanName="HIL mode enable" name="ArduPlane:HIL_MODE" documentation="This enables and disables hardware in the loop mode. If HIL_MODE is 1 then on the next reboot all sensors are replaced with HIL sensors which come from the GCS." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="HIL Servos enable" name="ArduPlane:HIL_SERVOS" documentation="This controls whether real servo controls are used in HIL mode. If you enable this then the APM will control the real servos in HIL mode. If disabled it will report servo values, but will not output to the real servos. Be careful that your motor and propeller are not connected if you enable this option." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Limit of error in HIL attitude before reset" name="ArduPlane:HIL_ERR_LIMIT" documentation="This controls the maximum error in degrees on any axis before HIL will reset the DCM attitude to match the HIL_STATE attitude. This limit will prevent poor timing on HIL from causing a major attitude error. If the value is zero then no limit applies." user="Advanced">
-<field name="Range">0 90</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="RTL auto land" name="ArduPlane:RTL_AUTOLAND" documentation="Automatically begin landing sequence after arriving at RTL location. This requires the addition of a DO_LAND_START mission item, which acts as a marker for the start of a landing sequence. The closest landing sequence will be chosen to the current location. " user="Standard">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable - go HOME then land</value>
-<value code="2">Enable - go directly to landing sequence</value>
-</values>
-</param>
-<param humanName="RC Trims auto set at start." name="ArduPlane:RC_TRIM_AT_START" documentation="Automatically set roll/pitch trim from Tx at ground start. This makes the assumption that the RC transmitter has not been altered since trims were last captured." user="Standard">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-<param humanName="Crash Deceleration Threshold" name="ArduPlane:CRASH_ACC_THRESH" documentation="X-Axis deceleration threshold to notify the crash detector that there was a possible impact which helps disarm the motor quickly after a crash. This value should be much higher than normal negative x-axis forces during normal flight, check flight log files to determine the average IMU.x values for your aircraft and motor type. Higher value means less sensative (triggers on higher impact). For electric planes that don't vibrate much during fight a value of 25 is good (that's about 2.5G). For petrol/nitro planes you'll want a higher value. Set to 0 to disable the collision detector." user="Advanced">
-<field name="Values">10 127</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Crash Detection" name="ArduPlane:CRASH_DETECT" documentation="Automatically detect a crash during AUTO flight and perform the bitmask selected action(s). Disarm will turn off motor for safety and to help against burning out ESC and motor. Setting the mode to manual will help save the servos from burning out by overexerting if the aircraft crashed in an odd orientation such as upsidedown." user="Advanced">
-<field name="Bitmask">0:Disarm</field>
-<values>
-<value code="0">Disabled</value>
-<value code="1">Disarm</value>
-</values>
-</param>
-<param humanName="Parachute release channel" name="ArduPlane:CHUTE_CHAN" documentation="If set to a non-zero value then this is an RC input channel number to use for manually releasing the parachute. When this channel goes above 1700 the parachute will be released" user="Advanced">
-</param>
-<param humanName="Enable rangefinder for landing" name="ArduPlane:RNGFND_LANDING" documentation="This enables the use of a rangefinder for automatic landing. The rangefinder will be used both on the landing approach and for final flare" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-</parameters>
-<parameters name="ArduCopter">
-<param humanName="Eeprom format version number" name="ArduCopter:SYSID_SW_MREV" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="Software Type" name="ArduCopter:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
-<field name="ReadOnly">True</field>
-<values>
-<value code="0">ArduPlane</value>
-<value code="4">AntennaTracker</value>
-<value code="10">Copter</value>
-<value code="20">Rover</value>
-</values>
-</param>
-<param humanName="MAVLink system ID of this vehicle" name="ArduCopter:SYSID_THISMAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="My ground station number" name="ArduCopter:SYSID_MYGCS" documentation="Allows restricting radio overrides to only come from my ground station" user="Advanced">
-<values>
-<value code="255">Mission Planner and DroidPlanner</value>
-<value code=" 252"> AP Planner 2</value>
-</values>
-</param>
-<param humanName="CLI Enable" name="ArduCopter:CLI_ENABLED" documentation="This enables/disables the checking for three carriage returns on telemetry links on startup to enter the diagnostics command line interface" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Throttle filter cutoff" name="ArduCopter:PILOT_THR_FILT" documentation="Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable" user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">.5</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Pilot takeoff altitude" name="ArduCopter:PILOT_TKOFF_ALT" documentation="Altitude that altitude control modes will climb to when a takeoff is triggered with the throttle stick." user="Standard">
-<field name="Range">0.0 1000.0</field>
-<field name="Increment">10</field>
-<field name="Units">Centimeters</field>
-</param>
-<param humanName="Takeoff trigger deadzone" name="ArduCopter:PILOT_TKOFF_DZ" documentation="Offset from mid stick at which takeoff is triggered" user="Standard">
-<field name="Range">0.0 500.0</field>
-<field name="Increment">10</field>
-</param>
-<param humanName="Throttle stick behavior" name="ArduCopter:PILOT_THR_BHV" documentation="Bitmask containing various throttle stick options. Add up the values for options that you want." user="Standard">
-<field name="Bitmask">0:Feedback from mid stick,1:High throttle cancels landing,2:Disarm on land detection</field>
-<values>
-<value code="0">None</value>
-<value code="1">Feedback from mid stick</value>
-<value code="2">High throttle cancels landing</value>
-<value code="4">Disarm on land detection</value>
-</values>
-</param>
-<param humanName="Telemetry startup delay" name="ArduCopter:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="GCS PID tuning mask" name="ArduCopter:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
-<field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
-<values>
-<value code="0">None</value>
-<value code="1">Roll</value>
-<value code="2">Pitch</value>
-<value code="4">Yaw</value>
-</values>
-</param>
-<param humanName="RTL Altitude" name="ArduCopter:RTL_ALT" documentation="The minimum relative altitude the model will move to before Returning to Launch.  Set to zero to return at current altitude." user="Standard">
-<field name="Range">0 8000</field>
-<field name="Increment">1</field>
-<field name="Units">Centimeters</field>
-</param>
-<param humanName="RTL cone slope" name="ArduCopter:RTL_CONE_SLOPE" documentation="Defines a cone above home which determines maximum climb" user="Standard">
-<field name="Range">0.5 10.0</field>
-<values>
-<value code="0">Disabled</value>
-<value code="1">Shallow</value>
-<value code="3">Steep</value>
-</values>
-<field name="Increment">.1</field>
-</param>
-<param humanName="RTL speed" name="ArduCopter:RTL_SPEED" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain horizontally while flying home. If this is set to zero, WPNAV_SPEED will be used instead." user="Standard">
-<field name="Range">0 2000</field>
-<field name="Increment">50</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Rangefinder gain" name="ArduCopter:RNGFND_GAIN" documentation="Used to adjust the speed with which the target altitude is changed when objects are sensed below the copter" user="Standard">
-<field name="Range">0.01 2.0</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Battery Failsafe Enable" name="ArduCopter:FS_BATT_ENABLE" documentation="Controls whether failsafe will be invoked when battery voltage or current runs low" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Land</value>
-<value code="2">RTL</value>
-</values>
-</param>
-<param humanName="Failsafe battery voltage" name="ArduCopter:FS_BATT_VOLTAGE" documentation="Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe. If the battery voltage drops below this voltage then the copter will RTL" user="Standard">
-<field name="Increment">0.1</field>
-<field name="Units">Volts</field>
-</param>
-<param humanName="Failsafe battery milliAmpHours" name="ArduCopter:FS_BATT_MAH" documentation="Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe. If the battery remaining drops below this level then the copter will RTL" user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
-</param>
-<param humanName="Ground Station Failsafe Enable" name="ArduCopter:FS_GCS_ENABLE" documentation="Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. NB. The GCS Failsafe is only active when RC_OVERRIDE is being used to control the vehicle." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled always RTL</value>
-<value code="2">Enabled Continue with Mission in Auto Mode</value>
-</values>
-</param>
-<param humanName="GPS Hdop Good" name="ArduCopter:GPS_HDOP_GOOD" documentation="GPS Hdop value at or below this value represent a good position.  Used for pre-arm checks" user="Advanced">
-<field name="Range">100 900</field>
-</param>
-<param humanName="Compass enable/disable" name="ArduCopter:MAG_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Super Simple Mode" name="ArduCopter:SUPER_SIMPLE" documentation="Bitmask to enable Super Simple mode for some flight modes. Setting this to Disabled(0) will disable Super Simple Mode" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Mode1</value>
-<value code="2">Mode2</value>
-<value code="3">Mode1+2</value>
-<value code="4">Mode3</value>
-<value code="5">Mode1+3</value>
-<value code="6">Mode2+3</value>
-<value code="7">Mode1+2+3</value>
-<value code="8">Mode4</value>
-<value code="9">Mode1+4</value>
-<value code="10">Mode2+4</value>
-<value code="11">Mode1+2+4</value>
-<value code="12">Mode3+4</value>
-<value code="13">Mode1+3+4</value>
-<value code="14">Mode2+3+4</value>
-<value code="15">Mode1+2+3+4</value>
-<value code="16">Mode5</value>
-<value code="17">Mode1+5</value>
-<value code="18">Mode2+5</value>
-<value code="19">Mode1+2+5</value>
-<value code="20">Mode3+5</value>
-<value code="21">Mode1+3+5</value>
-<value code="22">Mode2+3+5</value>
-<value code="23">Mode1+2+3+5</value>
-<value code="24">Mode4+5</value>
-<value code="25">Mode1+4+5</value>
-<value code="26">Mode2+4+5</value>
-<value code="27">Mode1+2+4+5</value>
-<value code="28">Mode3+4+5</value>
-<value code="29">Mode1+3+4+5</value>
-<value code="30">Mode2+3+4+5</value>
-<value code="31">Mode1+2+3+4+5</value>
-<value code="32">Mode6</value>
-<value code="33">Mode1+6</value>
-<value code="34">Mode2+6</value>
-<value code="35">Mode1+2+6</value>
-<value code="36">Mode3+6</value>
-<value code="37">Mode1+3+6</value>
-<value code="38">Mode2+3+6</value>
-<value code="39">Mode1+2+3+6</value>
-<value code="40">Mode4+6</value>
-<value code="41">Mode1+4+6</value>
-<value code="42">Mode2+4+6</value>
-<value code="43">Mode1+2+4+6</value>
-<value code="44">Mode3+4+6</value>
-<value code="45">Mode1+3+4+6</value>
-<value code="46">Mode2+3+4+6</value>
-<value code="47">Mode1+2+3+4+6</value>
-<value code="48">Mode5+6</value>
-<value code="49">Mode1+5+6</value>
-<value code="50">Mode2+5+6</value>
-<value code="51">Mode1+2+5+6</value>
-<value code="52">Mode3+5+6</value>
-<value code="53">Mode1+3+5+6</value>
-<value code="54">Mode2+3+5+6</value>
-<value code="55">Mode1+2+3+5+6</value>
-<value code="56">Mode4+5+6</value>
-<value code="57">Mode1+4+5+6</value>
-<value code="58">Mode2+4+5+6</value>
-<value code="59">Mode1+2+4+5+6</value>
-<value code="60">Mode3+4+5+6</value>
-<value code="61">Mode1+3+4+5+6</value>
-<value code="62">Mode2+3+4+5+6</value>
-<value code="63">Mode1+2+3+4+5+6</value>
-</values>
-</param>
-<param humanName="RTL Final Altitude" name="ArduCopter:RTL_ALT_FINAL" documentation="This is the altitude the vehicle will move to as the final stage of Returning to Launch or after completing a mission.  Set to zero to land." user="Standard">
-<field name="Range">-1 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Centimeters</field>
-</param>
-<param humanName="RTL minimum climb" name="ArduCopter:RTL_CLIMB_MIN" documentation="The vehicle will climb this many cm during the initial climb portion of the RTL" user="Standard">
-<field name="Range">0 3000</field>
-<field name="Increment">10</field>
-<field name="Units">Centimeters</field>
-</param>
-<param humanName="Yaw behaviour during missions" name="ArduCopter:WP_YAW_BEHAVIOR" documentation="Determines how the autopilot controls the yaw during missions and RTL" user="Standard">
-<values>
-<value code="0">Never change yaw</value>
-<value code=" 1">Face next waypoint</value>
-<value code=" 2">Face next waypoint except RTL</value>
-<value code=" 3">Face along GPS course</value>
-</values>
-</param>
-<param humanName="RTL loiter time" name="ArduCopter:RTL_LOIT_TIME" documentation="Time (in milliseconds) to loiter above home before beginning final descent" user="Standard">
-<field name="Range">0 60000</field>
-<field name="Increment">1000</field>
-<field name="Units">ms</field>
-</param>
-<param humanName="Land speed" name="ArduCopter:LAND_SPEED" documentation="The descent speed for the final stage of landing in cm/s" user="Standard">
-<field name="Range">30 200</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Land speed high" name="ArduCopter:LAND_SPEED_HIGH" documentation="The descent speed for the first stage of landing in cm/s. If this is zero then WPNAV_SPEED_DN is used" user="Standard">
-<field name="Range">0 500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Pilot maximum vertical speed" name="ArduCopter:PILOT_VELZ_MAX" documentation="The maximum vertical velocity the pilot may request in cm/s" user="Standard">
-<field name="Range">50 500</field>
-<field name="Increment">10</field>
-<field name="Units">Centimeters/Second</field>
-</param>
-<param humanName="Pilot vertical acceleration" name="ArduCopter:PILOT_ACCEL_Z" documentation="The vertical acceleration used when pilot is controlling the altitude" user="Standard">
-<field name="Range">50 500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Throttle Failsafe Enable" name="ArduCopter:FS_THR_ENABLE" documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled always RTL</value>
-<value code="2">Enabled Continue with Mission in Auto Mode</value>
-<value code="3">Enabled always LAND</value>
-</values>
-</param>
-<param humanName="Throttle Failsafe Value" name="ArduCopter:FS_THR_VALUE" documentation="The PWM level on channel 3 below which throttle sailsafe triggers" user="Standard">
-<field name="Range">925 1100</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Throttle deadzone" name="ArduCopter:THR_DZ" documentation="The deadzone above and below mid throttle.  Used in AltHold, Loiter, PosHold flight modes" user="Standard">
-<field name="Range">0 300</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Flight Mode 1" name="ArduCopter:FLTMODE1" documentation="Flight mode when Channel 5 pwm is &lt;= 1230" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-<value code="18">Throw</value>
-</values>
-</param>
-<param humanName="Flight Mode 2" name="ArduCopter:FLTMODE2" documentation="Flight mode when Channel 5 pwm is &gt;1230, &lt;= 1360" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-<value code="18">Throw</value>
-</values>
-</param>
-<param humanName="Flight Mode 3" name="ArduCopter:FLTMODE3" documentation="Flight mode when Channel 5 pwm is &gt;1360, &lt;= 1490" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-<value code="18">Throw</value>
-</values>
-</param>
-<param humanName="Flight Mode 4" name="ArduCopter:FLTMODE4" documentation="Flight mode when Channel 5 pwm is &gt;1490, &lt;= 1620" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-<value code="18">Throw</value>
-</values>
-</param>
-<param humanName="Flight Mode 5" name="ArduCopter:FLTMODE5" documentation="Flight mode when Channel 5 pwm is &gt;1620, &lt;= 1749" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-<value code="18">Throw</value>
-</values>
-</param>
-<param humanName="Flight Mode 6" name="ArduCopter:FLTMODE6" documentation="Flight mode when Channel 5 pwm is &gt;=1750" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-<value code="18">Throw</value>
-</values>
-</param>
-<param humanName="Simple mode bitmask" name="ArduCopter:SIMPLE" documentation="Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode)" user="Advanced">
-</param>
-<param humanName="Log bitmask" name="ArduCopter:LOG_BITMASK" documentation="4 byte bitmap of log types to enable" user="Standard">
-<field name="Bitmask">0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,17:MOTBATT,18:IMU_FAST,19:IMU_RAW</field>
-<values>
-<value code="830">Default</value>
-<value code="894">Default+RCIN</value>
-<value code="958">Default+IMU</value>
-<value code="1854">Default+Motors</value>
-<value code="-6146">NearlyAll-AC315</value>
-<value code="45054">NearlyAll</value>
-<value code="131071">All+FastATT</value>
-<value code="262142">All+MotBatt</value>
-<value code="393214">All+FastIMU</value>
-<value code="397310">All+FastIMU+PID</value>
-<value code="655358">All+FullIMU</value>
-<value code="0">Disabled</value>
-</values>
-</param>
-<param humanName="ESC Calibration" name="ArduCopter:ESC_CALIBRATION" documentation="Controls whether ArduCopter will enter ESC calibration on the next restart.  Do not adjust this parameter manually." user="Advanced">
-<values>
-<value code="0">Normal Start-up</value>
-<value code=" 1">Start-up in ESC Calibration mode if throttle high</value>
-<value code=" 2">Start-up in ESC Calibration mode regardless of throttle</value>
-<value code=" 9">Disabled</value>
-</values>
-</param>
-<param humanName="Channel 6 Tuning" name="ArduCopter:TUNE" documentation="Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Stab Roll/Pitch kP</value>
-<value code="4">Rate Roll/Pitch kP</value>
-<value code="5">Rate Roll/Pitch kI</value>
-<value code="21">Rate Roll/Pitch kD</value>
-<value code="3">Stab Yaw kP</value>
-<value code="6">Rate Yaw kP</value>
-<value code="26">Rate Yaw kD</value>
-<value code="14">Altitude Hold kP</value>
-<value code="7">Throttle Rate kP</value>
-<value code="34">Throttle Accel kP</value>
-<value code="35">Throttle Accel kI</value>
-<value code="36">Throttle Accel kD</value>
-<value code="42">Loiter Speed</value>
-<value code="12">Loiter Pos kP</value>
-<value code="22">Velocity XY kP</value>
-<value code="28">Velocity XY kI</value>
-<value code="10">WP Speed</value>
-<value code="25">Acro RollPitch kP</value>
-<value code="40">Acro Yaw kP</value>
-<value code="13">Heli Ext Gyro</value>
-<value code="17">OF Loiter kP</value>
-<value code="18">OF Loiter kI</value>
-<value code="19">OF Loiter kD</value>
-<value code="38">Declination</value>
-<value code="39">Circle Rate</value>
-<value code="41">RangeFinder Gain</value>
-<value code="46">Rate Pitch kP</value>
-<value code="47">Rate Pitch kI</value>
-<value code="48">Rate Pitch kD</value>
-<value code="49">Rate Roll kP</value>
-<value code="50">Rate Roll kI</value>
-<value code="51">Rate Roll kD</value>
-<value code="52">Rate Pitch FF</value>
-<value code="53">Rate Roll FF</value>
-<value code="54">Rate Yaw FF</value>
-</values>
-</param>
-<param humanName="Tuning minimum" name="ArduCopter:TUNE_LOW" documentation="The minimum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob" user="Standard">
-<field name="Range">0 32767</field>
-</param>
-<param humanName="Tuning maximum" name="ArduCopter:TUNE_HIGH" documentation="The maximum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob" user="Standard">
-<field name="Range">0 32767</field>
-</param>
-<param humanName="Frame Orientation (+, X or V)" name="ArduCopter:FRAME" documentation="Controls motor mixing for multicopters.  Not used for Tri or Traditional Helicopters." user="Standard">
-<values>
-<value code="0">Plus</value>
-<value code=" 1">X</value>
-<value code=" 2">V</value>
-<value code=" 3">H</value>
-<value code=" 4">V-Tail</value>
-<value code=" 5">A-Tail</value>
-<value code=" 10">Y6B (New)</value>
-</values>
-</param>
-<param humanName="Channel 7 option" name="ArduCopter:CH7_OPT" documentation="Select which function if performed when CH7 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 12">ResetToArmedYaw</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 34">Relay2 On/Off</value>
-<value code=" 35">Relay3 On/Off</value>
-<value code=" 36">Relay4 On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-<value code=" 37">Throw</value>
-</values>
-</param>
-<param humanName="Channel 8 option" name="ArduCopter:CH8_OPT" documentation="Select which function if performed when CH8 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 12">ResetToArmedYaw</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 34">Relay2 On/Off</value>
-<value code=" 35">Relay3 On/Off</value>
-<value code=" 36">Relay4 On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-<value code=" 37">Throw</value>
-</values>
-</param>
-<param humanName="Channel 9 option" name="ArduCopter:CH9_OPT" documentation="Select which function if performed when CH9 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 12">ResetToArmedYaw</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 34">Relay2 On/Off</value>
-<value code=" 35">Relay3 On/Off</value>
-<value code=" 36">Relay4 On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-<value code=" 37">Throw</value>
-</values>
-</param>
-<param humanName="Channel 10 option" name="ArduCopter:CH10_OPT" documentation="Select which function if performed when CH10 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 12">ResetToArmedYaw</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 34">Relay2 On/Off</value>
-<value code=" 35">Relay3 On/Off</value>
-<value code=" 36">Relay4 On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-<value code=" 37">Throw</value>
-</values>
-</param>
-<param humanName="Channel 11 option" name="ArduCopter:CH11_OPT" documentation="Select which function if performed when CH11 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 12">ResetToArmedYaw</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 34">Relay2 On/Off</value>
-<value code=" 35">Relay3 On/Off</value>
-<value code=" 36">Relay4 On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-<value code=" 37">Throw</value>
-</values>
-</param>
-<param humanName="Channel 12 option" name="ArduCopter:CH12_OPT" documentation="Select which function if performed when CH12 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 12">ResetToArmedYaw</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 34">Relay2 On/Off</value>
-<value code=" 35">Relay3 On/Off</value>
-<value code=" 36">Relay4 On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-<value code=" 37">Throw</value>
-</values>
-</param>
-<param humanName="Arming check" name="ArduCopter:ARMING_CHECK" documentation="Allows enabling or disabling of pre-arming checks of receiver, accelerometer, barometer, compass and GPS" user="Standard">
-<field name="Bitmask">0:All,1:Baro,2:Compass,3:GPS,4:INS,5:Parameters+Rangefinder,6:RC,7:Voltage</field>
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-<value code=" -3">Skip Baro</value>
-<value code=" -5">Skip Compass</value>
-<value code=" -9">Skip GPS</value>
-<value code=" -17">Skip INS</value>
-<value code=" -33">Skip Params/Rangefinder</value>
-<value code=" -65">Skip RC</value>
-<value code=" 127">Skip Voltage</value>
-</values>
-</param>
-<param humanName="Disarm delay" name="ArduCopter:DISARM_DELAY" documentation="Delay before automatic disarm in seconds. A value of zero disables auto disarm." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="Angle Max" name="ArduCopter:ANGLE_MAX" documentation="Maximum lean angle in all flight modes" user="Advanced">
-<field name="Range">1000 8000</field>
-<field name="Units">Centi-degrees</field>
-</param>
-<param humanName="RC Feel Roll/Pitch" name="ArduCopter:RC_FEEL_RP" documentation="RC feel for roll/pitch which controls vehicle response to user input with 0 being extremely soft and 100 being crisp" user="Standard">
-<field name="Range">0 100</field>
-<values>
-<value code="0">Very Soft</value>
-<value code=" 25">Soft</value>
-<value code=" 50">Medium</value>
-<value code=" 75">Crisp</value>
-<value code=" 100">Very Crisp</value>
-</values>
-<field name="Increment">10</field>
-</param>
-<param humanName="PosHold braking rate" name="ArduCopter:PHLD_BRAKE_RATE" documentation="PosHold flight mode's rotation rate during braking in deg/sec" user="Advanced">
-<field name="Range">4 12</field>
-<field name="Units">deg/sec</field>
-</param>
-<param humanName="PosHold braking angle max" name="ArduCopter:PHLD_BRAKE_ANGLE" documentation="PosHold flight mode's max lean angle during braking in centi-degrees" user="Advanced">
-<field name="Range">2000 4500</field>
-<field name="Units">Centi-degrees</field>
-</param>
-<param humanName="Land repositioning" name="ArduCopter:LAND_REPOSITION" documentation="Enables user input during LAND mode, the landing phase of RTL, and auto mode landings." user="Advanced">
-<values>
-<value code="0">No repositioning</value>
-<value code=" 1">Repositioning</value>
-</values>
-</param>
-<param humanName="EKF Failsafe Action" name="ArduCopter:FS_EKF_ACTION" documentation="Controls the action that will be taken when an EKF failsafe is invoked" user="Advanced">
-<values>
-<value code="1">Land</value>
-<value code=" 2">AltHold</value>
-<value code=" 3">Land even in Stabilize</value>
-</values>
-</param>
-<param humanName="EKF failsafe variance threshold" name="ArduCopter:FS_EKF_THRESH" documentation="Allows setting the maximum acceptable compass and velocity variance" user="Advanced">
-<field name="Values">0.6:Strict, 0.8:Default, 1.0:Relaxed</field>
-</param>
-<param humanName="Crash check enable" name="ArduCopter:FS_CRASH_CHECK" documentation="This enables automatic crash checking. When enabled the motors will disarm if a crash is detected." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="ESC Update Speed" name="ArduCopter:RC_SPEED" documentation="This is the speed in Hertz that your ESCs will receive updates" user="Advanced">
-<field name="Range">50 490</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Acro Roll and Pitch P gain" name="ArduCopter:ACRO_RP_P" documentation="Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode.  Higher values mean faster rate of rotation." user="Standard">
-<field name="Range">1 10</field>
-</param>
-<param humanName="Acro Yaw P gain" name="ArduCopter:ACRO_YAW_P" documentation="Converts pilot yaw input into a desired rate of rotation in ACRO, Stabilize and SPORT modes.  Higher values mean faster rate of rotation." user="Standard">
-<field name="Range">1 10</field>
-</param>
-<param humanName="Acro Balance Roll" name="ArduCopter:ACRO_BAL_ROLL" documentation="rate at which roll angle returns to level in acro mode.  A higher value causes the vehicle to return to level faster." user="Advanced">
-<field name="Range">0 3</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Acro Balance Pitch" name="ArduCopter:ACRO_BAL_PITCH" documentation="rate at which pitch angle returns to level in acro mode.  A higher value causes the vehicle to return to level faster." user="Advanced">
-<field name="Range">0 3</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Acro Trainer" name="ArduCopter:ACRO_TRAINER" documentation="Type of trainer used in acro mode" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Leveling</value>
-<value code="2">Leveling and Limited</value>
-</values>
-</param>
-<param humanName="Acro Expo" name="ArduCopter:ACRO_EXPO" documentation="Acro roll/pitch Expo to allow faster rotation when stick at edges" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="0.1">Very Low</value>
-<value code="0.2">Low</value>
-<value code="0.3">Medium</value>
-<value code="0.4">High</value>
-<value code="0.5">Very High</value>
-</values>
-</param>
-<param humanName="Velocity (horizontal) P gain" name="ArduCopter:VEL_XY_P" documentation="Velocity (horizontal) P gain.  Converts the difference between desired velocity to a target acceleration" user="Advanced">
-<field name="Range">0.1 6.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Velocity (horizontal) I gain" name="ArduCopter:VEL_XY_I" documentation="Velocity (horizontal) I gain.  Corrects long-term difference in desired velocity to a target acceleration" user="Advanced">
-<field name="Range">0.02 1.00</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Velocity (horizontal) integrator maximum" name="ArduCopter:VEL_XY_IMAX" documentation="Velocity (horizontal) integrator maximum.  Constrains the target acceleration that the I gain will output" user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Velocity (vertical) P gain" name="ArduCopter:VEL_Z_P" documentation="Velocity (vertical) P gain.  Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller" user="Standard">
-<field name="Range">1.000 8.000</field>
-</param>
-<param humanName="Throttle acceleration controller P gain" name="ArduCopter:ACCEL_Z_P" documentation="Throttle acceleration controller P gain.  Converts the difference between desired vertical acceleration and actual acceleration into a motor output" user="Standard">
-<field name="Range">0.500 1.500</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Throttle acceleration controller I gain" name="ArduCopter:ACCEL_Z_I" documentation="Throttle acceleration controller I gain.  Corrects long-term difference in desired vertical acceleration and actual acceleration" user="Standard">
-<field name="Range">0.000 3.000</field>
-</param>
-<param humanName="Throttle acceleration controller I gain maximum" name="ArduCopter:ACCEL_Z_IMAX" documentation="Throttle acceleration controller I gain maximum.  Constrains the maximum pwm that the I term will generate" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Throttle acceleration controller D gain" name="ArduCopter:ACCEL_Z_D" documentation="Throttle acceleration controller D gain.  Compensates for short-term change in desired vertical acceleration vs actual acceleration" user="Standard">
-<field name="Range">0.000 0.400</field>
-</param>
-<param humanName="Throttle acceleration filter" name="ArduCopter:ACCEL_Z_FILT_HZ" documentation="Filter applied to acceleration to reduce noise.  Lower values reduce noise but add delay." user="Standard">
-<field name="Range">1.000 100.000</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Position (vertical) controller P gain" name="ArduCopter:POS_Z_P" documentation="Position (vertical) controller P gain.  Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller" user="Standard">
-<field name="Range">1.000 3.000</field>
-</param>
-<param humanName="Position (horizonal) controller P gain" name="ArduCopter:POS_XY_P" documentation="Loiter position controller P gain.  Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller" user="Standard">
-<field name="Range">0.500 2.000</field>
-</param>
-<param humanName="Autotune axis bitmask" name="ArduCopter:AUTOTUNE_AXES" documentation="1-byte bitmap of axes to autotune" user="Standard">
-<field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
-<values>
-<value code="7">All</value>
-<value code="1">Roll Only</value>
-<value code="2">Pitch Only</value>
-<value code="4">Yaw Only</value>
-<value code="3">Roll and Pitch</value>
-<value code="5">Roll and Yaw</value>
-<value code="6">Pitch and Yaw</value>
-</values>
-</param>
-<param humanName="Autotune aggressiveness" name="ArduCopter:AUTOTUNE_AGGR" documentation="Autotune aggressiveness. Defines the bounce back used to detect size of the D term." user="Standard">
-<field name="Range">0.05 0.10</field>
-</param>
-<param humanName="AutoTune minimum D" name="ArduCopter:AUTOTUNE_MIN_D" documentation="Defines the minimum D gain" user="Standard">
-<field name="Range">0.001 0.006</field>
-</param>
-<param humanName="Start motors before throwing is detected" name="ArduCopter:THROW_MOT_START" documentation="Used by THROW mode. Controls whether motors will run at the speed set by THR_MIN or will be stopped when armed and waiting for the throw." user="Standard">
-<values>
-<value code="0">Stopped</value>
-<value code="1">Running</value>
-</values>
-</param>
-<param humanName="Terrain Following use control" name="ArduCopter:TERRAIN_FOLLOW" documentation="This enables terrain following for RTL and LAND flight modes. To use this option TERRAIN_ENABLE must be 1 and the GCS must  support sending terrain data to the aircraft.  In RTL the RTL_ALT will be considered a height above the terrain.  In LAND mode the vehicle will slow to LAND_SPEED 10m above terrain (instead of 10m above home).  This parameter does not affect AUTO and Guided which use a per-command flag to determine if the height is above-home, absolute or above-terrain." user="Standard">
-<values>
-<value code="0">Do Not Use in RTL and Land</value>
-<value code="1">Use in RTL and Land</value>
-</values>
-</param>
-</parameters>
-<parameters name="AntennaTracker">
-<param humanName="Eeprom format version number" name="AntennaTracker:FORMAT_VERSION" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
-</param>
-<param humanName="Software Type" name="AntennaTracker:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
-<field name="ReadOnly">True</field>
-<values>
-<value code="0">ArduPlane</value>
-<value code="4">AntennaTracker</value>
-<value code="10">Copter</value>
-<value code="20">Rover</value>
-</values>
-</param>
-<param humanName="MAVLink system ID of this vehicle" name="AntennaTracker:SYSID_THISMAV" documentation="Allows setting an individual system id for this vehicle to distinguish it from others on the same network" user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="Ground station MAVLink system ID" name="AntennaTracker:SYSID_MYGCS" documentation="The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match." user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="Target vehicle's MAVLink system ID" name="AntennaTracker:SYSID_TARGET" documentation="The identifier of the vehicle being tracked. This should be zero (to auto detect) or be the same as the SYSID_THISMAV parameter of the vehicle being tracked." user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="Enable Compass" name="AntennaTracker:MAG_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Time for yaw to slew through its full range" name="AntennaTracker:YAW_SLEW_TIME" documentation="This controls how rapidly the tracker will change the servo output for yaw. It is set as the number of seconds to do a full rotation. You can use this parameter to slow the trackers movements, which may help with some types of trackers. A value of zero will allow for unlimited servo movement per update." user="Standard">
-<field name="Range">0 20</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Time for pitch to slew through its full range" name="AntennaTracker:PITCH_SLEW_TIME" documentation="This controls how rapidly the tracker will change the servo output for pitch. It is set as the number of seconds to do a full range of pitch movement. You can use this parameter to slow the trackers movements, which may help with some types of trackers. A value of zero will allow for unlimited servo movement per update." user="Standard">
-<field name="Range">0 20</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Speed at which to rotate in scan mode" name="AntennaTracker:SCAN_SPEED" documentation="This controls how rapidly the tracker will move the servos in SCAN mode" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Minimum time to apply a yaw reversal" name="AntennaTracker:MIN_REVERSE_TIME" documentation="When the tracker detects it has reached the limit of servo movement in yaw it will reverse and try moving to the other extreme of yaw. This parameter controls the minimum time it should reverse for. It is used to cope with trackers that have a significant lag in movement to ensure they do move all the way around." user="Standard">
-<field name="Range">0 20</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Initial Latitude before GPS lock" name="AntennaTracker:START_LATITUDE" documentation="Combined with START_LONGITUDE this parameter allows for an initial position of the tracker to be set. This position will be used until the GPS gets lock. It can also be used to run a stationary tracker with no GPS attached." user="Standard">
-<field name="Range">-90 90</field>
-<field name="Increment">0.000001</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Initial Longitude before GPS lock" name="AntennaTracker:START_LONGITUDE" documentation="Combined with START_LATITUDE this parameter allows for an initial position of the tracker to be set. This position will be used until the GPS gets lock. It can also be used to run a stationary tracker with no GPS attached." user="Standard">
-<field name="Range">-180 180</field>
-<field name="Increment">0.000001</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Delay before first servo movement from trim" name="AntennaTracker:STARTUP_DELAY" documentation="This parameter can be used to force the servos to their trim value for a time on startup. This can help with some servo types" user="Standard">
-<field name="Range">0 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Type of servo system being used for pitch" name="AntennaTracker:SERVO_PITCH_TYPE" documentation="This allows selection of position servos or on/off servos for pitch" user="Standard">
-<values>
-<value code="0">Position</value>
-<value code="1">OnOff</value>
-<value code="2">ContinuousRotation</value>
-</values>
-</param>
-<param humanName="Type of servo system being used for yaw" name="AntennaTracker:SERVO_YAW_TYPE" documentation="This allows selection of position servos or on/off servos for yaw" user="Standard">
-<values>
-<value code="0">Position</value>
-<value code="1">OnOff</value>
-<value code="2">ContinuousRotation</value>
-</values>
-</param>
-<param humanName="Yaw rate for on/off servos" name="AntennaTracker:ONOFF_YAW_RATE" documentation="Rate of change of yaw in degrees/second for on/off servos" user="Standard">
-<field name="Range">0 50</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Pitch rate for on/off servos" name="AntennaTracker:ONOFF_PITCH_RATE" documentation="Rate of change of pitch in degrees/second for on/off servos" user="Standard">
-<field name="Range">0 50</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Yaw minimum movement time" name="AntennaTracker:ONOFF_YAW_MINT" documentation="Minimum amount of time in seconds to move in yaw" user="Standard">
-<field name="Range">0 2</field>
-<field name="Increment">0.01</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Pitch minimum movement time" name="AntennaTracker:ONOFF_PITCH_MINT" documentation="Minimim amount of time in seconds to move in pitch" user="Standard">
-<field name="Range">0 2</field>
-<field name="Increment">0.01</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Yaw trim" name="AntennaTracker:YAW_TRIM" documentation="Amount of extra yaw to add when tracking. This allows for small adjustments for an out of trim compass." user="Standard">
-<field name="Range">-10 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Pitch trim" name="AntennaTracker:PITCH_TRIM" documentation="Amount of extra pitch to add when tracking. This allows for small adjustments for a badly calibrated barometer." user="Standard">
-<field name="Range">-10 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Yaw Angle Range" name="AntennaTracker:YAW_RANGE" documentation="Yaw axis total range of motion in degrees" user="Standard">
-<field name="Range">0 360</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Pitch Range" name="AntennaTracker:PITCH_RANGE" documentation="Pitch axis total range of motion in degrees" user="Standard">
-<field name="Range">0 180</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Distance minimum to target" name="AntennaTracker:DISTANCE_MIN" documentation="Tracker will track targets at least this distance away" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Altitude Source" name="AntennaTracker:ALT_SOURCE" documentation="What provides altitude information for vehicle" user="Standard">
-<values>
-<value code="0">Barometer</value>
-<value code="1">GPS</value>
-</values>
-</param>
-<param humanName="Mavlink Update Rate" name="AntennaTracker:MAV_UPDATE_RATE" documentation="The rate at which Mavlink updates position and baro data" user="Standard">
-<field name="Range">1 10</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Log bitmask" name="AntennaTracker:LOG_BITMASK" documentation="4 byte bitmap of log types to enable" user="Standard">
-<field name="Bitmask">0:ATTITUDE,1:GPS,2:RCIN,3:IMU,4:RCOUT,5:COMPASS</field>
-<values>
-<value code="63">Default</value>
-<value code="0">Disabled</value>
-</values>
-</param>
-<param humanName="Pitch axis controller P gain" name="AntennaTracker:PITCH2SRV_P" documentation="Pitch axis controller P gain.  Converts the difference between desired pitch angle and actual pitch angle into a pitch servo pwm change" user="Standard">
-<field name="Range">0.0 3.0</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Pitch axis controller I gain" name="AntennaTracker:PITCH2SRV_I" documentation="Pitch axis controller I gain.  Corrects long-term difference in desired pitch angle vs actual pitch angle" user="Standard">
-<field name="Range">0.0 3.0</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Pitch axis controller I gain maximum" name="AntennaTracker:PITCH2SRV_IMAX" documentation="Pitch axis controller I gain maximum.  Constrains the maximum pwm change that the I gain will output" user="Standard">
-<field name="Range">0 4000</field>
-<field name="Increment">10</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Pitch axis controller D gain" name="AntennaTracker:PITCH2SRV_D" documentation="Pitch axis controller D gain.  Compensates for short-term change in desired pitch angle vs actual pitch angle" user="Standard">
-<field name="Range">0.001 0.1</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Yaw axis controller P gain" name="AntennaTracker:YAW2SRV_P" documentation="Yaw axis controller P gain.  Converts the difference between desired yaw angle (heading) and actual yaw angle into a yaw servo pwm change" user="Standard">
-<field name="Range">0.0 3.0</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Yaw axis controller I gain" name="AntennaTracker:YAW2SRV_I" documentation="Yaw axis controller I gain.  Corrects long-term difference in desired yaw angle (heading) vs actual yaw angle" user="Standard">
-<field name="Range">0.0 3.0</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Yaw axis controller I gain maximum" name="AntennaTracker:YAW2SRV_IMAX" documentation="Yaw axis controller I gain maximum.  Constrains the maximum pwm change that the I gain will output" user="Standard">
-<field name="Range">0 4000</field>
-<field name="Increment">10</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Yaw axis controller D gain" name="AntennaTracker:YAW2SRV_D" documentation="Yaw axis controller D gain.  Compensates for short-term change in desired yaw angle (heading) vs actual yaw angle" user="Standard">
-<field name="Range">0.001 0.1</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Number of loaded mission items" name="AntennaTracker:CMD_TOTAL" documentation="Set to 1 if HOME location has been loaded by the ground station. Do not change this manually." user="Advanced">
-<field name="Range">1 255</field>
-</param>
-</parameters>
-<parameters name="APMrover2">
-<param humanName="Eeprom format version number" name="APMrover2:FORMAT_VERSION" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
-</param>
-<param humanName="Software Type" name="APMrover2:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="Log bitmask" name="APMrover2:LOG_BITMASK" documentation="Bitmap of what log types to enable in dataflash. This values is made up of the sum of each of the log types you want to be saved on dataflash. On a PX4 or Pixhawk the large storage size of a microSD card means it is usually best just to enable all log types by setting this to 65535. On APM2 the smaller 4 MByte dataflash means you need to be more selective in your logging or you may run out of log space while flying (in which case it will wrap and overwrite the start of the log). The individual bits are ATTITUDE_FAST=1, ATTITUDE_MEDIUM=2, GPS=4, PerformanceMonitoring=8, ControlTuning=16, NavigationTuning=32, Mode=64, IMU=128, Commands=256, Battery=512, Compass=1024, TECS=2048, Camera=4096, RCandServo=8192, Sonar=16384, Arming=32768, FullLogs=65535" user="Advanced">
-<field name="Bitmask">0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:MODE,7:IMU,8:CMD,9:CURRENT,10:COMPASS,11:TECS,12:CAMERA,13:RC,14:SONAR,15:ARM/DISARM,19:IMU_RAW</field>
-<values>
-<value code="0">Disabled</value>
-<value code="5190">APM2-Default</value>
-<value code="65535">PX4/Pixhawk-Default</value>
-</values>
-</param>
-<param humanName="Num Resets" name="APMrover2:SYS_NUM_RESETS" documentation="Number of APM board resets" user="Advanced">
-</param>
-<param humanName="Reset Switch Channel" name="APMrover2:RST_SWITCH_CH" documentation="RC channel to use to reset to last flight mode&#9;after geofence takeover." user="Advanced">
-</param>
-<param humanName="Initial driving mode" name="APMrover2:INITIAL_MODE" documentation="This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver. Usually used in combination with when AUTO_TRIGGER_PIN or AUTO_KICKSTART." user="Advanced">
-<values>
-<value code="0">MANUAL</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">AUTO</value>
-<value code="11">RTL</value>
-<value code="15">GUIDED</value>
-</values>
-</param>
-<param humanName="MAVLink system ID of this vehicle" name="APMrover2:SYSID_THIS_MAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="MAVLink ground station ID" name="APMrover2:SYSID_MYGCS" documentation="The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match." user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="CLI Enable" name="APMrover2:CLI_ENABLED" documentation="This enables/disables the checking for three carriage returns on telemetry links on startup to enter the diagnostics command line interface" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Telemetry startup delay " name="APMrover2:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Standard">
-<field name="Range">0 10</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="GCS PID tuning mask" name="APMrover2:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
-<field name="Bitmask">0:Steering,1:Throttle</field>
-<values>
-<value code="0">None</value>
-<value code="1">Steering</value>
-<value code="2">Throttle</value>
-</values>
-</param>
-<param humanName="Enable Compass" name="APMrover2:MAG_ENABLED" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Auto mode trigger pin" name="APMrover2:AUTO_TRIGGER_PIN" documentation="pin number to use to enable the throttle in auto mode. If set to -1 then don't use a trigger, otherwise this is a pin number which if held low in auto mode will enable the motor to run. If the switch is released while in AUTO then the motor will stop again. This can be used in combination with INITIAL_MODE to give a 'press button to start' rover with no receiver." user="standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 0-8">APM TriggerPin</value>
-<value code=" 50-55"> Pixhawk TriggerPin</value>
-</values>
-</param>
-<param humanName="Auto mode trigger kickstart acceleration" name="APMrover2:AUTO_KICKSTART" documentation="X acceleration in meters/second/second to use to trigger the motor start in auto mode. If set to zero then auto throttle starts immediately when the mode switch happens, otherwise the rover waits for the X acceleration to go above this value before it will start the motor" user="standard">
-<field name="Range">0 20</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Target cruise speed in auto modes" name="APMrover2:CRUISE_SPEED" documentation="The target speed in auto missions." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Target speed reduction while turning" name="APMrover2:SPEED_TURN_GAIN" documentation="The percentage to reduce the throttle while turning. If this is 100% then the target speed is not reduced while turning. If this is 50% then the target speed is reduced in proportion to the turn rate, with a reduction of 50% when the steering is maximally deflected." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">percent</field>
-</param>
-<param humanName="Distance to turn to start reducing speed" name="APMrover2:SPEED_TURN_DIST" documentation="The distance to the next turn at which the rover reduces its target speed by the SPEED_TURN_GAIN" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Percentage braking to apply" name="APMrover2:BRAKING_PERCENT" documentation="The maximum reverse throttle braking percentage to apply when cornering" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">percent</field>
-</param>
-<param humanName="Speed error at which to apply braking" name="APMrover2:BRAKING_SPEEDERR" documentation="The amount of overspeed error at which to start applying braking" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Pivot turn angle" name="APMrover2:PIVOT_TURN_ANGLE" documentation="Navigation angle threshold in degrees to switch to pivot steering when SKID_STEER_OUT is 1. This allows you to setup a skid steering rover to turn on the spot in auto mode when the angle it needs to turn it greater than this angle. An angle of zero means to disable pivot turning. Note that you will probably also want to set a low value for WP_RADIUS to get neat turns." user="Standard">
-<field name="Range">0 360</field>
-<field name="Increment">1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Channel 7 option" name="APMrover2:CH7_OPTION" documentation="What to do use channel 7 for" user="Standard">
-<values>
-<value code="0">Nothing</value>
-<value code="1">LearnWaypoint</value>
-</values>
-</param>
-<param humanName="Minimum Throttle" name="APMrover2:THR_MIN" documentation="The minimum throttle setting to which the autopilot will apply. This is mostly useful for rovers with internal combustion motors, to prevent the motor from cutting out in auto mode." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Maximum Throttle" name="APMrover2:THR_MAX" documentation="The maximum throttle setting to which the autopilot will apply. This can be used to prevent overheating a ESC or motor on an electric rover." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Base throttle percentage in auto" name="APMrover2:CRUISE_THROTTLE" documentation="The base throttle percentage to use in auto mode. The CRUISE_SPEED parameter controls the target speed, but the rover starts with the CRUISE_THROTTLE setting as the initial estimate for how much throttle is needed to achieve that speed. It then adjusts the throttle based on how fast the rover is actually going." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Throttle slew rate" name="APMrover2:THR_SLEWRATE" documentation="maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second. A value of zero means no limit. A value of 100 means the throttle can change over its full range in one second. Note that for some NiMH powered rovers setting a lower value like 40 or 50 may be worthwhile as the sudden current demand on the battery of a big rise in throttle may cause a brownout." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Skid steering output" name="APMrover2:SKID_STEER_OUT" documentation="Set this to 1 for skid steering controlled rovers (tank track style). When enabled, servo1 is used for the left track control, servo3 is used for right track control" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">SkidSteeringOutput</value>
-</values>
-</param>
-<param humanName="Skid steering input" name="APMrover2:SKID_STEER_IN" documentation="Set this to 1 for skid steering input rovers (tank track style in RC controller). When enabled, servo1 is used for the left track control, servo3 is used for right track control" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">SkidSteeringInput</value>
-</values>
-</param>
-<param humanName="Failsafe Action" name="APMrover2:FS_ACTION" documentation="What to do on a failsafe event" user="Standard">
-<values>
-<value code="0">Nothing</value>
-<value code="1">RTL</value>
-<value code="2">HOLD</value>
-</values>
-</param>
-<param humanName="Failsafe timeout" name="APMrover2:FS_TIMEOUT" documentation="How long a failsafe event need to happen for before we trigger the failsafe action" user="Standard">
-<field name="Units">seconds</field>
-</param>
-<param humanName="Throttle Failsafe Enable" name="APMrover2:FS_THR_ENABLE" documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel to a low value. This can be used to detect the RC transmitter going out of range. Failsafe will be triggered when the throttle channel goes below the FS_THR_VALUE for FS_TIMEOUT seconds." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Throttle Failsafe Value" name="APMrover2:FS_THR_VALUE" documentation="The PWM level on the throttle channel below which throttle failsafe triggers." user="Standard">
-<field name="Range">925 1100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="GCS failsafe enable" name="APMrover2:FS_GCS_ENABLE" documentation="Enable ground control station telemetry failsafe. When enabled the Rover will execute the FS_ACTION when it fails to receive MAVLink heartbeat packets for FS_TIMEOUT seconds." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Rangefinder trigger distance" name="APMrover2:RNGFND_TRIGGR_CM" documentation="The distance from an obstacle in centimeters at which the rangefinder triggers a turn to avoid the obstacle" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Rangefinder trigger angle" name="APMrover2:RNGFND_TURN_ANGL" documentation="The course deviation in degrees to apply while avoiding an obstacle detected with the rangefinder. A positive number means to turn right, and a negative angle means to turn left." user="Standard">
-<field name="Range">-45 45</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Rangefinder turn time" name="APMrover2:RNGFND_TURN_TIME" documentation="The amount of time in seconds to apply the RNGFND_TURN_ANGL after detecting an obstacle." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Rangefinder debounce count" name="APMrover2:RNGFND_DEBOUNCE" documentation="The number of 50Hz rangefinder hits needed to trigger an obstacle avoidance event. If you get a lot of false sonar events then raise this number, but if you make it too large then it will cause lag in detecting obstacles, which could cause you go hit the obstacle." user="Standard">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Learning channel" name="APMrover2:LEARN_CH" documentation="RC Channel to use for learning waypoints" user="Advanced">
-</param>
-<param humanName="Mode channel" name="APMrover2:MODE_CH" documentation="RC Channel to use for driving mode control" user="Advanced">
-</param>
-<param humanName="Mode1" name="APMrover2:MODE1" documentation="Driving mode for switch position 1 (910 to 1230 and above 2049)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Mode2" name="APMrover2:MODE2" documentation="Driving mode for switch position 2 (1231 to 1360)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Mode3" name="APMrover2:MODE3" documentation="Driving mode for switch position 3 (1361 to 1490)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Mode4" name="APMrover2:MODE4" documentation="Driving mode for switch position 4 (1491 to 1620)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Mode5" name="APMrover2:MODE5" documentation="Driving mode for switch position 5 (1621 to 1749)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Mode6" name="APMrover2:MODE6" documentation="Driving mode for switch position 6 (1750 to 2049)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Waypoint radius" name="APMrover2:WP_RADIUS" documentation="The distance in meters from a waypoint when we consider the waypoint has been reached. This determines when the rover will turn along the next waypoint path." user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Turning maximum G force" name="APMrover2:TURN_MAX_G" documentation="The maximum turning acceleration (in units of gravities) that the rover can handle while remaining stable. The navigation code will keep the lateral acceleration below this level to avoid rolling over or slipping the wheels in turns" user="Standard">
-<field name="Range">0.2 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">gravities</field>
-</param>
-</parameters>
-</vehicles><libraries><parameters name="SERIAL">
-<param humanName="Serial0 baud rate" name="SERIAL0_BAUD" documentation="The baud rate used on the USB console. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Console protocol selection" name="SERIAL0_PROTOCOL" documentation="Control what protocol to use on the console. " user="Standard">
-<values>
-<value code="1">MAVlink1</value>
-<value code=" 2">MAVLink2</value>
-</values>
-</param>
-<param humanName="Telem1 protocol selection" name="SERIAL1_PROTOCOL" documentation="Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="-1">None</value>
-<value code=" 1">MAVlink1</value>
-<value code=" 2">MAVLink2</value>
-<value code=" 3">Frsky D-PORT</value>
-<value code=" 4">Frsky S-PORT</value>
-<value code=" 5">GPS</value>
-<value code=" 7">Alexmos Gimbal Serial</value>
-<value code=" 8">SToRM32 Gimbal Serial</value>
-<value code=" 9">Lidar</value>
-</values>
-</param>
-<param humanName="Telem1 Baud Rate" name="SERIAL1_BAUD" documentation="The baud rate used on the Telem1 port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Telemetry 2 protocol selection" name="SERIAL2_PROTOCOL" documentation="Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="-1">None</value>
-<value code=" 1">MAVlink1</value>
-<value code=" 2">MAVLink2</value>
-<value code=" 3">Frsky D-PORT</value>
-<value code=" 4">Frsky S-PORT</value>
-<value code=" 5">GPS</value>
-<value code=" 7">Alexmos Gimbal Serial</value>
-<value code=" 8">SToRM32 Gimbal Serial</value>
-<value code=" 9">Lidar</value>
-</values>
-</param>
-<param humanName="Telemetry 2 Baud Rate" name="SERIAL2_BAUD" documentation="The baud rate of the Telem2 port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Serial 3 (GPS) protocol selection" name="SERIAL3_PROTOCOL" documentation="Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="-1">None</value>
-<value code=" 1">MAVlink1</value>
-<value code=" 2">MAVLink2</value>
-<value code=" 3">Frsky D-PORT</value>
-<value code=" 4">Frsky S-PORT</value>
-<value code=" 5">GPS</value>
-<value code=" 7">Alexmos Gimbal Serial</value>
-<value code=" 8">SToRM32 Gimbal Serial</value>
-<value code=" 9">Lidar</value>
-</values>
-</param>
-<param humanName="Serial 3 (GPS) Baud Rate" name="SERIAL3_BAUD" documentation="The baud rate used for the Serial 3 (GPS). The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Serial4 protocol selection" name="SERIAL4_PROTOCOL" documentation="Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="-1">None</value>
-<value code=" 1">MAVlink1</value>
-<value code=" 2">MAVLink2</value>
-<value code=" 3">Frsky D-PORT</value>
-<value code=" 4">Frsky S-PORT</value>
-<value code=" 5">GPS</value>
-<value code=" 7">Alexmos Gimbal Serial</value>
-<value code=" 8">SToRM32 Gimbal Serial</value>
-<value code=" 9">Lidar</value>
-</values>
-</param>
-<param humanName="Serial 4 Baud Rate" name="SERIAL4_BAUD" documentation="The baud rate used for Serial4. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Serial5 protocol selection" name="SERIAL5_PROTOCOL" documentation="Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="-1">None</value>
-<value code=" 1">MAVlink1</value>
-<value code=" 2">MAVLink2</value>
-<value code=" 3">Frsky D-PORT</value>
-<value code=" 4">Frsky S-PORT</value>
-<value code=" 5">GPS</value>
-<value code=" 7">Alexmos Gimbal Serial</value>
-<value code=" 8">SToRM32 Gimbal Serial</value>
-<value code=" 9">Lidar</value>
-</values>
-</param>
-<param humanName="Serial 5 Baud Rate" name="SERIAL5_BAUD" documentation="The baud rate used for Serial5. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-</parameters>
-<parameters name="GND_">
-<param humanName="Absolute Pressure" name="GND_ABS_PRESS" documentation="calibrated ground pressure in Pascals">
-<field name="ReadOnly">True</field>
-<field name="Volatile">True</field>
-<field name="Increment">1</field>
-<field name="Units">pascals</field>
-</param>
-<param humanName="ground temperature" name="GND_TEMP" documentation="calibrated ground temperature in degrees Celsius">
-<field name="ReadOnly">True</field>
-<field name="Volatile">True</field>
-<field name="Increment">1</field>
-<field name="Units">degrees celsius</field>
-</param>
-<param humanName="altitude offset" name="GND_ALT_OFFSET" documentation="altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.">
-<field name="Units">meters</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Primary barometer" name="GND_PRIMARY" documentation="This selects which barometer will be the primary if multiple barometers are found">
-<values>
-<value code="0">FirstBaro</value>
-<value code="1">2ndBaro</value>
-<value code="2">3rdBaro</value>
-</values>
-</param>
-</parameters>
-<parameters name="GPS_">
-<param humanName="GPS type" name="GPS_TYPE" documentation="GPS type">
-<values>
-<value code="0">None</value>
-<value code="1">AUTO</value>
-<value code="2">uBlox</value>
-<value code="3">MTK</value>
-<value code="4">MTK19</value>
-<value code="5">NMEA</value>
-<value code="6">SiRF</value>
-<value code="7">HIL</value>
-<value code="8">SwiftNav</value>
-<value code="9">PX4-UAVCAN</value>
-<value code="10">SBF</value>
-<value code="11">GSOF</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="2nd GPS type" name="GPS_TYPE2" documentation="GPS type of 2nd GPS">
-<values>
-<value code="0">None</value>
-<value code="1">AUTO</value>
-<value code="2">uBlox</value>
-<value code="3">MTK</value>
-<value code="4">MTK19</value>
-<value code="5">NMEA</value>
-<value code="6">SiRF</value>
-<value code="7">HIL</value>
-<value code="8">SwiftNav</value>
-<value code="9">PX4-UAVCAN</value>
-<value code="10">SBF</value>
-<value code="11">GSOF</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Navigation filter setting" name="GPS_NAVFILTER" documentation="Navigation filter engine setting">
-<values>
-<value code="0">Portable</value>
-<value code="2">Stationary</value>
-<value code="3">Pedestrian</value>
-<value code="4">Automotive</value>
-<value code="5">Sea</value>
-<value code="6">Airborne1G</value>
-<value code="7">Airborne2G</value>
-<value code="8">Airborne4G</value>
-</values>
-</param>
-<param humanName="Automatic Switchover Setting" name="GPS_AUTO_SWITCH" documentation="Automatic switchover to GPS reporting best lock" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Minimum Lock Type Accepted for DGPS" name="GPS_MIN_DGPS" documentation="Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode." user="Advanced">
-<values>
-<value code="0">Any</value>
-<value code="50">FloatRTK</value>
-<value code="100">IntegerRTK</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="SBAS Mode" name="GPS_SBAS_MODE" documentation="This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code="2">NoChange</value>
-</values>
-</param>
-<param humanName="Minimum elevation" name="GPS_MIN_ELEV" documentation="This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default." user="Advanced">
-<field name="Range">-100 90</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Destination for GPS_INJECT_DATA MAVLink packets" name="GPS_INJECT_TO" documentation="The GGS can send raw serial packets to inject data to multiple GPSes.">
-<values>
-<value code="0">send to first GPS</value>
-<value code="1">send to 2nd GPS</value>
-<value code="127">send to all</value>
-</values>
-</param>
-<param humanName="Swift Binary Protocol Logging Mask" name="GPS_SBP_LOGMASK" documentation="Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged" user="Advanced">
-<values>
-<value code="0x0000">None</value>
-<value code=" 0xFFFF">All</value>
-<value code=" 0xFF00">External only</value>
-</values>
-</param>
-<param humanName="Raw data logging" name="GPS_RAW_DATA" documentation="Enable logging of RXM raw data from uBlox which includes carrier phase and pseudo range information. This allows for post processing of dataflash logs for more precise positioning. Note that this requires a raw capable uBlox such as the 6P or 6T.">
-<values>
-<value code="0">Disabled</value>
-<value code="1">log every sample</value>
-<value code="5">log every 5 samples</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="GNSS system configuration" name="GPS_GNSS_MODE" documentation="Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
-<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS</field>
-<values>
-<value code="0">Leave as currently configured</value>
-<value code=" 1">GPS-NoSBAS</value>
-<value code=" 3">GPS+SBAS</value>
-<value code=" 4">Galileo-NoSBAS</value>
-<value code=" 6">Galileo+SBAS</value>
-<value code=" 8">Beidou</value>
-<value code=" 51">GPS+IMES+QZSS+SBAS (Japan Only)</value>
-<value code=" 64">GLONASS</value>
-<value code=" 66">GLONASS+SBAS</value>
-<value code=" 67">GPS+GLONASS+SBAS</value>
-</values>
-</param>
-<param humanName="Save GPS configuration" name="GPS_SAVE_CFG" documentation="Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above." user="Advanced">
-<values>
-<value code="0">Do not save config</value>
-<value code="1">Save config</value>
-<value code="2">Save only when needed</value>
-</values>
-</param>
-<param humanName="GNSS system configuration" name="GPS_GNSS_MODE2" documentation="Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
-<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS</field>
-<values>
-<value code="0">Leave as currently configured</value>
-<value code=" 1">GPS-NoSBAS</value>
-<value code=" 3">GPS+SBAS</value>
-<value code=" 4">Galileo-NoSBAS</value>
-<value code=" 6">Galileo+SBAS</value>
-<value code=" 8">Beidou</value>
-<value code=" 51">GPS+IMES+QZSS+SBAS (Japan Only)</value>
-<value code=" 64">GLONASS</value>
-<value code=" 66">GLONASS+SBAS</value>
-<value code=" 67">GPS+GLONASS+SBAS</value>
-</values>
-</param>
-<param humanName="Automatic GPS configuration" name="GPS_AUTO_CONFIG" documentation="Controls if the autopilot should automatically configure the GPS based on the parameters and default settings" user="Advanced">
-<values>
-<value code="0">Disables automatic configuration</value>
-<value code="1">Enable automatic configuration</value>
-</values>
-</param>
-</parameters>
-<parameters name="CAM_">
-<param humanName="Camera shutter (trigger) type" name="CAM_TRIGG_TYPE" documentation="how to trigger the camera to take a picture" user="Standard">
-<values>
-<value code="0">Servo</value>
-<value code="1">Relay</value>
-</values>
-</param>
-<param humanName="Duration that shutter is held open" name="CAM_DURATION" documentation="How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)" user="Standard">
-<field name="Range">0 50</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Servo ON PWM value" name="CAM_SERVO_ON" documentation="PWM value to move servo to when shutter is activated" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo OFF PWM value" name="CAM_SERVO_OFF" documentation="PWM value to move servo to when shutter is deactivated" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Camera trigger distance" name="CAM_TRIGG_DIST" documentation="Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the GPS position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight." user="Standard">
-<field name="Range">0 1000</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Relay ON value" name="CAM_RELAY_ON" documentation="This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera" user="Standard">
-<values>
-<value code="0">Low</value>
-<value code="1">High</value>
-</values>
-</param>
-<param humanName="Minimum time between photos" name="CAM_MIN_INTERVAL" documentation="Postpone shooting if previous picture was taken less than preset time(ms) ago." user="Standard">
-<field name="Range">0 10000</field>
-<field name="Units">milliseconds</field>
-</param>
-<param humanName="Maximum photo roll angle." name="CAM_MAX_ROLL" documentation="Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll)." user="Standard">
-<field name="Range">0 180</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Camera feedback pin" name="CAM_FEEDBACK_PIN" documentation="pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. See also the CAM_FEEDBACK_POL option. If using AUX4 pin on a Pixhawk then a fast capture method is used that allows for the trigger time to be as short as one microsecond." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="50">PX4 AUX1</value>
-<value code="51">PX4 AUX2</value>
-<value code="52">PX4 AUX3</value>
-<value code="53">PX4 AUX4(fast capture)</value>
-<value code="54">PX4 AUX5</value>
-<value code="55">PX4 AUX6</value>
-</values>
-</param>
-<param humanName="Camera feedback pin polarity" name="CAM_FEEDBACK_POL" documentation="Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low" user="Standard">
-<values>
-<value code="0">TriggerLow</value>
-<value code="1">TriggerHigh</value>
-</values>
-</param>
-</parameters>
-<parameters name="ARMING_">
-<param humanName="Require Arming Motors " name="ARMING_REQUIRE" documentation="Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately).  If 1, require rudder stick or GCS arming before arming motors and send THR_MIN PWM to throttle channel when disarmed.  If 2, require rudder stick or GCS arming and send 0 PWM to throttle channel when disarmed. See the ARMING_CHECK_* parameters to see what checks are done before arming. Note, if setting this parameter to 0 a reboot is required to arm the plane.  Also note, even with this parameter at 0, if ARMING_CHECK parameter is not also zero the plane may fail to arm throttle at boot due to a pre-arm check failure." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">THR_MIN PWM when disarmed</value>
-<value code="2">0 PWM when disarmed</value>
-</values>
-</param>
-<param humanName="Arm Checks to Peform (bitmask)" name="ARMING_CHECK" documentation="Checks prior to arming motor. This is a bitmask of checks that will be performed befor allowing arming. The default is no checks, allowing arming at any time. You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72. For most users it is recommended that you set this to 1 to enable all checks." user="Standard">
-<field name="Bitmask">0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC,7:Board voltage,8:Battery Level,9:Airspeed,10:Logging Available,11:Hardware safety switch,12:GPS Configuration</field>
-<values>
-<value code="0">None</value>
-<value code="1">All</value>
-<value code="2">Barometer</value>
-<value code="4">Compass</value>
-<value code="8">GPS Lock</value>
-<value code="16">INS(INertial Sensors - accels &amp; gyros)</value>
-<value code="32">Parameters(unused)</value>
-<value code="64">RC Failsafe</value>
-<value code="128">Board voltage</value>
-<value code="256">Battery Level</value>
-<value code="512">Airspeed</value>
-<value code="1024">LoggingAvailable</value>
-<value code="2048">Hardware safety switch</value>
-<value code="4096">GPS configuration</value>
-</values>
-</param>
-<param humanName="Accelerometer error threshold" name="ARMING_ACCTHRESH" documentation="Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal." user="Advanced">
-<field name="Range">0.25 3.0</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Minimum arming voltage on the first battery" name="ARMING_MIN_VOLT" documentation="The minimum voltage on the first battery to arm, 0 disabes the check" user="Standard">
-<field name="Increment">0.1 </field>
-<field name="Units">Volts</field>
-</param>
-<param humanName="Minimum arming voltage on the second battery" name="ARMING_MIN_VOLT2" documentation="The minimum voltage on the first battery to arm, 0 disabes the check" user="Standard">
-<field name="Increment">0.1 </field>
-<field name="Units">Volts</field>
-</param>
-</parameters>
-<parameters name="RELAY_">
-<param humanName="First Relay Pin" name="RELAY_PIN" documentation="Digital pin number for first relay control. This is the pin used for camera control." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="13">APM2 A9 pin</value>
-<value code="47">APM1 relay</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Second Relay Pin" name="RELAY_PIN2" documentation="Digital pin number for 2nd relay control." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="13">APM2 A9 pin</value>
-<value code="47">APM1 relay</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Third Relay Pin" name="RELAY_PIN3" documentation="Digital pin number for 3rd relay control." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="13">APM2 A9 pin</value>
-<value code="47">APM1 relay</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Fourth Relay Pin" name="RELAY_PIN4" documentation="Digital pin number for 4th relay control." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="13">APM2 A9 pin</value>
-<value code="47">APM1 relay</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Default relay state" name="RELAY_DEFAULT" documentation="The state of the relay on boot. " user="Standard">
-<values>
-<value code="0">Off</value>
-<value code="1">On</value>
-<value code="2">NoChange</value>
-</values>
-</param>
-</parameters>
-<parameters name="CHUTE_">
-<param humanName="Parachute release enabled or disabled" name="CHUTE_ENABLED" documentation="Parachute release enabled or disabled" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Parachute release mechanism type (relay or servo)" name="CHUTE_TYPE" documentation="Parachute release mechanism type (relay or servo)" user="Standard">
-<values>
-<value code="0">First Relay</value>
-<value code="1">Second Relay</value>
-<value code="2">Third Relay</value>
-<value code="3">Fourth Relay</value>
-<value code="10">Servo</value>
-</values>
-</param>
-<param humanName="Parachute Servo ON PWM value" name="CHUTE_SERVO_ON" documentation="Parachute Servo PWM value when parachute is released" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo OFF PWM value" name="CHUTE_SERVO_OFF" documentation="Parachute Servo PWM value when parachute is not released" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Parachute min altitude in meters above home" name="CHUTE_ALT_MIN" documentation="Parachute min altitude above home.  Parachute will not be released below this altitude.  0 to disable alt check." user="Standard">
-<field name="Range">0 32000</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Parachute release delay" name="CHUTE_DELAY_MS" documentation="Delay in millseconds between motor stop and chute release" user="Standard">
-<field name="Range">0 5000</field>
-<field name="Increment">1</field>
-<field name="Units">Milliseconds</field>
-</param>
-</parameters>
-<parameters name="RNGFND">
-<param humanName="Rangefinder type" name="RNGFND_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Analog</value>
-<value code="2">APM2-MaxbotixI2C</value>
-<value code="3">APM2-PulsedLightI2C</value>
-<value code="4">PX4-I2C</value>
-<value code="5">PX4-PWM</value>
-<value code="6">BBB-PRU</value>
-<value code="7">LightWareI2C</value>
-<value code="8">LightWareSerial</value>
-<value code="9">Bebop</value>
-<value code="10">MAVLink</value>
-</values>
-</param>
-<param humanName="Rangefinder pin" name="RNGFND_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
-<values>
-<value code="-1">Not Used</value>
-<value code=" 0">APM2-A0</value>
-<value code=" 1">APM2-A1</value>
-<value code=" 2">APM2-A2</value>
-<value code=" 3">APM2-A3</value>
-<value code=" 4">APM2-A4</value>
-<value code=" 5">APM2-A5</value>
-<value code=" 6">APM2-A6</value>
-<value code=" 7">APM2-A7</value>
-<value code=" 8">APM2-A8</value>
-<value code=" 9">APM2-A9</value>
-<value code=" 11">PX4-airspeed port</value>
-<value code=" 15">Pixhawk-airspeed port</value>
-<value code=" 64">APM1-airspeed port</value>
-</values>
-</param>
-<param humanName="Rangefinder scaling" name="RNGFND_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
-<field name="Increment">0.001</field>
-<field name="Units">meters/Volt</field>
-</param>
-<param humanName="rangefinder offset" name="RNGFND_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
-<field name="Increment">0.001</field>
-<field name="Units">Volts</field>
-</param>
-<param humanName="Rangefinder function" name="RNGFND_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
-<values>
-<value code="0">Linear</value>
-<value code="1">Inverted</value>
-<value code="2">Hyperbolic</value>
-</values>
-</param>
-<param humanName="Rangefinder minimum distance" name="RNGFND_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Rangefinder maximum distance" name="RNGFND_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Rangefinder stop pin" name="RNGFND_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Standard">
-<values>
-<value code="-1">Not Used</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Rangefinder settle time" name="RNGFND_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Standard">
-<field name="Increment">1</field>
-<field name="Units">milliseconds</field>
-</param>
-<param humanName="Ratiometric" name="RNGFND_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
-<values>
-<value code="0">No</value>
-<value code="1">Yes</value>
-</values>
-</param>
-<param humanName="Powersave range" name="RNGFND_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
-<field name="Range">0 32767</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Second Rangefinder type" name="RNGFND2_TYPE" documentation="What type of rangefinder device that is connected" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Analog</value>
-<value code="2">APM2-MaxbotixI2C</value>
-<value code="3">APM2-PulsedLightI2C</value>
-<value code="4">PX4-I2C</value>
-<value code="5">PX4-PWM</value>
-<value code="6">BBB-PRU</value>
-<value code="7">LightWareI2C</value>
-<value code="8">LightWareSerial</value>
-<value code="9">Bebop</value>
-<value code="10">MAVLink</value>
-</values>
-</param>
-<param humanName="Rangefinder pin" name="RNGFND2_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Advanced">
-<values>
-<value code="-1">Not Used</value>
-<value code=" 0">APM2-A0</value>
-<value code=" 1">APM2-A1</value>
-<value code=" 2">APM2-A2</value>
-<value code=" 3">APM2-A3</value>
-<value code=" 4">APM2-A4</value>
-<value code=" 5">APM2-A5</value>
-<value code=" 6">APM2-A6</value>
-<value code=" 7">APM2-A7</value>
-<value code=" 8">APM2-A8</value>
-<value code=" 9">APM2-A9</value>
-<value code=" 11">PX4-airspeed port</value>
-<value code=" 15">Pixhawk-airspeed port</value>
-<value code=" 64">APM1-airspeed port</value>
-</values>
-</param>
-<param humanName="Rangefinder scaling" name="RNGFND2_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Advanced">
-<field name="Increment">0.001</field>
-<field name="Units">meters/Volt</field>
-</param>
-<param humanName="rangefinder offset" name="RNGFND2_OFFSET" documentation="Offset in volts for zero distance" user="Advanced">
-<field name="Increment">0.001</field>
-<field name="Units">Volts</field>
-</param>
-<param humanName="Rangefinder function" name="RNGFND2_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Advanced">
-<values>
-<value code="0">Linear</value>
-<value code="1">Inverted</value>
-<value code="2">Hyperbolic</value>
-</values>
-</param>
-<param humanName="Rangefinder minimum distance" name="RNGFND2_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Advanced">
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Rangefinder maximum distance" name="RNGFND2_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Advanced">
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Rangefinder stop pin" name="RNGFND2_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Advanced">
-<values>
-<value code="-1">Not Used</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Sonar settle time" name="RNGFND2_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Advanced">
-<field name="Increment">1</field>
-<field name="Units">milliseconds</field>
-</param>
-<param humanName="Ratiometric" name="RNGFND2_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Advanced">
-<values>
-<value code="0">No</value>
-<value code="1">Yes</value>
-</values>
-</param>
-<param humanName="Distance (in cm) from the second range finder to the ground" name="RNGFND2_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the second range finder should return when the vehicle is on the ground." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Bus address of sensor" name="RNGFND_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Bus address of 2nd rangefinder" name="RNGFND2_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Second Rangefinder type" name="RNGFND3_TYPE" documentation="What type of rangefinder device that is connected">
-<values>
-<value code="0">None</value>
-<value code="1">Analog</value>
-<value code="2">APM2-MaxbotixI2C</value>
-<value code="3">APM2-PulsedLightI2C</value>
-<value code="4">PX4-I2C</value>
-<value code="5">PX4-PWM</value>
-<value code="6">BBB-PRU</value>
-<value code="7">LightWareI2C</value>
-<value code="8">LightWareSerial</value>
-<value code="9">Bebop</value>
-<value code="10">MAVLink</value>
-</values>
-</param>
-<param humanName="Rangefinder pin" name="RNGFND3_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port.">
-<values>
-<value code="-1">Not Used</value>
-<value code=" 0">APM2-A0</value>
-<value code=" 1">APM2-A1</value>
-<value code=" 2">APM2-A2</value>
-<value code=" 3">APM2-A3</value>
-<value code=" 4">APM2-A4</value>
-<value code=" 5">APM2-A5</value>
-<value code=" 6">APM2-A6</value>
-<value code=" 7">APM2-A7</value>
-<value code=" 8">APM2-A8</value>
-<value code=" 9">APM2-A9</value>
-<value code=" 11">PX4-airspeed port</value>
-<value code=" 15">Pixhawk-airspeed port</value>
-<value code=" 64">APM1-airspeed port</value>
-</values>
-</param>
-<param humanName="Rangefinder scaling" name="RNGFND3_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.">
-<field name="Units">meters/Volt</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="rangefinder offset" name="RNGFND3_OFFSET" documentation="Offset in volts for zero distance">
-<field name="Units">Volts</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Rangefinder function" name="RNGFND3_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.">
-<values>
-<value code="0">Linear</value>
-<value code="1">Inverted</value>
-<value code="2">Hyperbolic</value>
-</values>
-</param>
-<param humanName="Rangefinder minimum distance" name="RNGFND3_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read">
-<field name="Units">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder maximum distance" name="RNGFND3_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read">
-<field name="Units">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder stop pin" name="RNGFND3_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other.">
-<values>
-<value code="-1">Not Used</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Sonar settle time" name="RNGFND3_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.">
-<field name="Units">milliseconds</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Ratiometric" name="RNGFND3_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.">
-<values>
-<value code="0">No</value>
-<value code="1">Yes</value>
-</values>
-</param>
-<param humanName="Distance (in cm) from the second range finder to the ground" name="RNGFND3_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the second range finder should return when the vehicle is on the ground." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Bus address of 2nd rangefinder" name="RNGFND3_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Second Rangefinder type" name="RNGFND4_TYPE" documentation="What type of rangefinder device that is connected">
-<values>
-<value code="0">None</value>
-<value code="1">Analog</value>
-<value code="2">APM2-MaxbotixI2C</value>
-<value code="3">APM2-PulsedLightI2C</value>
-<value code="4">PX4-I2C</value>
-<value code="5">PX4-PWM</value>
-<value code="6">BBB-PRU</value>
-<value code="7">LightWareI2C</value>
-<value code="8">LightWareSerial</value>
-<value code="9">Bebop</value>
-<value code="10">MAVLink</value>
-</values>
-</param>
-<param humanName="Rangefinder pin" name="RNGFND4_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port.">
-<values>
-<value code="-1">Not Used</value>
-<value code=" 0">APM2-A0</value>
-<value code=" 1">APM2-A1</value>
-<value code=" 2">APM2-A2</value>
-<value code=" 3">APM2-A3</value>
-<value code=" 4">APM2-A4</value>
-<value code=" 5">APM2-A5</value>
-<value code=" 6">APM2-A6</value>
-<value code=" 7">APM2-A7</value>
-<value code=" 8">APM2-A8</value>
-<value code=" 9">APM2-A9</value>
-<value code=" 11">PX4-airspeed port</value>
-<value code=" 15">Pixhawk-airspeed port</value>
-<value code=" 64">APM1-airspeed port</value>
-</values>
-</param>
-<param humanName="Rangefinder scaling" name="RNGFND4_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.">
-<field name="Units">meters/Volt</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="rangefinder offset" name="RNGFND4_OFFSET" documentation="Offset in volts for zero distance">
-<field name="Units">Volts</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Rangefinder function" name="RNGFND4_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.">
-<values>
-<value code="0">Linear</value>
-<value code="1">Inverted</value>
-<value code="2">Hyperbolic</value>
-</values>
-</param>
-<param humanName="Rangefinder minimum distance" name="RNGFND4_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read">
-<field name="Units">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder maximum distance" name="RNGFND4_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read">
-<field name="Units">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder stop pin" name="RNGFND4_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other.">
-<values>
-<value code="-1">Not Used</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Sonar settle time" name="RNGFND4_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.">
-<field name="Units">milliseconds</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Ratiometric" name="RNGFND4_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.">
-<values>
-<value code="0">No</value>
-<value code="1">Yes</value>
-</values>
-</param>
-<param humanName="Distance (in cm) from the second range finder to the ground" name="RNGFND4_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the second range finder should return when the vehicle is on the ground." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Bus address of 2nd rangefinder" name="RNGFND4_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="TERRAIN_">
-<param humanName="Terrain data enable" name="TERRAIN_ENABLE" documentation="enable terrain data. This enables the vehicle storing a database of terrain data on the SD card. The terrain data is requested from the ground station as needed, and stored for later use on the SD card. To be useful the ground station must support TERRAIN_REQUEST messages and have access to a terrain database, such as the SRTM database.">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-<param humanName="Terrain grid spacing" name="TERRAIN_SPACING" documentation="Distance between terrain grid points in meters. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station. If your GCS is using the worldwide SRTM database then a resolution of 100 meters is appropriate. Some parts of the world may have higher resolution data available, such as 30 meter data available in the SRTM database in the USA. The grid spacing also controls how much data is kept in memory during flight. A larger grid spacing will allow for a larger amount of data in memory. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2.7 kilometers by 3.2 kilometers. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be demand loaded as needed.">
-<field name="Units">meters</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="ADSB_">
-<param humanName="Enable ADSB" name="ADSB_ENABLE" documentation="Enable ADS-B" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="ADSB based Collision Avoidance Behavior" name="ADSB_BEHAVIOR" documentation="ADSB based Collision Avoidance Behavior selector" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Loiter</value>
-<value code="2">LoiterAndDescend</value>
-</values>
-</param>
-</parameters>
-<parameters name="TUNE_">
-<param humanName="Transmitter tuning channel" name="TUNE_CHAN" documentation="This sets the channel for transmitter tuning. This should be connected to a knob or slider on your transmitter. It needs to be setup to use the PWM range given by TUNE_CHAN_MIN to TUNE_CHAN_MAX" user="Standard">
-<values>
-<value code="0">Disable</value>
-<value code="5">Chan5</value>
-<value code="6">Chan6</value>
-<value code="7">Chan7</value>
-<value code="8">Chan8</value>
-<value code="9">Chan9</value>
-<value code="10">Chan10</value>
-<value code="11">Chan11</value>
-<value code="12">Chan12</value>
-<value code="13">Chan13</value>
-<value code="14">Chan14</value>
-<value code="15">Chan15</value>
-<value code="16">Chan16</value>
-</values>
-</param>
-<param humanName="Transmitter tuning channel minimum pwm" name="TUNE_CHAN_MIN" documentation="This sets the PWM lower limit for the tuning channel" user="Standard">
-<field name="Range">900 2100</field>
-</param>
-<param humanName="Transmitter tuning channel maximum pwm" name="TUNE_CHAN_MAX" documentation="This sets the PWM upper limit for the tuning channel" user="Standard">
-<field name="Range">900 2100</field>
-</param>
-<param humanName="Transmitter tuning selector channel" name="TUNE_SELECTOR" documentation="This sets the channel for the transmitter tuning selector switch. This should be a 2 position switch, preferably spring loaded. A PWM above 1700 means high, below 1300 means low. If no selector is set then you won't be able to switch between parameters during flight or re-center the tuning knob" user="Standard">
-<values>
-<value code="0">Disable</value>
-<value code="1">Chan1</value>
-<value code="2">Chan3</value>
-<value code="3">Chan3</value>
-<value code="4">Chan4</value>
-<value code="5">Chan5</value>
-<value code="6">Chan6</value>
-<value code="7">Chan7</value>
-<value code="8">Chan8</value>
-<value code="9">Chan9</value>
-<value code="10">Chan10</value>
-<value code="11">Chan11</value>
-<value code="12">Chan12</value>
-<value code="13">Chan13</value>
-<value code="14">Chan14</value>
-<value code="15">Chan15</value>
-<value code="16">Chan16</value>
-</values>
-</param>
-<param humanName="Transmitter tuning range" name="TUNE_RANGE" documentation="This sets the range over which tuning will change a parameter. A value of 2 means the tuning parameter will go from 0.5 times the start value to 2x the start value over the range of the tuning channel" user="Standard">
-</param>
-<param humanName="Revert on mode change" name="TUNE_MODE_REVERT" documentation="This controls whether tuning values will revert on a flight mode change." user="Standard">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-<param humanName="Controller error threshold" name="TUNE_ERR_THRESH" documentation="This sets the controller error threshold above which an alarm will sound and a message will be sent to the GCS to warn of controller instability" user="Standard">
-<field name="Range">0 1</field>
-</param>
-</parameters>
-<parameters name="Q_A_">
-<param humanName="Roll axis rate controller P gain" name="Q_A_RAT_RLL_P" documentation="Roll axis rate controller P gain.  Converts the difference between desired roll rate and actual roll rate into a motor speed output" user="Standard">
-<field name="Range">0.08 0.30</field>
-<field name="Increment">0.005</field>
-</param>
-<param humanName="Roll axis rate controller I gain" name="Q_A_RAT_RLL_I" documentation="Roll axis rate controller I gain.  Corrects long-term difference in desired roll rate vs actual roll rate" user="Standard">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Roll axis rate controller I gain maximum" name="Q_A_RAT_RLL_IMAX" documentation="Roll axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Roll axis rate controller D gain" name="Q_A_RAT_RLL_D" documentation="Roll axis rate controller D gain.  Compensates for short-term change in desired roll rate vs actual roll rate" user="Standard">
-<field name="Range">0.0 0.02</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Roll axis rate conroller input frequency in Hz" name="Q_A_RAT_RLL_FILT" documentation="Roll axis rate conroller input frequency in Hz">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Pitch axis rate controller P gain" name="Q_A_RAT_PIT_P" documentation="Pitch axis rate controller P gain.  Converts the difference between desired pitch rate and actual pitch rate into a motor speed output" user="Standard">
-<field name="Range">0.08 0.30</field>
-<field name="Increment">0.005</field>
-</param>
-<param humanName="Pitch axis rate controller I gain" name="Q_A_RAT_PIT_I" documentation="Pitch axis rate controller I gain.  Corrects long-term difference in desired pitch rate vs actual pitch rate" user="Standard">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Pitch axis rate controller I gain maximum" name="Q_A_RAT_PIT_IMAX" documentation="Pitch axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Pitch axis rate controller D gain" name="Q_A_RAT_PIT_D" documentation="Pitch axis rate controller D gain.  Compensates for short-term change in desired pitch rate vs actual pitch rate" user="Standard">
-<field name="Range">0.0 0.02</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Pitch axis rate conroller input frequency in Hz" name="Q_A_RAT_PIT_FILT" documentation="Pitch axis rate conroller input frequency in Hz">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Yaw axis rate controller P gain" name="Q_A_RAT_YAW_P" documentation="Yaw axis rate controller P gain.  Converts the difference between desired yaw rate and actual yaw rate into a motor speed output" user="Standard">
-<field name="Range">0.10 0.50</field>
-<field name="Increment">0.005</field>
-</param>
-<param humanName="Yaw axis rate controller I gain" name="Q_A_RAT_YAW_I" documentation="Yaw axis rate controller I gain.  Corrects long-term difference in desired yaw rate vs actual yaw rate" user="Standard">
-<field name="Range">0.010 0.05</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Yaw axis rate controller I gain maximum" name="Q_A_RAT_YAW_IMAX" documentation="Yaw axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Yaw axis rate controller D gain" name="Q_A_RAT_YAW_D" documentation="Yaw axis rate controller D gain.  Compensates for short-term change in desired yaw rate vs actual yaw rate" user="Standard">
-<field name="Range">0.000 0.02</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Yaw axis rate conroller input frequency in Hz" name="Q_A_RAT_YAW_FILT" documentation="Yaw axis rate conroller input frequency in Hz">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Throttle Mix Minimum" name="Q_A_THR_MIX_MIN" documentation="Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)" user="Advanced">
-<field name="Range">0.1 0.25</field>
-</param>
-<param humanName="Throttle Mix Maximum" name="Q_A_THR_MIX_MAX" documentation="Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)" user="Advanced">
-<field name="Range">0.5 0.9</field>
-</param>
-</parameters>
-<parameters name="RC1_">
-<param humanName="RC min PWM" name="RC1_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC1_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC1_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC1_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC1_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="RC2_">
-<param humanName="RC min PWM" name="RC2_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC2_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC2_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC2_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC2_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="RC3_">
-<param humanName="RC min PWM" name="RC3_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC3_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC3_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC3_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC3_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="RC4_">
-<param humanName="RC min PWM" name="RC4_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC4_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC4_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC4_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC4_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="RC5_">
-<param humanName="RC min PWM" name="RC5_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC5_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC5_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC5_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC5_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC5_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC6_">
-<param humanName="RC min PWM" name="RC6_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC6_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC6_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC6_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC6_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC6_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC7_">
-<param humanName="RC min PWM" name="RC7_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC7_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC7_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC7_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC7_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC7_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC8_">
-<param humanName="RC min PWM" name="RC8_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC8_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC8_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC8_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC8_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC8_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC9_">
-<param humanName="RC min PWM" name="RC9_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC9_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC9_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC9_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC9_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC9_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC10_">
-<param humanName="RC min PWM" name="RC10_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC10_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC10_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC10_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC10_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC10_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC11_">
-<param humanName="RC min PWM" name="RC11_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC11_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC11_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC11_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC11_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC11_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC12_">
-<param humanName="RC min PWM" name="RC12_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC12_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC12_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC12_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC12_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC12_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC13_">
-<param humanName="RC min PWM" name="RC13_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC13_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC13_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC13_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC13_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC13_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC14_">
-<param humanName="RC min PWM" name="RC14_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC14_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC14_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC14_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC14_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC14_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC15_">
-<param humanName="RC min PWM" name="RC15_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC15_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC15_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC15_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC15_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC15_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC16_">
-<param humanName="RC min PWM" name="RC16_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC16_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC16_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC16_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC16_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC16_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-</values>
-</param>
-</parameters>
-<parameters name="RLL2SRV_">
-<param humanName="Roll Time Constant" name="RLL2SRV_TCONST" documentation="This controls the time constant in seconds from demanded to achieved bank angle. A value of 0.5 is a good default and will work with nearly all models. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the aircraft can achieve." user="Advanced">
-<field name="Range">0.4 1.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Proportional Gain" name="RLL2SRV_P" documentation="This is the gain from bank angle error to aileron." user="User">
-<field name="Range">0.1 4.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Damping Gain" name="RLL2SRV_D" documentation="This is the gain from roll rate to aileron. This adjusts the damping of the roll control loop. It has the same effect as RLL2SRV_D in the old PID controller but without the spikes in servo demands. This gain helps to reduce rolling in turbulence. It should be increased in 0.01 increments as too high a value can lead to a high frequency roll oscillation that could overstress the airframe." user="User">
-<field name="Range">0 0.1</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Integrator Gain" name="RLL2SRV_I" documentation="This is the gain from the integral of bank angle to aileron. It has the same effect as RLL2SRV_I in the old PID controller. Increasing this gain causes the controller to trim out steady offsets due to an out of trim aircraft." user="User">
-<field name="Range">0 1.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Maximum Roll Rate" name="RLL2SRV_RMAX" documentation="This sets the maximum roll rate that the controller will demand (degrees/sec). Setting it to zero disables the limit. If this value is set too low, then the roll can't keep up with the navigation demands and the plane will start weaving. If it is set too high (or disabled by setting to zero) then ailerons will get large inputs at the start of turns. A limit of 60 degrees/sec is a good default." user="Advanced">
-<field name="Range">0 180</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Integrator limit" name="RLL2SRV_IMAX" documentation="This limits the number of degrees of aileron in centi-degrees over which the integrator will operate. At the default setting of 3000 centi-degrees, the integrator will be limited to +- 30 degrees of servo travel. The maximum servo deflection is +- 45 centi-degrees, so the default value represents a 2/3rd of the total control throw which is adequate unless the aircraft is severely out of trim." user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Feed forward Gain" name="RLL2SRV_FF" documentation="This is the gain from demanded rate to aileron output. " user="User">
-<field name="Range">0.1 4.0</field>
-<field name="Increment">0.1</field>
-</param>
-</parameters>
-<parameters name="PTCH2SRV_">
-<param humanName="Pitch Time Constant" name="PTCH2SRV_TCONST" documentation="This controls the time constant in seconds from demanded to achieved pitch angle. A value of 0.5 is a good default and will work with nearly all models. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the aircraft can achieve." user="Advanced">
-<field name="Range">0.4 1.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Proportional Gain" name="PTCH2SRV_P" documentation="This is the gain from pitch angle to elevator. This gain works the same way as PTCH2SRV_P in the old PID controller and can be set to the same value." user="User">
-<field name="Range">0.1 3.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Damping Gain" name="PTCH2SRV_D" documentation="This is the gain from pitch rate to elevator. This adjusts the damping of the pitch control loop. It has the same effect as PTCH2SRV_D in the old PID controller and can be set to the same value, but without the spikes in servo demands. This gain helps to reduce pitching in turbulence. Some airframes such as flying wings that have poor pitch damping can benefit from increasing this gain term. This should be increased in 0.01 increments as too high a value can lead to a high frequency pitch oscillation that could overstress the airframe." user="User">
-<field name="Range">0 0.1</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Integrator Gain" name="PTCH2SRV_I" documentation="This is the gain applied to the integral of pitch angle. It has the same effect as PTCH2SRV_I in the old PID controller and can be set to the same value. Increasing this gain causes the controller to trim out constant offsets between demanded and measured pitch angle." user="User">
-<field name="Range">0 0.5</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Pitch up max rate" name="PTCH2SRV_RMAX_UP" documentation="This sets the maximum nose up pitch rate that the controller will demand (degrees/sec). Setting it to zero disables the limit." user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Pitch down max rate" name="PTCH2SRV_RMAX_DN" documentation="This sets the maximum nose down pitch rate that the controller will demand (degrees/sec). Setting it to zero disables the limit." user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Roll compensation" name="PTCH2SRV_RLL" documentation="This is the gain term that is applied to the pitch rate offset calculated as required to keep the nose level during turns. The default value is 1 which will work for all models. Advanced users can use it to correct for height variation in turns. If height is lost initially in turns this can be increased in small increments of 0.05 to compensate. If height is gained initially in turns then it can be decreased." user="User">
-<field name="Range">0.7 1.5</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Integrator limit" name="PTCH2SRV_IMAX" documentation="This limits the number of centi-degrees of elevator over which the integrator will operate. At the default setting of 3000 centi-degrees, the integrator will be limited to +- 30 degrees of servo travel. The maximum servo deflection is +- 45 degrees, so the default value represents a 2/3rd of the total control throw which is adequate for most aircraft unless they are severely out of trim or have very limited elevator control effectiveness." user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Feed forward Gain" name="PTCH2SRV_FF" documentation="This is the gain from demanded rate to elevator output. " user="User">
-<field name="Range">0.1 4.0</field>
-<field name="Increment">0.1</field>
-</param>
-</parameters>
-<parameters name="YAW2SRV_">
-<param humanName="Sideslip control gain" name="YAW2SRV_SLIP" documentation="This is the gain from measured lateral acceleration to demanded yaw rate. It should be set to zero unless active control of sideslip is desired. This will only work effectively if there is enough fuselage side area to generate a measureable lateral acceleration when the model sideslips. Flying wings and most gliders cannot use this term. This term should only be adjusted after the basic yaw damper gain YAW2SRV_DAMP is tuned and the YAW2SRV_INT integrator gain has been set. Set this gain to zero if only yaw damping is required.">
-<field name="Range">0 4</field>
-<field name="Increment">0.25</field>
-</param>
-<param humanName="Sideslip control integrator" name="YAW2SRV_INT" documentation="This is the integral gain from lateral acceleration error. This gain should only be non-zero if active control over sideslip is desired. If active control over sideslip is required then this can be set to 1.0 as a first try.">
-<field name="Range">0 2</field>
-<field name="Increment">0.25</field>
-</param>
-<param humanName="Yaw damping" name="YAW2SRV_DAMP" documentation="This is the gain from yaw rate to rudder. It acts as a damper on yaw motion. If a basic yaw damper is required, this gain term can be incremented, whilst leaving the YAW2SRV_SLIP and YAW2SRV_INT gains at zero. Note that unlike with a standard PID controller, if this damping term is zero then the integrator will also be disabled.">
-<field name="Range">0 2</field>
-<field name="Increment">0.25</field>
-</param>
-<param humanName="Yaw coordination gain" name="YAW2SRV_RLL" documentation="This is the gain term that is applied to the yaw rate offset calculated as required to keep the yaw rate consistent with the turn rate for a coordinated turn. The default value is 1 which will work for all models. Advanced users can use it to correct for any tendency to yaw away from or into the turn once the turn is established. Increase to make the model yaw more initially and decrease to make the model yaw less initially. If values greater than 1.1 or less than 0.9 are required then it normally indicates a problem with the airspeed calibration.">
-<field name="Range">0.8 1.2</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Integrator limit" name="YAW2SRV_IMAX" documentation="This limits the number of centi-degrees of rudder over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 degrees, so the default value represents a 1/3rd of the total control throw which is adequate for most aircraft unless they are severely out of trim or have very limited rudder control effectiveness." user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="STEER2SRV_">
-<param humanName="Steering Time Constant" name="STEER2SRV_TCONST" documentation="This controls the time constant in seconds from demanded to achieved steering angle. A value of 0.75 is a good default and will work with nearly all rovers. Ground steering in aircraft needs a bit smaller time constant, and a value of 0.5 is recommended for best ground handling in fixed wing aircraft. A value of 0.75 means that the controller will try to correct any deviation between the desired and actual steering angle in 0.75 seconds. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the vehicle can achieve." user="Advanced">
-<field name="Range">0.4 1.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Steering turning gain" name="STEER2SRV_P" documentation="The proportional gain for steering. This should be approximately equal to the diameter of the turning circle of the vehicle at low speed and maximum steering angle" user="User">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Integrator Gain" name="STEER2SRV_I" documentation="This is the gain from the integral of steering angle. Increasing this gain causes the controller to trim out steady offsets due to an out of trim vehicle." user="User">
-<field name="Range">0 1.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Damping Gain" name="STEER2SRV_D" documentation="This adjusts the damping of the steering control loop. This gain helps to reduce steering jitter with vibration. It should be increased in 0.01 increments as too high a value can lead to a high frequency steering oscillation that could overstress the vehicle." user="User">
-<field name="Range">0 0.1</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Integrator limit" name="STEER2SRV_IMAX" documentation="This limits the number of degrees of steering in centi-degrees over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 centi-degrees, so the default value represents a 1/3rd of the total control throw which is adequate unless the vehicle is severely out of trim." user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Minimum speed" name="STEER2SRV_MINSPD" documentation="This is the minimum assumed ground speed in meters/second for steering. Having a minimum speed prevents oscillations when the vehicle first starts moving. The vehicle can still drive slower than this limit, but the steering calculations will be done based on this minimum speed." user="User">
-<field name="Range">0 5</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Steering feed forward" name="STEER2SRV_FF" documentation="The feed forward gain for steering this is the ratio of the achieved turn rate to applied steering. A value of 1 means that the vehicle would yaw at a rate of 45 degrees per second with full steering deflection at 1m/s ground speed." user="User">
-<field name="Range">0.0 10.0</field>
-<field name="Increment">0.1</field>
-</param>
-</parameters>
-<parameters name="COMPASS_">
-<param humanName="Compass offsets in milligauss on the X axis" name="COMPASS_OFS_X" documentation="Offset to be added to the compass x-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Compass offsets in milligauss on the Y axis" name="COMPASS_OFS_Y" documentation="Offset to be added to the compass y-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Compass offsets in milligauss on the Z axis" name="COMPASS_OFS_Z" documentation="Offset to be added to the compass z-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Compass declination" name="COMPASS_DEC" documentation="An angle to compensate between the true north and magnetic north" user="Standard">
-<field name="Range">-3.142 3.142</field>
-<field name="Increment">0.01</field>
-<field name="Units">Radians</field>
-</param>
-<param humanName="Learn compass offsets automatically" name="COMPASS_LEARN" documentation="Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Internal-Learning</value>
-<value code="2">EKF-Learning</value>
-</values>
-</param>
-<param humanName="Use compass for yaw" name="COMPASS_USE" documentation="Enable or disable the use of the compass (instead of the GPS) for determining heading" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Auto Declination" name="COMPASS_AUTODEC" documentation="Enable or disable the automatic calculation of the declination based on gps location" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Motor interference compensation type" name="COMPASS_MOTCT" documentation="Set motor interference compensation type to disabled, throttle or current.  Do not change manually." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Use Throttle</value>
-<value code="2">Use Current</value>
-</values>
-</param>
-<param humanName="Motor interference compensation for body frame X axis" name="COMPASS_MOT_X" documentation="Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation for body frame Y axis" name="COMPASS_MOT_Y" documentation="Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation for body frame Z axis" name="COMPASS_MOT_Z" documentation="Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Compass orientation" name="COMPASS_ORIENT" documentation="The orientation of the compass relative to the autopilot board. This will default to the right value for each board type, but can be changed if you have an external compass. See the documentation for your external compass for the right value. The correct orientation should give the X axis forward, the Y axis to the right and the Z axis down. So if your aircraft is pointing west it should show a positive value for the Y axis, and a value close to zero for the X axis. On a PX4 or Pixhawk with an external compass the correct value is zero if the compass is correctly oriented. NOTE: This orientation is combined with any AHRS_ORIENTATION setting." user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Yaw45</value>
-<value code="2">Yaw90</value>
-<value code="3">Yaw135</value>
-<value code="4">Yaw180</value>
-<value code="5">Yaw225</value>
-<value code="6">Yaw270</value>
-<value code="7">Yaw315</value>
-<value code="8">Roll180</value>
-<value code="9">Roll180Yaw45</value>
-<value code="10">Roll180Yaw90</value>
-<value code="11">Roll180Yaw135</value>
-<value code="12">Pitch180</value>
-<value code="13">Roll180Yaw225</value>
-<value code="14">Roll180Yaw270</value>
-<value code="15">Roll180Yaw315</value>
-<value code="16">Roll90</value>
-<value code="17">Roll90Yaw45</value>
-<value code="18">Roll90Yaw90</value>
-<value code="19">Roll90Yaw135</value>
-<value code="20">Roll270</value>
-<value code="21">Roll270Yaw45</value>
-<value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw136</value>
-<value code="24">Pitch90</value>
-<value code="25">Pitch270</value>
-<value code="26">Pitch180Yaw90</value>
-<value code="27">Pitch180Yaw270</value>
-<value code="28">Roll90Pitch90</value>
-<value code="29">Roll180Pitch90</value>
-<value code="30">Roll270Pitch90</value>
-<value code="31">Roll90Pitch180</value>
-<value code="32">Roll270Pitch180</value>
-<value code="33">Roll90Pitch270</value>
-<value code="34">Roll180Pitch270</value>
-<value code="35">Roll270Pitch270</value>
-<value code="36">Roll90Pitch180Yaw90</value>
-<value code="37">Roll90Yaw270</value>
-<value code="38">Yaw293Pitch68Roll90</value>
-</values>
-</param>
-<param humanName="Compass is attached via an external cable" name="COMPASS_EXTERNAL" documentation="Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
-<values>
-<value code="0">Internal</value>
-<value code="1">External</value>
-<value code="2">ForcedExternal</value>
-</values>
-</param>
-<param humanName="Compass2 offsets in milligauss on the X axis" name="COMPASS_OFS2_X" documentation="Offset to be added to compass2's x-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Compass2 offsets in milligauss on the Y axis" name="COMPASS_OFS2_Y" documentation="Offset to be added to compass2's y-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Compass2 offsets in milligauss on the Z axis" name="COMPASS_OFS2_Z" documentation="Offset to be added to compass2's z-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Motor interference compensation to compass2 for body frame X axis" name="COMPASS_MOT2_X" documentation="Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation to compass2 for body frame Y axis" name="COMPASS_MOT2_Y" documentation="Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation to compass2 for body frame Z axis" name="COMPASS_MOT2_Z" documentation="Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Choose primary compass" name="COMPASS_PRIMARY" documentation="If more than one compass is available this selects which compass is the primary. Normally 0=External, 1=Internal. If no External compass is attached this parameter is ignored" user="Advanced">
-<values>
-<value code="0">FirstCompass</value>
-<value code="1">SecondCompass</value>
-<value code="2">ThirdCompass</value>
-</values>
-</param>
-<param humanName="Compass3 offsets in milligauss on the X axis" name="COMPASS_OFS3_X" documentation="Offset to be added to compass3's x-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Compass3 offsets in milligauss on the Y axis" name="COMPASS_OFS3_Y" documentation="Offset to be added to compass3's y-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Compass3 offsets in milligauss on the Z axis" name="COMPASS_OFS3_Z" documentation="Offset to be added to compass3's z-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Motor interference compensation to compass3 for body frame X axis" name="COMPASS_MOT3_X" documentation="Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation to compass3 for body frame Y axis" name="COMPASS_MOT3_Y" documentation="Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation to compass3 for body frame Z axis" name="COMPASS_MOT3_Z" documentation="Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Compass device id" name="COMPASS_DEV_ID" documentation="Compass device id.  Automatically detected, do not set manually">
-</param>
-<param humanName="Compass2 device id" name="COMPASS_DEV_ID2" documentation="Second compass's device id.  Automatically detected, do not set manually">
-</param>
-<param humanName="Compass3 device id" name="COMPASS_DEV_ID3" documentation="Third compass's device id.  Automatically detected, do not set manually">
-</param>
-<param humanName="Compass2 used for yaw" name="COMPASS_USE2" documentation="Enable or disable the second compass for determining heading." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Compass2 orientation" name="COMPASS_ORIENT2" documentation="The orientation of the second compass relative to the frame (if external) or autopilot board (if internal)." user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Yaw45</value>
-<value code="2">Yaw90</value>
-<value code="3">Yaw135</value>
-<value code="4">Yaw180</value>
-<value code="5">Yaw225</value>
-<value code="6">Yaw270</value>
-<value code="7">Yaw315</value>
-<value code="8">Roll180</value>
-<value code="9">Roll180Yaw45</value>
-<value code="10">Roll180Yaw90</value>
-<value code="11">Roll180Yaw135</value>
-<value code="12">Pitch180</value>
-<value code="13">Roll180Yaw225</value>
-<value code="14">Roll180Yaw270</value>
-<value code="15">Roll180Yaw315</value>
-<value code="16">Roll90</value>
-<value code="17">Roll90Yaw45</value>
-<value code="18">Roll90Yaw90</value>
-<value code="19">Roll90Yaw135</value>
-<value code="20">Roll270</value>
-<value code="21">Roll270Yaw45</value>
-<value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw136</value>
-<value code="24">Pitch90</value>
-<value code="25">Pitch270</value>
-<value code="26">Pitch180Yaw90</value>
-<value code="27">Pitch180Yaw270</value>
-<value code="28">Roll90Pitch90</value>
-<value code="29">Roll180Pitch90</value>
-<value code="30">Roll270Pitch90</value>
-<value code="31">Roll90Pitch180</value>
-<value code="32">Roll270Pitch180</value>
-<value code="33">Roll90Pitch270</value>
-<value code="34">Roll180Pitch270</value>
-<value code="35">Roll270Pitch270</value>
-<value code="36">Roll90Pitch180Yaw90</value>
-<value code="37">Roll90Yaw270</value>
-<value code="38">Yaw293Pitch68Roll90</value>
-</values>
-</param>
-<param humanName="Compass2 is attached via an external cable" name="COMPASS_EXTERN2" documentation="Configure second compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
-<values>
-<value code="0">Internal</value>
-<value code="1">External</value>
-<value code="2">ForcedExternal</value>
-</values>
-</param>
-<param humanName="Compass3 used for yaw" name="COMPASS_USE3" documentation="Enable or disable the third compass for determining heading." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Compass3 orientation" name="COMPASS_ORIENT3" documentation="The orientation of the third compass relative to the frame (if external) or autopilot board (if internal)." user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Yaw45</value>
-<value code="2">Yaw90</value>
-<value code="3">Yaw135</value>
-<value code="4">Yaw180</value>
-<value code="5">Yaw225</value>
-<value code="6">Yaw270</value>
-<value code="7">Yaw315</value>
-<value code="8">Roll180</value>
-<value code="9">Roll180Yaw45</value>
-<value code="10">Roll180Yaw90</value>
-<value code="11">Roll180Yaw135</value>
-<value code="12">Pitch180</value>
-<value code="13">Roll180Yaw225</value>
-<value code="14">Roll180Yaw270</value>
-<value code="15">Roll180Yaw315</value>
-<value code="16">Roll90</value>
-<value code="17">Roll90Yaw45</value>
-<value code="18">Roll90Yaw90</value>
-<value code="19">Roll90Yaw135</value>
-<value code="20">Roll270</value>
-<value code="21">Roll270Yaw45</value>
-<value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw136</value>
-<value code="24">Pitch90</value>
-<value code="25">Pitch270</value>
-<value code="26">Pitch180Yaw90</value>
-<value code="27">Pitch180Yaw270</value>
-<value code="28">Roll90Pitch90</value>
-<value code="29">Roll180Pitch90</value>
-<value code="30">Roll270Pitch90</value>
-<value code="31">Roll90Pitch180</value>
-<value code="32">Roll270Pitch180</value>
-<value code="33">Roll90Pitch270</value>
-<value code="34">Roll180Pitch270</value>
-<value code="35">Roll270Pitch270</value>
-<value code="36">Roll90Pitch180Yaw90</value>
-<value code="37">Roll90Yaw270</value>
-<value code="38">Yaw293Pitch68Roll90</value>
-</values>
-</param>
-<param humanName="Compass3 is attached via an external cable" name="COMPASS_EXTERN3" documentation="Configure third compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
-<values>
-<value code="0">Internal</value>
-<value code="1">External</value>
-<value code="2">ForcedExternal</value>
-</values>
-</param>
-<param humanName="Compass soft-iron diagonal X component" name="COMPASS_DIA_X" documentation="DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass soft-iron diagonal Y component" name="COMPASS_DIA_Y" documentation="DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass soft-iron diagonal Z component" name="COMPASS_DIA_Z" documentation="DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass soft-iron off-diagonal X component" name="COMPASS_ODI_X" documentation="ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass soft-iron off-diagonal Y component" name="COMPASS_ODI_Y" documentation="ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass soft-iron off-diagonal Z component" name="COMPASS_ODI_Z" documentation="ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass2 soft-iron diagonal X component" name="COMPASS_DIA2_X" documentation="DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass2 soft-iron diagonal Y component" name="COMPASS_DIA2_Y" documentation="DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass2 soft-iron diagonal Z component" name="COMPASS_DIA2_Z" documentation="DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass2 soft-iron off-diagonal X component" name="COMPASS_ODI2_X" documentation="ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass2 soft-iron off-diagonal Y component" name="COMPASS_ODI2_Y" documentation="ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass2 soft-iron off-diagonal Z component" name="COMPASS_ODI2_Z" documentation="ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass3 soft-iron diagonal X component" name="COMPASS_DIA3_X" documentation="DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass3 soft-iron diagonal Y component" name="COMPASS_DIA3_Y" documentation="DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass3 soft-iron diagonal Z component" name="COMPASS_DIA3_Z" documentation="DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass3 soft-iron off-diagonal X component" name="COMPASS_ODI3_X" documentation="ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass3 soft-iron off-diagonal Y component" name="COMPASS_ODI3_Y" documentation="ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass3 soft-iron off-diagonal Z component" name="COMPASS_ODI3_Z" documentation="ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass calibration fitness" name="COMPASS_CAL_FIT" documentation="This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value." user="Advanced">
-<field name="Range">4 20</field>
-<field name="Increment">0.1</field>
-</param>
-</parameters>
-<parameters name="SCHED_">
-<param humanName="Scheduler debug level" name="SCHED_DEBUG" documentation='Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.' user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="2">ShowSlips</value>
-<value code="3">ShowOverruns</value>
-</values>
-</param>
-<param humanName="Scheduling main loop rate" name="SCHED_LOOP_RATE" documentation="This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart" user="Advanced">
-<values>
-<value code="50">50Hz</value>
-<value code="100">100Hz</value>
-<value code="200">200Hz</value>
-<value code="250">250Hz</value>
-<value code="300">300Hz</value>
-<value code="400">400Hz</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-</parameters>
-<parameters name="RCMAP_">
-<param humanName="Roll channel" name="RCMAP_ROLL" documentation="Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect." user="Advanced">
-<field name="Range">1 8</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Pitch channel" name="RCMAP_PITCH" documentation="Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect." user="Advanced">
-<field name="Range">1 8</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Throttle channel" name="RCMAP_THROTTLE" documentation="Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Warning APM 2.X: Changing the throttle channel could produce unexpected fail-safe results if connection between receiver and on-board PPM Encoder is lost. Disabling on-board PPM Encoder is recommended.  Reboot is required for changes to take effect." user="Advanced">
-<field name="Range">1 8</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Yaw channel" name="RCMAP_YAW" documentation="Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect." user="Advanced">
-<field name="Range">1 8</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-</parameters>
-<parameters name="INS_">
-<param humanName="IMU Product ID" name="INS_PRODUCT_ID" documentation="Which type of IMU is installed (read-only)." user="Advanced">
-<values>
-<value code="0">Unknown</value>
-<value code="1">unused</value>
-<value code="2">unused</value>
-<value code="88">unused</value>
-<value code="3">SITL</value>
-<value code="4">PX4v1</value>
-<value code="5">PX4v2</value>
-<value code="256">unused</value>
-<value code="257">Linux</value>
-</values>
-</param>
-<param humanName="Gyro offsets of X axis" name="INS_GYROFFS_X" documentation="Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro offsets of Y axis" name="INS_GYROFFS_Y" documentation="Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro offsets of Z axis" name="INS_GYROFFS_Z" documentation="Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro2 offsets of X axis" name="INS_GYR2OFFS_X" documentation="Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro2 offsets of Y axis" name="INS_GYR2OFFS_Y" documentation="Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro2 offsets of Z axis" name="INS_GYR2OFFS_Z" documentation="Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro3 offsets of X axis" name="INS_GYR3OFFS_X" documentation="Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro3 offsets of Y axis" name="INS_GYR3OFFS_Y" documentation="Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro3 offsets of Z axis" name="INS_GYR3OFFS_Z" documentation="Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Accelerometer scaling of X axis" name="INS_ACCSCAL_X" documentation="Accelerometer scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer scaling of Y axis" name="INS_ACCSCAL_Y" documentation="Accelerometer scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer scaling of Z axis" name="INS_ACCSCAL_Z" documentation="Accelerometer scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer offsets of X axis" name="INS_ACCOFFS_X" documentation="Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer offsets of Y axis" name="INS_ACCOFFS_Y" documentation="Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer offsets of Z axis" name="INS_ACCOFFS_Z" documentation="Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer2 scaling of X axis" name="INS_ACC2SCAL_X" documentation="Accelerometer2 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer2 scaling of Y axis" name="INS_ACC2SCAL_Y" documentation="Accelerometer2 scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer2 scaling of Z axis" name="INS_ACC2SCAL_Z" documentation="Accelerometer2 scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer2 offsets of X axis" name="INS_ACC2OFFS_X" documentation="Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer2 offsets of Y axis" name="INS_ACC2OFFS_Y" documentation="Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer2 offsets of Z axis" name="INS_ACC2OFFS_Z" documentation="Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer3 scaling of X axis" name="INS_ACC3SCAL_X" documentation="Accelerometer3 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer3 scaling of Y axis" name="INS_ACC3SCAL_Y" documentation="Accelerometer3 scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer3 scaling of Z axis" name="INS_ACC3SCAL_Z" documentation="Accelerometer3 scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer3 offsets of X axis" name="INS_ACC3OFFS_X" documentation="Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer3 offsets of Y axis" name="INS_ACC3OFFS_Y" documentation="Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer3 offsets of Z axis" name="INS_ACC3OFFS_Z" documentation="Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Gyro filter cutoff frequency" name="INS_GYRO_FILTER" documentation="Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)" user="Advanced">
-<field name="Range">0 127</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Accel filter cutoff frequency" name="INS_ACCEL_FILTER" documentation="Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)" user="Advanced">
-<field name="Range">0 127</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Use first IMU for attitude, velocity and position estimates" name="INS_USE" documentation="Use first IMU for attitude, velocity and position estimates" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Use second IMU for attitude, velocity and position estimates" name="INS_USE2" documentation="Use second IMU for attitude, velocity and position estimates" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Use third IMU for attitude, velocity and position estimates" name="INS_USE3" documentation="Use third IMU for attitude, velocity and position estimates" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stillness threshold for detecting if we are moving" name="INS_STILL_THRESH" documentation="Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5" user="Advanced">
-<field name="Range">0.05 50</field>
-</param>
-<param humanName="Gyro Calibration scheme" name="INS_GYR_CAL" documentation="Conrols when automatic gyro calibration is performed" user="Advanced">
-<values>
-<value code="0">Never</value>
-<value code=" 1">Start-up only</value>
-</values>
-</param>
-<param humanName="Accel cal trim option" name="INS_TRIM_OPTION" documentation="Specifies how the accel cal routine determines the trims" user="Advanced">
-<values>
-<value code="0">Don't adjust the trims</value>
-<value code="1">Assume first orientation was level</value>
-<value code="2">Assume ACC_BODYFIX is perfectly aligned to the vehicle</value>
-</values>
-</param>
-<param humanName="Body-fixed accelerometer" name="INS_ACC_BODYFIX" documentation="The body-fixed accelerometer to be used for trim calculation" user="Advanced">
-<values>
-<value code="1">IMU 1</value>
-<value code="2">IMU 2</value>
-<value code="3">IMU 3</value>
-</values>
-</param>
-</parameters>
-<parameters name="AHRS_">
-<param humanName="AHRS GPS gain" name="AHRS_GPS_GAIN" documentation="This controls how how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.">
-<field name="Range">0.0 1.0</field>
-<field name="Increment">.01</field>
-</param>
-<param humanName="AHRS use GPS for navigation" name="AHRS_GPS_USE" documentation="This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Yaw P" name="AHRS_YAW_P" documentation="This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.">
-<field name="Range">0.1 0.4</field>
-<field name="Increment">.01</field>
-</param>
-<param humanName="AHRS RP_P" name="AHRS_RP_P" documentation="This controls how fast the accelerometers correct the attitude">
-<field name="Range">0.1 0.4</field>
-<field name="Increment">.01</field>
-</param>
-<param humanName="Maximum wind" name="AHRS_WIND_MAX" documentation="This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is.">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="AHRS Trim Roll" name="AHRS_TRIM_X" documentation="Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right." user="User">
-<field name="Range">-0.1745 +0.1745</field>
-<field name="Increment">0.01</field>
-<field name="Units">Radians</field>
-</param>
-<param humanName="AHRS Trim Pitch" name="AHRS_TRIM_Y" documentation="Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back." user="User">
-<field name="Range">-0.1745 +0.1745</field>
-<field name="Increment">0.01</field>
-<field name="Units">Radians</field>
-</param>
-<param humanName="AHRS Trim Yaw" name="AHRS_TRIM_Z" documentation="Not Used" user="Advanced">
-<field name="Range">-0.1745 +0.1745</field>
-<field name="Increment">0.01</field>
-<field name="Units">Radians</field>
-</param>
-<param humanName="Board Orientation" name="AHRS_ORIENTATION" documentation="Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle." user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Yaw45</value>
-<value code="2">Yaw90</value>
-<value code="3">Yaw135</value>
-<value code="4">Yaw180</value>
-<value code="5">Yaw225</value>
-<value code="6">Yaw270</value>
-<value code="7">Yaw315</value>
-<value code="8">Roll180</value>
-<value code="9">Roll180Yaw45</value>
-<value code="10">Roll180Yaw90</value>
-<value code="11">Roll180Yaw135</value>
-<value code="12">Pitch180</value>
-<value code="13">Roll180Yaw225</value>
-<value code="14">Roll180Yaw270</value>
-<value code="15">Roll180Yaw315</value>
-<value code="16">Roll90</value>
-<value code="17">Roll90Yaw45</value>
-<value code="18">Roll90Yaw90</value>
-<value code="19">Roll90Yaw135</value>
-<value code="20">Roll270</value>
-<value code="21">Roll270Yaw45</value>
-<value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw136</value>
-<value code="24">Pitch90</value>
-<value code="25">Pitch270</value>
-<value code="26">Pitch180Yaw90</value>
-<value code="27">Pitch180Yaw270</value>
-<value code="28">Roll90Pitch90</value>
-<value code="29">Roll180Pitch90</value>
-<value code="30">Roll270Pitch90</value>
-<value code="31">Roll90Pitch180</value>
-<value code="32">Roll270Pitch180</value>
-<value code="33">Roll90Pitch270</value>
-<value code="34">Roll180Pitch270</value>
-<value code="35">Roll270Pitch270</value>
-<value code="36">Roll90Pitch180Yaw90</value>
-<value code="37">Roll90Yaw270</value>
-</values>
-</param>
-<param humanName="AHRS Velocity Complementary Filter Beta Coefficient" name="AHRS_COMP_BETA" documentation="This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less." user="Advanced">
-<field name="Range">0.001 0.5</field>
-<field name="Increment">.01</field>
-</param>
-<param humanName="AHRS GPS Minimum satellites" name="AHRS_GPS_MINSATS" documentation="Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers." user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Use NavEKF Kalman filter for attitude and position estimation" name="AHRS_EKF_TYPE" documentation='This controls whether the NavEKF Kalman filter is used for attitude and position estimation and whether fallback to the DCM algorithm is allowed. Note that on copters "disabled" is not available, and will be the same as "enabled - no fallback"' user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code="2">Enable EKF2</value>
-</values>
-</param>
-</parameters>
-<parameters name="ARSPD_">
-<param humanName="Airspeed enable" name="ARSPD_ENABLE" documentation="enable airspeed sensor">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-<param humanName="Airspeed use" name="ARSPD_USE" documentation="use airspeed for flight control">
-<values>
-<value code="1">Use</value>
-<value code="0">Don't Use</value>
-</values>
-</param>
-<param humanName="Airspeed offset" name="ARSPD_OFFSET" documentation="Airspeed calibration offset">
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Airspeed ratio" name="ARSPD_RATIO" documentation="Airspeed calibration ratio">
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Airspeed pin" name="ARSPD_PIN" documentation="The analog pin number that the airspeed sensor is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated airspeed port on the end of the board. Set to 11 on PX4 for the analog airspeed port. Set to 15 on the Pixhawk for the analog airspeed port. Set to 65 on the PX4 or Pixhawk for an EagleTree or MEAS I2C airspeed sensor." user="Advanced">
-</param>
-<param humanName="Automatic airspeed ratio calibration" name="ARSPD_AUTOCAL" documentation="If this is enabled then the APM will automatically adjust the ARSPD_RATIO during flight, based upon an estimation filter using ground speed and true airspeed. The automatic calibration will save the new ratio to EEPROM every 2 minutes if it changes by more than 5%. This option should be enabled for a calibration flight then disabled again when calibration is complete. Leaving it enabled all the time is not recommended." user="Advanced">
-</param>
-<param humanName="Control pitot tube order" name="ARSPD_TUBE_ORDER" documentation="This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the top connector on the sensor needs to be the dynamic pressure. If set to 1 then the bottom connector needs to be the dynamic pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft it receiving excessive pressure on the static port, which would otherwise be seen as a positive airspeed." user="Advanced">
-</param>
-<param humanName="Skip airspeed calibration on startup" name="ARSPD_SKIP_CAL" documentation="This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot." user="Advanced">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-</parameters>
-<parameters name="NAVL1_">
-<param humanName="L1 control period" name="NAVL1_PERIOD" documentation="Period in seconds of L1 tracking loop. This parameter is the primary control for agressiveness of turns in auto mode. This needs to be larger for less responsive airframes. The default of 20 is quite conservative, but for most RC aircraft will lead to reasonable flight. For smaller more agile aircraft a value closer to 15 is appropriate, or even as low as 10 for some very agile aircraft. When tuning, change this value in small increments, as a value that is much too small (say 5 or 10 below the right value) can lead to very radical turns, and a risk of stalling.">
-<field name="Range">1 60</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="L1 control damping ratio" name="NAVL1_DAMPING" documentation="Damping ratio for L1 control. Increase this in increments of 0.05 if you are getting overshoot in path tracking. You should not need a value below 0.7 or above 0.85.">
-<field name="Range">0.6 1.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="L1 control crosstrack integrator gain" name="NAVL1_XTRACK_I" documentation="Crosstrack error integrator gain. This gain is applied to the crosstrack error to ensure it converges to zero. Set to zero to disable. Smaller values converge slower, higher values will cause crosstrack error oscillation.">
-<field name="Range">0 0.1</field>
-<field name="Increment">0.01</field>
-</param>
-</parameters>
-<parameters name="TECS_">
-<param humanName="Maximum Climb Rate (metres/sec)" name="TECS_CLMB_MAX" documentation="This is the best climb rate that the aircraft can achieve with the throttle set to THR_MAX and the airspeed set to the default value. For electric aircraft make sure this number can be achieved towards the end of flight when the battery voltage has reduced. The setting of this parameter can be checked by commanding a positive altitude change of 100m in loiter, RTL or guided mode. If the throttle required to climb is close to THR_MAX and the aircraft is maintaining airspeed, then this parameter is set correctly. If the airspeed starts to reduce, then the parameter is set to high, and if the throttle demand require to climb and maintain speed is noticeably less than THR_MAX, then either CLMB_MAX should be increased or THR_MAX reduced." user="User">
-<field name="Range">0.1 20.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Minimum Sink Rate (metres/sec)" name="TECS_SINK_MIN" documentation="This is the sink rate of the aircraft with the throttle set to THR_MIN and the same airspeed as used to measure CLMB_MAX." user="User">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Controller time constant (sec)" name="TECS_TIME_CONST" documentation="This is the time constant of the TECS control algorithm. Smaller values make it faster to respond, large values make it slower to respond." user="Advanced">
-<field name="Range">3.0 10.0</field>
-<field name="Increment">0.2</field>
-</param>
-<param humanName="Controller throttle damping" name="TECS_THR_DAMP" documentation="This is the damping gain for the throttle demand loop. Increase to add damping  to correct for oscillations in speed and height." user="Advanced">
-<field name="Range">0.1 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Controller integrator" name="TECS_INTEG_GAIN" documentation="This is the integrator gain on the control loop. Increase to increase the rate at which speed and height offsets are trimmed out" user="Advanced">
-<field name="Range">0.0 0.5</field>
-<field name="Increment">0.02</field>
-</param>
-<param humanName="Vertical Acceleration Limit (metres/sec^2)" name="TECS_VERT_ACC" documentation="This is the maximum vertical acceleration either up or down that the  controller will use to correct speed or height errors." user="Advanced">
-<field name="Range">1.0 10.0</field>
-<field name="Increment">0.5</field>
-</param>
-<param humanName="Height complementary filter frequency (radians/sec)" name="TECS_HGT_OMEGA" documentation="This is the cross-over frequency of the complementary filter used to fuse vertical acceleration and baro alt to obtain an estimate of height rate and height." user="Advanced">
-<field name="Range">1.0 5.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Speed complementary filter frequency (radians/sec)" name="TECS_SPD_OMEGA" documentation="This is the cross-over frequency of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain a lower noise and lag estimate of airspeed." user="Advanced">
-<field name="Range">0.5 2.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Bank angle compensation gain" name="TECS_RLL2THR" documentation="Increasing this gain turn increases the amount of throttle that will be used to compensate for the additional drag created by turning. Ideally this should be set to approximately 10 x the extra sink rate in m/s created by a 45 degree bank turn. Increase this gain if the aircraft initially loses energy in turns and reduce if the aircraft initially gains energy in turns. Efficient high aspect-ratio aircraft (eg powered sailplanes) can use a lower value, whereas inefficient low aspect-ratio models (eg delta wings) can use a higher value." user="Advanced">
-<field name="Range">5.0 30.0</field>
-<field name="Increment">1.0</field>
-</param>
-<param humanName="Weighting applied to speed control" name="TECS_SPDWEIGHT" documentation="This parameter adjusts the amount of weighting that the pitch control applies to speed vs height errors. Setting it to 0.0 will cause the pitch control to control height and ignore speed errors. This will normally improve height accuracy but give larger airspeed errors. Setting it to 2.0 will cause the pitch control loop to control speed and ignore height errors. This will normally reduce airsped errors, but give larger height errors.&#9;A value of 1.0 gives a balanced response and is the default." user="Advanced">
-<field name="Range">0.0 2.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Controller pitch damping" name="TECS_PTCH_DAMP" documentation="This is the damping gain for the pitch demand loop. Increase to add damping  to correct for oscillations in speed and height." user="Advanced">
-<field name="Range">0.1 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Maximum Descent Rate (metres/sec)" name="TECS_SINK_MAX" documentation="This sets the maximum descent rate that the controller will use.  If this value is too large, the aircraft will reach the pitch angle limit first and be unable to achieve the descent rate. This should be set to a value that can be achieved at the lower pitch angle limit." user="User">
-<field name="Range">0.0 20.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Airspeed during landing approach (m/s)" name="TECS_LAND_ARSPD" documentation="When performing an autonomus landing, this value is used as the goal airspeed during approach.  Note that this parameter is not useful if your platform does not have an airspeed sensor (use TECS_LAND_THR instead).  If negative then this value is not used during landing." user="User">
-<field name="Range">-1 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Cruise throttle during landing approach (percentage)" name="TECS_LAND_THR" documentation="Use this parameter instead of LAND_ARSPD if your platform does not have an airspeed sensor.  It is the cruise throttle during landing approach.  If this value is negative then it is disabled and TECS_LAND_ARSPD is used instead." user="User">
-<field name="Range">-1 100</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Weighting applied to speed control during landing." name="TECS_LAND_SPDWGT" documentation="Same as SPDWEIGHT parameter, with the exception that this parameter is applied during landing flight stages.  A value closer to 2 will result in the plane ignoring height error during landing and our experience has been that the plane will therefore keep the nose up -- sometimes good for a glider landing (with the side effect that you will likely glide a ways past the landing point).  A value closer to 0 results in the plane ignoring speed error -- use caution when lowering the value below 1 -- ignoring speed could result in a stall. Values between 0 and 2 are valid values for a fixed landing weight. When using -1 the weight will be scaled during the landing. At the start of the landing approach it starts with TECS_SPDWEIGHT and scales down to 0 by the time you reach the land point. Example: Halfway down the landing approach you'll effectively have a weight of TECS_SPDWEIGHT/2." user="Advanced">
-<field name="Range">-1.0 2.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Maximum pitch in auto flight" name="TECS_PITCH_MAX" documentation="This controls maximum pitch up in automatic throttle modes. If this is set to zero then LIM_PITCH_MAX is used instead. The purpose of this parameter is to allow the use of a smaller pitch range when in automatic flight than what is used in FBWA mode." user="Advanced">
-<field name="Range">0 45</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Minimum pitch in auto flight" name="TECS_PITCH_MIN" documentation="This controls minimum pitch in automatic throttle modes. If this is set to zero then LIM_PITCH_MIN is used instead. The purpose of this parameter is to allow the use of a smaller pitch range when in automatic flight than what is used in FBWA mode. Note that TECS_PITCH_MIN should be a negative number." user="Advanced">
-<field name="Range">-45 0</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Sink rate for final landing stage" name="TECS_LAND_SINK" documentation="The sink rate in meters/second for the final stage of landing." user="Advanced">
-<field name="Range">0.0 2.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Land controller time constant (sec)" name="TECS_LAND_TCONST" documentation="This is the time constant of the TECS control algorithm when in final landing stage of flight. It should be smaller than TECS_TIME_CONST to allow for faster flare" user="Advanced">
-<field name="Range">1.0 5.0</field>
-<field name="Increment">0.2</field>
-</param>
-<param humanName="Controller sink rate to pitch gain during flare" name="TECS_LAND_DAMP" documentation="This is the sink rate gain for the pitch demand loop when in final landing stage of flight. It should be larger than TECS_PTCH_DAMP to allow for better sink rate control during flare." user="Advanced">
-<field name="Range">0.1 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Maximum pitch during final stage of landing" name="TECS_LAND_PMAX" documentation="This limits the pitch used during the final stage of automatic landing. During the final landing stage most planes need to keep their pitch small to avoid stalling. A maximum of 10 degrees is usually good. A value of zero means to use the normal pitch limits." user="Advanced">
-<field name="Range">-5 40</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Sink rate max for landing approach stage" name="TECS_APPR_SMAX" documentation="The sink rate max for the landing approach stage of landing. This will need to be large for steep landing approaches especially when using reverse thrust. If 0, then use TECS_SINK_MAX." user="Advanced">
-<field name="Range">0.0 20.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Land sink rate change" name="TECS_LAND_SRC" documentation="When zero, the flare sink rate (TECS_LAND_SINK) is a fixed sink demand. With this enabled the flare sinkrate will increase/decrease the flare sink demand as you get further beyond the LAND waypoint. Has no effect before the waypoint. This value is added to TECS_LAND_SINK proportional to distance traveled after wp. With an increasing sink rate you can still land in a given distance if you're traveling too fast and cruise passed the land point. A positive value will force the plane to land sooner proportional to distance passed land point. A negative number will tell the plane to slowly climb allowing for a pitched-up stall landing. Recommend 0.2 as initial value." user="Advanced">
-<field name="Range">-2.0 2.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s/m</field>
-</param>
-<param humanName="Controller throttle damping when landing" name="TECS_LAND_TDAMP" documentation="This is the damping gain for the throttle demand loop during and auto-landing. Same as TECS_THR_DAMP but only in effect during an auto-land. Increase to add damping to correct for oscillations in speed and height. When set to 0 landing throttle damp is controlled by TECS_THR_DAMP." user="Advanced">
-<field name="Range">0.1 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Controller integrator during landing" name="TECS_LAND_IGAIN" documentation="This is the integrator gain on the control loop during landing. When set to 0 then TECS_INTEG_GAIN is used. Increase to increase the rate at which speed and height offsets are trimmed out. Typically values lower than TECS_INTEG_GAIN work best" user="Advanced">
-<field name="Range">0.0 0.5</field>
-<field name="Increment">0.02</field>
-</param>
-<param humanName="Controller integrator during takeoff" name="TECS_TKOFF_IGAIN" documentation="This is the integrator gain on the control loop during takeoff. When set to 0 then TECS_INTEG_GAIN is used. Increase to increase the rate at which speed and height offsets are trimmed out. Typically values higher than TECS_INTEG_GAIN work best" user="Advanced">
-<field name="Range">0.0 0.5</field>
-<field name="Increment">0.02</field>
-</param>
-<param name="TECS_LAND_PDAMP" documentation="This is the damping gain for the pitch demand loop. Increase to add damping  to correct for oscillations in speed and height. If set to 0 then TECS_PTCH_DAMP will be used instead." user="Advanced">
-<field name="Range">0.1 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-</parameters>
-<parameters name="MNT">
-<param humanName="Mount default operating mode" name="MNT_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
-<values>
-<value code="0">Retracted</value>
-<value code="1">Neutral</value>
-<value code="2">MavLink Targeting</value>
-<value code="3">RC Targeting</value>
-<value code="4">GPS Point</value>
-</values>
-</param>
-<param humanName="Mount roll angle when in retracted position" name="MNT_RETRACT_X" documentation="Mount roll angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount tilt/pitch angle when in retracted position" name="MNT_RETRACT_Y" documentation="Mount tilt/pitch angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount yaw/pan angle when in retracted position" name="MNT_RETRACT_Z" documentation="Mount yaw/pan angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount roll angle when in neutral position" name="MNT_NEUTRAL_X" documentation="Mount roll angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount tilt/pitch angle when in neutral position" name="MNT_NEUTRAL_Y" documentation="Mount tilt/pitch angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount pan/yaw angle when in neutral position" name="MNT_NEUTRAL_Z" documentation="Mount pan/yaw angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Stabilize mount's roll angle" name="MNT_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stabilize mount's pitch/tilt angle" name="MNT_STAB_TILT" documentation="enable tilt/pitch stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stabilize mount pan/yaw angle" name="MNT_STAB_PAN" documentation="enable pan/yaw stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="roll RC input channel" name="MNT_RC_IN_ROLL" documentation="0 for none, any other for the RC channel to be used to control roll movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
-</values>
-</param>
-<param humanName="Minimum roll angle" name="MNT_ANGMIN_ROL" documentation="Minimum physical roll angular position of mount." user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Maximum roll angle" name="MNT_ANGMAX_ROL" documentation="Maximum physical roll angular position of the mount" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="tilt (pitch) RC input channel" name="MNT_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
-</values>
-</param>
-<param humanName="Minimum tilt angle" name="MNT_ANGMIN_TIL" documentation="Minimum physical tilt (pitch) angular position of mount." user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Maximum tilt angle" name="MNT_ANGMAX_TIL" documentation="Maximum physical tilt (pitch) angular position of the mount" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="pan (yaw) RC input channel" name="MNT_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
-</values>
-</param>
-<param humanName="Minimum pan angle" name="MNT_ANGMIN_PAN" documentation="Minimum physical pan (yaw) angular position of mount." user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Maximum pan angle" name="MNT_ANGMAX_PAN" documentation="Maximum physical pan (yaw) angular position of the mount" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="mount joystick speed" name="MNT_JSTICK_SPD" documentation="0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Roll stabilization lead time" name="MNT_LEAD_RLL" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="Pitch stabilization lead time" name="MNT_LEAD_PTCH" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="Mount Type" name="MNT_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
-<values>
-<value code="0">None</value>
-<value code=" 1">Servo</value>
-<value code=" 2">3DR Solo</value>
-<value code=" 3">Alexmos Serial</value>
-<value code=" 4">SToRM32 MAVLink</value>
-<value code=" 5">SToRM32 Serial</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Mount default operating mode" name="MNT2_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
-<values>
-<value code="0">Retracted</value>
-<value code="1">Neutral</value>
-<value code="2">MavLink Targeting</value>
-<value code="3">RC Targeting</value>
-<value code="4">GPS Point</value>
-</values>
-</param>
-<param humanName="Mount2 roll angle when in retracted position" name="MNT2_RETRACT_X" documentation="Mount2 roll angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount2 tilt/pitch angle when in retracted position" name="MNT2_RETRACT_Y" documentation="Mount2 tilt/pitch angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount2 yaw/pan angle when in retracted position" name="MNT2_RETRACT_Z" documentation="Mount2 yaw/pan angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount2 roll angle when in neutral position" name="MNT2_NEUTRAL_X" documentation="Mount2 roll angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount2 tilt/pitch angle when in neutral position" name="MNT2_NEUTRAL_Y" documentation="Mount2 tilt/pitch angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount2 pan/yaw angle when in neutral position" name="MNT2_NEUTRAL_Z" documentation="Mount2 pan/yaw angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Stabilize Mount2's roll angle" name="MNT2_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stabilize Mount2's pitch/tilt angle" name="MNT2_STAB_TILT" documentation="enable tilt/pitch stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stabilize mount2 pan/yaw angle" name="MNT2_STAB_PAN" documentation="enable pan/yaw stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Mount2's roll RC input channel" name="MNT2_RC_IN_ROLL" documentation="0 for none, any other for the RC channel to be used to control roll movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
-</values>
-</param>
-<param humanName="Mount2's minimum roll angle" name="MNT2_ANGMIN_ROL" documentation="Mount2's minimum physical roll angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's maximum roll angle" name="MNT2_ANGMAX_ROL" documentation="Mount2's maximum physical roll angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's tilt (pitch) RC input channel" name="MNT2_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
-</values>
-</param>
-<param humanName="Mount2's minimum tilt angle" name="MNT2_ANGMIN_TIL" documentation="Mount2's minimum physical tilt (pitch) angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's maximum tilt angle" name="MNT2_ANGMAX_TIL" documentation="Mount2's maximum physical tilt (pitch) angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's pan (yaw) RC input channel" name="MNT2_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
-</values>
-</param>
-<param humanName="Mount2's minimum pan angle" name="MNT2_ANGMIN_PAN" documentation="Mount2's minimum physical pan (yaw) angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's maximum pan angle" name="MNT2_ANGMAX_PAN" documentation="MOunt2's maximum physical pan (yaw) angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's Roll stabilization lead time" name="MNT2_LEAD_RLL" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="Mount2's Pitch stabilization lead time" name="MNT2_LEAD_PTCH" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="Mount2 Type" name="MNT2_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
-<values>
-<value code="0">None</value>
-<value code=" 1">Servo</value>
-<value code=" 2">3DR Solo</value>
-<value code=" 3">Alexmos Serial</value>
-<value code=" 4">SToRM32 MAVLink</value>
-<value code=" 5">SToRM32 Serial</value>
-</values>
-</param>
-</parameters>
-<parameters name="LOG">
-<param humanName="DataFlash Backend Storage type" name="LOG_BACKEND_TYPE" documentation="0 for None, 1 for File, 2 for dataflash mavlink, 3 for both file and dataflash" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">File</value>
-<value code="2">MAVLink</value>
-<value code="3">BothFileAndMAVLink</value>
-</values>
-</param>
-<param humanName="Maximum DataFlash File Backend buffer size (in kilobytes)" name="LOG_FILE_BUFSIZE" documentation='The DataFlash_File backend uses a buffer to store data before writing to the block device.  Raising this value may reduce "gaps" in your SD card logging.  This buffer size may be reduced depending on available memory.  PixHawk requires at least 4 kilobytes.  Maximum value available here is 64 kilobytes.' user="Standard">
-</param>
-<param humanName="Enable logging while disarmed" name="LOG_DISARMED" documentation="If LOG_DISARMED is set to 1 then logging will be enabled while disarmed. This can make for very large logfiles but can help a lot when tracking down startup issues" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Enable logging of information needed for Replay" name="LOG_REPLAY" documentation="If LOG_REPLAY is set to 1 then the EKF2 state estimator will log detailed information needed for diagnosing problems with the Kalman filter. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-</parameters>
-<parameters name="BATT">
-<param humanName="Battery monitoring" name="BATT_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="3">Analog Voltage Only</value>
-<value code="4">Analog Voltage and Current</value>
-<value code="5">SMBus</value>
-<value code="6">Bebop</value>
-</values>
-</param>
-<param humanName="Battery Voltage sensing pin" name="BATT_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100. On the Pixhawk powered from the PM connector it should be set to 2." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 0">A0</value>
-<value code=" 1">A1</value>
-<value code=" 2">Pixhawk</value>
-<value code=" 13">A13</value>
-<value code=" 100">PX4</value>
-</values>
-</param>
-<param humanName="Battery Current sensing pin" name="BATT_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 1">A1</value>
-<value code=" 2">A2</value>
-<value code=" 3">Pixhawk</value>
-<value code=" 12">A12</value>
-<value code=" 101">PX4</value>
-</values>
-</param>
-<param humanName="Voltage Multiplier" name="BATT_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1." user="Advanced">
-</param>
-<param humanName="Amps per volt" name="BATT_AMP_PERVOLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
-<field name="Units">Amps/Volt</field>
-</param>
-<param humanName="AMP offset" name="BATT_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
-<field name="Units">Volts</field>
-</param>
-<param humanName="Battery capacity" name="BATT_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
-</param>
-<param humanName="Maximum allowed power (Watts)" name="BATT_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
-<field name="Increment">1</field>
-<field name="Units">Watts</field>
-</param>
-<param humanName="Battery monitoring" name="BATT2_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="3">Analog Voltage Only</value>
-<value code="4">Analog Voltage and Current</value>
-<value code="5">SMBus</value>
-<value code="6">Bebop</value>
-</values>
-</param>
-<param humanName="Battery Voltage sensing pin" name="BATT2_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100. On the Pixhawk powered from the PM connector it should be set to 2." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 0">A0</value>
-<value code=" 1">A1</value>
-<value code=" 2">Pixhawk</value>
-<value code=" 13">A13</value>
-<value code=" 100">PX4</value>
-</values>
-</param>
-<param humanName="Battery Current sensing pin" name="BATT2_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 1">A1</value>
-<value code=" 2">A2</value>
-<value code=" 3">Pixhawk</value>
-<value code=" 12">A12</value>
-<value code=" 101">PX4</value>
-</values>
-</param>
-<param humanName="Voltage Multiplier" name="BATT2_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1." user="Advanced">
-</param>
-<param humanName="Amps per volt" name="BATT2_AMP_PERVOL" documentation="Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
-<field name="Units">Amps/Volt</field>
-</param>
-<param humanName="AMP offset" name="BATT2_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
-<field name="Units">Volts</field>
-</param>
-<param humanName="Battery capacity" name="BATT2_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
-</param>
-<param humanName="Maximum allowed current" name="BATT2_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
-<field name="Increment">1</field>
-<field name="Units">Amps</field>
-</param>
-</parameters>
-<parameters name="BRD_">
-<param humanName="Auxiliary pin config" name="BRD_PWM_COUNT" documentation="Control assigning of FMU pins to PWM output, timer capture and GPIO. All unassigned pins can be used for GPIO">
-<values>
-<value code="0">No PWMs</value>
-<value code="2">Two PWMs</value>
-<value code="4">Four PWMs</value>
-<value code="6">Six PWMs</value>
-<value code="7">Three PWMs and One Capture</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Serial 1 flow control" name="BRD_SER1_RTSCTS" documentation="Enable flow control on serial 1 (telemetry 1) on Pixhawk. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled.">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code="2">Auto</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Serial 2 flow control" name="BRD_SER2_RTSCTS" documentation="Enable flow control on serial 2 (telemetry 2) on Pixhawk and PX4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code="2">Auto</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName=" Enable use of safety arming switch" name="BRD_SAFETYENABLE" documentation="Disabling this option will disable the use of the safety switch on PX4 for arming. Use of the safety switch is highly recommended, so you should leave this option set to 1 except in unusual circumstances.">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName=" SBUS output rate" name="BRD_SBUS_OUT" documentation="This sets the SBUS output frame rate in Hz">
-<values>
-<value code="0">Disabled</value>
-<value code="1">50Hz</value>
-<value code="2">75Hz</value>
-<value code="3">100Hz</value>
-<value code="4">150Hz</value>
-<value code="5">200Hz</value>
-<value code="6">250Hz</value>
-<value code="7">300Hz</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="User-defined serial number" name="BRD_SERIAL_NUM" documentation="User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot" user="Standard">
-<field name="Range">-32767 32768</field>
-</param>
-<param humanName=" Enable use of UAVCAN devices" name="BRD_CAN_ENABLE" documentation="Enabling this option on a Pixhawk enables UAVCAN devices. Note that this uses about 25k of memory">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Channels to which ignore the safety switch state" name="BRD_SAFETY_MASK" documentation="A bitmask which controls what channels can move while the safety witch has not been pressed">
-<field name="Bitmask">0:Ch1,1:Ch2,2:Ch3,3:Ch4,4:Ch5,5:Ch6,6:Ch7,7:Ch8</field>
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-</parameters>
-<parameters name="AFS_">
-<param humanName="Manual Pin" name="AFS_MAN_PIN" documentation="This sets a digital output pin to set high when in manual mode" user="Advanced">
-</param>
-<param humanName="Heartbeat Pin" name="AFS_HB_PIN" documentation="This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination." user="Advanced">
-</param>
-<param humanName="Comms Waypoint" name="AFS_WP_COMMS" documentation="Waypoint number to navigate to on comms loss" user="Advanced">
-</param>
-<param humanName="GPS Loss Waypoint" name="AFS_GPS_LOSS" documentation="Waypoint number to navigate to on GPS lock loss" user="Advanced">
-</param>
-<param humanName="Force Terminate" name="AFS_TERMINATE" documentation="Can be set in flight to force termination of the heartbeat signal" user="Advanced">
-</param>
-<param humanName="Terminate action" name="AFS_TERM_ACTION" documentation="This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup APM to handle it here. If set to 0 (which is the default) then no extra action is taken. If set to the magic value 42 then the plane will deliberately crash itself by setting maximum throws on all surfaces, and zero throttle" user="Advanced">
-</param>
-<param humanName="Terminate Pin" name="AFS_TERM_PIN" documentation="This sets a digital output pin to set high on flight termination" user="Advanced">
-</param>
-<param humanName="AMSL limit" name="AFS_AMSL_LIMIT" documentation="This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit." user="Advanced">
-<field name="Units">meters</field>
-</param>
-<param humanName="Error margin for GPS based AMSL limit" name="AFS_AMSL_ERR_GPS" documentation="This sets margin for error in GPS derived altitude limit. This error margin is only used if the barometer has failed. If the barometer fails then the GPS will be used to enforce the AMSL_LIMIT, but this margin will be subtracted from the AMSL_LIMIT first, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached. OBC users should set this to comply with their D2 safety case. A value of -1 will mean that barometer failure will lead to immediate termination." user="Advanced">
-<field name="Units">meters</field>
-</param>
-<param humanName="QNH pressure" name="AFS_QNH_PRESSURE" documentation="This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit. A value of zero disables the altitude limit." user="Advanced">
-<field name="Units">millibar</field>
-</param>
-<param humanName="Enable Advanced Failsafe" name="AFS_ENABLE" documentation="This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect" user="Advanced">
-</param>
-<param humanName="Maximum number of GPS loss events" name="AFS_MAX_GPS_LOSS" documentation="Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events." user="Advanced">
-</param>
-<param humanName="Maximum number of comms loss events" name="AFS_MAX_COM_LOSS" documentation="Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events." user="Advanced">
-</param>
-<param humanName="Enable geofence Advanced Failsafe" name="AFS_GEOFENCE" documentation="This enables the geofence part of the AFS. Will only be in effect if AFS_ENABLE is also 1" user="Advanced">
-</param>
-<param humanName="Enable RC Advanced Failsafe" name="AFS_RC" documentation="This enables the RC part of the AFS. Will only be in effect if AFS_ENABLE is also 1" user="Advanced">
-</param>
-<param humanName="Enable RC Termination only in manual control modes" name="AFS_RC_MAN_ONLY" documentation="If this parameter is set to 1, then an RC loss will only cause the plane to terminate in manual control modes. If it is 0, then the plane will terminate in any flight mode." user="Advanced">
-</param>
-<param humanName="Enable dual loss terminate due to failure of both GCS and GPS simultaneously" name="AFS_DUAL_LOSS" documentation='This enables the dual loss termination part of the AFS system. If this parameter is 1 and both GPS and the ground control station fail simultaneously, this will be considered a "dual loss" and cause termination.' user="Advanced">
-</param>
-<param humanName="RC failure time" name="AFS_RC_FAIL_TIME" documentation="This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be (1.5). Use 0 to disable." user="Advanced">
-<field name="Units">seconds</field>
-</param>
-</parameters>
-<parameters name="FLOW">
-<param humanName="Optical flow enable/disable" name="FLOW_ENABLE" documentation="Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="X axis optical flow scale factor correction" name="FLOW_FXSCALER" documentation="This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor." user="Standard">
-<field name="Range">-200 +200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Y axis optical flow scale factor correction" name="FLOW_FYSCALER" documentation="This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor." user="Standard">
-<field name="Range">-200 +200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Flow sensor yaw alignment" name="FLOW_ORIENT_YAW" documentation="Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle." user="Standard">
-<field name="Range">-18000 +18000</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="MIS_">
-<param humanName="Total mission commands" name="MIS_TOTAL" documentation="The number of mission mission items that has been loaded by the ground station. Do not change this manually." user="Advanced">
-<field name="Range">0 32766</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Mission Restart when entering Auto mode" name="MIS_RESTART" documentation="Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)">
-<values>
-<value code="0">Resume Mission</value>
-<value code=" 1">Restart Mission</value>
-</values>
-</param>
-</parameters>
-<parameters name="RALLY_">
-<param humanName="Rally Total" name="RALLY_TOTAL" documentation="Number of rally points currently loaded" user="Advanced">
-</param>
-<param humanName="Rally Limit" name="RALLY_LIMIT_KM" documentation="Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used." user="Advanced">
-<field name="Increment">0.1</field>
-<field name="Units">kilometers</field>
-</param>
-<param humanName="Rally Include Home" name="RALLY_INCL_HOME" documentation="Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL" user="Standard">
-<values>
-<value code="0">DoNotIncludeHome</value>
-<value code="1">IncludeHome</value>
-</values>
-</param>
-</parameters>
-<parameters name="EKF_">
-<param humanName="Enable EKF1" name="EKF_ENABLE" documentation="This enables EKF1 to be disabled when using alternative algorithms. When disabling it, the alternate EKF2 estimator must be enabled by setting EK2_ENABLED = 1 and flight control algorithms must be set to use the alternative estimator by setting AHRS_EKF_TYPE = 2." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="GPS horizontal velocity measurement noise scaler" name="EKF_VELNE_NOISE" documentation="This is the scaler that is applied to the speed accuracy reported by the receiver to estimate the horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then a speed accuracy of 1 is assumed. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.05 5.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="GPS vertical velocity measurement noise scaler" name="EKF_VELD_NOISE" documentation="This is the scaler that is applied to the speed accuracy reported by the receiver to estimate the vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then a speed accuracy of 1 is assumed. Increasing it reduces the weighting on this measurement." user="Advanced">
-<field name="Range">0.05 5.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="GPS horizontal position measurement noise (m)" name="EKF_POSNE_NOISE" documentation="This is the RMS value of noise in the GPS horizontal position measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Altitude measurement noise (m)" name="EKF_ALT_NOISE" documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Magnetometer measurement noise (Gauss)" name="EKF_MAG_NOISE" documentation="This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Equivalent airspeed measurement noise (m/s)" name="EKF_EAS_NOISE" documentation="This is the RMS value of noise in equivalent airspeed measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.5 5.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Wind velocity process noise (m/s^2)" name="EKF_WIND_PNOISE" documentation="This noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier." user="Advanced">
-<field name="Range">0.01 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Height rate to wind procss noise scaler" name="EKF_WIND_PSCALE" documentation="Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind speed estimation noiser." user="Advanced">
-<field name="Range">0.0 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Rate gyro noise (rad/s)" name="EKF_GYRO_PNOISE" documentation="This noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more." user="Advanced">
-<field name="Range">0.001 0.05</field>
-<field name="Increment">0.001</field>
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Accelerometer noise (m/s^2)" name="EKF_ACC_PNOISE" documentation="This noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more." user="Advanced">
-<field name="Range">0.05 1.0</field>
-<field name="Increment">0.01</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Rate gyro bias process noise (rad/s)" name="EKF_GBIAS_PNOISE" documentation="This noise controls the growth of gyro bias state error estimates. Increasing it makes rate gyro bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.0000001 0.00001</field>
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Accelerometer bias process noise (m/s^2)" name="EKF_ABIAS_PNOISE" documentation="This noise controls the growth of the vertical acelerometer bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.00001 0.001</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Earth magnetic field process noise (gauss/s)" name="EKF_MAGE_PNOISE" documentation="This noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.0001 0.01</field>
-<field name="Units">gauss/s</field>
-</param>
-<param humanName="Body magnetic field process noise (gauss/s)" name="EKF_MAGB_PNOISE" documentation="This noise controls the growth of body magnetic field state error estimates. Increasing it makes compass offset estimation faster and noisier." user="Advanced">
-<field name="Range">0.0001 0.01</field>
-<field name="Units">gauss/s</field>
-</param>
-<param humanName="GPS velocity measurement delay (msec)" name="EKF_VEL_DELAY" documentation="This is the number of msec that the GPS velocity measurements lag behind the inertial measurements." user="Advanced">
-<field name="Range">0 500</field>
-<field name="Increment">10</field>
-<field name="Units">milliseconds</field>
-</param>
-<param humanName="GPS position measurement delay (msec)" name="EKF_POS_DELAY" documentation="This is the number of msec that the GPS position measurements lag behind the inertial measurements." user="Advanced">
-<field name="Range">0 500</field>
-<field name="Increment">10</field>
-<field name="Units">milliseconds</field>
-</param>
-<param humanName="GPS mode control" name="EKF_GPS_TYPE" documentation="This parameter controls use of GPS measurements : 0 = use 3D velocity &amp; 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = use no GPS (optical flow will be used if available)" user="Advanced">
-<values>
-<value code="0">GPS 3D Vel and 2D Pos</value>
-<value code=" 1">GPS 2D vel and 2D pos</value>
-<value code=" 2">GPS 2D pos</value>
-<value code=" 3">No GPS use optical flow</value>
-</values>
-</param>
-<param humanName="GPS velocity measurement gate size" name="EKF_VEL_GATE" documentation="This parameter sets the number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="GPS position measurement gate size" name="EKF_POS_GATE" documentation="This parameter sets the number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Height measurement gate size" name="EKF_HGT_GATE" documentation="This parameter sets the number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Magnetometer measurement gate size" name="EKF_MAG_GATE" documentation="This parameter sets the number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Airspeed measurement gate size" name="EKF_EAS_GATE" documentation="This parameter sets the number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Magnetometer calibration mode" name="EKF_MAG_CAL" documentation="EKF_MAG_CAL = 0 enables calibration based on flying speed and altitude and is the default setting for Plane users. EKF_MAG_CAL = 1 enables calibration based on manoeuvre level and is the default setting for Copter and Rover users. EKF_MAG_CAL = 2 prevents magnetometer calibration regardless of flight condition and is recommended if in-flight magnetometer calibration is unreliable." user="Advanced">
-<values>
-<value code="0">Speed and Height</value>
-<value code="1">Acceleration</value>
-<value code="2">Never</value>
-<value code="3">Always</value>
-</values>
-</param>
-<param humanName="GPS glitch accel gate size (cm/s^2)" name="EKF_GLITCH_ACCEL" documentation="This parameter controls the maximum amount of difference in horizontal acceleration between the value predicted by the filter and the value measured by the GPS before the GPS position data is rejected. If this value is set too low, then valid GPS data will be regularly discarded, and the position accuracy will degrade. If this parameter is set too high, then large GPS glitches will cause large rapid changes in position." user="Advanced">
-<field name="Range">100 500</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="GPS glitch radius gate size (m)" name="EKF_GLITCH_RAD" documentation="This parameter controls the maximum amount of difference in horizontal position (in m) between the value predicted by the filter and the value measured by the GPS before the long term glitch protection logic is activated and the filter states are reset to the new GPS position. Position steps smaller than this value will be temporarily ignored, but will then be accepted and the filter will move to the new position. Position steps larger than this value will be ignored initially, but the filter will then apply an offset to the GPS position measurement." user="Advanced">
-<field name="Range">10 50</field>
-<field name="Increment">5</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Terrain Gradient % RMS" name="EKF_GND_GRADIENT" documentation="This parameter sets the RMS terrain gradient percentage assumed by the terrain height estimation. Terrain height can be estimated using optical flow and/or range finder sensor data if fitted. Smaller values cause the terrain height estimate to be slower to respond to changes in measurement. Larger values cause the terrain height estimate to be faster to respond, but also more noisy. Generally this value can be reduced if operating over very flat terrain and increased if operating over uneven terrain." user="Advanced">
-<field name="Range">1 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Optical flow measurement noise (rad/s)" name="EKF_FLOW_NOISE" documentation="This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.05 1.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Optical Flow measurement gate size" name="EKF_FLOW_GATE" documentation="This parameter sets the number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Optical Flow measurement delay (msec)" name="EKF_FLOW_DELAY" documentation="This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
-<field name="Range">0 500</field>
-<field name="Increment">10</field>
-<field name="Units">milliseconds</field>
-</param>
-<param humanName="Range finder measurement gate size" name="EKF_RNG_GATE" documentation="This parameter sets the number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Maximum valid optical flow rate" name="EKF_MAX_FLOW" documentation="This parameter sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter" user="Advanced">
-<field name="Range">1.0 4.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Fallback strictness" name="EKF_FALLBACK" documentation="This parameter controls the conditions necessary to trigger a fallback to DCM and INAV. A value of 1 will cause fallbacks to occur on loss of GPS and other conditions. A value of 0 will trust the EKF more." user="Advanced">
-<values>
-<value code="0">Trust EKF more</value>
-<value code=" 1">Trust DCM more</value>
-</values>
-</param>
-<param humanName="Primary height source" name="EKF_ALT_SOURCE" documentation="This parameter controls which height sensor is used by the EKF during optical flow navigation (when EKF_GPS_TYPE = 3). A value of will 0 cause it to always use baro altitude. A value of 1 will cause it to use range finder if available." user="Advanced">
-<values>
-<value code="0">Use Baro</value>
-<value code=" 1">Use Range Finder</value>
-</values>
-</param>
-<param humanName="GPS preflight check" name="EKF_GPS_CHECK" documentation="1 byte bitmap of GPS preflight checks to perform. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat." user="Advanced">
-<field name="Bitmask">0:NSats,1:HDoP,2:speed error,3:horiz pos error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed</field>
-</param>
-</parameters>
-<parameters name="EK2_">
-<param humanName="Enable EKF2" name="EK2_ENABLE" documentation="This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="GPS mode control" name="EK2_GPS_TYPE" documentation="This controls use of GPS measurements : 0 = use 3D velocity &amp; 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = use no GPS (optical flow will be used if available)" user="Advanced">
-<values>
-<value code="0">GPS 3D Vel and 2D Pos</value>
-<value code=" 1">GPS 2D vel and 2D pos</value>
-<value code=" 2">GPS 2D pos</value>
-<value code=" 3">No GPS use optical flow</value>
-</values>
-</param>
-<param humanName="GPS horizontal velocity measurement noise (m/s)" name="EK2_VELNE_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements." user="Advanced">
-<field name="Range">0.05 5.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="GPS vertical velocity measurement noise (m/s)" name="EK2_VELD_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements." user="Advanced">
-<field name="Range">0.05 5.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="GPS velocity innovation gate size" name="EK2_VEL_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="GPS horizontal position measurement noise (m)" name="EK2_POSNE_M_NSE" documentation="This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m</field>
-</param>
-<param humanName="GPS position measurement gate size" name="EK2_POS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="GPS glitch radius gate size (m)" name="EK2_GLITCH_RAD" documentation="This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position." user="Advanced">
-<field name="Range">10 100</field>
-<field name="Increment">5</field>
-<field name="Units">m</field>
-</param>
-<param humanName="GPS measurement delay (msec)" name="EK2_GPS_DELAY" documentation="This is the number of msec that the GPS measurements lag behind the inertial measurements." user="Advanced">
-<field name="Range">0 250</field>
-<field name="Increment">10</field>
-<field name="Units">msec</field>
-</param>
-<param humanName="Primary height source" name="EK2_ALT_SOURCE" documentation="This parameter controls which height sensor is used by the EKF. If the selected optionn cannot be used, it will default to Baro as the primary height source. Setting 0 will use the baro altitude at all times. Setting 1 uses the range finder and is only available in combination with optical flow navigation (EK2_GPS_TYPE = 3). Setting 2 uses GPS." user="Advanced">
-<values>
-<value code="0">Use Baro</value>
-<value code=" 1">Use Range Finder</value>
-<value code=" 2">Use GPS</value>
-</values>
-</param>
-<param humanName="Altitude measurement noise (m)" name="EK2_ALT_M_NSE" documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m</field>
-</param>
-<param humanName="Height measurement gate size" name="EK2_HGT_I_GATE" documentation="This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Height measurement delay (msec)" name="EK2_HGT_DELAY" documentation="This is the number of msec that the Height measurements lag behind the inertial measurements." user="Advanced">
-<field name="Range">0 250</field>
-<field name="Increment">10</field>
-<field name="Units">msec</field>
-</param>
-<param humanName="Magnetometer measurement noise (Gauss)" name="EK2_MAG_M_NSE" documentation="This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
-<field name="Units">gauss</field>
-</param>
-<param humanName="Magnetometer calibration mode" name="EK2_MAG_CAL" documentation="EKF_MAG_CAL = 0 enables calibration when airborne and is the default setting for Plane users. EKF_MAG_CAL = 1 enables calibration when manoeuvreing. EKF_MAG_CAL = 2 prevents magnetometer calibration regardless of flight condition, is recommended if the external magnetic field is varying and is the default for rovers. EKF_MAG_CAL = 3 enables calibration when the first in-air field and yaw reset has completed and is the default for copters. EKF_MAG_CAL = 4 enables calibration all the time. This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states. This model is only suitable for use when the external magnetic field environment is stable." user="Advanced">
-<values>
-<value code="0">When flying</value>
-<value code="1">When manoeuvring</value>
-<value code="2">Never</value>
-<value code="3">After first climb yaw reset</value>
-<value code="4">Always</value>
-</values>
-</param>
-<param humanName="Magnetometer measurement gate size" name="EK2_MAG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Equivalent airspeed measurement noise (m/s)" name="EK2_EAS_M_NSE" documentation="This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements." user="Advanced">
-<field name="Range">0.5 5.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Airspeed measurement gate size" name="EK2_EAS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Range finder measurement noise (m)" name="EK2_RNG_M_NSE" documentation="This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m</field>
-</param>
-<param humanName="Range finder measurement gate size" name="EK2_RNG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Maximum valid optical flow rate" name="EK2_MAX_FLOW" documentation="This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter" user="Advanced">
-<field name="Range">1.0 4.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Optical flow measurement noise (rad/s)" name="EK2_FLOW_M_NSE" documentation="This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.05 1.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Optical Flow measurement gate size" name="EK2_FLOW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Optical Flow measurement delay (msec)" name="EK2_FLOW_DELAY" documentation="This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
-<field name="Range">0 250</field>
-<field name="Increment">10</field>
-<field name="Units">msec</field>
-</param>
-<param humanName="Rate gyro noise (rad/s)" name="EK2_GYRO_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more." user="Advanced">
-<field name="Range">0.0001 0.1</field>
-<field name="Increment">0.0001</field>
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Accelerometer noise (m/s^2)" name="EK2_ACC_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more." user="Advanced">
-<field name="Range">0.01 1.0</field>
-<field name="Increment">0.01</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Rate gyro bias stability (rad/s/s)" name="EK2_GBIAS_P_NSE" documentation="This state  process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.00001 0.001</field>
-<field name="Units">rad/s/s</field>
-</param>
-<param humanName="Rate gyro scale factor stability (1/s)" name="EK2_GSCL_P_NSE" documentation="This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier." user="Advanced">
-<field name="Range">0.000001 0.001</field>
-<field name="Units">1/s</field>
-</param>
-<param humanName="Accelerometer bias stability (m/s^3)" name="EK2_ABIAS_P_NSE" documentation="This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.00001 0.001</field>
-<field name="Units">m/s/s/s</field>
-</param>
-<param humanName="Magnetic field process noise (gauss/s)" name="EK2_MAG_P_NSE" documentation="This state process noise controls the growth of magnetic field state error estimates. Increasing it makes magnetic field bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.0001 0.01</field>
-<field name="Units">gauss/s</field>
-</param>
-<param humanName="Wind velocity process noise (m/s^2)" name="EK2_WIND_P_NSE" documentation="This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier." user="Advanced">
-<field name="Range">0.01 1.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Height rate to wind procss noise scaler" name="EK2_WIND_PSCALE" documentation="This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser." user="Advanced">
-<field name="Range">0.0 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="GPS preflight check" name="EK2_GPS_CHECK" documentation="This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat." user="Advanced">
-<field name="Bitmask">0:NSats,1:HDoP,2:speed error,3:horiz pos error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed</field>
-</param>
-<param humanName="Bitmask of active IMUs" name="EK2_IMU_MASK" documentation="1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start." user="Advanced">
-<field name="Range">1 127</field>
-</param>
-<param humanName="GPS accuracy check scaler (%)" name="EK2_CHECK_SCALE" documentation="This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error." user="Advanced">
-<field name="Range">50 200</field>
-<field name="Units">%</field>
-</param>
-<param humanName="Non-GPS operation position uncertainty (m)" name="EK2_NOAID_M_NSE" documentation="This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors." user="Advanced">
-<field name="Range">0.5 50.0</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="EKF sensor logging IMU mask" name="EK2_LOG_MASK" documentation="This sets the IMU mask of sensors to do full logging for" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">FirstIMU</value>
-<value code="3">FirstAndSecondIMU</value>
-<value code="7">AllIMUs</value>
-</values>
-</param>
-</parameters>
-<parameters name="RPM">
-<param humanName="RPM type" name="RPM_TYPE" documentation="What type of RPM sensor is connected">
-<values>
-<value code="0">None</value>
-<value code="1">PX4-PWM</value>
-</values>
-</param>
-<param humanName="RPM scaling" name="RPM_SCALING" documentation="Scaling factor between sensor reading and RPM.">
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Maximum RPM" name="RPM_MAX" documentation="Maximum RPM to report">
-<field name="Increment">1</field>
-</param>
-<param humanName="Minimum RPM" name="RPM_MIN" documentation="Minimum RPM to report">
-<field name="Increment">1</field>
-</param>
-<param humanName="Minimum Quality" name="RPM_MIN_QUAL" documentation="Minimum data quality to be used">
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Second RPM type" name="RPM2_TYPE" documentation="What type of RPM sensor is connected">
-<values>
-<value code="0">None</value>
-<value code="1">PX4-PWM</value>
-</values>
-</param>
-<param humanName="RPM scaling" name="RPM2_SCALING" documentation="Scaling factor between sensor reading and RPM.">
-<field name="Increment">0.001</field>
-</param>
-</parameters>
-<parameters name="RSSI_">
-<param humanName="RSSI Type" name="RSSI_TYPE" documentation="Radio Receiver RSSI type. If your radio receiver supports RSSI of some kind, set it here, then set its associated RSSI_XXXXX parameters, if any." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">AnalogPin</value>
-<value code="2">RCChannelPwmValue</value>
-</values>
-</param>
-<param humanName="Receiver RSSI analog sensing pin" name="RSSI_ANA_PIN" documentation="This selects an analog pin where the receiver RSSI voltage will be read." user="Standard">
-<values>
-<value code="0">APM2 A0</value>
-<value code="1">APM2 A1</value>
-<value code="13">APM2 A13</value>
-<value code="11">Pixracer</value>
-<value code="13">Pixhawk ADC4</value>
-<value code="14">Pixhawk ADC3</value>
-<value code="15"> Pixhawk ADC6</value>
-<value code="103">Pixhawk SBUS</value>
-</values>
-</param>
-<param humanName="Receiver RSSI voltage low" name="RSSI_PIN_LOW" documentation="This is the voltage value that the radio receiver will put on the RSSI_ANA_PIN when the signal strength is the weakest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn't necessarily a lower value than RSSI_PIN_HIGH. " user="Standard">
-<field name="Range">0 5.0</field>
-<field name="Increment">0.01</field>
-<field name="Units">Volt</field>
-</param>
-<param humanName="Receiver RSSI voltage high" name="RSSI_PIN_HIGH" documentation="This is the voltage value that the radio receiver will put on the RSSI_ANA_PIN when the signal strength is the strongest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn't necessarily a higher value than RSSI_PIN_LOW. " user="Standard">
-<field name="Range">0 5.0</field>
-<field name="Increment">0.01</field>
-<field name="Units">Volt</field>
-</param>
-<param humanName="Receiver RSSI channel number" name="RSSI_CHANNEL" documentation="The channel number where RSSI will be output by the radio receiver (5 and above)." user="Standard">
-<field name="Units"></field>
-</param>
-<param humanName="Receiver RSSI PWM low value" name="RSSI_CHAN_LOW" documentation="This is the PWM value that the radio receiver will put on the RSSI_CHANNEL when the signal strength is the weakest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn't necessarily a lower value than RSSI_CHAN_HIGH. " user="Standard">
-<field name="Range">0 2000</field>
-<field name="Units">Microseconds</field>
-</param>
-<param humanName="Receiver RSSI PWM high value" name="RSSI_CHAN_HIGH" documentation="This is the PWM value that the radio receiver will put on the RSSI_CHANNEL when the signal strength is the strongest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn't necessarily a higher value than RSSI_CHAN_LOW. " user="Standard">
-<field name="Range">0 2000</field>
-<field name="Units">Microseconds</field>
-</param>
-</parameters>
-<parameters name="NTF_">
-<param humanName="LED Brightness" name="NTF_LED_BRIGHT" documentation="Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting." user="Advanced">
-<values>
-<value code="0">Off</value>
-<value code="1">Low</value>
-<value code="2">Medium</value>
-<value code="3">High</value>
-</values>
-</param>
-<param humanName="Buzzer enable" name="NTF_BUZZ_ENABLE" documentation="Enable or disable the buzzer. Only for Linux and PX4 based boards." user="Advanced">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-</parameters>
-<parameters name="EPM_">
-<param humanName="EPM Enable/Disable" name="EPM_ENABLE" documentation="EPM enable/disable" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="EPM Grab PWM" name="EPM_GRAB" documentation="PWM value sent to EPM to initiate grabbing the cargo" user="Advanced">
-<field name="Range">1000 2000</field>
-</param>
-<param humanName="EPM Release PWM" name="EPM_RELEASE" documentation="PWM value sent to EPM to release the cargo" user="Advanced">
-<field name="Range">1000 2000</field>
-</param>
-<param humanName="EPM Neutral PWM" name="EPM_NEUTRAL" documentation="PWM value sent to EPM when not grabbing or releasing" user="Advanced">
-<field name="Range">1000 2000</field>
-</param>
-<param humanName="EPM Regrab interval" name="EPM_REGRAB" documentation="Time in seconds that gripper will regrab the cargo to ensure grip has not weakend" user="Advanced">
-<values>
-<value code="0">Never</value>
-<value code=" 15">every 15 seconds</value>
-<value code=" 30">every 30 seconds</value>
-<value code=" 60">once per minute</value>
-</values>
-</param>
-</parameters>
-<parameters name="LGR_">
-<param humanName="Landing Gear Servo Retracted PWM Value" name="LGR_SERVO_RTRACT" documentation="Servo PWM value when landing gear is retracted" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Landing Gear Servo Deployed PWM Value" name="LGR_SERVO_DEPLOY" documentation="Servo PWM value when landing gear is deployed" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="IM_">
-<param humanName="Stabilize Mode Collective Point 1" name="IM_STAB_COL_1" documentation="Helicopter's minimum collective pitch setting at zero throttle input in Stabilize mode" user="Standard">
-<field name="Range">0 500</field>
-<field name="Increment">1</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Stabilize Mode Collective Point 2" name="IM_STAB_COL_2" documentation="Helicopter's collective pitch setting at mid-low throttle input in Stabilize mode" user="Standard">
-<field name="Range">0 500</field>
-<field name="Increment">1</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Stabilize Mode Collective Point 3" name="IM_STAB_COL_3" documentation="Helicopter's collective pitch setting at mid-high throttle input in Stabilize mode" user="Standard">
-<field name="Range">500 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Stabilize Mode Collective Point 4" name="IM_STAB_COL_4" documentation="Helicopter's maximum collective pitch setting at full throttle input in Stabilize mode" user="Standard">
-<field name="Range">500 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Acro Mode Collective Expo" name="IM_ACRO_COL_EXP" documentation="Used to soften collective pitch inputs near center point in Acro mode." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="0.1">Very Low</value>
-<value code="0.2">Low</value>
-<value code="0.3">Medium</value>
-<value code="0.4">High</value>
-<value code="0.5">Very High</value>
-</values>
-</param>
-</parameters>
-<parameters name="WPNAV_">
-<param humanName="Waypoint Horizontal Speed Target" name="WPNAV_SPEED" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission" user="Standard">
-<field name="Range">0 2000</field>
-<field name="Increment">50</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Waypoint Radius" name="WPNAV_RADIUS" documentation="Defines the distance from a waypoint, that when crossed indicates the wp has been hit." user="Standard">
-<field name="Range">100 1000</field>
-<field name="Increment">1</field>
-<field name="Units">cm</field>
-</param>
-<param humanName="Waypoint Climb Speed Target" name="WPNAV_SPEED_UP" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">50</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Waypoint Descent Speed Target" name="WPNAV_SPEED_DN" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission" user="Standard">
-<field name="Range">0 500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Loiter Horizontal Maximum Speed" name="WPNAV_LOIT_SPEED" documentation="Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode" user="Standard">
-<field name="Range">0 2000</field>
-<field name="Increment">50</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Waypoint Acceleration " name="WPNAV_ACCEL" documentation="Defines the horizontal acceleration in cm/s/s used during missions" user="Standard">
-<field name="Range">50 500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Waypoint Vertical Acceleration" name="WPNAV_ACCEL_Z" documentation="Defines the vertical acceleration in cm/s/s used during missions" user="Standard">
-<field name="Range">50 500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Loiter maximum jerk" name="WPNAV_LOIT_JERK" documentation="Loiter maximum jerk in cm/s/s/s" user="Advanced">
-<field name="Range">500 5000</field>
-<field name="Increment">1</field>
-<field name="Units">cm/s/s/s</field>
-</param>
-<param humanName="Loiter maximum acceleration" name="WPNAV_LOIT_MAXA" documentation="Loiter maximum acceleration in cm/s/s.  Higher values cause the copter to accelerate and stop more quickly." user="Advanced">
-<field name="Range">100 981</field>
-<field name="Increment">1</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Loiter minimum acceleration" name="WPNAV_LOIT_MINA" documentation="Loiter minimum acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered, but cause a larger jerk when the copter stops." user="Advanced">
-<field name="Range">100 981</field>
-<field name="Increment">1</field>
-<field name="Units">cm/s/s</field>
-</param>
-</parameters>
-<parameters name="CIRCLE_">
-<param humanName="Circle Radius" name="CIRCLE_RADIUS" documentation="Defines the radius of the circle the vehicle will fly when in Circle flight mode" user="Standard">
-<field name="Range">0 10000</field>
-<field name="Increment">100</field>
-<field name="Units">cm</field>
-</param>
-<param humanName="Circle rate" name="CIRCLE_RATE" documentation="Circle mode's turn rate in deg/sec.  Positive to turn clockwise, negative for counter clockwise" user="Standard">
-<field name="Range">-90 90</field>
-<field name="Increment">1</field>
-<field name="Units">deg/s</field>
-</param>
-</parameters>
-<parameters name="ATC_">
-<param humanName="Yaw target slew rate" name="ATC_SLEW_YAW" documentation="Maximum rate the yaw target can be updated in Loiter, RTL, Auto flight modes" user="Advanced">
-<field name="Range">500 18000</field>
-<field name="Increment">100</field>
-<field name="Units">Centi-Degrees/Sec</field>
-</param>
-<param humanName="Acceleration Max for Yaw" name="ATC_ACCEL_Y_MAX" documentation="Maximum acceleration in yaw axis" user="Advanced">
-<field name="Range">0 72000</field>
-<values>
-<value code="0">Disabled</value>
-<value code=" 18000">Slow</value>
-<value code=" 36000">Medium</value>
-<value code=" 54000">Fast</value>
-</values>
-<field name="Increment">1000</field>
-<field name="Units">Centi-Degrees/Sec/Sec</field>
-</param>
-<param humanName="Rate Feedforward Enable" name="ATC_RATE_FF_ENAB" documentation="Controls whether body-frame rate feedfoward is enabled or disabled" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="Acceleration Max for Roll" name="ATC_ACCEL_R_MAX" documentation="Maximum acceleration in roll axis" user="Advanced">
-<field name="Range">0 180000</field>
-<values>
-<value code="0">Disabled</value>
-<value code=" 72000">Slow</value>
-<value code=" 108000">Medium</value>
-<value code=" 162000">Fast</value>
-</values>
-<field name="Increment">1000</field>
-<field name="Units">Centi-Degrees/Sec/Sec</field>
-</param>
-<param humanName="Acceleration Max for Pitch" name="ATC_ACCEL_P_MAX" documentation="Maximum acceleration in pitch axis" user="Advanced">
-<field name="Range">0 180000</field>
-<values>
-<value code="0">Disabled</value>
-<value code=" 72000">Slow</value>
-<value code=" 108000">Medium</value>
-<value code=" 162000">Fast</value>
-</values>
-<field name="Increment">1000</field>
-<field name="Units">Centi-Degrees/Sec/Sec</field>
-</param>
-<param humanName="Angle Boost" name="ATC_ANGLE_BOOST" documentation="Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="Roll axis angle controller P gain" name="ATC_ANG_RLL_P" documentation="Roll axis angle controller P gain.  Converts the error between the desired roll angle and actual angle to a desired roll rate" user="Standard">
-<field name="Range">3.000 12.000</field>
-</param>
-<param humanName="Pitch axis angle controller P gain" name="ATC_ANG_PIT_P" documentation="Pitch axis angle controller P gain.  Converts the error between the desired pitch angle and actual angle to a desired pitch rate" user="Standard">
-<field name="Range">3.000 12.000</field>
-</param>
-<param humanName="Yaw axis angle controller P gain" name="ATC_ANG_YAW_P" documentation="Yaw axis angle controller P gain.  Converts the error between the desired yaw angle and actual angle to a desired yaw rate" user="Standard">
-<field name="Range">3.000 6.000</field>
-</param>
-<param humanName="Angle Limit (to maintain altitude) Time Constant" name="ATC_ANG_LIM_TC" documentation="Angle Limit (to maintain altitude) Time Constant" user="Advanced">
-<field name="Range">0.5 10.0</field>
-</param>
-<param humanName="Roll axis rate controller P gain" name="ATC_RAT_RLL_P" documentation="Roll axis rate controller P gain.  Converts the difference between desired roll rate and actual roll rate into a motor speed output" user="Standard">
-<field name="Range">0.08 0.30</field>
-<field name="Increment">0.005</field>
-</param>
-<param humanName="Roll axis rate controller I gain" name="ATC_RAT_RLL_I" documentation="Roll axis rate controller I gain.  Corrects long-term difference in desired roll rate vs actual roll rate" user="Standard">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Roll axis rate controller I gain maximum" name="ATC_RAT_RLL_IMAX" documentation="Roll axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Roll axis rate controller D gain" name="ATC_RAT_RLL_D" documentation="Roll axis rate controller D gain.  Compensates for short-term change in desired roll rate vs actual roll rate" user="Standard">
-<field name="Range">0.0 0.02</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Roll axis rate conroller input frequency in Hz" name="ATC_RAT_RLL_FILT" documentation="Roll axis rate conroller input frequency in Hz">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Pitch axis rate controller P gain" name="ATC_RAT_PIT_P" documentation="Pitch axis rate controller P gain.  Converts the difference between desired pitch rate and actual pitch rate into a motor speed output" user="Standard">
-<field name="Range">0.08 0.30</field>
-<field name="Increment">0.005</field>
-</param>
-<param humanName="Pitch axis rate controller I gain" name="ATC_RAT_PIT_I" documentation="Pitch axis rate controller I gain.  Corrects long-term difference in desired pitch rate vs actual pitch rate" user="Standard">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Pitch axis rate controller I gain maximum" name="ATC_RAT_PIT_IMAX" documentation="Pitch axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Pitch axis rate controller D gain" name="ATC_RAT_PIT_D" documentation="Pitch axis rate controller D gain.  Compensates for short-term change in desired pitch rate vs actual pitch rate" user="Standard">
-<field name="Range">0.0 0.02</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Pitch axis rate conroller input frequency in Hz" name="ATC_RAT_PIT_FILT" documentation="Pitch axis rate conroller input frequency in Hz">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Yaw axis rate controller P gain" name="ATC_RAT_YAW_P" documentation="Yaw axis rate controller P gain.  Converts the difference between desired yaw rate and actual yaw rate into a motor speed output" user="Standard">
-<field name="Range">0.10 0.50</field>
-<field name="Increment">0.005</field>
-</param>
-<param humanName="Yaw axis rate controller I gain" name="ATC_RAT_YAW_I" documentation="Yaw axis rate controller I gain.  Corrects long-term difference in desired yaw rate vs actual yaw rate" user="Standard">
-<field name="Range">0.010 0.05</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Yaw axis rate controller I gain maximum" name="ATC_RAT_YAW_IMAX" documentation="Yaw axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Yaw axis rate controller D gain" name="ATC_RAT_YAW_D" documentation="Yaw axis rate controller D gain.  Compensates for short-term change in desired yaw rate vs actual yaw rate" user="Standard">
-<field name="Range">0.000 0.02</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Yaw axis rate conroller input frequency in Hz" name="ATC_RAT_YAW_FILT" documentation="Yaw axis rate conroller input frequency in Hz">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Throttle Mix Minimum" name="ATC_THR_MIX_MIN" documentation="Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)" user="Advanced">
-<field name="Range">0.1 0.25</field>
-</param>
-<param humanName="Throttle Mix Maximum" name="ATC_THR_MIX_MAX" documentation="Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)" user="Advanced">
-<field name="Range">0.5 0.9</field>
-</param>
-</parameters>
-<parameters name="POSCON_">
-<param humanName="XY Acceleration filter cutoff frequency" name="POSCON__ACC_XY_FILT" documentation="Lower values will slow the response of the navigation controller and reduce twitchiness" user="Advanced">
-<field name="Range">0.5 5</field>
-<field name="Increment">0.1</field>
-<field name="Units">Hz</field>
-</param>
-</parameters>
-<parameters name="SPRAY_">
-<param humanName="Sprayer enable/disable" name="SPRAY_ENABLE" documentation="Allows you to enable (1) or disable (0) the sprayer" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Pump speed" name="SPRAY_PUMP_RATE" documentation="Desired pump speed when travelling 1m/s expressed as a percentage" user="Standard">
-<field name="Range">0 100</field>
-<field name="Units">percentage</field>
-</param>
-<param humanName="Spinner rotation speed" name="SPRAY_SPINNER" documentation="Spinner's rotation speed in PWM (a higher rate will disperse the spray over a wider area horizontally)" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Units">ms</field>
-</param>
-<param humanName="Speed minimum" name="SPRAY_SPEED_MIN" documentation="Speed minimum at which we will begin spraying" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Pump speed minimum" name="SPRAY_PUMP_MIN" documentation="Minimum pump speed expressed as a percentage" user="Standard">
-<field name="Range">0 100</field>
-<field name="Units">percentage</field>
-</param>
-</parameters>
-<parameters name="FENCE_">
-<param humanName="Fence enable/disable" name="FENCE_ENABLE" documentation="Allows you to enable (1) or disable (0) the fence functionality" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Fence Type" name="FENCE_TYPE" documentation="Enabled fence types held as bitmask" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Altitude</value>
-<value code="2">Circle</value>
-<value code="3">Altitude and Circle</value>
-<value code="4">Polygon</value>
-<value code="5">Altitude and Polygon</value>
-<value code="6">Circle and Polygon</value>
-<value code="7">All</value>
-</values>
-</param>
-<param humanName="Fence Action" name="FENCE_ACTION" documentation="What action should be taken when fence is breached" user="Standard">
-<values>
-<value code="0">Report Only</value>
-<value code="1">RTL or Land</value>
-</values>
-</param>
-<param humanName="Fence Maximum Altitude" name="FENCE_ALT_MAX" documentation="Maximum altitude allowed before geofence triggers" user="Standard">
-<field name="Range">10 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Circular Fence Radius" name="FENCE_RADIUS" documentation="Circle fence radius which when breached will cause an RTL" user="Standard">
-<field name="Range">30 10000</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Fence Margin" name="FENCE_MARGIN" documentation="Distance that autopilot's should maintain from the fence to avoid a breach" user="Standard">
-<field name="Range">1 10</field>
-<field name="Units">Meters</field>
-</param>
-</parameters>
-<parameters name="AVOID_">
-<param humanName="Avoidance control enable/disable" name="AVOID_ENABLE" documentation="Enabled/disable stopping at fence" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">StopAtFence</value>
-</values>
-</param>
-</parameters>
-<parameters name="H_">
-<param humanName="Servo 1 Position" name="H_SV1_POS" documentation="Angular location of swash servo #1" user="Standard">
-<field name="Range">-180 180</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Servo 2 Position" name="H_SV2_POS" documentation="Angular location of swash servo #2" user="Standard">
-<field name="Range">-180 180</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Servo 3 Position" name="H_SV3_POS" documentation="Angular location of swash servo #3" user="Standard">
-<field name="Range">-180 180</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Tail Type" name="H_TAIL_TYPE" documentation="Tail type selection.  Simpler yaw controller used if external gyro is selected" user="Standard">
-<values>
-<value code="0">Servo only</value>
-<value code="1">Servo with ExtGyro</value>
-<value code="2">DirectDrive VarPitch</value>
-<value code="3">DirectDrive FixedPitch</value>
-</values>
-</param>
-<param humanName="Swash Type" name="H_SWASH_TYPE" documentation="Swash Type Setting - either 3-servo CCPM or H1 Mechanical Mixing" user="Standard">
-<values>
-<value code="0">3-Servo CCPM</value>
-<value code=" 1">H1 Mechanical Mixing</value>
-</values>
-</param>
-<param humanName="External Gyro Gain" name="H_GYR_GAIN" documentation="PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">PWM</field>
-</param>
-<param humanName="Swashplate Phase Angle Compensation" name="H_PHANG" documentation="Phase angle correction for rotor head.  If pitching the swash forward induces a roll, this can be correct the problem" user="Advanced">
-<field name="Range">-90 90</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Collective-Yaw Mixing" name="H_COLYAW" documentation="Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.">
-<field name="Range">-10 10</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Flybar Mode Selector" name="H_FLYBAR_MODE" documentation="Flybar present or not.  Affects attitude controller used during ACRO flight mode" user="Standard">
-<values>
-<value code="0">NoFlybar</value>
-<value code="1">Flybar</value>
-</values>
-</param>
-<param humanName="Direct Drive VarPitch Tail ESC speed" name="H_TAIL_SPEED" documentation="Direct Drive VarPitch Tail ESC speed.  Only used when TailType is DirectDrive VarPitch" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">PWM</field>
-</param>
-<param humanName="External Gyro Gain for ACRO" name="H_GYR_GAIN_ACRO" documentation="PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro. A value of zero means to use H_GYR_GAIN" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">PWM</field>
-</param>
-<param humanName="RSC PWM output miniumum" name="H_RSC_PWM_MIN" documentation="This sets the PWM output on RSC channel for maximum rotor speed" user="Standard">
-<field name="Range">0 2000</field>
-</param>
-<param humanName="RSC PWM output maxiumum" name="H_RSC_PWM_MAX" documentation="This sets the PWM output on RSC channel for miniumum rotor speed" user="Standard">
-<field name="Range">0 2000</field>
-</param>
-<param humanName="RSC PWM reversal" name="H_RSC_PWM_REV" documentation="This controls reversal of the RSC channel output" user="Standard">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-</parameters>
-<parameters name="MOT_">
-<param humanName="Matrix Yaw Min" name="MOT_YAW_HEADROOM" documentation="Yaw control is given at least this pwm range" user="Advanced">
-<field name="Range">0 500</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Thrust Curve Expo" name="MOT_THST_EXPO" documentation="Motor thrust curve exponent (from 0 for linear to 1.0 for second order curve)" user="Advanced">
-<field name="Range">0.25 0.8</field>
-</param>
-<param humanName="Motor Spin maximum" name="MOT_SPIN_MAX" documentation="Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range" user="Advanced">
-<field name="Values">0.9:Low, 0.95:Default, 1.0:High</field>
-</param>
-<param humanName="Battery voltage compensation maximum voltage" name="MOT_BAT_VOLT_MAX" documentation="Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust).  Recommend 4.4 * cell count, 0 = Disabled" user="Advanced">
-<field name="Range">6 35</field>
-<field name="Units">Volts</field>
-</param>
-<param humanName="Battery voltage compensation minimum voltage" name="MOT_BAT_VOLT_MIN" documentation="Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust).  Recommend 3.5 * cell count, 0 = Disabled" user="Advanced">
-<field name="Range">6 35</field>
-<field name="Units">Volts</field>
-</param>
-<param humanName="Motor Current Max" name="MOT_BAT_CURR_MAX" documentation="Maximum current over which maximum throttle is limited (0 = Disabled)" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">Amps</field>
-</param>
-<param humanName="Output PWM type" name="MOT_PWM_TYPE" documentation="This selects the output PWM type, allowing for normal PWM continuous output or OneShot125" user="Advanced">
-<values>
-<value code="0">Normal</value>
-<value code="1">OneShot</value>
-<value code="2">OneShot125</value>
-</values>
-</param>
-<param humanName="PWM output miniumum" name="MOT_PWM_MIN" documentation="This sets the min PWM output value that will ever be output to the motors, 0 = use input RC3_MIN" user="Advanced">
-<field name="Range">0 2000</field>
-</param>
-<param humanName="PWM output maximum" name="MOT_PWM_MAX" documentation="This sets the max PWM value that will ever be output to the motors, 0 = use input RC3_MAX" user="Advanced">
-<field name="Range">0 2000</field>
-</param>
-<param humanName="Motor Spin minimum" name="MOT_SPIN_MIN" documentation="Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range" user="Advanced">
-<field name="Values">0.0:Low, 0.15:Default, 0.3:High</field>
-</param>
-<param humanName="Motor Spin armed" name="MOT_SPIN_ARM" documentation="Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range" user="Advanced">
-<field name="Values">0.0:Low, 0.1:Default, 0.2:High</field>
-</param>
-<param humanName="Motor Current Max Time Constant" name="MOT_BAT_CURR_TC" documentation="Time constant used to limit the maximum current" user="Advanced">
-<field name="Range">0 10</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="Thrust Hover Value" name="MOT_THST_HOVER" documentation="Motor thrust needed to hover expressed as a number from 0 to 1" user="Advanced">
-<field name="Range">0.25 0.8</field>
-</param>
-<param humanName="Hover Value Learning" name="MOT_HOVER_LEARN" documentation="Enable/Disable automatic learning of hover throttle" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Learn</value>
-<value code=" 2">LearnAndSave</value>
-</values>
-</param>
-</parameters>
-<parameters name="PLND_">
-<param humanName="Precision Land enabled/disabled and behaviour" name="PLND_ENABLED" documentation="Precision Land enabled/disabled and behaviour" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled Always Land</value>
-<value code=" 2">Enabled Strict</value>
-</values>
-</param>
-<param humanName="Precision Land Type" name="PLND_TYPE" documentation="Precision Land Type" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code=" 1">CompanionComputer</value>
-<value code=" 2">IRLock</value>
-</values>
-</param>
-</parameters>
-</libraries></paramfile>
diff --git a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.10.xml b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.10.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9087863acc51d473f39f76d2f7981756a4af1db4
--- /dev/null
+++ b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.10.xml
@@ -0,0 +1,13856 @@
+<?xml version="1.0" encoding="utf-8"?>
+        <!-- Dynamically generated list of documented parameters (generated by param_parse.py) -->    
+        <paramfile>
+        <vehicles>
+        <parameters name="ArduPlane">
+<param humanName="Eeprom format version number" name="ArduPlane:FORMAT_VERSION" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
+</param>
+<param humanName="MAVLink system ID of this vehicle" name="ArduPlane:SYSID_THISMAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
+<field name="Range">1 255</field>
+</param>
+<param humanName="Ground station MAVLink system ID" name="ArduPlane:SYSID_MYGCS" documentation="The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match." user="Advanced">
+<field name="Range">1 255</field>
+</param>
+<param humanName="Autotune level" name="ArduPlane:AUTOTUNE_LEVEL" documentation="Level of aggressiveness of pitch and roll PID gains. Lower values result in a 'softer' tune. Level 6 recommended for most planes." user="Standard">
+<field name="Range">1 10</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Telemetry startup delay " name="ArduPlane:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Standard">
+<field name="Range">0 30</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="GCS PID tuning mask" name="ArduPlane:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
+<field name="Bitmask">0:Roll,1:Pitch,2:Yaw,3:Steering,4:Landing</field>
+</param>
+<param humanName="Rudder Mix" name="ArduPlane:KFF_RDDRMIX" documentation="Amount of rudder to add during aileron movement. Increase if nose initially yaws away from roll. Reduces adverse yaw." user="Standard">
+<field name="Range">0 1</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Throttle to Pitch Mix" name="ArduPlane:KFF_THR2PTCH" documentation="Degrees of elevator added for full throttle application. Increase to compensate for throttle causing down pitch." user="Advanced">
+<field name="Range">0 5</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Low throttle pitch down trim " name="ArduPlane:STAB_PITCH_DOWN" documentation="Degrees of down pitch added when throttle is below TRIM_THROTTLE in FBWA and AUTOTUNE modes. Scales linearly so full value is added when THR_MIN is reached. Helps to keep airspeed higher in glides or landing approaches and prevents accidental stalls. 2 degrees recommended for most planes." user="Advanced">
+<field name="Range">0 15</field>
+<field name="Increment">0.1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Glide slope minimum" name="ArduPlane:GLIDE_SLOPE_MIN" documentation="This controls the minimum altitude change for a waypoint before a glide slope will be used instead of an immediate altitude change. The default value is 15 meters, which helps to smooth out waypoint missions where small altitude changes happen near waypoints. If you don't want glide slopes to be used in missions then you can set this to zero, which will disable glide slope calculations. Otherwise you can set it to a minimum number of meters of altitude error to the destination waypoint before a glide slope will be used to change altitude." user="Advanced">
+<field name="Range">0 1000</field>
+<field name="Increment">1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Glide slope threshold" name="ArduPlane:GLIDE_SLOPE_THR" documentation="This controls the height above the glide slope the plane may be before rebuilding a glide slope. This is useful for smoothing out an autotakeoff" user="Advanced">
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Stick Mixing" name="ArduPlane:STICK_MIXING" documentation='When enabled, this adds user stick input to the control surfaces in auto modes, allowing the user to have some degree of flight control without changing modes.  There are two types of stick mixing available. If you set STICK_MIXING to 1 then it will use "fly by wire" mixing, which controls the roll and pitch in the same way that the FBWA mode does. This is the safest option if you usually fly ArduPlane in FBWA or FBWB mode. If you set STICK_MIXING to 2 then it will enable direct mixing mode, which is what the STABILIZE mode uses. That will allow for much more extreme maneuvers while in AUTO mode.' user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">FBWMixing</value>
+<value code="2">DirectMixing</value>
+</values>
+</param>
+<param humanName="Use FBWA steering in AUTO" name="ArduPlane:AUTO_FBW_STEER" documentation="When enabled this option gives FBWA navigation and steering in AUTO mode. This can be used to allow manual stabilised piloting with waypoint logic for triggering payloads. With this enabled the pilot has the same control over the plane as in FBWA mode, and the normal AUTO navigation is completely disabled. THIS OPTION IS NOT RECOMMENDED FOR NORMAL USE." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="42">Enabled</value>
+</values>
+</param>
+<param humanName="Takeoff throttle min speed" name="ArduPlane:TKOFF_THR_MINSPD" documentation="Minimum GPS ground speed in m/s used by the speed check that un-suppresses throttle in auto-takeoff. This can be be used for catapult launches where you want the motor to engage only after the plane leaves the catapult, but it is preferable to use the TKOFF_THR_MINACC and TKOFF_THR_DELAY parameters for catapult launches due to the errors associated with GPS measurements. For hand launches with a pusher prop it is strongly advised that this parameter be set to a value no less than 4 m/s to provide additional protection against premature motor start. Note that the GPS velocity will lag the real velocity by about 0.5 seconds. The ground speed check is delayed by the TKOFF_THR_DELAY parameter." user="User">
+<field name="Range">0 30</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Takeoff throttle min acceleration" name="ArduPlane:TKOFF_THR_MINACC" documentation='Minimum forward acceleration in m/s/s before arming the ground speed check in auto-takeoff. This is meant to be used for hand launches. Setting this value to 0 disables the acceleration test which means the ground speed check will always be armed which could allow GPS velocity jumps to start the engine. For hand launches and bungee launches this should be set to around 15. Also see TKOFF_ACCEL_CNT paramter for control of full "shake to arm".' user="User">
+<field name="Range">0 30</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Takeoff throttle delay" name="ArduPlane:TKOFF_THR_DELAY" documentation="This parameter sets the time delay (in 1/10ths of a second) that the ground speed check is delayed after the forward acceleration check controlled by TKOFF_THR_MINACC has passed. For hand launches with pusher propellers it is essential that this is set to a value of no less than 2 (0.2 seconds) to ensure that the aircraft is safely clear of the throwers arm before the motor can start. For bungee launches a larger value can be used (such as 30) to give time for the bungee to release from the aircraft before the motor is started." user="User">
+<field name="Range">0 127</field>
+<field name="Increment">1</field>
+<field name="Units">ds</field>
+<field name="UnitText">deciseconds</field>
+</param>
+<param humanName="Takeoff tail dragger elevator" name="ArduPlane:TKOFF_TDRAG_ELEV" documentation="This parameter sets the amount of elevator to apply during the initial stage of a takeoff. It is used to hold the tail wheel of a taildragger on the ground during the initial takeoff stage to give maximum steering. This option should be combined with the TKOFF_TDRAG_SPD1 option and the GROUND_STEER_ALT option along with tuning of the ground steering controller. A value of zero means to bypass the initial &quot;tail hold&quot; stage of takeoff. Set to zero for hand and catapult launch. For tail-draggers you should normally set this to 100, meaning full up elevator during the initial stage of takeoff. For most tricycle undercarriage aircraft a value of zero will work well, but for some tricycle aircraft a small negative value (say around -20 to -30) will apply down elevator which will hold the nose wheel firmly on the ground during initial acceleration. Only use a negative value if you find that the nosewheel doesn't grip well during takeoff. Too much down elevator on a tricycle undercarriage may cause instability in steering as the plane pivots around the nosewheel. Add down elevator 10 percent at a time." user="User">
+<field name="Range">-100 100</field>
+<field name="Increment">1</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Takeoff tail dragger speed1" name="ArduPlane:TKOFF_TDRAG_SPD1" documentation='This parameter sets the airspeed at which to stop holding the tail down and transition to rudder control of steering on the ground. When TKOFF_TDRAG_SPD1 is reached the pitch of the aircraft will be held level until TKOFF_ROTATE_SPD is reached, at which point the takeoff pitch specified in the mission will be used to "rotate" the pitch for takeoff climb. Set TKOFF_TDRAG_SPD1 to zero to go straight to rotation. This should be set to zero for hand launch and catapult launch. It should also be set to zero for tricycle undercarriages unless you are using the method above to genetly hold the nose wheel down. For tail dragger aircraft it should be set just below the stall speed.' user="User">
+<field name="Range">0 30</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Takeoff rotate speed" name="ArduPlane:TKOFF_ROTATE_SPD" documentation='This parameter sets the airspeed at which the aircraft will "rotate", setting climb pitch specified in the mission. If TKOFF_ROTATE_SPD is zero then the climb pitch will be used as soon as takeoff is started. For hand launch and catapult launches a TKOFF_ROTATE_SPD of zero should be set. For all ground launches TKOFF_ROTATE_SPD should be set above the stall speed, usually by about 10 to 30 percent' user="User">
+<field name="Range">0 30</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Takeoff throttle slew rate" name="ArduPlane:TKOFF_THR_SLEW" documentation="This parameter sets the slew rate for the throttle during auto takeoff. When this is zero the THR_SLEWRATE parameter is used during takeoff. For rolling takeoffs it can be a good idea to set a lower slewrate for takeoff to give a slower acceleration which can improve ground steering control. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on takeoff. Values below 20 are not recommended as they may cause the plane to try to climb out with too little throttle. A value of -1 means no limit on slew rate in takeoff." user="User">
+<field name="Range">-1 127</field>
+<field name="Increment">1</field>
+<field name="Units">%/s</field>
+<field name="UnitText">percent per second</field>
+</param>
+<param humanName="Takeoff pitch limit reduction" name="ArduPlane:TKOFF_PLIM_SEC" documentation="This parameter reduces the pitch minimum limit of an auto-takeoff just a few seconds before it reaches the target altitude. This reduces overshoot by allowing the flight controller to start leveling off a few seconds before reaching the target height. When set to zero, the mission pitch min is enforced all the way to and through the target altitude, otherwise the pitch min slowly reduces to zero in the final segment. This is the pitch_min, not the demand. The flight controller should still be commanding to gain altitude to finish the takeoff but with this param it is not forcing it higher than it wants to be." user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">0.5</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Takeoff flap percentage" name="ArduPlane:TKOFF_FLAP_PCNT" documentation="The amount of flaps (as a percentage) to apply in automatic takeoff" user="Advanced">
+<field name="Range">0 100</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="FBWA taildragger channel" name="ArduPlane:FBWA_TDRAG_CHAN" documentation="This is a RC input channel which when it goes above 1700 enables FBWA taildragger takeoff mode. It should be assigned to a momentary switch. Once this feature is enabled it will stay enabled until the aircraft goes above TKOFF_TDRAG_SPD1 airspeed, changes mode, or the pitch goes above the initial pitch when this is engaged or goes below 0 pitch. When enabled the elevator will be forced to TKOFF_TDRAG_ELEV. This option allows for easier takeoffs on taildraggers in FBWA mode, and also makes it easier to test auto-takeoff steering handling in FBWA. Setting it to 0 disables this option." user="Standard">
+</param>
+<param humanName="Level flight roll limit" name="ArduPlane:LEVEL_ROLL_LIMIT" documentation="This controls the maximum bank angle in degrees during flight modes where level flight is desired, such as in the final stages of landing, and during auto takeoff. This should be a small angle (such as 5 degrees) to prevent a wing hitting the runway during takeoff or landing. Setting this to zero will completely disable heading hold on auto takeoff and final landing approach." user="User">
+<field name="Range">0 45</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Bitmask for when to allow negative reverse thrust" name="ArduPlane:USE_REV_THRUST" documentation="This controls when to use reverse thrust. If set to zero then reverse thrust is never used. If set to a non-zero value then the bits correspond to flight stages where reverse thrust may be used. Note that reverse thrust is only ever auto-enabled in auto-throttle modes. In modes where throttle control is pilot controlled the ability to do reverse thrust is controlled by throttle stick input. The most commonly used value for USE_REV_THRUST is 2, which means AUTO_LAND only. That enables reverse thrust in the landing stage of AUTO mode. Another common choice is 1, which means to use reverse thrust in all auto flight stages." user="Advanced">
+<field name="Bitmask">0:AUTO_ALWAYS,1:AUTO_LAND,2:AUTO_LOITER_TO_ALT,3:AUTO_LOITER_ALL,4:AUTO_WAYPOINTS,5:LOITER,6:RTL,7:CIRCLE,8:CRUISE,9:FBWB,10:GUIDED</field>
+<values>
+<value code="0">Never</value>
+<value code="1">AutoAlways</value>
+<value code="2">AutoLanding</value>
+</values>
+</param>
+<param humanName="Navigation controller selection" name="ArduPlane:NAV_CONTROLLER" documentation="Which navigation controller to enable. Currently the only navigation controller available is L1. From time to time other experimental controllers will be added which are selected using this parameter." user="Standard">
+<values>
+<value code="0">Default</value>
+<value code="1">L1Controller</value>
+</values>
+</param>
+<param humanName="Altitude control algorithm" name="ArduPlane:ALT_CTRL_ALG" documentation="This sets what algorithm will be used for altitude control. The default is zero, which selects the most appropriate algorithm for your airframe. Currently the default is to use TECS (total energy control system). From time to time we will add other experimental altitude control algorithms which will be selected using this parameter." user="Advanced">
+<values>
+<value code="0">Automatic</value>
+</values>
+</param>
+<param humanName="Altitude offset" name="ArduPlane:ALT_OFFSET" documentation="This is added to the target altitude in automatic flight. It can be used to add a global altitude offset to a mission" user="Advanced">
+<field name="Range">-32767 32767</field>
+<field name="Increment">1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Waypoint Radius" name="ArduPlane:WP_RADIUS" documentation='Defines the maximum distance from a waypoint that when crossed indicates the waypoint may be complete. To avoid the aircraft looping around the waypoint in case it misses by more than the WP_RADIUS an additional check is made to see if the aircraft has crossed a "finish line" passing through the waypoint and perpendicular to the flight path from the previous waypoint. If that finish line is crossed then the waypoint is considered complete. Note that the navigation controller may decide to turn later than WP_RADIUS before a waypoint, based on how sharp the turn is and the speed of the aircraft. It is safe to set WP_RADIUS much larger than the usual turn radius of your aircraft and the navigation controller will work out when to turn. If you set WP_RADIUS too small then you will tend to overshoot the turns.' user="Standard">
+<field name="Range">1 32767</field>
+<field name="Increment">1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Waypoint Maximum Radius" name="ArduPlane:WP_MAX_RADIUS" documentation='Sets the maximum distance to a waypoint for the waypoint to be considered complete. This overrides the "cross the finish line" logic that is normally used to consider a waypoint complete. For normal AUTO behaviour this parameter should be set to zero. Using a non-zero value is only recommended when it is critical that the aircraft does approach within the given radius, and should loop around until it has done so. This can cause the aircraft to loop forever if its turn radius is greater than the maximum radius set.' user="Standard">
+<field name="Range">0 32767</field>
+<field name="Increment">1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Waypoint Loiter Radius" name="ArduPlane:WP_LOITER_RAD" documentation="Defines the distance from the waypoint center, the plane will maintain during a loiter. If you set this value to a negative number then the default loiter direction will be counter-clockwise instead of clockwise." user="Standard">
+<field name="Range">-32767 32767</field>
+<field name="Increment">1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="RTL loiter radius" name="ArduPlane:RTL_RADIUS" documentation="Defines the radius of the loiter circle when in RTL mode. If this is zero then WP_LOITER_RAD is used. If the radius is negative then a counter-clockwise is used. If positive then a clockwise loiter is used." user="Standard">
+<field name="Range">-32767 32767</field>
+<field name="Increment">1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Action on geofence breach" name="ArduPlane:FENCE_ACTION" documentation="What to do on fence breach. If this is set to 0 then no action is taken, and geofencing is disabled. If this is set to 1 then the plane will enter GUIDED mode, with the target waypoint as the fence return point. If this is set to 2 then the fence breach is reported to the ground station, but no other action is taken. If set to 3 then the plane enters guided mode but the pilot retains manual throttle control. If set to 4 the plane enters RTL mode, with the target waypoint as the closest rally point (or home point if there are no rally points)." user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">GuidedMode</value>
+<value code="2">ReportOnly</value>
+<value code="3">GuidedModeThrPass</value>
+<value code="4">RTL_Mode</value>
+</values>
+</param>
+<param humanName="Fence Total" name="ArduPlane:FENCE_TOTAL" documentation="Number of geofence points currently loaded" user="Advanced">
+</param>
+<param humanName="Fence Channel" name="ArduPlane:FENCE_CHANNEL" documentation="RC Channel to use to enable geofence. PWM input above 1750 enables the geofence" user="Standard">
+</param>
+<param humanName="Fence Minimum Altitude" name="ArduPlane:FENCE_MINALT" documentation="Minimum altitude allowed before geofence triggers" user="Standard">
+<field name="Range">0 32767</field>
+<field name="Increment">1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Fence Maximum Altitude" name="ArduPlane:FENCE_MAXALT" documentation="Maximum altitude allowed before geofence triggers" user="Standard">
+<field name="Range">0 32767</field>
+<field name="Increment">1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Fence Return Altitude" name="ArduPlane:FENCE_RETALT" documentation="Altitude the aircraft will transit to when a fence breach occurs.  If FENCE_RETALT is &lt;= 0 then the midpoint between FENCE_MAXALT and FENCE_MINALT is used, unless FENCE_MAXALT &lt; FENCE_MINALT.  If FENCE_MAXALT &lt; FENCE_MINALT AND FENCE_RETALT is &lt;= 0 then ALT_HOLD_RTL is the altitude used on a fence breach." user="Standard">
+<field name="Range">0 32767</field>
+<field name="Increment">1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Fence automatic enable" name="ArduPlane:FENCE_AUTOENABLE" documentation="When set to 1, geofence automatically enables after an auto takeoff and automatically disables at the beginning of an auto landing.  When on the ground before takeoff the fence is disabled.  When set to 2, the fence autoenables after an auto takeoff, but only disables the fence floor during landing. It is highly recommended to not use this option for line of sight flying and use a fence enable channel instead." user="Standard">
+<values>
+<value code="0">NoAutoEnable</value>
+<value code="1">AutoEnable</value>
+<value code="2">AutoEnableDisableFloorOnly</value>
+</values>
+</param>
+<param humanName="Fence Return to Rally" name="ArduPlane:FENCE_RET_RALLY" documentation="When set to 1: on fence breach the plane will return to the nearest rally point rather than the fence return point.  If no rally points have been defined the plane will return to the home point.  " user="Standard">
+<values>
+<value code="0">FenceReturnPoint</value>
+<value code="1">NearestRallyPoint</value>
+</values>
+</param>
+<param humanName="Enable stall prevention" name="ArduPlane:STALL_PREVENTION" documentation="Enables roll limits at low airspeed in roll limiting flight modes. Roll limits based on aerodynamic load factor in turns and scale on ARSPD_FBW_MIN that must be set correctly. Without airspeed sensor, uses synthetic airspeed from wind speed estimate that may both be inaccurate." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Minimum Airspeed" name="ArduPlane:ARSPD_FBW_MIN" documentation="Minimum airspeed demanded in automatic throttle modes. Should be set to 20% higher than level flight stall speed." user="Standard">
+<field name="Range">5 100</field>
+<field name="Increment">1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Maximum Airspeed" name="ArduPlane:ARSPD_FBW_MAX" documentation="Maximum airspeed demanded in automatic throttle modes. Should be set slightly less than level flight speed at THR_MAX and also at least 50% above ARSPD_FBW_MAX to allow for accurate TECS altitude control." user="Standard">
+<field name="Range">5 100</field>
+<field name="Increment">1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Fly By Wire elevator reverse" name="ArduPlane:FBWB_ELEV_REV" documentation="Reverse sense of elevator in FBWB and CRUISE modes. When set to 0 up elevator (pulling back on the stick) means to lower altitude. When set to 1, up elevator means to raise altitude." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Use terrain following" name="ArduPlane:TERRAIN_FOLLOW" documentation="This enables terrain following for CRUISE mode, FBWB mode, RTL and for rally points. To use this option you also need to set TERRAIN_ENABLE to 1, which enables terrain data fetching from the GCS, and you need to have a GCS that supports sending terrain data to the aircraft. When terrain following is enabled then CRUISE and FBWB mode will hold height above terrain rather than height above home. In RTL the return to launch altitude will be considered to be a height above the terrain. Rally point altitudes will be taken as height above the terrain. This option does not affect mission items, which have a per-waypoint flag for whether they are height above home or height above the terrain. To use terrain following missions you need a ground station which can set the waypoint type to be a terrain height waypoint when creating the mission." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Terrain lookahead" name="ArduPlane:TERRAIN_LOOKAHD" documentation="This controls how far ahead the terrain following code looks to ensure it stays above upcoming terrain. A value of zero means no lookahead, so the controller will track only the terrain directly below the aircraft. The lookahead will never extend beyond the next waypoint when in AUTO mode." user="Standard">
+<field name="Range">0 10000</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Fly By Wire B altitude change rate" name="ArduPlane:FBWB_CLIMB_RATE" documentation="This sets the rate in m/s at which FBWB and CRUISE modes will change its target altitude for full elevator deflection. Note that the actual climb rate of the aircraft can be lower than this, depending on your airspeed and throttle control settings. If you have this parameter set to the default value of 2.0, then holding the elevator at maximum deflection for 10 seconds would change the target altitude by 20 meters." user="Standard">
+<field name="Range">1 10</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Minimum Throttle" name="ArduPlane:THR_MIN" documentation="Minimum throttle percentage used in all modes except manual, provided THR_PASS_STAB is not set. Negative values allow reverse thrust if hardware supports it." user="Standard">
+<field name="Range">-100 100</field>
+<field name="Increment">1</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Maximum Throttle" name="ArduPlane:THR_MAX" documentation="Maximum throttle percentage used in automatic throttle modes." user="Standard">
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Maximum Throttle for takeoff" name="ArduPlane:TKOFF_THR_MAX" documentation="The maximum throttle setting during automatic takeoff. If this is zero then THR_MAX is used for takeoff as well." user="Advanced">
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Throttle slew rate" name="ArduPlane:THR_SLEWRATE" documentation="Maximum change in throttle percentage per second. Lower limit  based on 1 microsend of servo increase per loop. Divide SCHED_LOOP_RATE by approximately 10 to determine minimum achievable value." user="Standard">
+<field name="Range">0 127</field>
+<field name="Increment">1</field>
+<field name="Units">%/s</field>
+<field name="UnitText">percent per second</field>
+</param>
+<param humanName="Flap slew rate" name="ArduPlane:FLAP_SLEWRATE" documentation="maximum percentage change in flap output per second. A setting of 25 means to not change the flap by more than 25% of the full flap range in one second. A value of 0 means no rate limiting." user="Advanced">
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
+<field name="Units">%/s</field>
+<field name="UnitText">percent per second</field>
+</param>
+<param humanName="Throttle suppress manual passthru" name="ArduPlane:THR_SUPP_MAN" documentation="When throttle is suppressed in auto mode it is normally forced to zero. If you enable this option, then while suppressed it will be manual throttle. This is useful on petrol engines to hold the idle throttle manually while waiting for takeoff" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Throttle passthru in stabilize" name="ArduPlane:THR_PASS_STAB" documentation="If this is set then when in STABILIZE, FBWA or ACRO modes the throttle is a direct passthru from the transmitter. This means the THR_MIN and THR_MAX settings are not used in these modes. This is useful for petrol engines where you setup a throttle cut switch that suppresses the throttle below the normal minimum." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Throttle and RC Failsafe Enable" name="ArduPlane:THR_FAILSAFE" documentation="This enables failsafe on loss of RC input. How this is detected depends on the type of RC receiver being used. For older radios an input below the THR_FS_VALUE is used to trigger failsafe. For newer radios the failsafe trigger is part of the protocol between the autopilot and receiver." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Throttle Failsafe Value" name="ArduPlane:THR_FS_VALUE" documentation="The PWM level on the throttle input channel below which throttle failsafe triggers. Note that this should be well below the normal minimum for your throttle channel." user="Standard">
+<field name="Range">925 2200</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Throttle cruise percentage" name="ArduPlane:TRIM_THROTTLE" documentation="Target percentage of throttle to apply for flight in automatic throttle modes and throttle percentage that maintains TRIM_ARSPD_CM. Caution: low battery voltages at the end of flights may require higher throttle to maintain airspeed." user="Standard">
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Throttle nudge enable" name="ArduPlane:THROTTLE_NUDGE" documentation="When enabled, this uses the throttle input in auto-throttle modes to 'nudge' the throttle or airspeed to higher or lower values. When you have an airspeed sensor the nudge affects the target airspeed, so that throttle inputs above 50% will increase the target airspeed from TRIM_ARSPD_CM up to a maximum of ARSPD_FBW_MAX. When no airspeed sensor is enabled the throttle nudge will push up the target throttle for throttle inputs above 50%." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Short failsafe action" name="ArduPlane:FS_SHORT_ACTN" documentation="The action to take on a short (FS_SHORT_TIMEOUT) failsafe event. A short failsafe even can be triggered either by loss of RC control (see THR_FS_VALUE) or by loss of GCS control (see FS_GCS_ENABL). If in CIRCLE or RTL mode this parameter is ignored. A short failsafe event in stabilization and manual modes will cause an change to CIRCLE mode if FS_SHORT_ACTN is 0 or 1, and a change to FBWA mode if FS_SHORT_ACTN is 2. In all other modes (AUTO, GUIDED and LOITER) a short failsafe event will cause no mode change if FS_SHORT_ACTN is set to 0, will cause a change to CIRCLE mode if set to 1 and will change to FBWA mode if set to 2. Please see the documentation for FS_LONG_ACTN for the behaviour after FS_LONG_TIMEOUT seconds of failsafe." user="Standard">
+<values>
+<value code="0">CIRCLE/no change(if already in AUTO|GUIDED|LOITER)</value>
+<value code="1">CIRCLE</value>
+<value code="2">FBWA</value>
+<value code="3">Disable</value>
+</values>
+</param>
+<param humanName="Short failsafe timeout" name="ArduPlane:FS_SHORT_TIMEOUT" documentation="The time in seconds that a failsafe condition has to persist before a short failsafe event will occur. This defaults to 1.5 seconds" user="Standard">
+<field name="Range">1 100</field>
+<field name="Increment">0.5</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Long failsafe action" name="ArduPlane:FS_LONG_ACTN" documentation="The action to take on a long (FS_LONG_TIMEOUT seconds) failsafe event. If the aircraft was in a stabilization or manual mode when failsafe started and a long failsafe occurs then it will change to RTL mode if FS_LONG_ACTN is 0 or 1, and will change to FBWA if FS_LONG_ACTN is set to 2. If the aircraft was in an auto mode (such as AUTO or GUIDED) when the failsafe started then it will continue in the auto mode if FS_LONG_ACTN is set to 0, will change to RTL mode if FS_LONG_ACTN is set to 1 and will change to FBWA mode if FS_LONG_ACTN is set to 2. If FS_LONG_ACTION is set to 3, the parachute will be deployed (make sure the chute is configured and enabled). " user="Standard">
+<values>
+<value code="0">Continue</value>
+<value code="1">ReturnToLaunch</value>
+<value code="2">Glide</value>
+<value code="3">Deploy Parachute</value>
+</values>
+</param>
+<param humanName="Long failsafe timeout" name="ArduPlane:FS_LONG_TIMEOUT" documentation="The time in seconds that a failsafe condition has to persist before a long failsafe event will occur. This defaults to 5 seconds." user="Standard">
+<field name="Range">1 300</field>
+<field name="Increment">0.5</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="GCS failsafe enable" name="ArduPlane:FS_GCS_ENABL" documentation="Enable ground control station telemetry failsafe. Failsafe will trigger after FS_LONG_TIMEOUT seconds of no MAVLink heartbeat messages. There are three possible enabled settings. Seeing FS_GCS_ENABL to 1 means that GCS failsafe will be triggered when the aircraft has not received a MAVLink HEARTBEAT message. Setting FS_GCS_ENABL to 2 means that GCS failsafe will be triggered on either a loss of HEARTBEAT messages, or a RADIO_STATUS message from a MAVLink enabled 3DR radio indicating that the ground station is not receiving status updates from the aircraft, which is indicated by the RADIO_STATUS.remrssi field being zero (this may happen if you have a one way link due to asymmetric noise on the ground station and aircraft radios).Setting FS_GCS_ENABL to 3 means that GCS failsafe will be triggered by Heartbeat(like option one), but only in AUTO mode. WARNING: Enabling this option opens up the possibility of your plane going into failsafe mode and running the motor on the ground it it loses contact with your ground station. If this option is enabled on an electric plane then you should enable ARMING_REQUIRED." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Heartbeat</value>
+<value code="2">HeartbeatAndREMRSSI</value>
+<value code="3">HeartbeatAndAUTO</value>
+</values>
+</param>
+<param humanName="Flightmode channel" name="ArduPlane:FLTMODE_CH" documentation="RC Channel to use for flight mode control" user="Advanced">
+</param>
+<param humanName="FlightMode1" name="ArduPlane:FLTMODE1" documentation="Flight mode for switch position 1 (910 to 1230 and above 2049)" user="Standard">
+<values>
+<value code="0">Manual</value>
+<value code="1">CIRCLE</value>
+<value code="2">STABILIZE</value>
+<value code="3">TRAINING</value>
+<value code="4">ACRO</value>
+<value code="5">FBWA</value>
+<value code="6">FBWB</value>
+<value code="7">CRUISE</value>
+<value code="8">AUTOTUNE</value>
+<value code="10">Auto</value>
+<value code="11">RTL</value>
+<value code="12">Loiter</value>
+<value code="14">AVOID_ADSB</value>
+<value code="15">Guided</value>
+<value code="17">QSTABILIZE</value>
+<value code="18">QHOVER</value>
+<value code="19">QLOITER</value>
+<value code="20">QLAND</value>
+<value code="21">QRTL</value>
+<value code="22">QAUTOTUNE</value>
+</values>
+</param>
+<param humanName="FlightMode2" name="ArduPlane:FLTMODE2" documentation="Flight mode for switch position 2 (1231 to 1360)" user="Standard">
+<values>
+<value code="0">Manual</value>
+<value code="1">CIRCLE</value>
+<value code="2">STABILIZE</value>
+<value code="3">TRAINING</value>
+<value code="4">ACRO</value>
+<value code="5">FBWA</value>
+<value code="6">FBWB</value>
+<value code="7">CRUISE</value>
+<value code="8">AUTOTUNE</value>
+<value code="10">Auto</value>
+<value code="11">RTL</value>
+<value code="12">Loiter</value>
+<value code="14">AVOID_ADSB</value>
+<value code="15">Guided</value>
+<value code="17">QSTABILIZE</value>
+<value code="18">QHOVER</value>
+<value code="19">QLOITER</value>
+<value code="20">QLAND</value>
+<value code="21">QRTL</value>
+<value code="22">QAUTOTUNE</value>
+</values>
+</param>
+<param humanName="FlightMode3" name="ArduPlane:FLTMODE3" documentation="Flight mode for switch position 3 (1361 to 1490)" user="Standard">
+<values>
+<value code="0">Manual</value>
+<value code="1">CIRCLE</value>
+<value code="2">STABILIZE</value>
+<value code="3">TRAINING</value>
+<value code="4">ACRO</value>
+<value code="5">FBWA</value>
+<value code="6">FBWB</value>
+<value code="7">CRUISE</value>
+<value code="8">AUTOTUNE</value>
+<value code="10">Auto</value>
+<value code="11">RTL</value>
+<value code="12">Loiter</value>
+<value code="14">AVOID_ADSB</value>
+<value code="15">Guided</value>
+<value code="17">QSTABILIZE</value>
+<value code="18">QHOVER</value>
+<value code="19">QLOITER</value>
+<value code="20">QLAND</value>
+<value code="21">QRTL</value>
+<value code="22">QAUTOTUNE</value>
+</values>
+</param>
+<param humanName="FlightMode4" name="ArduPlane:FLTMODE4" documentation="Flight mode for switch position 4 (1491 to 1620)" user="Standard">
+<values>
+<value code="0">Manual</value>
+<value code="1">CIRCLE</value>
+<value code="2">STABILIZE</value>
+<value code="3">TRAINING</value>
+<value code="4">ACRO</value>
+<value code="5">FBWA</value>
+<value code="6">FBWB</value>
+<value code="7">CRUISE</value>
+<value code="8">AUTOTUNE</value>
+<value code="10">Auto</value>
+<value code="11">RTL</value>
+<value code="12">Loiter</value>
+<value code="14">AVOID_ADSB</value>
+<value code="15">Guided</value>
+<value code="17">QSTABILIZE</value>
+<value code="18">QHOVER</value>
+<value code="19">QLOITER</value>
+<value code="20">QLAND</value>
+<value code="21">QRTL</value>
+<value code="22">QAUTOTUNE</value>
+</values>
+</param>
+<param humanName="FlightMode5" name="ArduPlane:FLTMODE5" documentation="Flight mode for switch position 5 (1621 to 1749)" user="Standard">
+<values>
+<value code="0">Manual</value>
+<value code="1">CIRCLE</value>
+<value code="2">STABILIZE</value>
+<value code="3">TRAINING</value>
+<value code="4">ACRO</value>
+<value code="5">FBWA</value>
+<value code="6">FBWB</value>
+<value code="7">CRUISE</value>
+<value code="8">AUTOTUNE</value>
+<value code="10">Auto</value>
+<value code="11">RTL</value>
+<value code="12">Loiter</value>
+<value code="14">AVOID_ADSB</value>
+<value code="15">Guided</value>
+<value code="17">QSTABILIZE</value>
+<value code="18">QHOVER</value>
+<value code="19">QLOITER</value>
+<value code="20">QLAND</value>
+<value code="21">QRTL</value>
+<value code="22">QAUTOTUNE</value>
+</values>
+</param>
+<param humanName="FlightMode6" name="ArduPlane:FLTMODE6" documentation="Flight mode for switch position 6 (1750 to 2049)" user="Standard">
+<values>
+<value code="0">Manual</value>
+<value code="1">CIRCLE</value>
+<value code="2">STABILIZE</value>
+<value code="3">TRAINING</value>
+<value code="4">ACRO</value>
+<value code="5">FBWA</value>
+<value code="6">FBWB</value>
+<value code="7">CRUISE</value>
+<value code="8">AUTOTUNE</value>
+<value code="10">Auto</value>
+<value code="11">RTL</value>
+<value code="12">Loiter</value>
+<value code="14">AVOID_ADSB</value>
+<value code="15">Guided</value>
+<value code="17">QSTABILIZE</value>
+<value code="18">QHOVER</value>
+<value code="19">QLOITER</value>
+<value code="20">QLAND</value>
+<value code="21">QRTL</value>
+<value code="22">QAUTOTUNE</value>
+</values>
+</param>
+<param humanName="Initial flight mode" name="ArduPlane:INITIAL_MODE" documentation="This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver." user="Advanced">
+<values>
+<value code="0">Manual</value>
+<value code="1">CIRCLE</value>
+<value code="2">STABILIZE</value>
+<value code="3">TRAINING</value>
+<value code="4">ACRO</value>
+<value code="5">FBWA</value>
+<value code="6">FBWB</value>
+<value code="7">CRUISE</value>
+<value code="8">AUTOTUNE</value>
+<value code="10">Auto</value>
+<value code="11">RTL</value>
+<value code="12">Loiter</value>
+<value code="14">AVOID_ADSB</value>
+<value code="15">Guided</value>
+<value code="17">QSTABILIZE</value>
+<value code="18">QHOVER</value>
+<value code="19">QLOITER</value>
+<value code="20">QLAND</value>
+<value code="21">QRTL</value>
+<value code="22">QAUTOTUNE</value>
+</values>
+</param>
+<param humanName="Maximum Bank Angle" name="ArduPlane:LIM_ROLL_CD" documentation="Maximum bank angle commanded in modes with stabilized limits. Increase this value for sharper turns, but decrease to prevent accelerated stalls." user="Standard">
+<field name="Range">0 9000</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Maximum Pitch Angle" name="ArduPlane:LIM_PITCH_MAX" documentation="Maximum pitch up angle commanded in modes with stabilized limits." user="Standard">
+<field name="Range">0 9000</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Minimum Pitch Angle" name="ArduPlane:LIM_PITCH_MIN" documentation="Maximum pitch down angle commanded in modes with stabilized limits" user="Standard">
+<field name="Range">-9000 0</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="ACRO mode roll rate" name="ArduPlane:ACRO_ROLL_RATE" documentation="The maximum roll rate at full stick deflection in ACRO mode" user="Standard">
+<field name="Range">10 500</field>
+<field name="Increment">1</field>
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
+</param>
+<param humanName="ACRO mode pitch rate" name="ArduPlane:ACRO_PITCH_RATE" documentation="The maximum pitch rate at full stick deflection in ACRO mode" user="Standard">
+<field name="Range">10 500</field>
+<field name="Increment">1</field>
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
+</param>
+<param humanName="ACRO mode attitude locking" name="ArduPlane:ACRO_LOCKING" documentation="Enable attitude locking when sticks are released" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Ground steer altitude" name="ArduPlane:GROUND_STEER_ALT" documentation="Altitude at which to use the ground steering controller on the rudder. If non-zero then the STEER2SRV controller will be used to control the rudder for altitudes within this limit of the home altitude." user="Standard">
+<field name="Range">-100 100</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Ground steer rate" name="ArduPlane:GROUND_STEER_DPS" documentation="Ground steering rate in degrees per second for full rudder stick deflection" user="Advanced">
+<field name="Range">10 360</field>
+<field name="Increment">1</field>
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
+</param>
+<param humanName="Automatic trim adjustment" name="ArduPlane:TRIM_AUTO" documentation="Enables the setting SERVOn_TRIM values to current levels when switching out of MANUAL mode. Should not be left on as mode switches while the plane is rolling or pitching can cause invalid trim values and subsequent unstable behavior. See newer and safer SERVO_AUTO_TRIM parameter for automated results." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Mixing Gain" name="ArduPlane:MIXING_GAIN" documentation="The gain for the Vtail and elevon output mixers. The default is 0.5, which ensures that the mixer doesn't saturate, allowing both input channels to go to extremes while retaining control over the output. Hardware mixers often have a 1.0 gain, which gives more servo throw, but can saturate. If you don't have enough throw on your servos with VTAIL_OUTPUT or ELEVON_OUTPUT enabled then you can raise the gain using MIXING_GAIN. The mixer allows outputs in the range 900 to 2100 microseconds." user="User">
+<field name="Range">0.5 1.2</field>
+</param>
+<param humanName="Rudder only aircraft" name="ArduPlane:RUDDER_ONLY" documentation="Enable rudder only mode. The rudder will control attitude in attitude controlled modes (such as FBWA). You should setup your transmitter to send roll stick inputs to the RCMAP_YAW channel (normally channel 4). The rudder servo should be attached to the RCMAP_YAW channel as well. Note that automatic ground steering will be disabled for rudder only aircraft. You should also set KFF_RDDRMIX to 1.0. You will also need to setup the YAW2SRV_DAMP yaw damping appropriately for your aircraft. A value of 0.5 for YAW2SRV_DAMP is a good starting point." user="User">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Mixing Offset" name="ArduPlane:MIXING_OFFSET" documentation="The offset for the Vtail and elevon output mixers, as a percentage. This can be used in combination with MIXING_GAIN to configure how the control surfaces respond to input. The response to aileron or elevator input can be increased by setting this parameter to a positive or negative value. A common usage is to enter a positive value to increase the aileron response of the elevons of a flying wing. The default value of zero will leave the aileron-input response equal to the elevator-input response." user="User">
+<field name="Range">-1000 1000</field>
+<field name="Units">d%</field>
+<field name="UnitText">decipercent</field>
+</param>
+<param humanName="Differential spoilers rudder rate" name="ArduPlane:DSPOILR_RUD_RATE" documentation="Sets the amount of deflection that the rudder output will apply to the differential spoilers, as a percentage. The default value of 100 results in full rudder applying full deflection. A value of 0 will result in the differential spoilers exactly following the elevons (no rudder effect)." user="User">
+<field name="Range">-100 100</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Num Resets" name="ArduPlane:SYS_NUM_RESETS" documentation="Number of APM board resets" user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="Log bitmask" name="ArduPlane:LOG_BITMASK" documentation="Bitmap of what on-board log types to enable. This value is made up of the sum of each of the log types you want to be saved. It is usually best just to enable all log types by setting this to 65535. The individual bits are ATTITUDE_FAST=1, ATTITUDE_MEDIUM=2, GPS=4, PerformanceMonitoring=8, ControlTuning=16, NavigationTuning=32, Mode=64, IMU=128, Commands=256, Battery=512, Compass=1024, TECS=2048, Camera=4096, RCandServo=8192, Sonar=16384, Arming=32768, FullLogs=65535" user="Advanced">
+<field name="Bitmask">0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:MODE,7:IMU,8:CMD,9:CURRENT,10:COMPASS,11:TECS,12:CAMERA,13:RC,14:SONAR,15:ARM/DISARM,19:IMU_RAW</field>
+<values>
+<value code="0">Disabled</value>
+<value code="65535">All-Default</value>
+</values>
+</param>
+<param humanName="Reset Switch Channel" name="ArduPlane:RST_SWITCH_CH" documentation="RC channel to use to reset to last flight mode&#9;after geofence takeover." user="Advanced">
+</param>
+<param humanName="Reset Mission Channel" name="ArduPlane:RST_MISSION_CH" documentation="Enables a channel to reset the mission to the first waypoint. Mission restart is triggered by channel rising above 1750 PWM. 0 disables." user="Advanced">
+</param>
+<param humanName="Target airspeed" name="ArduPlane:TRIM_ARSPD_CM" documentation="Target airspeed in cm/s in automatic throttle modes. Value is as an indicated (calibrated/apparent) airspeed." user="User">
+<field name="Units">cm/s</field>
+<field name="UnitText">centimeters per second</field>
+</param>
+<param humanName="speed used for speed scaling calculations" name="ArduPlane:SCALING_SPEED" documentation="Airspeed in m/s to use when calculating surface speed scaling. Note that changing this value will affect all PID values" user="Advanced">
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Minimum ground speed" name="ArduPlane:MIN_GNDSPD_CM" documentation="Minimum ground speed in cm/s when under airspeed control" user="Advanced">
+<field name="Units">cm/s</field>
+<field name="UnitText">centimeters per second</field>
+</param>
+<param humanName="Pitch angle offset" name="ArduPlane:TRIM_PITCH_CD" documentation="Offset applied to AHRS pitch used for in-flight pitch trimming. Correct ground leveling is better than changing this parameter." user="Advanced">
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="RTL altitude" name="ArduPlane:ALT_HOLD_RTL" documentation="Target altitude above home for RTL mode. Maintains current altitude if set to -1. Rally point altitudes are used if plane does not return to home." user="User">
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Minimum altitude for FBWB mode" name="ArduPlane:ALT_HOLD_FBWCM" documentation="This is the minimum altitude in centimeters that FBWB and CRUISE modes will allow. If you attempt to descend below this altitude then the plane will level off. A value of zero means no limit." user="User">
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Flap input channel" name="ArduPlane:FLAP_IN_CHANNEL" documentation="An RC input channel to use for flaps control. If this is set to a RC channel number then that channel will be used for manual flaps control. When enabled, the percentage of flaps is taken as the percentage travel from the TRIM value of the channel to the MIN value of the channel. A value above the TRIM values will give inverse flaps (spoilers). This option needs to be enabled in conjunction with a FUNCTION setting on an output channel to one of the flap functions. When a FLAP_IN_CHANNEL is combined with auto-flaps the higher of the two flap percentages is taken." user="User">
+</param>
+<param humanName="Flap 1 percentage" name="ArduPlane:FLAP_1_PERCNT" documentation="The percentage change in flap position when FLAP_1_SPEED is reached. Use zero to disable flaps" user="Advanced">
+<field name="Range">0 100</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Flap 1 speed" name="ArduPlane:FLAP_1_SPEED" documentation="The speed in meters per second at which to engage FLAP_1_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED" user="Advanced">
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Flap 2 percentage" name="ArduPlane:FLAP_2_PERCNT" documentation="The percentage change in flap position when FLAP_2_SPEED is reached. Use zero to disable flaps" user="Advanced">
+<field name="Range">0 100</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Flap 2 speed" name="ArduPlane:FLAP_2_SPEED" documentation="The speed in meters per second at which to engage FLAP_2_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED" user="Advanced">
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="IO override channel" name="ArduPlane:OVERRIDE_CHAN" documentation="If set to a non-zero value then this is an RC input channel number to use for giving IO manual control in case the main FMU microcontroller on a board with a IO co-processor fails. When this RC input channel goes above 1750 the FMU microcontroller will no longer be involved in controlling the servos and instead the IO microcontroller will directly control the servos. Note that IO manual control will be automatically activated if the FMU crashes for any reason. This parameter allows you to test for correct manual behaviour without actually crashing the FMU. This parameter is can be set to a non-zero value either for ground testing purposes or for giving the effect of an external override control board. Please also see the docs on OVERRIDE_SAFETY. Note that you may set OVERRIDE_CHAN to the same channel as FLTMODE_CH to get IO based override when in flight mode 6. Note that when override is triggered due to a FMU crash the 6 auxiliary output channels on Pixhawk will no longer be updated, so all the flight controls you need must be assigned to the first 8 channels." user="Advanced">
+</param>
+<param humanName="IO override safety switch" name="ArduPlane:OVERRIDE_SAFETY" documentation="This controls whether the safety switch is turned off when you activate override with OVERRIDE_CHAN. When set to 1 the safety switch is de-activated (activating the servos) then a IO override is triggered. In that case the safety remains de-activated after override is disabled. If OVERRIDE_SAFETTY is set to 0 then the safety switch state does not change. Note that regardless of the value of this parameter the servos will be active while override is active." user="Advanced">
+</param>
+<param humanName="HIL mode enable" name="ArduPlane:HIL_MODE" documentation="This enables and disables hardware in the loop mode. If HIL_MODE is 1 then on the next reboot all sensors are replaced with HIL sensors which come from the GCS." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="HIL Servos enable" name="ArduPlane:HIL_SERVOS" documentation="This controls whether real servo controls are used in HIL mode. If you enable this then the APM will control the real servos in HIL mode. If disabled it will report servo values, but will not output to the real servos. Be careful that your motor and propeller are not connected if you enable this option." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Limit of error in HIL attitude before reset" name="ArduPlane:HIL_ERR_LIMIT" documentation="This controls the maximum error in degrees on any axis before HIL will reset the DCM attitude to match the HIL_STATE attitude. This limit will prevent poor timing on HIL from causing a major attitude error. If the value is zero then no limit applies." user="Advanced">
+<field name="Range">0 90</field>
+<field name="Increment">0.1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="RTL auto land" name="ArduPlane:RTL_AUTOLAND" documentation="Automatically begin landing sequence after arriving at RTL location. This requires the addition of a DO_LAND_START mission item, which acts as a marker for the start of a landing sequence. The closest landing sequence will be chosen to the current location. " user="Standard">
+<values>
+<value code="0">Disable</value>
+<value code="1">Enable - go HOME then land</value>
+<value code="2">Enable - go directly to landing sequence</value>
+</values>
+</param>
+<param humanName="Crash Deceleration Threshold" name="ArduPlane:CRASH_ACC_THRESH" documentation="X-Axis deceleration threshold to notify the crash detector that there was a possible impact which helps disarm the motor quickly after a crash. This value should be much higher than normal negative x-axis forces during normal flight, check flight log files to determine the average IMU.x values for your aircraft and motor type. Higher value means less sensative (triggers on higher impact). For electric planes that don't vibrate much during fight a value of 25 is good (that's about 2.5G). For petrol/nitro planes you'll want a higher value. Set to 0 to disable the collision detector." user="Advanced">
+<field name="Range">10 127</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Crash Detection" name="ArduPlane:CRASH_DETECT" documentation="Automatically detect a crash during AUTO flight and perform the bitmask selected action(s). Disarm will turn off motor for safety and to help against burning out ESC and motor. Setting the mode to manual will help save the servos from burning out by overexerting if the aircraft crashed in an odd orientation such as upsidedown. Set to 0 to disable crash detection." user="Advanced">
+<field name="Bitmask">0:Disarm</field>
+</param>
+<param humanName="Parachute release channel" name="ArduPlane:CHUTE_CHAN" documentation="If set to a non-zero value then this is an RC input channel number to use for manually releasing the parachute. When this channel goes above 1700 the parachute will be released" user="Advanced">
+</param>
+<param humanName="Enable rangefinder for landing" name="ArduPlane:RNGFND_LANDING" documentation="This enables the use of a rangefinder for automatic landing. The rangefinder will be used both on the landing approach and for final flare" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="GCS sysid enforcement" name="ArduPlane:SYSID_ENFORCE" documentation="This controls whether packets from other than the expected GCS system ID will be accepted" user="Advanced">
+<values>
+<value code="0">NotEnforced</value>
+<value code="1">Enforced</value>
+</values>
+</param>
+<param humanName="rudder differential thrust gain" name="ArduPlane:RUDD_DT_GAIN" documentation="gain control from rudder to differential thrust" user="Standard">
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Manual R/C pass-through mask" name="ArduPlane:MANUAL_RCMASK" documentation="Mask of R/C channels to pass directly to corresponding output channel when in MANUAL mode. When in any mode except MANUAL the channels selected with this option behave normally. This parameter is designed to allow for complex mixing strategies to be used for MANUAL flight using transmitter based mixing. Note that when this option is used you need to be very careful with pre-flight checks to ensure that the output is correct both in MANUAL and non-MANUAL modes." user="Advanced">
+<field name="Bitmask">0:Chan1,1:Chan2,2:Chan3,3:Chan4,4:Chan5,5:Chan6,6:Chan7,7:Chan8,8:Chan9,9:Chan10,10:Chan11,11:Chan12,12:Chan13,13:Chan14,14:Chan15,15:Chan16</field>
+</param>
+<param humanName="Home reset altitude threshold" name="ArduPlane:HOME_RESET_ALT" documentation="When the aircraft is within this altitude of the home waypoint, while disarmed it will automatically update the home position. Set to 0 to continously reset it." user="Advanced">
+<field name="Range">-1 127</field>
+<values>
+<value code="-1">Never reset</value>
+<value code="0">Always reset</value>
+</values>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Flight mode options" name="ArduPlane:FLIGHT_OPTIONS" documentation="Flight mode specific options" user="Advanced">
+<field name="Bitmask">0:Rudder mixing in direct flight modes only (Manual / Stabilize / Acro),1:Use centered throttle in Cruise or FBWB to indicate trim airspeed, 2:Disable attitude check for takeoff arming, 3:Force target airspeed to trim airspeed in Cruise or FBWB</field>
+</param>
+<param humanName="Takeoff throttle acceleration count" name="ArduPlane:TKOFF_ACCEL_CNT" documentation="This is the number of acceleration events to require for arming with TKOFF_THR_MINACC. The default is 1, which means a single forward acceleration above TKOFF_THR_MINACC will arm. By setting this higher than 1 you can require more forward/backward movements to arm." user="User">
+<field name="Range">1 10</field>
+</param>
+<param humanName="Differential spoiler crow flaps outer weight" name="ArduPlane:DSPOILER_CROW_W1" documentation="This is amount of deflection applied to the two outer surfaces for differential spoilers for flaps to give crow flaps. It is a number from 0 to 100. At zero no crow flaps are applied. A recommended starting value is 25." user="Advanced">
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Differential spoiler crow flaps inner weight" name="ArduPlane:DSPOILER_CROW_W2" documentation="This is amount of deflection applied to the two inner surfaces for differential spoilers for flaps to give crow flaps. It is a number from 0 to 100. At zero no crow flaps are applied. A recommended starting value is 45." user="Advanced">
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Takeoff timeout" name="ArduPlane:TKOFF_TIMEOUT" documentation="This is the timeout for an automatic takeoff. If this is non-zero and the aircraft does not reach a ground speed of at least 4 m/s within this number of seconds then the takeoff is aborted and the vehicle disarmed. If the value is zero then no timeout applies." user="User">
+<field name="Range">0 120</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Differential spoiler and crow flaps options" name="ArduPlane:DSPOILER_OPTS" documentation="Differential spoiler and crow flaps options" user="Advanced">
+<field name="Bitmask">0:pitch control, 1:full span, 2:Progressive crow</field>
+<field name="Values">0: none, 1: D spoilers have pitch input, 2: use both control surfaces on each wing for roll, 4: Progressive crow, flaps only first (0-50% flap in) then crow flaps (50 - 100% flap in)</field>
+</param>
+<param humanName="Differential spoiler aileron matching" name="ArduPlane:DSPOILER_AILMTCH" documentation="This scales down the inner flaps so less than full downwards range can be used for differential spoiler and full span ailerons, 100 is use full range, upwards travel is unaffected" user="Advanced">
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+</parameters>
+</vehicles><libraries><parameters name="ADSB_">
+<param humanName="Enable ADSB" name="ADSB_ENABLE" documentation="Enable ADS-B" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="ADSB vehicle list size" name="ADSB_LIST_MAX" documentation="ADSB list size of nearest vehicles. Longer lists take longer to refresh with lower SRx_ADSB values." user="Advanced">
+<field name="Range">1 100</field>
+</param>
+<param humanName="ADSB vehicle list radius filter" name="ADSB_LIST_RADIUS" documentation="ADSB vehicle list radius filter. Vehicles detected outside this radius will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations. A value of 0 will disable this filter." user="Advanced">
+<field name="Range">0 100000</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="ICAO_ID vehicle identification number" name="ADSB_ICAO_ID" documentation="ICAO_ID unique vehicle identification number of this aircraft. This is a integer limited to 24bits. If set to 0 then one will be randomly generated. If set to -1 then static information is not sent, transceiver is assumed pre-programmed." user="Advanced">
+<field name="Range">-1 16777215</field>
+</param>
+<param humanName="Emitter type" name="ADSB_EMIT_TYPE" documentation="ADSB classification for the type of vehicle emitting the transponder signal. Default value is 14 (UAV)." user="Advanced">
+<values>
+<value code="0">NoInfo</value>
+<value code="1">Light</value>
+<value code="2">Small</value>
+<value code="3">Large</value>
+<value code="4">HighVortexlarge</value>
+<value code="5">Heavy</value>
+<value code="6">HighlyManuv</value>
+<value code="7">Rotocraft</value>
+<value code="8">RESERVED</value>
+<value code="9">Glider</value>
+<value code="10">LightAir</value>
+<value code="11">Parachute</value>
+<value code="12">UltraLight</value>
+<value code="13">RESERVED</value>
+<value code="14">UAV</value>
+<value code="15">Space</value>
+<value code="16">RESERVED</value>
+<value code="17">EmergencySurface</value>
+<value code="18">ServiceSurface</value>
+<value code="19">PointObstacle</value>
+</values>
+</param>
+<param humanName="Aircraft length and width" name="ADSB_LEN_WIDTH" documentation="Aircraft length and width dimension options in Length and Width in meters. In most cases, use a value of 1 for smallest size." user="Advanced">
+<values>
+<value code="0">NO_DATA</value>
+<value code="1">L15W23</value>
+<value code="2">L25W28P5</value>
+<value code="3">L25W34</value>
+<value code="4">L35W33</value>
+<value code="5">L35W38</value>
+<value code="6">L45W39P5</value>
+<value code="7">L45W45</value>
+<value code="8">L55W45</value>
+<value code="9">L55W52</value>
+<value code="10">L65W59P5</value>
+<value code="11">L65W67</value>
+<value code="12">L75W72P5</value>
+<value code="13">L75W80</value>
+<value code="14">L85W80</value>
+<value code="15">L85W90</value>
+</values>
+</param>
+<param humanName="GPS antenna lateral offset" name="ADSB_OFFSET_LAT" documentation="GPS antenna lateral offset. This describes the physical location offest from center of the GPS antenna on the aircraft." user="Advanced">
+<values>
+<value code="0">NoData</value>
+<value code="1">Left2m</value>
+<value code="2">Left4m</value>
+<value code="3">Left6m</value>
+<value code="4">Center</value>
+<value code="5">Right2m</value>
+<value code="6">Right4m</value>
+<value code="7">Right6m</value>
+</values>
+</param>
+<param humanName="GPS antenna longitudinal offset" name="ADSB_OFFSET_LON" documentation="GPS antenna longitudinal offset. This is usually set to 1, Applied By Sensor" user="Advanced">
+<values>
+<value code="0">NO_DATA</value>
+<value code="1">AppliedBySensor</value>
+</values>
+</param>
+<param humanName="Transceiver RF selection" name="ADSB_RF_SELECT" documentation="Transceiver RF selection for Rx enable and/or Tx enable. This only effects devices that can Tx and Rx. Rx-only devices override this to always be Rx-only." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Rx-Only</value>
+<value code="2">Tx-Only</value>
+<value code="3">Rx and Tx Enabled</value>
+</values>
+</param>
+<param humanName="Squawk code" name="ADSB_SQUAWK" documentation="VFR squawk (Mode 3/A) code is a pre-programmed default code when the pilot is flying VFR and not in contact with ATC. In the USA, the VFR squawk code is octal 1200 (hex 0x280, decimal 640) and in most parts of Europe the VFR squawk code is octal 7000. If an invalid octal number is set then it will be reset to 1200." user="Advanced">
+<field name="Range">0 7777</field>
+<field name="Units">octal</field>
+<field name="UnitText">octal</field>
+</param>
+<param humanName="RF capabilities" name="ADSB_RF_CAPABLE" documentation="Describes your hardware RF In/Out capabilities." user="Advanced">
+<field name="Bitmask">0:UAT_in,1:1090ES_in,2:UAT_out,3:1090ES_out</field>
+<values>
+<value code="0">Unknown</value>
+<value code="1">Rx UAT only</value>
+<value code="3">Rx UAT and 1090ES</value>
+<value code="7">Rx&amp;Tx UAT and 1090ES</value>
+</values>
+</param>
+<param humanName="ADSB vehicle list altitude filter" name="ADSB_LIST_ALT" documentation="ADSB vehicle list altitude filter. Vehicles detected above this altitude will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations. A value of 0 will disable this filter." user="Advanced">
+<field name="Range">0 32767</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="ICAO_ID of special vehicle" name="ADSB_ICAO_SPECL" documentation="ICAO_ID of special vehicle that ignores ADSB_LIST_RADIUS and ADSB_LIST_ALT. The vehicle is always tracked. Use 0 to disable." user="Advanced">
+</param>
+<param humanName="ADS-B logging" name="ADSB_LOG" documentation="0: no logging, 1: log only special ID, 2:log all" user="Advanced">
+<values>
+<value code="0">no logging</value>
+<value code="1">log only special ID</value>
+<value code="2">log all</value>
+</values>
+</param>
+</parameters>
+<parameters name="AFS_">
+<param humanName="Enable Advanced Failsafe" name="AFS_ENABLE" documentation="This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect" user="Advanced">
+</param>
+<param humanName="Manual Pin" name="AFS_MAN_PIN" documentation="This sets a digital output pin to set high when in manual mode" user="Advanced">
+</param>
+<param humanName="Heartbeat Pin" name="AFS_HB_PIN" documentation="This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination." user="Advanced">
+</param>
+<param humanName="Comms Waypoint" name="AFS_WP_COMMS" documentation="Waypoint number to navigate to on comms loss" user="Advanced">
+</param>
+<param humanName="GPS Loss Waypoint" name="AFS_GPS_LOSS" documentation="Waypoint number to navigate to on GPS lock loss" user="Advanced">
+</param>
+<param humanName="Force Terminate" name="AFS_TERMINATE" documentation="Can be set in flight to force termination of the heartbeat signal" user="Advanced">
+</param>
+<param humanName="Terminate action" name="AFS_TERM_ACTION" documentation="This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup APM to handle it here. Please consult the wiki for more information on the possible values of the parameter" user="Advanced">
+</param>
+<param humanName="Terminate Pin" name="AFS_TERM_PIN" documentation="This sets a digital output pin to set high on flight termination" user="Advanced">
+</param>
+<param humanName="AMSL limit" name="AFS_AMSL_LIMIT" documentation="This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Error margin for GPS based AMSL limit" name="AFS_AMSL_ERR_GPS" documentation="This sets margin for error in GPS derived altitude limit. This error margin is only used if the barometer has failed. If the barometer fails then the GPS will be used to enforce the AMSL_LIMIT, but this margin will be subtracted from the AMSL_LIMIT first, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached. OBC users should set this to comply with their D2 safety case. A value of -1 will mean that barometer failure will lead to immediate termination." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="QNH pressure" name="AFS_QNH_PRESSURE" documentation="This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit. A value of zero disables the altitude limit." user="Advanced">
+<field name="Units">mbar</field>
+<field name="UnitText">millibar</field>
+</param>
+<param humanName="Maximum number of GPS loss events" name="AFS_MAX_GPS_LOSS" documentation="Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events." user="Advanced">
+</param>
+<param humanName="Maximum number of comms loss events" name="AFS_MAX_COM_LOSS" documentation="Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events." user="Advanced">
+</param>
+<param humanName="Enable geofence Advanced Failsafe" name="AFS_GEOFENCE" documentation="This enables the geofence part of the AFS. Will only be in effect if AFS_ENABLE is also 1" user="Advanced">
+</param>
+<param humanName="Enable RC Advanced Failsafe" name="AFS_RC" documentation="This enables the RC part of the AFS. Will only be in effect if AFS_ENABLE is also 1" user="Advanced">
+</param>
+<param humanName="Enable RC Termination only in manual control modes" name="AFS_RC_MAN_ONLY" documentation="If this parameter is set to 1, then an RC loss will only cause the plane to terminate in manual control modes. If it is 0, then the plane will terminate in any flight mode." user="Advanced">
+</param>
+<param humanName="Enable dual loss terminate due to failure of both GCS and GPS simultaneously" name="AFS_DUAL_LOSS" documentation='This enables the dual loss termination part of the AFS system. If this parameter is 1 and both GPS and the ground control station fail simultaneously, this will be considered a "dual loss" and cause termination.' user="Advanced">
+</param>
+<param humanName="RC failure time" name="AFS_RC_FAIL_TIME" documentation="This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be (1.5). Use 0 to disable." user="Advanced">
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+</parameters>
+<parameters name="AHRS_">
+<param humanName="AHRS GPS gain" name="AHRS_GPS_GAIN" documentation="This controls how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0." user="Advanced">
+<field name="Range">0.0 1.0</field>
+<field name="Increment">.01</field>
+</param>
+<param humanName="AHRS use GPS for navigation" name="AHRS_GPS_USE" documentation="This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight. Currently this affects only the DCM-based AHRS: the EKF uses GPS whenever it is available." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Yaw P" name="AHRS_YAW_P" documentation="This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly." user="Advanced">
+<field name="Range">0.1 0.4</field>
+<field name="Increment">.01</field>
+</param>
+<param humanName="AHRS RP_P" name="AHRS_RP_P" documentation="This controls how fast the accelerometers correct the attitude" user="Advanced">
+<field name="Range">0.1 0.4</field>
+<field name="Increment">.01</field>
+</param>
+<param humanName="Maximum wind" name="AHRS_WIND_MAX" documentation="This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is." user="Advanced">
+<field name="Range">0 127</field>
+<field name="Increment">1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="AHRS Trim Roll" name="AHRS_TRIM_X" documentation="Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right." user="Standard">
+<field name="Range">-0.1745 +0.1745</field>
+<field name="Increment">0.01</field>
+<field name="Units">rad</field>
+<field name="UnitText">radians</field>
+</param>
+<param humanName="AHRS Trim Pitch" name="AHRS_TRIM_Y" documentation="Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back." user="Standard">
+<field name="Range">-0.1745 +0.1745</field>
+<field name="Increment">0.01</field>
+<field name="Units">rad</field>
+<field name="UnitText">radians</field>
+</param>
+<param humanName="AHRS Trim Yaw" name="AHRS_TRIM_Z" documentation="Not Used" user="Advanced">
+<field name="Range">-0.1745 +0.1745</field>
+<field name="Increment">0.01</field>
+<field name="Units">rad</field>
+<field name="UnitText">radians</field>
+</param>
+<param humanName="Board Orientation" name="AHRS_ORIENTATION" documentation="Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle." user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">Yaw45</value>
+<value code="2">Yaw90</value>
+<value code="3">Yaw135</value>
+<value code="4">Yaw180</value>
+<value code="5">Yaw225</value>
+<value code="6">Yaw270</value>
+<value code="7">Yaw315</value>
+<value code="8">Roll180</value>
+<value code="9">Roll180Yaw45</value>
+<value code="10">Roll180Yaw90</value>
+<value code="11">Roll180Yaw135</value>
+<value code="12">Pitch180</value>
+<value code="13">Roll180Yaw225</value>
+<value code="14">Roll180Yaw270</value>
+<value code="15">Roll180Yaw315</value>
+<value code="16">Roll90</value>
+<value code="17">Roll90Yaw45</value>
+<value code="18">Roll90Yaw90</value>
+<value code="19">Roll90Yaw135</value>
+<value code="20">Roll270</value>
+<value code="21">Roll270Yaw45</value>
+<value code="22">Roll270Yaw90</value>
+<value code="23">Roll270Yaw135</value>
+<value code="24">Pitch90</value>
+<value code="25">Pitch270</value>
+<value code="26">Pitch180Yaw90</value>
+<value code="27">Pitch180Yaw270</value>
+<value code="28">Roll90Pitch90</value>
+<value code="29">Roll180Pitch90</value>
+<value code="30">Roll270Pitch90</value>
+<value code="31">Roll90Pitch180</value>
+<value code="32">Roll270Pitch180</value>
+<value code="33">Roll90Pitch270</value>
+<value code="34">Roll180Pitch270</value>
+<value code="35">Roll270Pitch270</value>
+<value code="36">Roll90Pitch180Yaw90</value>
+<value code="37">Roll90Yaw270</value>
+<value code="38">Yaw293Pitch68Roll180</value>
+<value code="39">Pitch315</value>
+<value code="40">Roll90Pitch315</value>
+<value code="100">Custom</value>
+</values>
+</param>
+<param humanName="AHRS Velocity Complementary Filter Beta Coefficient" name="AHRS_COMP_BETA" documentation="This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less." user="Advanced">
+<field name="Range">0.001 0.5</field>
+<field name="Increment">.01</field>
+</param>
+<param humanName="AHRS GPS Minimum satellites" name="AHRS_GPS_MINSATS" documentation="Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers." user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Use NavEKF Kalman filter for attitude and position estimation" name="AHRS_EKF_TYPE" documentation="This controls which NavEKF Kalman filter version is used for attitude and position estimation" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="2">Enable EKF2</value>
+<value code="3">Enable EKF3</value>
+</values>
+</param>
+<param humanName="Board orientation roll offset" name="AHRS_CUSTOM_ROLL" documentation="Autopilot mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
+<field name="Range">-180 180</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Board orientation pitch offset" name="AHRS_CUSTOM_PIT" documentation="Autopilot mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
+<field name="Range">-180 180</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Board orientation yaw offset" name="AHRS_CUSTOM_YAW" documentation="Autopilot mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
+<field name="Range">-180 180</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+</parameters>
+<parameters name="ARMING_">
+<param humanName="Require Arming Motors " name="ARMING_REQUIRE" documentation="Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately).  If 1, require rudder stick or GCS arming before arming motors and sends the minimum throttle PWM value to the throttle channel when disarmed.  If 2, require rudder stick or GCS arming and send 0 PWM to throttle channel when disarmed. See the ARMING_CHECK_* parameters to see what checks are done before arming. Note, if setting this parameter to 0 a reboot is required to arm the plane.  Also note, even with this parameter at 0, if ARMING_CHECK parameter is not also zero the plane may fail to arm throttle at boot due to a pre-arm check failure." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">THR_MIN PWM when disarmed</value>
+<value code="2">0 PWM when disarmed</value>
+</values>
+</param>
+<param humanName="Arm Checks to Peform (bitmask)" name="ARMING_CHECK" documentation="Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. The default is no checks, allowing arming at any time. You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72. For most users it is recommended that you set this to 1 to enable all checks." user="Standard">
+<field name="Bitmask">0:None,1:All,2:Barometer,4:Compass,8:GPS Lock,16:INS(INertial Sensors - accels &amp; gyros),32:Parameters(unused),64:RC Channels,128:Board voltage,256:Battery Level,512:Airspeed,1024:LoggingAvailable,2048:Hardware safety switch,4096:GPS configuration,8192:System</field>
+<values>
+<value code="0">None</value>
+<value code="1">All</value>
+<value code="2">Barometer</value>
+<value code="4">Compass</value>
+<value code="8">GPS Lock</value>
+<value code="16">INS(INertial Sensors - accels &amp; gyros)</value>
+<value code="32">Parameters(unused)</value>
+<value code="64">RC Channels</value>
+<value code="128">Board voltage</value>
+<value code="256">Battery Level</value>
+<value code="512">Airspeed</value>
+<value code="1024">LoggingAvailable</value>
+<value code="2048">Hardware safety switch</value>
+<value code="4096">GPS configuration</value>
+<value code="8192">System</value>
+</values>
+</param>
+<param humanName="Accelerometer error threshold" name="ARMING_ACCTHRESH" documentation="Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal." user="Advanced">
+<field name="Range">0.25 3.0</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Arming with Rudder enable/disable" name="ARMING_RUDDER" documentation="Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works in manual throttle modes with throttle at zero +- deadzone (RCx_DZ)" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">ArmingOnly</value>
+<value code="2">ArmOrDisarm</value>
+</values>
+</param>
+<param humanName="Required mission items" name="ARMING_MIS_ITEMS" documentation="Bitmask of mission items that are required to be planned in order to arm the aircraft" user="Advanced">
+<field name="Bitmask">0:Land,1:VTOL Land,2:DO_LAND_START,3:Takeoff,4:VTOL Takeoff,5:Rallypoint</field>
+</param>
+</parameters>
+<parameters name="ARSPD">
+<param humanName="Airspeed type" name="ARSPD_TYPE" documentation="Type of airspeed sensor" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">I2C-MS4525D0</value>
+<value code="2">Analog</value>
+<value code="3">I2C-MS5525</value>
+<value code="4">I2C-MS5525 (0x76)</value>
+<value code="5">I2C-MS5525 (0x77)</value>
+<value code="6">I2C-SDP3X</value>
+<value code="7">I2C-DLVR</value>
+<value code="8">UAVCAN</value>
+</values>
+</param>
+<param humanName="Airspeed use" name="ARSPD_USE" documentation="Enables airspeed use for automatic throttle modes and replaces control from THR_TRIM. Continues to display and log airspeed if set to 0. Uses airspeed for control if set to 1. Only uses airspeed when throttle = 0 if set to 2 (useful for gliders with airspeed sensors behind propellers)." user="Standard">
+<values>
+<value code="0">DoNotUse</value>
+<value code="1">Use</value>
+<value code="2">UseWhenZeroThrottle</value>
+</values>
+</param>
+<param humanName="Airspeed offset" name="ARSPD_OFFSET" documentation="Airspeed calibration offset" user="Advanced">
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Airspeed ratio" name="ARSPD_RATIO" documentation="Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure." user="Advanced">
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Airspeed pin" name="ARSPD_PIN" documentation="The pin number that the airspeed sensor is connected to for analog sensors. Set to 15 on the Pixhawk for the analog airspeed port. " user="Advanced">
+</param>
+<param humanName="Automatic airspeed ratio calibration" name="ARSPD_AUTOCAL" documentation="Enables automatic adjustment of ARSPD_RATIO during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is &gt; 5%. Should not be left enabled." user="Advanced">
+</param>
+<param humanName="Control pitot tube order" name="ARSPD_TUBE_ORDER" documentation="Changes the pitot tube order to specify the dynamic pressure side of the sensor. Accepts either if set to 2. Accepts only one side if set to 0 or 1 and can help detect excessive pressure on the static port without indicating positive airspeed." user="Advanced">
+</param>
+<param humanName="Skip airspeed calibration on startup" name="ARSPD_SKIP_CAL" documentation="This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot." user="Advanced">
+<values>
+<value code="0">Disable</value>
+<value code="1">Enable</value>
+</values>
+</param>
+<param humanName="The PSI range of the device" name="ARSPD_PSI_RANGE" documentation="This parameter allows you to to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device" user="Advanced">
+</param>
+<param humanName="Airspeed I2C bus" name="ARSPD_BUS" documentation="Bus number of the I2C bus where the airspeed sensor is connected" user="Advanced">
+<values>
+<value code="0">Bus0(internal)</value>
+<value code="1">Bus1(external)</value>
+<value code="2">Bus2(auxillary)</value>
+</values>
+</param>
+<param humanName="Primary airspeed sensor" name="ARSPD_PRIMARY" documentation="This selects which airspeed sensor will be the primary if multiple sensors are found" user="Advanced">
+<values>
+<value code="0">FirstSensor</value>
+<value code="1">2ndSensor</value>
+</values>
+</param>
+<param humanName="Airspeed options bitmask" name="ARSPD_OPTIONS" documentation="Bitmask of options to use with airspeed." user="Advanced">
+<field name="Bitmask">0:Disable on sensor failure,1:Re-enable on sensor recovery</field>
+</param>
+<param humanName="Second Airspeed type" name="ARSPD2_TYPE" documentation="Type of 2nd airspeed sensor" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">I2C-MS4525D0</value>
+<value code="2">Analog</value>
+<value code="3">I2C-MS5525</value>
+<value code="4">I2C-MS5525 (0x76)</value>
+<value code="5">I2C-MS5525 (0x77)</value>
+<value code="6">I2C-SDP3X</value>
+<value code="7">I2C-DLVR</value>
+<value code="8">UAVCAN</value>
+</values>
+</param>
+<param humanName="Enable use of 2nd airspeed sensor" name="ARSPD2_USE" documentation="use airspeed for flight control. When set to 0 airspeed sensor can be logged and displayed on a GCS but won't be used for flight. When set to 1 it will be logged and used. When set to 2 it will be only used when the throttle is zero, which can be useful in gliders with airspeed sensors behind a propeller" user="Standard">
+<values>
+<value code="0">Don't Use</value>
+<value code="1">use</value>
+<value code="2">UseWhenZeroThrottle</value>
+</values>
+</param>
+<param humanName="Airspeed offset for 2nd airspeed sensor" name="ARSPD2_OFFSET" documentation="Airspeed calibration offset" user="Advanced">
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Airspeed ratio for 2nd airspeed sensor" name="ARSPD2_RATIO" documentation="Airspeed calibration ratio" user="Advanced">
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Airspeed pin for 2nd airspeed sensor" name="ARSPD2_PIN" documentation="Pin number indicating location of analog airspeed sensors. Pixhawk/Cube if set to 15. " user="Advanced">
+</param>
+<param humanName="Automatic airspeed ratio calibration for 2nd airspeed sensor" name="ARSPD2_AUTOCAL" documentation="If this is enabled then the autopilot will automatically adjust the ARSPD_RATIO during flight, based upon an estimation filter using ground speed and true airspeed. The automatic calibration will save the new ratio to EEPROM every 2 minutes if it changes by more than 5%. This option should be enabled for a calibration flight then disabled again when calibration is complete. Leaving it enabled all the time is not recommended." user="Advanced">
+</param>
+<param humanName="Control pitot tube order of 2nd airspeed sensor" name="ARSPD2_TUBE_ORDR" documentation="This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the top connector on the sensor needs to be the dynamic pressure. If set to 1 then the bottom connector needs to be the dynamic pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft it receiving excessive pressure on the static port, which would otherwise be seen as a positive airspeed." user="Advanced">
+</param>
+<param humanName="Skip airspeed calibration on startup for 2nd sensor" name="ARSPD2_SKIP_CAL" documentation="This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot." user="Advanced">
+<values>
+<value code="0">Disable</value>
+<value code="1">Enable</value>
+</values>
+</param>
+<param humanName="The PSI range of the device for 2nd sensor" name="ARSPD2_PSI_RANGE" documentation="This parameter allows you to to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device" user="Advanced">
+</param>
+<param humanName="Airspeed I2C bus for 2nd sensor" name="ARSPD2_BUS" documentation="The bus number of the I2C bus to look for the sensor on" user="Advanced">
+<values>
+<value code="0">Bus0(internal)</value>
+<value code="1">Bus1(external)</value>
+<value code="2">Bus2(auxillary)</value>
+</values>
+</param>
+</parameters>
+<parameters name="AVD_">
+<param humanName="Enable Avoidance using ADSB" name="AVD_ENABLE" documentation="Enable Avoidance using ADSB" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Recovery behaviour after a fail event" name="AVD_F_RCVRY" documentation="Determines what the aircraft will do after a fail event is resolved" user="Advanced">
+<values>
+<value code="0">Remain in AVOID_ADSB</value>
+<value code="1">Resume previous flight mode</value>
+<value code="2">RTL</value>
+<value code="3">Resume if AUTO else Loiter</value>
+</values>
+</param>
+<param humanName="Maximum number of obstacles to track" name="AVD_OBS_MAX" documentation="Maximum number of obstacles to track" user="Advanced">
+</param>
+<param humanName="Time Horizon Warn" name="AVD_W_TIME" documentation="Aircraft velocity vectors are multiplied by this time to determine closest approach.  If this results in an approach closer than W_DIST_XY or W_DIST_Z then W_ACTION is undertaken (assuming F_ACTION is not undertaken)" user="Advanced">
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Time Horizon Fail" name="AVD_F_TIME" documentation="Aircraft velocity vectors are multiplied by this time to determine closest approach.  If this results in an approach closer than F_DIST_XY or F_DIST_Z then F_ACTION is undertaken" user="Advanced">
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Distance Warn XY" name="AVD_W_DIST_XY" documentation="Closest allowed projected distance before W_ACTION is undertaken" user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Distance Fail XY" name="AVD_F_DIST_XY" documentation="Closest allowed projected distance before F_ACTION is undertaken" user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Distance Warn Z" name="AVD_W_DIST_Z" documentation="Closest allowed projected distance before BEHAVIOUR_W is undertaken" user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Distance Fail Z" name="AVD_F_DIST_Z" documentation="Closest allowed projected distance before BEHAVIOUR_F is undertaken" user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="ADS-B avoidance minimum altitude" name="AVD_F_ALT_MIN" documentation="Minimum altitude for ADS-B avoidance. If the vehicle is below this altitude, no avoidance action will take place. Useful to prevent ADS-B avoidance from activating while below the tree line or around structures. Default of 0 is no minimum." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+</parameters>
+<parameters name="BATT2_">
+<param humanName="Battery monitoring" name="BATT2_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="3">Analog Voltage Only</value>
+<value code="4">Analog Voltage and Current</value>
+<value code="5">Solo</value>
+<value code="6">Bebop</value>
+<value code="7">SMBus-Maxell</value>
+<value code="8">UAVCAN-BatteryInfo</value>
+<value code="9">BLHeli ESC</value>
+<value code="10">SumOfFollowing</value>
+<value code="11">FuelFlow</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Voltage sensing pin" name="BATT2_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 13">Pixhawk2_PM2</value>
+<value code=" 100">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Current sensing pin" name="BATT2_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 14">Pixhawk2_PM2</value>
+<value code=" 101">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Voltage Multiplier" name="BATT2_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+<param humanName="Amps per volt" name="BATT2_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+<field name="Units">A/V</field>
+<field name="UnitText">ampere per volt</field>
+</param>
+<param humanName="AMP offset" name="BATT2_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery capacity" name="BATT2_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Maximum allowed power (Watts)" name="BATT2_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">W</field>
+<field name="UnitText">watt</field>
+</param>
+<param humanName="Battery serial number" name="BATT2_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+<param humanName="Low voltage timeout" name="BATT2_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+<field name="Range">0 120</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Failsafe voltage source" name="BATT2_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+<values>
+<value code="0">Raw Voltage</value>
+<value code=" 1">Sag Compensated Voltage</value>
+</values>
+</param>
+<param humanName="Low battery voltage" name="BATT2_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Low battery capacity" name="BATT2_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Critical battery voltage" name="BATT2_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery critical capacity" name="BATT2_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2__FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Low battery failsafe action" name="BATT2_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Land</value>
+<value code="3">Terminate</value>
+<value code="4">QLand</value>
+</values>
+</param>
+<param humanName="Critical battery failsafe action" name="BATT2_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Land</value>
+<value code="3">Terminate</value>
+<value code="4">QLand</value>
+</values>
+</param>
+<param humanName="Required arming voltage" name="BATT2_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Required arming remaining capacity" name="BATT2_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT2__ARM_VOLT parameter." user="Advanced">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+</parameters>
+<parameters name="BATT3_">
+<param humanName="Battery monitoring" name="BATT3_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="3">Analog Voltage Only</value>
+<value code="4">Analog Voltage and Current</value>
+<value code="5">Solo</value>
+<value code="6">Bebop</value>
+<value code="7">SMBus-Maxell</value>
+<value code="8">UAVCAN-BatteryInfo</value>
+<value code="9">BLHeli ESC</value>
+<value code="10">SumOfFollowing</value>
+<value code="11">FuelFlow</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Voltage sensing pin" name="BATT3_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 13">Pixhawk2_PM2</value>
+<value code=" 100">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Current sensing pin" name="BATT3_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 14">Pixhawk2_PM2</value>
+<value code=" 101">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Voltage Multiplier" name="BATT3_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+<param humanName="Amps per volt" name="BATT3_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+<field name="Units">A/V</field>
+<field name="UnitText">ampere per volt</field>
+</param>
+<param humanName="AMP offset" name="BATT3_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery capacity" name="BATT3_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Maximum allowed power (Watts)" name="BATT3_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">W</field>
+<field name="UnitText">watt</field>
+</param>
+<param humanName="Battery serial number" name="BATT3_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+<param humanName="Low voltage timeout" name="BATT3_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+<field name="Range">0 120</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Failsafe voltage source" name="BATT3_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+<values>
+<value code="0">Raw Voltage</value>
+<value code=" 1">Sag Compensated Voltage</value>
+</values>
+</param>
+<param humanName="Low battery voltage" name="BATT3_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Low battery capacity" name="BATT3_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Critical battery voltage" name="BATT3_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery critical capacity" name="BATT3_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3__FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Low battery failsafe action" name="BATT3_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Land</value>
+<value code="3">Terminate</value>
+<value code="4">QLand</value>
+</values>
+</param>
+<param humanName="Critical battery failsafe action" name="BATT3_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Land</value>
+<value code="3">Terminate</value>
+<value code="4">QLand</value>
+</values>
+</param>
+<param humanName="Required arming voltage" name="BATT3_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Required arming remaining capacity" name="BATT3_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT3__ARM_VOLT parameter." user="Advanced">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+</parameters>
+<parameters name="BATT4_">
+<param humanName="Battery monitoring" name="BATT4_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="3">Analog Voltage Only</value>
+<value code="4">Analog Voltage and Current</value>
+<value code="5">Solo</value>
+<value code="6">Bebop</value>
+<value code="7">SMBus-Maxell</value>
+<value code="8">UAVCAN-BatteryInfo</value>
+<value code="9">BLHeli ESC</value>
+<value code="10">SumOfFollowing</value>
+<value code="11">FuelFlow</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Voltage sensing pin" name="BATT4_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 13">Pixhawk2_PM2</value>
+<value code=" 100">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Current sensing pin" name="BATT4_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 14">Pixhawk2_PM2</value>
+<value code=" 101">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Voltage Multiplier" name="BATT4_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+<param humanName="Amps per volt" name="BATT4_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+<field name="Units">A/V</field>
+<field name="UnitText">ampere per volt</field>
+</param>
+<param humanName="AMP offset" name="BATT4_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery capacity" name="BATT4_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Maximum allowed power (Watts)" name="BATT4_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">W</field>
+<field name="UnitText">watt</field>
+</param>
+<param humanName="Battery serial number" name="BATT4_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+<param humanName="Low voltage timeout" name="BATT4_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+<field name="Range">0 120</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Failsafe voltage source" name="BATT4_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+<values>
+<value code="0">Raw Voltage</value>
+<value code=" 1">Sag Compensated Voltage</value>
+</values>
+</param>
+<param humanName="Low battery voltage" name="BATT4_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Low battery capacity" name="BATT4_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Critical battery voltage" name="BATT4_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery critical capacity" name="BATT4_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4__FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Low battery failsafe action" name="BATT4_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Land</value>
+<value code="3">Terminate</value>
+<value code="4">QLand</value>
+</values>
+</param>
+<param humanName="Critical battery failsafe action" name="BATT4_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Land</value>
+<value code="3">Terminate</value>
+<value code="4">QLand</value>
+</values>
+</param>
+<param humanName="Required arming voltage" name="BATT4_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Required arming remaining capacity" name="BATT4_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT4__ARM_VOLT parameter." user="Advanced">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+</parameters>
+<parameters name="BATT5_">
+<param humanName="Battery monitoring" name="BATT5_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="3">Analog Voltage Only</value>
+<value code="4">Analog Voltage and Current</value>
+<value code="5">Solo</value>
+<value code="6">Bebop</value>
+<value code="7">SMBus-Maxell</value>
+<value code="8">UAVCAN-BatteryInfo</value>
+<value code="9">BLHeli ESC</value>
+<value code="10">SumOfFollowing</value>
+<value code="11">FuelFlow</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Voltage sensing pin" name="BATT5_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 13">Pixhawk2_PM2</value>
+<value code=" 100">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Current sensing pin" name="BATT5_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 14">Pixhawk2_PM2</value>
+<value code=" 101">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Voltage Multiplier" name="BATT5_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+<param humanName="Amps per volt" name="BATT5_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+<field name="Units">A/V</field>
+<field name="UnitText">ampere per volt</field>
+</param>
+<param humanName="AMP offset" name="BATT5_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery capacity" name="BATT5_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Maximum allowed power (Watts)" name="BATT5_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">W</field>
+<field name="UnitText">watt</field>
+</param>
+<param humanName="Battery serial number" name="BATT5_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+<param humanName="Low voltage timeout" name="BATT5_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+<field name="Range">0 120</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Failsafe voltage source" name="BATT5_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+<values>
+<value code="0">Raw Voltage</value>
+<value code=" 1">Sag Compensated Voltage</value>
+</values>
+</param>
+<param humanName="Low battery voltage" name="BATT5_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Low battery capacity" name="BATT5_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Critical battery voltage" name="BATT5_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery critical capacity" name="BATT5_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5__FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Low battery failsafe action" name="BATT5_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Land</value>
+<value code="3">Terminate</value>
+<value code="4">QLand</value>
+</values>
+</param>
+<param humanName="Critical battery failsafe action" name="BATT5_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Land</value>
+<value code="3">Terminate</value>
+<value code="4">QLand</value>
+</values>
+</param>
+<param humanName="Required arming voltage" name="BATT5_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Required arming remaining capacity" name="BATT5_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT5__ARM_VOLT parameter." user="Advanced">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+</parameters>
+<parameters name="BATT6_">
+<param humanName="Battery monitoring" name="BATT6_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="3">Analog Voltage Only</value>
+<value code="4">Analog Voltage and Current</value>
+<value code="5">Solo</value>
+<value code="6">Bebop</value>
+<value code="7">SMBus-Maxell</value>
+<value code="8">UAVCAN-BatteryInfo</value>
+<value code="9">BLHeli ESC</value>
+<value code="10">SumOfFollowing</value>
+<value code="11">FuelFlow</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Voltage sensing pin" name="BATT6_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 13">Pixhawk2_PM2</value>
+<value code=" 100">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Current sensing pin" name="BATT6_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 14">Pixhawk2_PM2</value>
+<value code=" 101">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Voltage Multiplier" name="BATT6_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+<param humanName="Amps per volt" name="BATT6_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+<field name="Units">A/V</field>
+<field name="UnitText">ampere per volt</field>
+</param>
+<param humanName="AMP offset" name="BATT6_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery capacity" name="BATT6_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Maximum allowed power (Watts)" name="BATT6_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">W</field>
+<field name="UnitText">watt</field>
+</param>
+<param humanName="Battery serial number" name="BATT6_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+<param humanName="Low voltage timeout" name="BATT6_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+<field name="Range">0 120</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Failsafe voltage source" name="BATT6_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+<values>
+<value code="0">Raw Voltage</value>
+<value code=" 1">Sag Compensated Voltage</value>
+</values>
+</param>
+<param humanName="Low battery voltage" name="BATT6_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Low battery capacity" name="BATT6_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Critical battery voltage" name="BATT6_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery critical capacity" name="BATT6_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6__FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Low battery failsafe action" name="BATT6_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Land</value>
+<value code="3">Terminate</value>
+<value code="4">QLand</value>
+</values>
+</param>
+<param humanName="Critical battery failsafe action" name="BATT6_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Land</value>
+<value code="3">Terminate</value>
+<value code="4">QLand</value>
+</values>
+</param>
+<param humanName="Required arming voltage" name="BATT6_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Required arming remaining capacity" name="BATT6_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT6__ARM_VOLT parameter." user="Advanced">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+</parameters>
+<parameters name="BATT7_">
+<param humanName="Battery monitoring" name="BATT7_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="3">Analog Voltage Only</value>
+<value code="4">Analog Voltage and Current</value>
+<value code="5">Solo</value>
+<value code="6">Bebop</value>
+<value code="7">SMBus-Maxell</value>
+<value code="8">UAVCAN-BatteryInfo</value>
+<value code="9">BLHeli ESC</value>
+<value code="10">SumOfFollowing</value>
+<value code="11">FuelFlow</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Voltage sensing pin" name="BATT7_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 13">Pixhawk2_PM2</value>
+<value code=" 100">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Current sensing pin" name="BATT7_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 14">Pixhawk2_PM2</value>
+<value code=" 101">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Voltage Multiplier" name="BATT7_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+<param humanName="Amps per volt" name="BATT7_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+<field name="Units">A/V</field>
+<field name="UnitText">ampere per volt</field>
+</param>
+<param humanName="AMP offset" name="BATT7_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery capacity" name="BATT7_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Maximum allowed power (Watts)" name="BATT7_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">W</field>
+<field name="UnitText">watt</field>
+</param>
+<param humanName="Battery serial number" name="BATT7_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+<param humanName="Low voltage timeout" name="BATT7_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+<field name="Range">0 120</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Failsafe voltage source" name="BATT7_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+<values>
+<value code="0">Raw Voltage</value>
+<value code=" 1">Sag Compensated Voltage</value>
+</values>
+</param>
+<param humanName="Low battery voltage" name="BATT7_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Low battery capacity" name="BATT7_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Critical battery voltage" name="BATT7_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery critical capacity" name="BATT7_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7__FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Low battery failsafe action" name="BATT7_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Land</value>
+<value code="3">Terminate</value>
+<value code="4">QLand</value>
+</values>
+</param>
+<param humanName="Critical battery failsafe action" name="BATT7_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Land</value>
+<value code="3">Terminate</value>
+<value code="4">QLand</value>
+</values>
+</param>
+<param humanName="Required arming voltage" name="BATT7_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Required arming remaining capacity" name="BATT7_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT7__ARM_VOLT parameter." user="Advanced">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+</parameters>
+<parameters name="BATT8_">
+<param humanName="Battery monitoring" name="BATT8_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="3">Analog Voltage Only</value>
+<value code="4">Analog Voltage and Current</value>
+<value code="5">Solo</value>
+<value code="6">Bebop</value>
+<value code="7">SMBus-Maxell</value>
+<value code="8">UAVCAN-BatteryInfo</value>
+<value code="9">BLHeli ESC</value>
+<value code="10">SumOfFollowing</value>
+<value code="11">FuelFlow</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Voltage sensing pin" name="BATT8_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 13">Pixhawk2_PM2</value>
+<value code=" 100">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Current sensing pin" name="BATT8_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 14">Pixhawk2_PM2</value>
+<value code=" 101">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Voltage Multiplier" name="BATT8_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+<param humanName="Amps per volt" name="BATT8_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+<field name="Units">A/V</field>
+<field name="UnitText">ampere per volt</field>
+</param>
+<param humanName="AMP offset" name="BATT8_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery capacity" name="BATT8_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Maximum allowed power (Watts)" name="BATT8_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">W</field>
+<field name="UnitText">watt</field>
+</param>
+<param humanName="Battery serial number" name="BATT8_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+<param humanName="Low voltage timeout" name="BATT8_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+<field name="Range">0 120</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Failsafe voltage source" name="BATT8_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+<values>
+<value code="0">Raw Voltage</value>
+<value code=" 1">Sag Compensated Voltage</value>
+</values>
+</param>
+<param humanName="Low battery voltage" name="BATT8_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Low battery capacity" name="BATT8_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Critical battery voltage" name="BATT8_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery critical capacity" name="BATT8_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8__FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Low battery failsafe action" name="BATT8_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Land</value>
+<value code="3">Terminate</value>
+<value code="4">QLand</value>
+</values>
+</param>
+<param humanName="Critical battery failsafe action" name="BATT8_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Land</value>
+<value code="3">Terminate</value>
+<value code="4">QLand</value>
+</values>
+</param>
+<param humanName="Required arming voltage" name="BATT8_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Required arming remaining capacity" name="BATT8_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT8__ARM_VOLT parameter." user="Advanced">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+</parameters>
+<parameters name="BATT9_">
+<param humanName="Battery monitoring" name="BATT9_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="3">Analog Voltage Only</value>
+<value code="4">Analog Voltage and Current</value>
+<value code="5">Solo</value>
+<value code="6">Bebop</value>
+<value code="7">SMBus-Maxell</value>
+<value code="8">UAVCAN-BatteryInfo</value>
+<value code="9">BLHeli ESC</value>
+<value code="10">SumOfFollowing</value>
+<value code="11">FuelFlow</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Voltage sensing pin" name="BATT9_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 13">Pixhawk2_PM2</value>
+<value code=" 100">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Current sensing pin" name="BATT9_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 14">Pixhawk2_PM2</value>
+<value code=" 101">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Voltage Multiplier" name="BATT9_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+<param humanName="Amps per volt" name="BATT9_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+<field name="Units">A/V</field>
+<field name="UnitText">ampere per volt</field>
+</param>
+<param humanName="AMP offset" name="BATT9_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery capacity" name="BATT9_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Maximum allowed power (Watts)" name="BATT9_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">W</field>
+<field name="UnitText">watt</field>
+</param>
+<param humanName="Battery serial number" name="BATT9_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+<param humanName="Low voltage timeout" name="BATT9_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+<field name="Range">0 120</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Failsafe voltage source" name="BATT9_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+<values>
+<value code="0">Raw Voltage</value>
+<value code=" 1">Sag Compensated Voltage</value>
+</values>
+</param>
+<param humanName="Low battery voltage" name="BATT9_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Low battery capacity" name="BATT9_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Critical battery voltage" name="BATT9_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery critical capacity" name="BATT9_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9__FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Low battery failsafe action" name="BATT9_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Land</value>
+<value code="3">Terminate</value>
+<value code="4">QLand</value>
+</values>
+</param>
+<param humanName="Critical battery failsafe action" name="BATT9_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Land</value>
+<value code="3">Terminate</value>
+<value code="4">QLand</value>
+</values>
+</param>
+<param humanName="Required arming voltage" name="BATT9_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Required arming remaining capacity" name="BATT9_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT9__ARM_VOLT parameter." user="Advanced">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+</parameters>
+<parameters name="BATT_">
+<param humanName="Battery monitoring" name="BATT_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="3">Analog Voltage Only</value>
+<value code="4">Analog Voltage and Current</value>
+<value code="5">Solo</value>
+<value code="6">Bebop</value>
+<value code="7">SMBus-Maxell</value>
+<value code="8">UAVCAN-BatteryInfo</value>
+<value code="9">BLHeli ESC</value>
+<value code="10">SumOfFollowing</value>
+<value code="11">FuelFlow</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Voltage sensing pin" name="BATT_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 13">Pixhawk2_PM2</value>
+<value code=" 100">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Current sensing pin" name="BATT_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 14">Pixhawk2_PM2</value>
+<value code=" 101">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Voltage Multiplier" name="BATT_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+<param humanName="Amps per volt" name="BATT_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+<field name="Units">A/V</field>
+<field name="UnitText">ampere per volt</field>
+</param>
+<param humanName="AMP offset" name="BATT_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery capacity" name="BATT_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Maximum allowed power (Watts)" name="BATT_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">W</field>
+<field name="UnitText">watt</field>
+</param>
+<param humanName="Battery serial number" name="BATT_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+<param humanName="Low voltage timeout" name="BATT_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+<field name="Range">0 120</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Failsafe voltage source" name="BATT_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+<values>
+<value code="0">Raw Voltage</value>
+<value code=" 1">Sag Compensated Voltage</value>
+</values>
+</param>
+<param humanName="Low battery voltage" name="BATT_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Low battery capacity" name="BATT_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Critical battery voltage" name="BATT_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery critical capacity" name="BATT_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT__FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Low battery failsafe action" name="BATT_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Land</value>
+<value code="3">Terminate</value>
+<value code="4">QLand</value>
+</values>
+</param>
+<param humanName="Critical battery failsafe action" name="BATT_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Land</value>
+<value code="3">Terminate</value>
+<value code="4">QLand</value>
+</values>
+</param>
+<param humanName="Required arming voltage" name="BATT_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Required arming remaining capacity" name="BATT_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT__ARM_VOLT parameter." user="Advanced">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+</parameters>
+<parameters name="BRD_">
+<param humanName="Auxiliary pin config" name="BRD_PWM_COUNT" documentation="Controls number of FMU outputs which are setup for PWM. All unassigned pins can be used for GPIO" user="Advanced">
+<values>
+<value code="0">No PWMs</value>
+<value code="1">One PWMs</value>
+<value code="2">Two PWMs</value>
+<value code="3">Three PWMs</value>
+<value code="4">Four PWMs</value>
+<value code="5">Five PWMs</value>
+<value code="6">Six PWMs</value>
+<value code="7">Seven PWMs</value>
+<value code="8">Eight PWMs</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Serial 1 flow control" name="BRD_SER1_RTSCTS" documentation="Enable flow control on serial 1 (telemetry 1) on Pixhawk. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+<value code="2">Auto</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Serial 2 flow control" name="BRD_SER2_RTSCTS" documentation="Enable flow control on serial 2 (telemetry 2) on Pixhawk and STATE. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+<value code="2">Auto</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Enable use of safety arming switch" name="BRD_SAFETYENABLE" documentation="This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName=" SBUS output rate" name="BRD_SBUS_OUT" documentation="This sets the SBUS output frame rate in Hz" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">50Hz</value>
+<value code="2">75Hz</value>
+<value code="3">100Hz</value>
+<value code="4">150Hz</value>
+<value code="5">200Hz</value>
+<value code="6">250Hz</value>
+<value code="7">300Hz</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="User-defined serial number" name="BRD_SERIAL_NUM" documentation="User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot" user="Standard">
+<field name="Range">-32768 32767</field>
+</param>
+<param humanName="Channels which ignore the safety switch state" name="BRD_SAFETY_MASK" documentation="A bitmask which controls what channels can move while the safety switch has not been pressed" user="Advanced">
+<field name="Bitmask">0:Ch1,1:Ch2,2:Ch3,3:Ch4,4:Ch5,5:Ch6,6:Ch7,7:Ch8,8:Ch9,9:Ch10,10:Ch11,11:Ch12,12:Ch13,13:Ch14</field>
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Target IMU temperature" name="BRD_IMU_TARGTEMP" documentation="This sets the target IMU temperature for boards with controllable IMU heating units. DO NOT SET -1 on The Cube. A value of -1 sets PH1 behaviour " user="Advanced">
+<field name="Range">-1 80</field>
+<field name="Units">degC</field>
+<field name="UnitText">degrees Celsius</field>
+</param>
+<param humanName="Board type" name="BRD_TYPE" documentation="This allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4)" user="Advanced">
+<values>
+<value code="0">AUTO</value>
+<value code="1">PX4V1</value>
+<value code="2">Pixhawk</value>
+<value code="3">Cube/Pixhawk2</value>
+<value code="4">Pixracer</value>
+<value code="5">PixhawkMini</value>
+<value code="6">Pixhawk2Slim</value>
+<value code="7">VRBrain 5.1</value>
+<value code="8">VRBrain 5.2</value>
+<value code="9">VR Micro Brain 5.1</value>
+<value code="10">VR Micro Brain 5.2</value>
+<value code="11">VRBrain Core 1.0</value>
+<value code="12">VRBrain 5.4</value>
+<value code="13">Intel Aero FC</value>
+<value code="20">AUAV2.1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Enable IO co-processor" name="BRD_IO_ENABLE" documentation="This allows for the IO co-processor on FMUv1 and FMUv2 to be disabled" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Options for safety button behavior" name="BRD_SAFETYOPTION" documentation="This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed" user="Standard">
+<field name="Bitmask">0:ActiveForSafetyEnable,1:ActiveForSafetyDisable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms</field>
+</param>
+<param humanName="Autopilot board voltage requirement" name="BRD_VBUS_MIN" documentation="Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check." user="Advanced">
+<field name="Range">4.0 5.5</field>
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Servo voltage requirement" name="BRD_VSERVO_MIN" documentation="Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check." user="Advanced">
+<field name="Range">3.3 12.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="microSD slowdown" name="BRD_SD_SLOWDOWN" documentation="This is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used." user="Advanced">
+<field name="Range">0 32</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Set PWM Out Voltage" name="BRD_PWM_VOLT_SEL" documentation="This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output." user="Advanced">
+<values>
+<value code="0">3.3V</value>
+<value code="1">5V</value>
+</values>
+</param>
+<param humanName="Board options" name="BRD_OPTIONS" documentation="Board specific option flags" user="Advanced">
+<field name="Bitmask">0:Enable hardware watchdog</field>
+</param>
+</parameters>
+<parameters name="BRD_RADIO">
+<param humanName="Set type of direct attached radio" name="BRD_RADIO_TYPE" documentation="This enables support for direct attached radio receivers" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">CYRF6936</value>
+</values>
+</param>
+<param humanName="protocol" name="BRD_RADIO_PROT" documentation="Select air protocol" user="Advanced">
+<values>
+<value code="0">Auto</value>
+<value code="1">DSM2</value>
+<value code="2">DSMX</value>
+</values>
+</param>
+<param humanName="debug level" name="BRD_RADIO_DEBUG" documentation="radio debug level" user="Advanced">
+<field name="Range">0 4</field>
+</param>
+<param humanName="disable receive CRC" name="BRD_RADIO_DISCRC" documentation="disable receive CRC (for debug)" user="Advanced">
+<values>
+<value code="0">NotDisabled</value>
+<value code="1">Disabled</value>
+</values>
+</param>
+<param humanName="RSSI signal strength" name="BRD_RADIO_SIGCH" documentation="Channel to show receive RSSI signal strength, or zero for disabled" user="Advanced">
+<field name="Range">0 16</field>
+</param>
+<param humanName="Packet rate channel" name="BRD_RADIO_PPSCH" documentation="Channel to show received packet-per-second rate, or zero for disabled" user="Advanced">
+<field name="Range">0 16</field>
+</param>
+<param humanName="Enable telemetry" name="BRD_RADIO_TELEM" documentation="If this is non-zero then telemetry packets will be sent over DSM" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Telemetry Transmit power" name="BRD_RADIO_TXPOW" documentation="Set telemetry transmit power. This is the power level (from 1 to 8) for telemetry packets sent from the RX to the TX" user="Advanced">
+<field name="Range">1 8</field>
+</param>
+<param humanName="Put radio into FCC test mode" name="BRD_RADIO_FCCTST" documentation="If this is enabled then the radio will continuously transmit as required for FCC testing. The transmit channel is set by the value of the parameter. The radio will not work for RC input while this is enabled" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">MinChannel</value>
+<value code="2">MidChannel</value>
+<value code="3">MaxChannel</value>
+<value code="4">MinChannelCW</value>
+<value code="5">MidChannelCW</value>
+<value code="6">MaxChannelCW</value>
+</values>
+</param>
+<param humanName="Stick input mode" name="BRD_RADIO_STKMD" documentation="This selects between different stick input modes. The default is mode2, which has throttle on the left stick and pitch on the right stick. You can instead set mode1, which has throttle on the right stick and pitch on the left stick." user="Advanced">
+<values>
+<value code="1">Mode1</value>
+<value code="2">Mode2</value>
+</values>
+</param>
+<param humanName="Set radio to factory test channel" name="BRD_RADIO_TESTCH" documentation="This sets the radio to a fixed test channel for factory testing. Using a fixed channel avoids the need for binding in factory testing." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">TestChan1</value>
+<value code="2">TestChan2</value>
+<value code="3">TestChan3</value>
+<value code="4">TestChan4</value>
+<value code="5">TestChan5</value>
+<value code="6">TestChan6</value>
+<value code="7">TestChan7</value>
+<value code="8">TestChan8</value>
+</values>
+</param>
+<param humanName="RSSI value channel for telemetry data on transmitter" name="BRD_RADIO_TSIGCH" documentation="Channel to show telemetry RSSI value as received by TX" user="Advanced">
+<field name="Range">0 16</field>
+</param>
+<param humanName="Telemetry PPS channel" name="BRD_RADIO_TPPSCH" documentation="Channel to show telemetry packets-per-second value, as received at TX" user="Advanced">
+<field name="Range">0 16</field>
+</param>
+<param humanName="Transmitter transmit power" name="BRD_RADIO_TXMAX" documentation="Set transmitter maximum transmit power (from 1 to 8)" user="Advanced">
+<field name="Range">1 8</field>
+</param>
+<param humanName="Transmitter buzzer adjustment" name="BRD_RADIO_BZOFS" documentation="Set transmitter buzzer note adjustment (adjust frequency up)" user="Advanced">
+<field name="Range">0 40</field>
+</param>
+<param humanName="Auto-bind time" name="BRD_RADIO_ABTIME" documentation="When non-zero this sets the time with no transmitter packets before we start looking for auto-bind packets." user="Advanced">
+<field name="Range">0 120</field>
+</param>
+<param humanName="Auto-bind level" name="BRD_RADIO_ABLVL" documentation="This sets the minimum RSSI of an auto-bind packet for it to be accepted. This should be set so that auto-bind will only happen at short range to minimise the change of an auto-bind happening accidentially" user="Advanced">
+<field name="Range">0 31</field>
+</param>
+</parameters>
+<parameters name="BRD_RTC">
+<param humanName="Allowed sources of RTC time" name="BRD_RTC_TYPES" documentation="Specifies which sources of UTC time will be accepted" user="Advanced">
+<field name="Bitmask">0:GPS,1:MAVLINK_SYSTEM_TIME,2:HW</field>
+</param>
+</parameters>
+<parameters name="BTN_">
+<param humanName="Enable button reporting" name="BTN_ENABLE" documentation="This enables the button checking module. When this is disabled the parameters for setting button inputs are not visible" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code=" 1">Enabled</value>
+</values>
+</param>
+<param humanName="First button Pin" name="BTN_PIN1" documentation="Digital pin number for first button input. " user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">AUXOUT1</value>
+<value code="51">AUXOUT2</value>
+<value code="52">AUXOUT3</value>
+<value code="53">AUXOUT4</value>
+<value code="54">AUXOUT5</value>
+<value code="55">AUXOUT6</value>
+</values>
+</param>
+<param humanName="Second button Pin" name="BTN_PIN2" documentation="Digital pin number for second button input. " user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">AUXOUT1</value>
+<value code="51">AUXOUT2</value>
+<value code="52">AUXOUT3</value>
+<value code="53">AUXOUT4</value>
+<value code="54">AUXOUT5</value>
+<value code="55">AUXOUT6</value>
+</values>
+</param>
+<param humanName="Third button Pin" name="BTN_PIN3" documentation="Digital pin number for third button input. " user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">AUXOUT1</value>
+<value code="51">AUXOUT2</value>
+<value code="52">AUXOUT3</value>
+<value code="53">AUXOUT4</value>
+<value code="54">AUXOUT5</value>
+<value code="55">AUXOUT6</value>
+</values>
+</param>
+<param humanName="Fourth button Pin" name="BTN_PIN4" documentation="Digital pin number for fourth button input. " user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">AUXOUT1</value>
+<value code="51">AUXOUT2</value>
+<value code="52">AUXOUT3</value>
+<value code="53">AUXOUT4</value>
+<value code="54">AUXOUT5</value>
+<value code="55">AUXOUT6</value>
+</values>
+</param>
+<param humanName="Report send time" name="BTN_REPORT_SEND" documentation="The duration in seconds that a BUTTON_CHANGE report is repeatedly sent to the GCS regarding a button changing state. Note that the BUTTON_CHANGE message is MAVLink2 only." user="Standard">
+<field name="Range">0 3600</field>
+</param>
+</parameters>
+<parameters name="CAM_">
+<param humanName="Camera shutter (trigger) type" name="CAM_TRIGG_TYPE" documentation="how to trigger the camera to take a picture" user="Standard">
+<values>
+<value code="0">Servo</value>
+<value code="1">Relay</value>
+</values>
+</param>
+<param humanName="Duration that shutter is held open" name="CAM_DURATION" documentation="How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)" user="Standard">
+<field name="Range">0 50</field>
+<field name="Units">ds</field>
+<field name="UnitText">deciseconds</field>
+</param>
+<param humanName="Servo ON PWM value" name="CAM_SERVO_ON" documentation="PWM value in microseconds to move servo to when shutter is activated" user="Standard">
+<field name="Range">1000 2000</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo OFF PWM value" name="CAM_SERVO_OFF" documentation="PWM value in microseconds to move servo to when shutter is deactivated" user="Standard">
+<field name="Range">1000 2000</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Camera trigger distance" name="CAM_TRIGG_DIST" documentation="Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the GPS position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight." user="Standard">
+<field name="Range">0 1000</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Relay ON value" name="CAM_RELAY_ON" documentation="This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera" user="Standard">
+<values>
+<value code="0">Low</value>
+<value code="1">High</value>
+</values>
+</param>
+<param humanName="Minimum time between photos" name="CAM_MIN_INTERVAL" documentation="Postpone shooting if previous picture was taken less than preset time(ms) ago." user="Standard">
+<field name="Range">0 10000</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+</param>
+<param humanName="Maximum photo roll angle." name="CAM_MAX_ROLL" documentation="Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll)." user="Standard">
+<field name="Range">0 180</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Camera feedback pin" name="CAM_FEEDBACK_PIN" documentation="pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. See also the CAM_FEEDBACK_POL option." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">AUX1</value>
+<value code="51">AUX2</value>
+<value code="52">AUX3</value>
+<value code="53">AUX4</value>
+<value code="54">AUX5</value>
+<value code="55">AUX6</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Camera feedback pin polarity" name="CAM_FEEDBACK_POL" documentation="Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low" user="Standard">
+<values>
+<value code="0">TriggerLow</value>
+<value code="1">TriggerHigh</value>
+</values>
+</param>
+<param humanName="Distance-trigging in AUTO mode only" name="CAM_AUTO_ONLY" documentation="When enabled, trigging by distance is done in AUTO mode only." user="Standard">
+<values>
+<value code="0">Always</value>
+<value code="1">Only when in AUTO</value>
+</values>
+</param>
+<param humanName="Type of camera (0: None, 1: BMMCC)" name="CAM_TYPE" documentation="Set the camera type that is being used, certain cameras have custom functions that need further configuration, this enables that." user="Standard">
+<values>
+<value code="0">Default</value>
+<value code="1">BMMCC</value>
+</values>
+</param>
+</parameters>
+<parameters name="CAN_D1_">
+<param humanName="Enable use of specific protocol over virtual driver" name="CAN_D1_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">UAVCAN</value>
+<value code="2">KDECAN</value>
+<value code="3">ToshibaCAN</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+</parameters>
+<parameters name="CAN_D1_KDE_">
+<param humanName="Number of motor poles" name="CAN_D1_KDE_NPOLE" documentation="Sets the number of motor poles to calculate the correct RPM value">
+</param>
+</parameters>
+<parameters name="CAN_D1_UC_">
+<param humanName="UAVCAN node that is used for this network" name="CAN_D1_UC_NODE" documentation="UAVCAN node should be set implicitly" user="Advanced">
+<field name="Range">1 250</field>
+</param>
+<param humanName="RC Out channels to be transmitted as servo over UAVCAN" name="CAN_D1_UC_SRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over UAVCAN" user="Advanced">
+<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</field>
+</param>
+<param humanName="RC Out channels to be transmitted as ESC over UAVCAN" name="CAN_D1_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN" user="Advanced">
+<field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
+</param>
+<param humanName="Servo output rate" name="CAN_D1_UC_SRV_RT" documentation="Maximum transmit rate for servo outputs" user="Advanced">
+<field name="Range">1 200</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+</parameters>
+<parameters name="CAN_D2_">
+<param humanName="Enable use of specific protocol over virtual driver" name="CAN_D2_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">UAVCAN</value>
+<value code="2">KDECAN</value>
+<value code="3">ToshibaCAN</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+</parameters>
+<parameters name="CAN_D2_KDE_">
+<param humanName="Number of motor poles" name="CAN_D2_KDE_NPOLE" documentation="Sets the number of motor poles to calculate the correct RPM value">
+</param>
+</parameters>
+<parameters name="CAN_D2_UC_">
+<param humanName="UAVCAN node that is used for this network" name="CAN_D2_UC_NODE" documentation="UAVCAN node should be set implicitly" user="Advanced">
+<field name="Range">1 250</field>
+</param>
+<param humanName="RC Out channels to be transmitted as servo over UAVCAN" name="CAN_D2_UC_SRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over UAVCAN" user="Advanced">
+<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</field>
+</param>
+<param humanName="RC Out channels to be transmitted as ESC over UAVCAN" name="CAN_D2_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN" user="Advanced">
+<field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
+</param>
+<param humanName="Servo output rate" name="CAN_D2_UC_SRV_RT" documentation="Maximum transmit rate for servo outputs" user="Advanced">
+<field name="Range">1 200</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+</parameters>
+<parameters name="CAN_D3_">
+<param humanName="Enable use of specific protocol over virtual driver" name="CAN_D3_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">UAVCAN</value>
+<value code="2">KDECAN</value>
+<value code="3">ToshibaCAN</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+</parameters>
+<parameters name="CAN_D3_KDE_">
+<param humanName="Number of motor poles" name="CAN_D3_KDE_NPOLE" documentation="Sets the number of motor poles to calculate the correct RPM value">
+</param>
+</parameters>
+<parameters name="CAN_D3_UC_">
+<param humanName="UAVCAN node that is used for this network" name="CAN_D3_UC_NODE" documentation="UAVCAN node should be set implicitly" user="Advanced">
+<field name="Range">1 250</field>
+</param>
+<param humanName="RC Out channels to be transmitted as servo over UAVCAN" name="CAN_D3_UC_SRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over UAVCAN" user="Advanced">
+<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</field>
+</param>
+<param humanName="RC Out channels to be transmitted as ESC over UAVCAN" name="CAN_D3_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN" user="Advanced">
+<field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
+</param>
+<param humanName="Servo output rate" name="CAN_D3_UC_SRV_RT" documentation="Maximum transmit rate for servo outputs" user="Advanced">
+<field name="Range">1 200</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+</parameters>
+<parameters name="CAN_P1_">
+<param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P1_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">First driver</value>
+<value code="2">Second driver</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Bitrate of CAN interface" name="CAN_P1_BITRATE" documentation="Bit rate can be set up to from 10000 to 1000000" user="Advanced">
+<field name="Range">10000 1000000</field>
+</param>
+<param humanName="Level of debug for CAN devices" name="CAN_P1_DEBUG" documentation="Enabling this option will provide debug messages" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Major messages</value>
+<value code="2">All messages</value>
+</values>
+</param>
+</parameters>
+<parameters name="CAN_P2_">
+<param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P2_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">First driver</value>
+<value code="2">Second driver</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Bitrate of CAN interface" name="CAN_P2_BITRATE" documentation="Bit rate can be set up to from 10000 to 1000000" user="Advanced">
+<field name="Range">10000 1000000</field>
+</param>
+<param humanName="Level of debug for CAN devices" name="CAN_P2_DEBUG" documentation="Enabling this option will provide debug messages" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Major messages</value>
+<value code="2">All messages</value>
+</values>
+</param>
+</parameters>
+<parameters name="CAN_P3_">
+<param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P3_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">First driver</value>
+<value code="2">Second driver</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Bitrate of CAN interface" name="CAN_P3_BITRATE" documentation="Bit rate can be set up to from 10000 to 1000000" user="Advanced">
+<field name="Range">10000 1000000</field>
+</param>
+<param humanName="Level of debug for CAN devices" name="CAN_P3_DEBUG" documentation="Enabling this option will provide debug messages" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Major messages</value>
+<value code="2">All messages</value>
+</values>
+</param>
+</parameters>
+<parameters name="CAN_SLCAN_">
+<param humanName="SLCAN Route" name="CAN_SLCAN_CPORT" documentation="CAN Driver ID to be routed to SLCAN, 0 means no routing" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">First driver</value>
+<value code="2">Second driver</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="SLCAN Serial Port" name="CAN_SLCAN_SERNUM" documentation="Serial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial. This parameter is automatically reset on reboot or on timeout. See CAN_SLCAN_TIMOUT for timeout details" user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="0">Serial0</value>
+<value code="1">Serial1</value>
+<value code="2">Serial2</value>
+<value code="3">Serial3</value>
+<value code="4">Serial4</value>
+<value code="5">Serial5</value>
+<value code="6">Serial6</value>
+</values>
+</param>
+<param humanName="SLCAN Timeout" name="CAN_SLCAN_TIMOUT" documentation="Duration of inactivity after which SLCAN is switched back to original protocol in seconds." user="Standard">
+<field name="Range">0 32767</field>
+</param>
+</parameters>
+<parameters name="CHUTE_">
+<param humanName="Parachute release enabled or disabled" name="CHUTE_ENABLED" documentation="Parachute release enabled or disabled" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Parachute release mechanism type (relay or servo)" name="CHUTE_TYPE" documentation="Parachute release mechanism type (relay or servo)" user="Standard">
+<values>
+<value code="0">First Relay</value>
+<value code="1">Second Relay</value>
+<value code="2">Third Relay</value>
+<value code="3">Fourth Relay</value>
+<value code="10">Servo</value>
+</values>
+</param>
+<param humanName="Parachute Servo ON PWM value" name="CHUTE_SERVO_ON" documentation="Parachute Servo PWM value in microseconds when parachute is released" user="Standard">
+<field name="Range">1000 2000</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo OFF PWM value" name="CHUTE_SERVO_OFF" documentation="Parachute Servo PWM value in microseconds when parachute is not released" user="Standard">
+<field name="Range">1000 2000</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Parachute min altitude in meters above home" name="CHUTE_ALT_MIN" documentation="Parachute min altitude above home.  Parachute will not be released below this altitude.  0 to disable alt check." user="Standard">
+<field name="Range">0 32000</field>
+<field name="Increment">1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Parachute release delay" name="CHUTE_DELAY_MS" documentation="Delay in millseconds between motor stop and chute release" user="Standard">
+<field name="Range">0 5000</field>
+<field name="Increment">1</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+</param>
+</parameters>
+<parameters name="COMPASS_">
+<param humanName="Compass offsets in milligauss on the X axis" name="COMPASS_OFS_X" documentation="Offset to be added to the compass x-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Compass offsets in milligauss on the Y axis" name="COMPASS_OFS_Y" documentation="Offset to be added to the compass y-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Compass offsets in milligauss on the Z axis" name="COMPASS_OFS_Z" documentation="Offset to be added to the compass z-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Compass declination" name="COMPASS_DEC" documentation="An angle to compensate between the true north and magnetic north" user="Standard">
+<field name="Range">-3.142 3.142</field>
+<field name="Increment">0.01</field>
+<field name="Units">rad</field>
+<field name="UnitText">radians</field>
+</param>
+<param humanName="Learn compass offsets automatically" name="COMPASS_LEARN" documentation="Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Internal-Learning</value>
+<value code="2">EKF-Learning</value>
+<value code="3">InFlight-Learning</value>
+</values>
+</param>
+<param humanName="Use compass for yaw" name="COMPASS_USE" documentation="Enable or disable the use of the compass (instead of the GPS) for determining heading" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Auto Declination" name="COMPASS_AUTODEC" documentation="Enable or disable the automatic calculation of the declination based on gps location" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Motor interference compensation type" name="COMPASS_MOTCT" documentation="Set motor interference compensation type to disabled, throttle or current.  Do not change manually." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Use Throttle</value>
+<value code="2">Use Current</value>
+</values>
+</param>
+<param humanName="Motor interference compensation for body frame X axis" name="COMPASS_MOT_X" documentation="Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Motor interference compensation for body frame Y axis" name="COMPASS_MOT_Y" documentation="Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Motor interference compensation for body frame Z axis" name="COMPASS_MOT_Z" documentation="Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Compass orientation" name="COMPASS_ORIENT" documentation="The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used." user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">Yaw45</value>
+<value code="2">Yaw90</value>
+<value code="3">Yaw135</value>
+<value code="4">Yaw180</value>
+<value code="5">Yaw225</value>
+<value code="6">Yaw270</value>
+<value code="7">Yaw315</value>
+<value code="8">Roll180</value>
+<value code="9">Roll180Yaw45</value>
+<value code="10">Roll180Yaw90</value>
+<value code="11">Roll180Yaw135</value>
+<value code="12">Pitch180</value>
+<value code="13">Roll180Yaw225</value>
+<value code="14">Roll180Yaw270</value>
+<value code="15">Roll180Yaw315</value>
+<value code="16">Roll90</value>
+<value code="17">Roll90Yaw45</value>
+<value code="18">Roll90Yaw90</value>
+<value code="19">Roll90Yaw135</value>
+<value code="20">Roll270</value>
+<value code="21">Roll270Yaw45</value>
+<value code="22">Roll270Yaw90</value>
+<value code="23">Roll270Yaw135</value>
+<value code="24">Pitch90</value>
+<value code="25">Pitch270</value>
+<value code="26">Pitch180Yaw90</value>
+<value code="27">Pitch180Yaw270</value>
+<value code="28">Roll90Pitch90</value>
+<value code="29">Roll180Pitch90</value>
+<value code="30">Roll270Pitch90</value>
+<value code="31">Roll90Pitch180</value>
+<value code="32">Roll270Pitch180</value>
+<value code="33">Roll90Pitch270</value>
+<value code="34">Roll180Pitch270</value>
+<value code="35">Roll270Pitch270</value>
+<value code="36">Roll90Pitch180Yaw90</value>
+<value code="37">Roll90Yaw270</value>
+<value code="38">Yaw293Pitch68Roll180</value>
+<value code="39">Pitch315</value>
+<value code="40">Roll90Pitch315</value>
+</values>
+</param>
+<param humanName="Compass is attached via an external cable" name="COMPASS_EXTERNAL" documentation="Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
+<values>
+<value code="0">Internal</value>
+<value code="1">External</value>
+<value code="2">ForcedExternal</value>
+</values>
+</param>
+<param humanName="Compass2 offsets in milligauss on the X axis" name="COMPASS_OFS2_X" documentation="Offset to be added to compass2's x-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Compass2 offsets in milligauss on the Y axis" name="COMPASS_OFS2_Y" documentation="Offset to be added to compass2's y-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Compass2 offsets in milligauss on the Z axis" name="COMPASS_OFS2_Z" documentation="Offset to be added to compass2's z-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Motor interference compensation to compass2 for body frame X axis" name="COMPASS_MOT2_X" documentation="Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Motor interference compensation to compass2 for body frame Y axis" name="COMPASS_MOT2_Y" documentation="Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Motor interference compensation to compass2 for body frame Z axis" name="COMPASS_MOT2_Z" documentation="Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Choose primary compass" name="COMPASS_PRIMARY" documentation="If more than one compass is available, this selects which compass is the primary. When external compasses are connected, they will be ordered first. NOTE: If no external compass is attached, this parameter is ignored." user="Advanced">
+<values>
+<value code="0">FirstCompass</value>
+<value code="1">SecondCompass</value>
+<value code="2">ThirdCompass</value>
+</values>
+</param>
+<param humanName="Compass3 offsets in milligauss on the X axis" name="COMPASS_OFS3_X" documentation="Offset to be added to compass3's x-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Compass3 offsets in milligauss on the Y axis" name="COMPASS_OFS3_Y" documentation="Offset to be added to compass3's y-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Compass3 offsets in milligauss on the Z axis" name="COMPASS_OFS3_Z" documentation="Offset to be added to compass3's z-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Motor interference compensation to compass3 for body frame X axis" name="COMPASS_MOT3_X" documentation="Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Motor interference compensation to compass3 for body frame Y axis" name="COMPASS_MOT3_Y" documentation="Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Motor interference compensation to compass3 for body frame Z axis" name="COMPASS_MOT3_Z" documentation="Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Compass device id" name="COMPASS_DEV_ID" documentation="Compass device id.  Automatically detected, do not set manually" user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="Compass2 device id" name="COMPASS_DEV_ID2" documentation="Second compass's device id.  Automatically detected, do not set manually" user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="Compass3 device id" name="COMPASS_DEV_ID3" documentation="Third compass's device id.  Automatically detected, do not set manually" user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="Compass2 used for yaw" name="COMPASS_USE2" documentation="Enable or disable the second compass for determining heading." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Compass2 orientation" name="COMPASS_ORIENT2" documentation="The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used." user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">Yaw45</value>
+<value code="2">Yaw90</value>
+<value code="3">Yaw135</value>
+<value code="4">Yaw180</value>
+<value code="5">Yaw225</value>
+<value code="6">Yaw270</value>
+<value code="7">Yaw315</value>
+<value code="8">Roll180</value>
+<value code="9">Roll180Yaw45</value>
+<value code="10">Roll180Yaw90</value>
+<value code="11">Roll180Yaw135</value>
+<value code="12">Pitch180</value>
+<value code="13">Roll180Yaw225</value>
+<value code="14">Roll180Yaw270</value>
+<value code="15">Roll180Yaw315</value>
+<value code="16">Roll90</value>
+<value code="17">Roll90Yaw45</value>
+<value code="18">Roll90Yaw90</value>
+<value code="19">Roll90Yaw135</value>
+<value code="20">Roll270</value>
+<value code="21">Roll270Yaw45</value>
+<value code="22">Roll270Yaw90</value>
+<value code="23">Roll270Yaw135</value>
+<value code="24">Pitch90</value>
+<value code="25">Pitch270</value>
+<value code="26">Pitch180Yaw90</value>
+<value code="27">Pitch180Yaw270</value>
+<value code="28">Roll90Pitch90</value>
+<value code="29">Roll180Pitch90</value>
+<value code="30">Roll270Pitch90</value>
+<value code="31">Roll90Pitch180</value>
+<value code="32">Roll270Pitch180</value>
+<value code="33">Roll90Pitch270</value>
+<value code="34">Roll180Pitch270</value>
+<value code="35">Roll270Pitch270</value>
+<value code="36">Roll90Pitch180Yaw90</value>
+<value code="37">Roll90Yaw270</value>
+<value code="38">Yaw293Pitch68Roll180</value>
+<value code="39">Pitch315</value>
+<value code="40">Roll90Pitch315</value>
+</values>
+</param>
+<param humanName="Compass2 is attached via an external cable" name="COMPASS_EXTERN2" documentation="Configure second compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
+<values>
+<value code="0">Internal</value>
+<value code="1">External</value>
+<value code="2">ForcedExternal</value>
+</values>
+</param>
+<param humanName="Compass3 used for yaw" name="COMPASS_USE3" documentation="Enable or disable the third compass for determining heading." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Compass3 orientation" name="COMPASS_ORIENT3" documentation="The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used." user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">Yaw45</value>
+<value code="2">Yaw90</value>
+<value code="3">Yaw135</value>
+<value code="4">Yaw180</value>
+<value code="5">Yaw225</value>
+<value code="6">Yaw270</value>
+<value code="7">Yaw315</value>
+<value code="8">Roll180</value>
+<value code="9">Roll180Yaw45</value>
+<value code="10">Roll180Yaw90</value>
+<value code="11">Roll180Yaw135</value>
+<value code="12">Pitch180</value>
+<value code="13">Roll180Yaw225</value>
+<value code="14">Roll180Yaw270</value>
+<value code="15">Roll180Yaw315</value>
+<value code="16">Roll90</value>
+<value code="17">Roll90Yaw45</value>
+<value code="18">Roll90Yaw90</value>
+<value code="19">Roll90Yaw135</value>
+<value code="20">Roll270</value>
+<value code="21">Roll270Yaw45</value>
+<value code="22">Roll270Yaw90</value>
+<value code="23">Roll270Yaw135</value>
+<value code="24">Pitch90</value>
+<value code="25">Pitch270</value>
+<value code="26">Pitch180Yaw90</value>
+<value code="27">Pitch180Yaw270</value>
+<value code="28">Roll90Pitch90</value>
+<value code="29">Roll180Pitch90</value>
+<value code="30">Roll270Pitch90</value>
+<value code="31">Roll90Pitch180</value>
+<value code="32">Roll270Pitch180</value>
+<value code="33">Roll90Pitch270</value>
+<value code="34">Roll180Pitch270</value>
+<value code="35">Roll270Pitch270</value>
+<value code="36">Roll90Pitch180Yaw90</value>
+<value code="37">Roll90Yaw270</value>
+<value code="38">Yaw293Pitch68Roll180</value>
+<value code="39">Pitch315</value>
+<value code="40">Roll90Pitch315</value>
+</values>
+</param>
+<param humanName="Compass3 is attached via an external cable" name="COMPASS_EXTERN3" documentation="Configure third compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
+<values>
+<value code="0">Internal</value>
+<value code="1">External</value>
+<value code="2">ForcedExternal</value>
+</values>
+</param>
+<param humanName="Compass soft-iron diagonal X component" name="COMPASS_DIA_X" documentation="DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass soft-iron diagonal Y component" name="COMPASS_DIA_Y" documentation="DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass soft-iron diagonal Z component" name="COMPASS_DIA_Z" documentation="DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass soft-iron off-diagonal X component" name="COMPASS_ODI_X" documentation="ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass soft-iron off-diagonal Y component" name="COMPASS_ODI_Y" documentation="ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass soft-iron off-diagonal Z component" name="COMPASS_ODI_Z" documentation="ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass2 soft-iron diagonal X component" name="COMPASS_DIA2_X" documentation="DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass2 soft-iron diagonal Y component" name="COMPASS_DIA2_Y" documentation="DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass2 soft-iron diagonal Z component" name="COMPASS_DIA2_Z" documentation="DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass2 soft-iron off-diagonal X component" name="COMPASS_ODI2_X" documentation="ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass2 soft-iron off-diagonal Y component" name="COMPASS_ODI2_Y" documentation="ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass2 soft-iron off-diagonal Z component" name="COMPASS_ODI2_Z" documentation="ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass3 soft-iron diagonal X component" name="COMPASS_DIA3_X" documentation="DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass3 soft-iron diagonal Y component" name="COMPASS_DIA3_Y" documentation="DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass3 soft-iron diagonal Z component" name="COMPASS_DIA3_Z" documentation="DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass3 soft-iron off-diagonal X component" name="COMPASS_ODI3_X" documentation="ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass3 soft-iron off-diagonal Y component" name="COMPASS_ODI3_Y" documentation="ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass3 soft-iron off-diagonal Z component" name="COMPASS_ODI3_Z" documentation="ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass calibration fitness" name="COMPASS_CAL_FIT" documentation="This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value." user="Advanced">
+<field name="Range">4 32</field>
+<values>
+<value code="4">Very Strict</value>
+<value code="8">Strict</value>
+<value code="16">Default</value>
+<value code="32">Relaxed</value>
+</values>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Compass maximum offset" name="COMPASS_OFFS_MAX" documentation="This sets the maximum allowed compass offset in calibration and arming checks" user="Advanced">
+<field name="Range">500 3000</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Compass disable driver type mask" name="COMPASS_TYPEMASK" documentation="This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup" user="Advanced">
+<field name="Bitmask">0:HMC5883,1:LSM303D,2:AK8963,3:BMM150,4:LSM9DS1,5:LIS3MDL,6:AK09916,7:IST8310,8:ICM20948,9:MMC3416,11:UAVCAN,12:QMC5883,14:MAG3110,15:IST8308</field>
+</param>
+<param humanName="Range in which sample is accepted" name="COMPASS_FLTR_RNG" documentation="This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.">
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Automatically check orientation" name="COMPASS_AUTO_ROT" documentation="When enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected.">
+<values>
+<value code="0">Disabled</value>
+<value code="1">CheckOnly</value>
+<value code="2">CheckAndFix</value>
+</values>
+</param>
+<param humanName="Compass device id expected" name="COMPASS_EXP_DID" documentation="The expected value of COMPASS_DEV_ID, used by arming checks. Setting this to -1 means &quot;don't care.&quot;" user="Advanced">
+</param>
+<param humanName="Compass2 device id expected" name="COMPASS_EXP_DID2" documentation="The expected value of COMPASS_DEV_ID2, used by arming checks. Setting this to -1 means &quot;don't care.&quot;" user="Advanced">
+</param>
+<param humanName="Compass3 device id expected" name="COMPASS_EXP_DID3" documentation="The expected value of COMPASS_DEV_ID3, used by arming checks. Setting this to -1 means &quot;don't care.&quot;" user="Advanced">
+</param>
+<param humanName="Enable Compass" name="COMPASS_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+</parameters>
+<parameters name="COMPASS_PMOT">
+<param humanName="per-motor compass correction enable" name="COMPASS_PMOT_EN" documentation="This enables per-motor compass corrections" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="per-motor exponential correction" name="COMPASS_PMOT_EXP" documentation="This is the exponential correction for the power output of the motor for per-motor compass correction" user="Advanced">
+<field name="Range">0 2</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Compass per-motor1 X" name="COMPASS_PMOT1_X" documentation="Compensation for X axis of motor1" user="Advanced">
+</param>
+<param humanName="Compass per-motor1 Y" name="COMPASS_PMOT1_Y" documentation="Compensation for Y axis of motor1" user="Advanced">
+</param>
+<param humanName="Compass per-motor1 Z" name="COMPASS_PMOT1_Z" documentation="Compensation for Z axis of motor1" user="Advanced">
+</param>
+<param humanName="Compass per-motor2 X" name="COMPASS_PMOT2_X" documentation="Compensation for X axis of motor2" user="Advanced">
+</param>
+<param humanName="Compass per-motor2 Y" name="COMPASS_PMOT2_Y" documentation="Compensation for Y axis of motor2" user="Advanced">
+</param>
+<param humanName="Compass per-motor2 Z" name="COMPASS_PMOT2_Z" documentation="Compensation for Z axis of motor2" user="Advanced">
+</param>
+<param humanName="Compass per-motor3 X" name="COMPASS_PMOT3_X" documentation="Compensation for X axis of motor3" user="Advanced">
+</param>
+<param humanName="Compass per-motor3 Y" name="COMPASS_PMOT3_Y" documentation="Compensation for Y axis of motor3" user="Advanced">
+</param>
+<param humanName="Compass per-motor3 Z" name="COMPASS_PMOT3_Z" documentation="Compensation for Z axis of motor3" user="Advanced">
+</param>
+<param humanName="Compass per-motor4 X" name="COMPASS_PMOT4_X" documentation="Compensation for X axis of motor4" user="Advanced">
+</param>
+<param humanName="Compass per-motor4 Y" name="COMPASS_PMOT4_Y" documentation="Compensation for Y axis of motor4" user="Advanced">
+</param>
+<param humanName="Compass per-motor4 Z" name="COMPASS_PMOT4_Z" documentation="Compensation for Z axis of motor4" user="Advanced">
+</param>
+</parameters>
+<parameters name="EK2_">
+<param humanName="Enable EKF2" name="EK2_ENABLE" documentation="This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code=" 1">Enabled</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="GPS mode control" name="EK2_GPS_TYPE" documentation="This controls use of GPS measurements : 0 = use 3D velocity &amp; 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors." user="Advanced">
+<values>
+<value code="0">GPS 3D Vel and 2D Pos</value>
+<value code=" 1">GPS 2D vel and 2D pos</value>
+<value code=" 2">GPS 2D pos</value>
+<value code=" 3">No GPS</value>
+</values>
+</param>
+<param humanName="GPS horizontal velocity measurement noise (m/s)" name="EK2_VELNE_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements." user="Advanced">
+<field name="Range">0.05 5.0</field>
+<field name="Increment">0.05</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="GPS vertical velocity measurement noise (m/s)" name="EK2_VELD_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements." user="Advanced">
+<field name="Range">0.05 5.0</field>
+<field name="Increment">0.05</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="GPS velocity innovation gate size" name="EK2_VEL_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="GPS horizontal position measurement noise (m)" name="EK2_POSNE_M_NSE" documentation="This sets the GPS horizontal position or external navigation system position observation noise. Increasing it reduces the weighting of GPS horizontal position or external navigation system position measurements." user="Advanced">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="GPS position measurement gate size" name="EK2_POS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="GPS glitch radius gate size (m)" name="EK2_GLITCH_RAD" documentation="This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position." user="Advanced">
+<field name="Range">10 100</field>
+<field name="Increment">5</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Primary altitude sensor source" name="EK2_ALT_SOURCE" documentation='Primary height sensor used by the EKF. If the selected option cannot be used, baro is used. 1 uses the range finder and only with optical flow navigation (EK2_GPS_TYPE = 3), Do not use "1" for terrain following. NOTE: the EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground.' user="Advanced">
+<values>
+<value code="0">Use Baro</value>
+<value code=" 1">Use Range Finder</value>
+<value code=" 2">Use GPS</value>
+<value code=" 3">Use Range Beacon</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Altitude measurement noise (m)" name="EK2_ALT_M_NSE" documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors." user="Advanced">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Height measurement gate size" name="EK2_HGT_I_GATE" documentation="This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Height measurement delay (msec)" name="EK2_HGT_DELAY" documentation="This is the number of msec that the Height measurements lag behind the inertial measurements." user="Advanced">
+<field name="Range">0 250</field>
+<field name="Increment">10</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Magnetometer measurement noise (Gauss)" name="EK2_MAG_M_NSE" documentation="This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
+<field name="Range">0.01 0.5</field>
+<field name="Increment">0.01</field>
+<field name="Units">Gauss</field>
+<field name="UnitText">gauss</field>
+</param>
+<param humanName="Magnetometer default fusion mode" name="EK2_MAG_CAL" documentation="This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK2_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK2_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK2_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK2_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter." user="Advanced">
+<values>
+<value code="0">When flying</value>
+<value code="1">When manoeuvring</value>
+<value code="2">Never</value>
+<value code="3">After first climb yaw reset</value>
+<value code="4">Always</value>
+</values>
+</param>
+<param humanName="Magnetometer measurement gate size" name="EK2_MAG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Equivalent airspeed measurement noise (m/s)" name="EK2_EAS_M_NSE" documentation="This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements." user="Advanced">
+<field name="Range">0.5 5.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Airspeed measurement gate size" name="EK2_EAS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Range finder measurement noise (m)" name="EK2_RNG_M_NSE" documentation="This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Range finder measurement gate size" name="EK2_RNG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Maximum valid optical flow rate" name="EK2_MAX_FLOW" documentation="This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter" user="Advanced">
+<field name="Range">1.0 4.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Optical flow measurement noise (rad/s)" name="EK2_FLOW_M_NSE" documentation="This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
+<field name="Range">0.05 1.0</field>
+<field name="Increment">0.05</field>
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Optical Flow measurement gate size" name="EK2_FLOW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Optical Flow measurement delay (msec)" name="EK2_FLOW_DELAY" documentation="This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
+<field name="Range">0 127</field>
+<field name="Increment">10</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Rate gyro noise (rad/s)" name="EK2_GYRO_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more." user="Advanced">
+<field name="Range">0.0001 0.1</field>
+<field name="Increment">0.0001</field>
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Accelerometer noise (m/s^2)" name="EK2_ACC_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more." user="Advanced">
+<field name="Range">0.01 1.0</field>
+<field name="Increment">0.01</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Rate gyro bias stability (rad/s/s)" name="EK2_GBIAS_P_NSE" documentation="This state  process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier." user="Advanced">
+<field name="Range">0.00001 0.001</field>
+<field name="Units">rad/s/s</field>
+<field name="UnitText">radians per square second</field>
+</param>
+<param humanName="Rate gyro scale factor stability (1/s)" name="EK2_GSCL_P_NSE" documentation="This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier." user="Advanced">
+<field name="Range">0.000001 0.001</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Accelerometer bias stability (m/s^3)" name="EK2_ABIAS_P_NSE" documentation="This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier." user="Advanced">
+<field name="Range">0.00001 0.005</field>
+<field name="Units">m/s/s/s</field>
+<field name="UnitText">meters per cubic second</field>
+</param>
+<param humanName="Wind velocity process noise (m/s^2)" name="EK2_WIND_P_NSE" documentation="This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier." user="Advanced">
+<field name="Range">0.01 1.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Height rate to wind process noise scaler" name="EK2_WIND_PSCALE" documentation="This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser." user="Advanced">
+<field name="Range">0.0 1.0</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="GPS preflight check" name="EK2_GPS_CHECK" documentation="This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat." user="Advanced">
+<field name="Bitmask">0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed</field>
+</param>
+<param humanName="Bitmask of active IMUs" name="EK2_IMU_MASK" documentation="1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start." user="Advanced">
+<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="GPS accuracy check scaler (%)" name="EK2_CHECK_SCALE" documentation="This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error." user="Advanced">
+<field name="Range">50 200</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Non-GPS operation position uncertainty (m)" name="EK2_NOAID_M_NSE" documentation="This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors." user="Advanced">
+<field name="Range">0.5 50.0</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="EKF sensor logging IMU mask" name="EK2_LOG_MASK" documentation="This sets the IMU mask of sensors to do full logging for" user="Advanced">
+<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Yaw measurement noise (rad)" name="EK2_YAW_M_NSE" documentation="This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements." user="Advanced">
+<field name="Range">0.05 1.0</field>
+<field name="Increment">0.05</field>
+<field name="Units">rad</field>
+<field name="UnitText">radians</field>
+</param>
+<param humanName="Yaw measurement gate size" name="EK2_YAW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Output complementary filter time constant (centi-sec)" name="EK2_TAU_OUTPUT" documentation="Sets the time constant of the output complementary filter/predictor in centi-seconds." user="Advanced">
+<field name="Range">10 50</field>
+<field name="Increment">5</field>
+<field name="Units">cs</field>
+<field name="UnitText">centiseconds</field>
+</param>
+<param humanName="Earth magnetic field process noise (gauss/s)" name="EK2_MAGE_P_NSE" documentation="This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier." user="Advanced">
+<field name="Range">0.00001 0.01</field>
+<field name="Units">Gauss/s</field>
+<field name="UnitText">gauss per second</field>
+</param>
+<param humanName="Body magnetic field process noise (gauss/s)" name="EK2_MAGB_P_NSE" documentation="This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier." user="Advanced">
+<field name="Range">0.00001 0.01</field>
+<field name="Units">Gauss/s</field>
+<field name="UnitText">gauss per second</field>
+</param>
+<param humanName="Range finder switch height percentage" name="EK2_RNG_USE_HGT" documentation="Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). Set to -1 when EK2_ALT_SOURCE is not set to range finder.  This is not for terrain following." user="Advanced">
+<field name="Range">-1 70</field>
+<field name="Increment">1</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Maximum terrain gradient" name="EK2_TERR_GRAD" documentation="Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height." user="Advanced">
+<field name="Range">0 0.2</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Range beacon measurement noise (m)" name="EK2_BCN_M_NSE" documentation="This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Range beacon measurement gate size" name="EK2_BCN_I_GTE" documentation="This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Range beacon measurement delay (msec)" name="EK2_BCN_DELAY" documentation="This is the number of msec that the range beacon measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
+<field name="Range">0 127</field>
+<field name="Increment">10</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Range finder max ground speed" name="EK2_RNG_USE_SPD" documentation="The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value." user="Advanced">
+<field name="Range">2.0 6.0</field>
+<field name="Increment">0.5</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Bitmask of active EKF cores that will always use heading fusion" name="EK2_MAG_MASK" documentation="1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely." user="Advanced">
+<field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Bitmask control of EKF reference height correction" name="EK2_OGN_HGT_MASK" documentation="When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default)." user="Advanced">
+<field name="Bitmask">0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="external navigation system measurement delay (msec)" name="EK2_EXTNAV_DELAY" documentation="This is the number of msec that the external navigation system measurements lag behind the inertial measurements." user="Advanced">
+<field name="Range">0 127</field>
+<field name="Increment">1</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Optical flow use bitmask" name="EK2_FLOW_USE" documentation="Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator." user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">Navigation</value>
+<value code="2">Terrain</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+</parameters>
+<parameters name="EK3_">
+<param humanName="Enable EKF3" name="EK3_ENABLE" documentation="This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code=" 1">Enabled</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="GPS mode control" name="EK3_GPS_TYPE" documentation="This controls use of GPS measurements : 0 = use 3D velocity &amp; 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors." user="Advanced">
+<values>
+<value code="0">GPS 3D Vel and 2D Pos</value>
+<value code=" 1">GPS 2D vel and 2D pos</value>
+<value code=" 2">GPS 2D pos</value>
+<value code=" 3">No GPS</value>
+</values>
+</param>
+<param humanName="GPS horizontal velocity measurement noise (m/s)" name="EK3_VELNE_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements." user="Advanced">
+<field name="Range">0.05 5.0</field>
+<field name="Increment">0.05</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="GPS vertical velocity measurement noise (m/s)" name="EK3_VELD_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements." user="Advanced">
+<field name="Range">0.05 5.0</field>
+<field name="Increment">0.05</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="GPS velocity innovation gate size" name="EK3_VEL_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="GPS horizontal position measurement noise (m)" name="EK3_POSNE_M_NSE" documentation="This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements." user="Advanced">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="GPS position measurement gate size" name="EK3_POS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="GPS glitch radius gate size (m)" name="EK3_GLITCH_RAD" documentation="This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position." user="Advanced">
+<field name="Range">10 100</field>
+<field name="Increment">5</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Primary altitude sensor source" name="EK3_ALT_SOURCE" documentation='Primary height sensor used by the EKF. If the selected option cannot be used, baro is used. 1 uses the range finder and only with optical flow navigation (EK2_GPS_TYPE = 3), Do not use "1" for terrain following. NOTE: the EK3_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground.' user="Advanced">
+<values>
+<value code="0">Use Baro</value>
+<value code=" 1">Use Range Finder</value>
+<value code=" 2">Use GPS</value>
+<value code=" 3">Use Range Beacon</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Altitude measurement noise (m)" name="EK3_ALT_M_NSE" documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors." user="Advanced">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Height measurement gate size" name="EK3_HGT_I_GATE" documentation="This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Height measurement delay (msec)" name="EK3_HGT_DELAY" documentation="This is the number of msec that the Height measurements lag behind the inertial measurements." user="Advanced">
+<field name="Range">0 250</field>
+<field name="Increment">10</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Magnetometer measurement noise (Gauss)" name="EK3_MAG_M_NSE" documentation="This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
+<field name="Range">0.01 0.5</field>
+<field name="Increment">0.01</field>
+<field name="Units">Gauss</field>
+<field name="UnitText">gauss</field>
+</param>
+<param humanName="Magnetometer default fusion mode" name="EK3_MAG_CAL" documentation="This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK3_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK3_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK3_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK3_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK3_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter." user="Advanced">
+<values>
+<value code="0">When flying</value>
+<value code="1">When manoeuvring</value>
+<value code="2">Never</value>
+<value code="3">After first climb yaw reset</value>
+<value code="4">Always</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Magnetometer measurement gate size" name="EK3_MAG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Equivalent airspeed measurement noise (m/s)" name="EK3_EAS_M_NSE" documentation="This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements." user="Advanced">
+<field name="Range">0.5 5.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Airspeed measurement gate size" name="EK3_EAS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Range finder measurement noise (m)" name="EK3_RNG_M_NSE" documentation="This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Range finder measurement gate size" name="EK3_RNG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Maximum valid optical flow rate" name="EK3_MAX_FLOW" documentation="This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter" user="Advanced">
+<field name="Range">1.0 4.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Optical flow measurement noise (rad/s)" name="EK3_FLOW_M_NSE" documentation="This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
+<field name="Range">0.05 1.0</field>
+<field name="Increment">0.05</field>
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Optical Flow measurement gate size" name="EK3_FLOW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Optical Flow measurement delay (msec)" name="EK3_FLOW_DELAY" documentation="This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
+<field name="Range">0 250</field>
+<field name="Increment">10</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Rate gyro noise (rad/s)" name="EK3_GYRO_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more." user="Advanced">
+<field name="Range">0.0001 0.1</field>
+<field name="Increment">0.0001</field>
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Accelerometer noise (m/s^2)" name="EK3_ACC_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more." user="Advanced">
+<field name="Range">0.01 1.0</field>
+<field name="Increment">0.01</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Rate gyro bias stability (rad/s/s)" name="EK3_GBIAS_P_NSE" documentation="This state  process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier." user="Advanced">
+<field name="Range">0.00001 0.001</field>
+<field name="Units">rad/s/s</field>
+<field name="UnitText">radians per square second</field>
+</param>
+<param humanName="Accelerometer bias stability (m/s^3)" name="EK3_ABIAS_P_NSE" documentation="This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier." user="Advanced">
+<field name="Range">0.00001 0.005</field>
+<field name="Units">m/s/s/s</field>
+<field name="UnitText">meters per cubic second</field>
+</param>
+<param humanName="Wind velocity process noise (m/s^2)" name="EK3_WIND_P_NSE" documentation="This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier." user="Advanced">
+<field name="Range">0.01 1.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Height rate to wind process noise scaler" name="EK3_WIND_PSCALE" documentation="This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser." user="Advanced">
+<field name="Range">0.0 1.0</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="GPS preflight check" name="EK3_GPS_CHECK" documentation="This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat." user="Advanced">
+<field name="Bitmask">0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed</field>
+</param>
+<param humanName="Bitmask of active IMUs" name="EK3_IMU_MASK" documentation="1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start." user="Advanced">
+<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="GPS accuracy check scaler (%)" name="EK3_CHECK_SCALE" documentation="This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error." user="Advanced">
+<field name="Range">50 200</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Non-GPS operation position uncertainty (m)" name="EK3_NOAID_M_NSE" documentation="This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors." user="Advanced">
+<field name="Range">0.5 50.0</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="EKF sensor logging IMU mask" name="EK3_LOG_MASK" documentation="This sets the IMU mask of sensors to do full logging for" user="Advanced">
+<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Yaw measurement noise (rad)" name="EK3_YAW_M_NSE" documentation="This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements." user="Advanced">
+<field name="Range">0.05 1.0</field>
+<field name="Increment">0.05</field>
+<field name="Units">rad</field>
+<field name="UnitText">radians</field>
+</param>
+<param humanName="Yaw measurement gate size" name="EK3_YAW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Output complementary filter time constant (centi-sec)" name="EK3_TAU_OUTPUT" documentation="Sets the time constant of the output complementary filter/predictor in centi-seconds." user="Advanced">
+<field name="Range">10 50</field>
+<field name="Increment">5</field>
+<field name="Units">cs</field>
+<field name="UnitText">centiseconds</field>
+</param>
+<param humanName="Earth magnetic field process noise (gauss/s)" name="EK3_MAGE_P_NSE" documentation="This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier." user="Advanced">
+<field name="Range">0.00001 0.01</field>
+<field name="Units">Gauss/s</field>
+<field name="UnitText">gauss per second</field>
+</param>
+<param humanName="Body magnetic field process noise (gauss/s)" name="EK3_MAGB_P_NSE" documentation="This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier." user="Advanced">
+<field name="Range">0.00001 0.01</field>
+<field name="Units">Gauss/s</field>
+<field name="UnitText">gauss per second</field>
+</param>
+<param humanName="Range finder switch height percentage" name="EK3_RNG_USE_HGT" documentation="Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). Set to -1 when EK3_ALT_SOURCE is not set to range finder.  This is not for terrain following." user="Advanced">
+<field name="Range">-1 70</field>
+<field name="Increment">1</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Maximum terrain gradient" name="EK3_TERR_GRAD" documentation="Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference" user="Advanced">
+<field name="Range">0 0.2</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Range beacon measurement noise (m)" name="EK3_BCN_M_NSE" documentation="This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Range beacon measurement gate size" name="EK3_BCN_I_GTE" documentation="This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Range beacon measurement delay (msec)" name="EK3_BCN_DELAY" documentation="This is the number of msec that the range beacon measurements lag behind the inertial measurements." user="Advanced">
+<field name="Range">0 250</field>
+<field name="Increment">10</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Range finder max ground speed" name="EK3_RNG_USE_SPD" documentation="The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value." user="Advanced">
+<field name="Range">2.0 6.0</field>
+<field name="Increment">0.5</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Accelerometer bias limit" name="EK3_ACC_BIAS_LIM" documentation="The accelerometer bias state will be limited to +- this value" user="Advanced">
+<field name="Range">0.5 2.5</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Bitmask of active EKF cores that will always use heading fusion" name="EK3_MAG_MASK" documentation="1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely." user="Advanced">
+<field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Bitmask control of EKF reference height correction" name="EK3_OGN_HGT_MASK" documentation="When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default)." user="Advanced">
+<field name="Bitmask">0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Visual odometry minimum velocity error" name="EK3_VIS_VERR_MIN" documentation="This is the 1-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX." user="Advanced">
+<field name="Range">0.05 0.5</field>
+<field name="Increment">0.05</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Visual odometry maximum velocity error" name="EK3_VIS_VERR_MAX" documentation="This is the 1-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX." user="Advanced">
+<field name="Range">0.5 5.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Wheel odometry velocity error" name="EK3_WENC_VERR" documentation="This is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused." user="Advanced">
+<field name="Range">0.01 1.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Optical flow use bitmask" name="EK3_FLOW_USE" documentation="Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator." user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">Navigation</value>
+<value code="2">Terrain</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+</parameters>
+<parameters name="FLOW">
+<param humanName="Optical flow sensor type" name="FLOW_TYPE" documentation="Optical flow sensor type" user="Standard">
+<values>
+<value code="0">None</value>
+<value code=" 1">PX4Flow</value>
+<value code=" 2">Pixart</value>
+<value code=" 3">Bebop</value>
+<value code=" 4">CXOF</value>
+<value code=" 5">MAVLink</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="X axis optical flow scale factor correction" name="FLOW_FXSCALER" documentation="This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor." user="Standard">
+<field name="Range">-200 +200</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Y axis optical flow scale factor correction" name="FLOW_FYSCALER" documentation="This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor." user="Standard">
+<field name="Range">-200 +200</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Flow sensor yaw alignment" name="FLOW_ORIENT_YAW" documentation="Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle." user="Standard">
+<field name="Range">-18000 +18000</field>
+<field name="Increment">1</field>
+</param>
+<param humanName=" X position offset" name="FLOW_POS_X" documentation="X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Y position offset" name="FLOW_POS_Y" documentation="Y position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Z position offset" name="FLOW_POS_Z" documentation="Z position of the optical flow sensor focal point in body frame. Positive Z is down from the origin." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Address on the bus" name="FLOW_ADDR" documentation="This is used to select between multiple possible I2C addresses for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus." user="Advanced">
+<field name="Range">0 127</field>
+</param>
+<param humanName="Optical flow enable/disable" name="FLOW_ENABLE" documentation="Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code=" 1">Enabled</value>
+</values>
+</param>
+</parameters>
+<parameters name="GND_">
+<param humanName="Absolute Pressure" name="GND_ABS_PRESS" documentation="calibrated ground pressure in Pascals" user="Advanced">
+<field name="ReadOnly">True</field>
+<field name="Volatile">True</field>
+<field name="Increment">1</field>
+<field name="Units">Pa</field>
+<field name="UnitText">pascal</field>
+</param>
+<param humanName="ground temperature" name="GND_TEMP" documentation="User provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature." user="Advanced">
+<field name="Volatile">True</field>
+<field name="Increment">1</field>
+<field name="Units">degC</field>
+<field name="UnitText">degrees Celsius</field>
+</param>
+<param humanName="altitude offset" name="GND_ALT_OFFSET" documentation="altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Primary barometer" name="GND_PRIMARY" documentation="This selects which barometer will be the primary if multiple barometers are found" user="Advanced">
+<values>
+<value code="0">FirstBaro</value>
+<value code="1">2ndBaro</value>
+<value code="2">3rdBaro</value>
+</values>
+</param>
+<param humanName="External baro bus" name="GND_EXT_BUS" documentation="This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the GND_PROBE_EXT parameter." user="Advanced">
+<values>
+<value code="-1">Disabled</value>
+<value code="0">Bus0</value>
+<value code="1">Bus1</value>
+</values>
+</param>
+<param humanName="Specific Gravity (For water depth measurement)" name="GND_SPEC_GRAV" documentation="This sets the specific gravity of the fluid when flying an underwater ROV.">
+<field name="Values">1.0:Freshwater,1.024:Saltwater</field>
+</param>
+<param humanName="Absolute Pressure" name="GND_ABS_PRESS2" documentation="calibrated ground pressure in Pascals" user="Advanced">
+<field name="ReadOnly">True</field>
+<field name="Volatile">True</field>
+<field name="Increment">1</field>
+<field name="Units">Pa</field>
+<field name="UnitText">pascal</field>
+</param>
+<param humanName="Absolute Pressure" name="GND_ABS_PRESS3" documentation="calibrated ground pressure in Pascals" user="Advanced">
+<field name="ReadOnly">True</field>
+<field name="Volatile">True</field>
+<field name="Increment">1</field>
+<field name="Units">Pa</field>
+<field name="UnitText">pascal</field>
+</param>
+<param humanName="Range in which sample is accepted" name="GND_FLTR_RNG" documentation="This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.">
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="External barometers to probe" name="GND_PROBE_EXT" documentation="This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on GND_EXT_BUS. If GND_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in GND_EXT_BUS." user="Advanced">
+<field name="Bitmask">0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller</field>
+<values>
+<value code="1">BMP085</value>
+<value code="2">BMP280</value>
+<value code="4">MS5611</value>
+<value code="8">MS5607</value>
+<value code="16">MS5637</value>
+<value code="32">FBM320</value>
+<value code="64">DPS280</value>
+<value code="128">LPS25H</value>
+<value code="256">Keller</value>
+</values>
+</param>
+</parameters>
+<parameters name="GPS_">
+<param humanName="GPS type" name="GPS_TYPE" documentation="GPS type" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">AUTO</value>
+<value code="2">uBlox</value>
+<value code="3">MTK</value>
+<value code="4">MTK19</value>
+<value code="5">NMEA</value>
+<value code="6">SiRF</value>
+<value code="7">HIL</value>
+<value code="8">SwiftNav</value>
+<value code="9">UAVCAN</value>
+<value code="10">SBF</value>
+<value code="11">GSOF</value>
+<value code="13">ERB</value>
+<value code="14">MAV</value>
+<value code="15">NOVA</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="2nd GPS type" name="GPS_TYPE2" documentation="GPS type of 2nd GPS" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">AUTO</value>
+<value code="2">uBlox</value>
+<value code="3">MTK</value>
+<value code="4">MTK19</value>
+<value code="5">NMEA</value>
+<value code="6">SiRF</value>
+<value code="7">HIL</value>
+<value code="8">SwiftNav</value>
+<value code="9">UAVCAN</value>
+<value code="10">SBF</value>
+<value code="11">GSOF</value>
+<value code="13">ERB</value>
+<value code="14">MAV</value>
+<value code="15">NOVA</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Navigation filter setting" name="GPS_NAVFILTER" documentation="Navigation filter engine setting" user="Advanced">
+<values>
+<value code="0">Portable</value>
+<value code="2">Stationary</value>
+<value code="3">Pedestrian</value>
+<value code="4">Automotive</value>
+<value code="5">Sea</value>
+<value code="6">Airborne1G</value>
+<value code="7">Airborne2G</value>
+<value code="8">Airborne4G</value>
+</values>
+</param>
+<param humanName="Automatic Switchover Setting" name="GPS_AUTO_SWITCH" documentation="Automatic switchover to GPS reporting best lock" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">UseBest</value>
+<value code="2">Blend</value>
+<value code="3">UseSecond</value>
+</values>
+</param>
+<param humanName="Minimum Lock Type Accepted for DGPS" name="GPS_MIN_DGPS" documentation="Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode." user="Advanced">
+<values>
+<value code="0">Any</value>
+<value code="50">FloatRTK</value>
+<value code="100">IntegerRTK</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="SBAS Mode" name="GPS_SBAS_MODE" documentation="This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+<value code="2">NoChange</value>
+</values>
+</param>
+<param humanName="Minimum elevation" name="GPS_MIN_ELEV" documentation="This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default." user="Advanced">
+<field name="Range">-100 90</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Destination for GPS_INJECT_DATA MAVLink packets" name="GPS_INJECT_TO" documentation="The GGS can send raw serial packets to inject data to multiple GPSes." user="Advanced">
+<values>
+<value code="0">send to first GPS</value>
+<value code="1">send to 2nd GPS</value>
+<value code="127">send to all</value>
+</values>
+</param>
+<param humanName="Swift Binary Protocol Logging Mask" name="GPS_SBP_LOGMASK" documentation="Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged" user="Advanced">
+<values>
+<value code="0">None (0x0000)</value>
+<value code="-1">All (0xFFFF)</value>
+<value code="-256">External only (0xFF00)</value>
+</values>
+</param>
+<param humanName="Raw data logging" name="GPS_RAW_DATA" documentation="Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into logger; on Septentrio this will log on the equipment's SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming" user="Advanced">
+<values>
+<value code="0">Ignore</value>
+<value code="1">Always log</value>
+<value code="2">Stop logging when disarmed (SBF only)</value>
+<value code="5">Only log every five samples (uBlox only)</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="GNSS system configuration" name="GPS_GNSS_MODE" documentation="Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
+<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS</field>
+<values>
+<value code="0">Leave as currently configured</value>
+<value code=" 1">GPS-NoSBAS</value>
+<value code=" 3">GPS+SBAS</value>
+<value code=" 4">Galileo-NoSBAS</value>
+<value code=" 6">Galileo+SBAS</value>
+<value code=" 8">Beidou</value>
+<value code=" 51">GPS+IMES+QZSS+SBAS (Japan Only)</value>
+<value code=" 64">GLONASS</value>
+<value code=" 66">GLONASS+SBAS</value>
+<value code=" 67">GPS+GLONASS+SBAS</value>
+</values>
+</param>
+<param humanName="Save GPS configuration" name="GPS_SAVE_CFG" documentation="Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above." user="Advanced">
+<values>
+<value code="0">Do not save config</value>
+<value code="1">Save config</value>
+<value code="2">Save only when needed</value>
+</values>
+</param>
+<param humanName="GNSS system configuration" name="GPS_GNSS_MODE2" documentation="Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
+<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS</field>
+<values>
+<value code="0">Leave as currently configured</value>
+<value code=" 1">GPS-NoSBAS</value>
+<value code=" 3">GPS+SBAS</value>
+<value code=" 4">Galileo-NoSBAS</value>
+<value code=" 6">Galileo+SBAS</value>
+<value code=" 8">Beidou</value>
+<value code=" 51">GPS+IMES+QZSS+SBAS (Japan Only)</value>
+<value code=" 64">GLONASS</value>
+<value code=" 66">GLONASS+SBAS</value>
+<value code=" 67">GPS+GLONASS+SBAS</value>
+</values>
+</param>
+<param humanName="Automatic GPS configuration" name="GPS_AUTO_CONFIG" documentation="Controls if the autopilot should automatically configure the GPS based on the parameters and default settings" user="Advanced">
+<values>
+<value code="0">Disables automatic configuration</value>
+<value code="1">Enable automatic configuration</value>
+</values>
+</param>
+<param humanName="GPS update rate in milliseconds" name="GPS_RATE_MS" documentation="Controls how often the GPS should provide a position update. Lowering below 5Hz is not allowed" user="Advanced">
+<field name="Range">50 200</field>
+<values>
+<value code="100">10Hz</value>
+<value code="125">8Hz</value>
+<value code="200">5Hz</value>
+</values>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+</param>
+<param humanName="GPS 2 update rate in milliseconds" name="GPS_RATE_MS2" documentation="Controls how often the GPS should provide a position update. Lowering below 5Hz is not allowed" user="Advanced">
+<field name="Range">50 200</field>
+<values>
+<value code="100">10Hz</value>
+<value code="125">8Hz</value>
+<value code="200">5Hz</value>
+</values>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+</param>
+<param humanName="Antenna X position offset" name="GPS_POS1_X" documentation="X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Antenna Y position offset" name="GPS_POS1_Y" documentation="Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Antenna Z position offset" name="GPS_POS1_Z" documentation="Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Antenna X position offset" name="GPS_POS2_X" documentation="X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Antenna Y position offset" name="GPS_POS2_Y" documentation="Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Antenna Z position offset" name="GPS_POS2_Z" documentation="Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="GPS delay in milliseconds" name="GPS_DELAY_MS" documentation="Controls the amount of GPS  measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type." user="Advanced">
+<field name="Range">0 250</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="GPS 2 delay in milliseconds" name="GPS_DELAY_MS2" documentation="Controls the amount of GPS  measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type." user="Advanced">
+<field name="Range">0 250</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Multi GPS Blending Mask" name="GPS_BLEND_MASK" documentation="Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2" user="Advanced">
+<field name="Bitmask">0:Horiz Pos,1:Vert Pos,2:Speed</field>
+</param>
+<param humanName="Blending time constant" name="GPS_BLEND_TC" documentation="Controls the slowest time constant applied to the calculation of GPS position and height offsets used to adjust different GPS receivers for steady state position differences." user="Advanced">
+<field name="Range">5.0 30.0</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+</parameters>
+<parameters name="GRIP_">
+<param humanName="Gripper Enable/Disable" name="GRIP_ENABLE" documentation="Gripper enable/disable" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code=" 1">Enabled</value>
+</values>
+</param>
+<param humanName="Gripper Type" name="GRIP_TYPE" documentation="Gripper enable/disable" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">Servo</value>
+<value code="2">EPM</value>
+</values>
+</param>
+<param humanName="Gripper Grab PWM" name="GRIP_GRAB" documentation="PWM value in microseconds sent to Gripper to initiate grabbing the cargo" user="Advanced">
+<field name="Range">1000 2000</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Gripper Release PWM" name="GRIP_RELEASE" documentation="PWM value in microseconds sent to Gripper to release the cargo" user="Advanced">
+<field name="Range">1000 2000</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Neutral PWM" name="GRIP_NEUTRAL" documentation="PWM value in microseconds sent to grabber when not grabbing or releasing" user="Advanced">
+<field name="Range">1000 2000</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Gripper Regrab interval" name="GRIP_REGRAB" documentation="Time in seconds that gripper will regrab the cargo to ensure grip has not weakened; 0 to disable" user="Advanced">
+<field name="Range">0 255</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="EPM UAVCAN Hardpoint ID" name="GRIP_UAVCAN_ID" documentation="Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface" user="Standard">
+<field name="Range">0 255</field>
+</param>
+</parameters>
+<parameters name="ICE_">
+<param humanName="Enable ICEngine control" name="ICE_ENABLE" documentation="This enables internal combustion engine control" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code=" 1">Enabled</value>
+</values>
+</param>
+<param humanName="Input channel for engine start" name="ICE_START_CHAN" documentation="This is an RC input channel for requesting engine start. Engine will try to start when channel is at or above 1700. Engine will stop when channel is at or below 1300. Between 1301 and 1699 the engine will not change state unless a MAVLink command or mission item commands a state change, or the vehicle is disamed." user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">Chan1</value>
+<value code="2">Chan2</value>
+<value code="3">Chan3</value>
+<value code="4">Chan4</value>
+<value code="5">Chan5</value>
+<value code="6">Chan6</value>
+<value code="7">Chan7</value>
+<value code="8">Chan8</value>
+<value code="9">Chan9</value>
+<value code="10">Chan10</value>
+<value code="11">Chan11</value>
+<value code="12">Chan12</value>
+<value code="13">Chan13</value>
+<value code="14">Chan14</value>
+<value code="15">Chan15</value>
+<value code="16">Chan16</value>
+</values>
+</param>
+<param humanName="Time to run starter" name="ICE_STARTER_TIME" documentation="This is the number of seconds to run the starter when trying to start the engine" user="Standard">
+<field name="Range">0.1 5</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Time to wait between starts" name="ICE_START_DELAY" documentation="Delay between start attempts" user="Standard">
+<field name="Range">1 10</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="RPM threshold" name="ICE_RPM_THRESH" documentation="This is the measured RPM above which the engine is considered to be running" user="Standard">
+<field name="Range">100 100000</field>
+</param>
+<param humanName="PWM value for ignition on" name="ICE_PWM_IGN_ON" documentation="This is the value sent to the ignition channel when on" user="Standard">
+<field name="Range">1000 2000</field>
+</param>
+<param humanName="PWM value for ignition off" name="ICE_PWM_IGN_OFF" documentation="This is the value sent to the ignition channel when off" user="Standard">
+<field name="Range">1000 2000</field>
+</param>
+<param humanName="PWM value for starter on" name="ICE_PWM_STRT_ON" documentation="This is the value sent to the starter channel when on" user="Standard">
+<field name="Range">1000 2000</field>
+</param>
+<param humanName="PWM value for starter off" name="ICE_PWM_STRT_OFF" documentation="This is the value sent to the starter channel when off" user="Standard">
+<field name="Range">1000 2000</field>
+</param>
+<param humanName="RPM instance channel to use" name="ICE_RPM_CHAN" documentation="This is which of the RPM instances to use for detecting the RPM of the engine" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RPM1</value>
+<value code="2">RPM2</value>
+</values>
+</param>
+<param humanName="Throttle percentage for engine start" name="ICE_START_PCT" documentation="This is the percentage throttle output for engine start" user="Standard">
+<field name="Range">0 100</field>
+</param>
+<param humanName="Throttle percentage for engine idle" name="ICE_IDLE_PCT" documentation="This is the minimum percentage throttle output while running, this includes being disarmed, but not safe" user="Standard">
+<field name="Range">0 100</field>
+</param>
+</parameters>
+<parameters name="INS_">
+<param humanName="Gyro offsets of X axis" name="INS_GYROFFS_X" documentation="Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Gyro offsets of Y axis" name="INS_GYROFFS_Y" documentation="Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Gyro offsets of Z axis" name="INS_GYROFFS_Z" documentation="Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Gyro2 offsets of X axis" name="INS_GYR2OFFS_X" documentation="Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Gyro2 offsets of Y axis" name="INS_GYR2OFFS_Y" documentation="Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Gyro2 offsets of Z axis" name="INS_GYR2OFFS_Z" documentation="Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Gyro3 offsets of X axis" name="INS_GYR3OFFS_X" documentation="Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Gyro3 offsets of Y axis" name="INS_GYR3OFFS_Y" documentation="Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Gyro3 offsets of Z axis" name="INS_GYR3OFFS_Z" documentation="Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Accelerometer scaling of X axis" name="INS_ACCSCAL_X" documentation="Accelerometer scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
+</param>
+<param humanName="Accelerometer scaling of Y axis" name="INS_ACCSCAL_Y" documentation="Accelerometer scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
+</param>
+<param humanName="Accelerometer scaling of Z axis" name="INS_ACCSCAL_Z" documentation="Accelerometer scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
+</param>
+<param humanName="Accelerometer offsets of X axis" name="INS_ACCOFFS_X" documentation="Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Accelerometer offsets of Y axis" name="INS_ACCOFFS_Y" documentation="Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Accelerometer offsets of Z axis" name="INS_ACCOFFS_Z" documentation="Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Accelerometer2 scaling of X axis" name="INS_ACC2SCAL_X" documentation="Accelerometer2 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
+</param>
+<param humanName="Accelerometer2 scaling of Y axis" name="INS_ACC2SCAL_Y" documentation="Accelerometer2 scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
+</param>
+<param humanName="Accelerometer2 scaling of Z axis" name="INS_ACC2SCAL_Z" documentation="Accelerometer2 scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
+</param>
+<param humanName="Accelerometer2 offsets of X axis" name="INS_ACC2OFFS_X" documentation="Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Accelerometer2 offsets of Y axis" name="INS_ACC2OFFS_Y" documentation="Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Accelerometer2 offsets of Z axis" name="INS_ACC2OFFS_Z" documentation="Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Accelerometer3 scaling of X axis" name="INS_ACC3SCAL_X" documentation="Accelerometer3 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
+</param>
+<param humanName="Accelerometer3 scaling of Y axis" name="INS_ACC3SCAL_Y" documentation="Accelerometer3 scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
+</param>
+<param humanName="Accelerometer3 scaling of Z axis" name="INS_ACC3SCAL_Z" documentation="Accelerometer3 scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
+</param>
+<param humanName="Accelerometer3 offsets of X axis" name="INS_ACC3OFFS_X" documentation="Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Accelerometer3 offsets of Y axis" name="INS_ACC3OFFS_Y" documentation="Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Accelerometer3 offsets of Z axis" name="INS_ACC3OFFS_Z" documentation="Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Gyro filter cutoff frequency" name="INS_GYRO_FILTER" documentation="Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)" user="Advanced">
+<field name="Range">0 127</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Accel filter cutoff frequency" name="INS_ACCEL_FILTER" documentation="Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)" user="Advanced">
+<field name="Range">0 127</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Use first IMU for attitude, velocity and position estimates" name="INS_USE" documentation="Use first IMU for attitude, velocity and position estimates" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Use second IMU for attitude, velocity and position estimates" name="INS_USE2" documentation="Use second IMU for attitude, velocity and position estimates" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Use third IMU for attitude, velocity and position estimates" name="INS_USE3" documentation="Use third IMU for attitude, velocity and position estimates" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Stillness threshold for detecting if we are moving" name="INS_STILL_THRESH" documentation="Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5" user="Advanced">
+<field name="Range">0.05 50</field>
+</param>
+<param humanName="Gyro Calibration scheme" name="INS_GYR_CAL" documentation="Conrols when automatic gyro calibration is performed" user="Advanced">
+<values>
+<value code="0">Never</value>
+<value code=" 1">Start-up only</value>
+</values>
+</param>
+<param humanName="Accel cal trim option" name="INS_TRIM_OPTION" documentation="Specifies how the accel cal routine determines the trims" user="Advanced">
+<values>
+<value code="0">Don't adjust the trims</value>
+<value code="1">Assume first orientation was level</value>
+<value code="2">Assume ACC_BODYFIX is perfectly aligned to the vehicle</value>
+</values>
+</param>
+<param humanName="Body-fixed accelerometer" name="INS_ACC_BODYFIX" documentation="The body-fixed accelerometer to be used for trim calculation" user="Advanced">
+<values>
+<value code="1">IMU 1</value>
+<value code="2">IMU 2</value>
+<value code="3">IMU 3</value>
+</values>
+</param>
+<param humanName="IMU accelerometer X position" name="INS_POS1_X" documentation="X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="IMU accelerometer Y position" name="INS_POS1_Y" documentation="Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="IMU accelerometer Z position" name="INS_POS1_Z" documentation="Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="IMU accelerometer X position" name="INS_POS2_X" documentation="X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="IMU accelerometer Y position" name="INS_POS2_Y" documentation="Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="IMU accelerometer Z position" name="INS_POS2_Z" documentation="Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="IMU accelerometer X position" name="INS_POS3_X" documentation="X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="IMU accelerometer Y position" name="INS_POS3_Y" documentation="Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="IMU accelerometer Z position" name="INS_POS3_Z" documentation="Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Gyro ID" name="INS_GYR_ID" documentation="Gyro sensor ID, taking into account its type, bus and instance" user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="Gyro2 ID" name="INS_GYR2_ID" documentation="Gyro2 sensor ID, taking into account its type, bus and instance" user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="Gyro3 ID" name="INS_GYR3_ID" documentation="Gyro3 sensor ID, taking into account its type, bus and instance" user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="Accelerometer ID" name="INS_ACC_ID" documentation="Accelerometer sensor ID, taking into account its type, bus and instance" user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="Accelerometer2 ID" name="INS_ACC2_ID" documentation="Accelerometer2 sensor ID, taking into account its type, bus and instance" user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="Accelerometer3 ID" name="INS_ACC3_ID" documentation="Accelerometer3 sensor ID, taking into account its type, bus and instance" user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="Fast sampling mask" name="INS_FAST_SAMPLE" documentation="Mask of IMUs to enable fast sampling on, if available" user="Advanced">
+<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU</field>
+<values>
+<value code="1">FirstIMUOnly</value>
+<value code="3">FirstAndSecondIMU</value>
+</values>
+</param>
+<param humanName="IMU enable mask" name="INS_ENABLE_MASK" documentation="Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs" user="Advanced">
+<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU</field>
+<values>
+<value code="1">FirstIMUOnly</value>
+<value code="3">FirstAndSecondIMU</value>
+<value code="7">FirstSecondAndThirdIMU</value>
+<value code="127">AllIMUs</value>
+</values>
+</param>
+</parameters>
+<parameters name="INS_LOG_">
+<param humanName="sample count per batch" name="INS_LOG_BAT_CNT" documentation="Number of samples to take when logging streams of IMU sensor readings.  Will be rounded down to a multiple of 32." user="Advanced">
+<field name="Increment">32</field>
+</param>
+<param humanName="Sensor Bitmask" name="INS_LOG_BAT_MASK" documentation="Bitmap of which IMUs to log batch data for" user="Advanced">
+<field name="Bitmask">0:IMU1,1:IMU2,2:IMU3</field>
+<values>
+<value code="0">None</value>
+<value code="1">First IMU</value>
+<value code="255">All</value>
+</values>
+</param>
+<param humanName="Batch Logging Options Mask" name="INS_LOG_BAT_OPT" documentation="Options for the BatchSampler" user="Advanced">
+<field name="Bitmask">0:Sensor-Rate Logging (sample at full sensor rate seen by AP)</field>
+</param>
+<param humanName="logging interval" name="INS_LOG_BAT_LGIN" documentation="Interval between pushing samples to the AP_Logger log">
+<field name="Increment">10</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+</param>
+<param humanName="logging count" name="INS_LOG_BAT_LGCT" documentation="Number of samples to push to count every INS_LOG_BAT_LGIN">
+<field name="Increment">1</field>
+</param>
+</parameters>
+<parameters name="INS_NOTCH_">
+<param humanName="Enable" name="INS_NOTCH_ENABLE" documentation="Enable notch filter" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Frequency" name="INS_NOTCH_FREQ" documentation="Notch center frequency in Hz" user="Advanced">
+<field name="Range">10 200</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Bandwidth" name="INS_NOTCH_BW" documentation="Notch bandwidth in Hz" user="Advanced">
+<field name="Range">5 50</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Attenuation" name="INS_NOTCH_ATT" documentation="Notch attenuation in dB" user="Advanced">
+<field name="Range">5 30</field>
+<field name="Units">dB</field>
+<field name="UnitText">decibel</field>
+</param>
+</parameters>
+<parameters name="LAND_">
+<param humanName="Landing slope re-calc threshold" name="LAND_SLOPE_RCALC" documentation="This parameter is used when using a rangefinder during landing for altitude correction from baro drift (RNGFND_LANDING=1) and the altitude correction indicates your altitude is lower than the intended slope path. This value is the threshold of the correction to re-calculate the landing approach slope. Set to zero to keep the original slope all the way down and any detected baro drift will be corrected by pitching/throttling up to snap back to resume the original slope path. Otherwise, when a rangefinder altitude correction exceeds this threshold it will trigger a slope re-calculate to give a shallower slope. This also smoothes out the approach when flying over objects such as trees. Recommend a value of 2m." user="Advanced">
+<field name="Range">0 5</field>
+<field name="Increment">0.5</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Landing auto-abort slope threshold" name="LAND_ABORT_DEG" documentation="This parameter is used when using a rangefinder during landing for altitude correction from baro drift (RNGFND_LANDING=1) and the altitude correction indicates your actual altitude is higher than the intended slope path. Normally it would pitch down steeply but that can result in a crash with high airspeed so this allows remembering the baro offset and self-abort the landing and come around for another landing with the correct baro offset applied for a perfect slope. An auto-abort go-around will only happen once, next attempt will not auto-abort again. This operation happens entirely automatically in AUTO mode. This value is the delta degrees threshold to trigger the go-around compared to the original slope. Example: if set to 5 deg and the mission planned slope is 15 deg then if the new slope is 21 then it will go-around. Set to 0 to disable. Requires LAND_SLOPE_RCALC &gt; 0." user="Advanced">
+<field name="Range">0 90</field>
+<field name="Increment">0.1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Landing Pitch" name="LAND_PITCH_CD" documentation="Used in autoland to give the minimum pitch in the final stage of landing (after the flare). This parameter can be used to ensure that the final landing attitude is appropriate for the type of undercarriage on the aircraft. Note that it is a minimum pitch only - the landing code will control pitch above this value to try to achieve the configured landing sink rate." user="Advanced">
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Landing flare altitude" name="LAND_FLARE_ALT" documentation="Altitude in autoland at which to lock heading and flare to the LAND_PITCH_CD pitch. Note that this option is secondary to LAND_FLARE_SEC. For a good landing it preferable that the flare is triggered by LAND_FLARE_SEC." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Landing flare time" name="LAND_FLARE_SEC" documentation="Vertical time before landing point at which to lock heading and flare with the motor stopped. This is vertical time, and is calculated based solely on the current height above the ground and the current descent rate.  Set to 0 if you only wish to flare based on altitude (see LAND_FLARE_ALT)." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Landing pre-flare altitude" name="LAND_PF_ALT" documentation="Altitude to trigger pre-flare flight stage where LAND_PF_ARSPD controls airspeed. The pre-flare flight stage trigger works just like LAND_FLARE_ALT but higher. Disabled when LAND_PF_ARSPD is 0." user="Advanced">
+<field name="Range">0 30</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Landing pre-flare time" name="LAND_PF_SEC" documentation="Vertical time to ground to trigger pre-flare flight stage where LAND_PF_ARSPD controls airspeed. This pre-flare flight stage trigger works just like LAND_FLARE_SEC but earlier. Disabled when LAND_PF_ARSPD is 0." user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">0.1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Landing pre-flare airspeed" name="LAND_PF_ARSPD" documentation="Desired airspeed during pre-flare flight stage. This is useful to reduce airspeed just before the flare. Use 0 to disable." user="Advanced">
+<field name="Range">0 30</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Landing throttle slew rate" name="LAND_THR_SLEW" documentation="This parameter sets the slew rate for the throttle during auto landing. When this is zero the THR_SLEWRATE parameter is used during landing. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on landing. Values below 50 are not recommended as it may cause a stall when airspeed is low and you can not throttle up fast enough." user="User">
+<field name="Range">0 127</field>
+<field name="Increment">1</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Landing disarm delay" name="LAND_DISARMDELAY" documentation="After a landing has completed using a LAND waypoint, automatically disarm after this many seconds have passed. Use 0 to not disarm." user="Advanced">
+<field name="Range">0 127</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Set servos to neutral after landing" name="LAND_THEN_NEUTRL" documentation="When enabled, after an autoland and auto-disarm via LAND_DISARMDELAY happens then set all servos to neutral. This is helpful when an aircraft has a rough landing upside down or a crazy angle causing the servos to strain." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code=" 1">Servos to Neutral</value>
+<value code=" 2">Servos to Zero PWM</value>
+</values>
+</param>
+<param humanName="Landing abort using throttle" name="LAND_ABORT_THR" documentation="Allow a landing abort to trigger with a throttle &gt; 95%" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code=" 1">Enabled</value>
+</values>
+</param>
+<param humanName="Landing flap percentage" name="LAND_FLAP_PERCNT" documentation="The amount of flaps (as a percentage) to apply in the landing approach and flare of an automatic landing" user="Advanced">
+<field name="Range">0 100</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Auto-landing type" name="LAND_TYPE" documentation="Specifies the auto-landing type to use" user="Standard">
+<values>
+<value code="0">Standard Glide Slope</value>
+<value code=" 1">Deepstall</value>
+</values>
+</param>
+</parameters>
+<parameters name="LAND_DS_">
+<param humanName="Deepstall forward velocity" name="LAND_DS_V_FWD" documentation="The forward velocity of the aircraft while stalled" user="Advanced">
+<field name="Range">0 20</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Deepstall slope a" name="LAND_DS_SLOPE_A" documentation="The a component of distance = a*wind + b" user="Advanced">
+</param>
+<param humanName="Deepstall slope b" name="LAND_DS_SLOPE_B" documentation="The a component of distance = a*wind + b" user="Advanced">
+</param>
+<param humanName="Deepstall approach extension" name="LAND_DS_APP_EXT" documentation="The forward velocity of the aircraft while stalled" user="Advanced">
+<field name="Range">10 200</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Deepstall velocity down" name="LAND_DS_V_DWN" documentation="The downward velocity of the aircraft while stalled" user="Advanced">
+<field name="Range">0 20</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Deepstall slew speed" name="LAND_DS_SLEW_SPD" documentation="The speed at which the elevator slews to deepstall" user="Advanced">
+<field name="Range">0 2</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Deepstall elevator PWM" name="LAND_DS_ELEV_PWM" documentation="The PWM value in microseconds for the elevator at full deflection in deepstall" user="Advanced">
+<field name="Range">900 2100</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Deepstall enabled airspeed" name="LAND_DS_ARSP_MAX" documentation="The maximum aispeed where the deepstall steering controller is allowed to have control" user="Advanced">
+<field name="Range">5 20</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Deepstall minimum derating airspeed" name="LAND_DS_ARSP_MIN" documentation="Deepstall lowest airspeed where the deepstall controller isn't allowed full control" user="Advanced">
+<field name="Range">5 20</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Deepstall L1 period" name="LAND_DS_L1" documentation="Deepstall L1 navigational controller period" user="Advanced">
+<field name="Range">5 50</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Deepstall L1 I gain" name="LAND_DS_L1_I" documentation="Deepstall L1 integratior gain" user="Advanced">
+<field name="Range">0 1</field>
+</param>
+<param humanName="Aileron landing gain scalaing" name="LAND_DS_AIL_SCL" documentation="A scalar to reduce or increase the aileron control" user="Advanced">
+<field name="Range">0 2.0</field>
+</param>
+</parameters>
+<parameters name="LAND_DS_DS_">
+<param humanName="PID Proportional Gain" name="LAND_DS_DS_P" documentation="P Gain which produces an output value that is proportional to the current error value">
+</param>
+<param humanName="PID Integral Gain" name="LAND_DS_DS_I" documentation="I Gain which produces an output that is proportional to both the magnitude and the duration of the error">
+</param>
+<param humanName="PID Derivative Gain" name="LAND_DS_DS_D" documentation="D Gain which produces an output that is proportional to the rate of change of the error">
+</param>
+<param humanName="PID Integral Maximum" name="LAND_DS_DS_IMAX" documentation="The maximum/minimum value that the I term can output">
+</param>
+</parameters>
+<parameters name="LGR_">
+<param humanName="Landing Gear Startup position" name="LGR_STARTUP" documentation="Landing Gear Startup behaviour control" user="Standard">
+<values>
+<value code="0">WaitForPilotInput</value>
+<value code=" 1">Retract</value>
+<value code=" 2">Deploy</value>
+</values>
+</param>
+<param humanName="Chassis deployment feedback pin" name="LGR_DEPLOY_PIN" documentation="Pin number to use for detection of gear deployment. If set to -1 feedback is disabled." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">AUX1</value>
+<value code="51">AUX2</value>
+<value code="52">AUX3</value>
+<value code="53">AUX4</value>
+<value code="54">AUX5</value>
+<value code="55">AUX6</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Chassis deployment feedback pin polarity" name="LGR_DEPLOY_POL" documentation="Polarity for feedback pin. If this is 1 then the pin should be high when gear are deployed. If set to 0 then then deployed gear level is low." user="Standard">
+<values>
+<value code="0">Low</value>
+<value code="1">High</value>
+</values>
+</param>
+<param humanName="Weight on wheels feedback pin" name="LGR_WOW_PIN" documentation="Pin number to use for feedback of weight on wheels condition. If set to -1 feedback is disabled." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">AUX1</value>
+<value code="51">AUX2</value>
+<value code="52">AUX3</value>
+<value code="53">AUX4</value>
+<value code="54">AUX5</value>
+<value code="55">AUX6</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Weight on wheels feedback pin polarity" name="LGR_WOW_POL" documentation="Polarity for feedback pin. If this is 1 then the pin should be high when there is weight on wheels. If set to 0 then then weight on wheels level is low." user="Standard">
+<values>
+<value code="0">Low</value>
+<value code="1">High</value>
+</values>
+</param>
+<param humanName="Landing gear deployment altitude" name="LGR_DEPLOY_ALT" documentation="Altitude where the landing gear will be deployed. This should be lower than the RETRACT_ALT. If zero then altitude is not used for deploying landing gear. Only applies when vehicle is armed." user="Standard">
+<field name="Range">0 1000</field>
+<field name="Increment">1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Landing gear retract altitude" name="LGR_RETRACT_ALT" documentation="Altitude where the landing gear will be retracted. This should be higher than the DEPLOY_ALT. If zero then altitude is not used for retracting landing gear. Only applies when vehicle is armed." user="Standard">
+<field name="Range">0 1000</field>
+<field name="Increment">1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+</parameters>
+<parameters name="LOG">
+<param humanName="AP_Logger Backend Storage type" name="LOG_BACKEND_TYPE" documentation="Bitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected." user="Standard">
+<field name="Bitmask">0:File,1:MAVLink,2:Block</field>
+<values>
+<value code="0">None</value>
+<value code="1">File</value>
+<value code="2">MAVLink</value>
+<value code="3">File and MAVLink</value>
+<value code="4">Block</value>
+<value code="6">Block and MAVLink</value>
+</values>
+</param>
+<param humanName="Maximum AP_Logger File Backend buffer size (in kilobytes)" name="LOG_FILE_BUFSIZE" documentation='The AP_Logger_File backend uses a buffer to store data before writing to the block device.  Raising this value may reduce "gaps" in your SD card logging.  This buffer size may be reduced depending on available memory.  PixHawk requires at least 4 kilobytes.  Maximum value available here is 64 kilobytes.' user="Standard">
+</param>
+<param humanName="Enable logging while disarmed" name="LOG_DISARMED" documentation="If LOG_DISARMED is set to 1 then logging will be enabled while disarmed. This can make for very large logfiles but can help a lot when tracking down startup issues" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Enable logging of information needed for Replay" name="LOG_REPLAY" documentation="If LOG_REPLAY is set to 1 then the EKF2 state estimator will log detailed information needed for diagnosing problems with the Kalman filter. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Stop logging to current file on disarm" name="LOG_FILE_DSRMROT" documentation="When set, the current log file is closed when the vehicle is disarmed.  If LOG_DISARMED is set then a fresh log will be opened." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Maximum AP_Logger MAVLink Backend buffer size" name="LOG_MAV_BUFSIZE" documentation="Maximum amount of memory to allocate to AP_Logger-over-mavlink" user="Advanced">
+<field name="Units">kB</field>
+<field name="UnitText">kilobytes</field>
+</param>
+</parameters>
+<parameters name="MIS_">
+<param humanName="Total mission commands" name="MIS_TOTAL" documentation="The number of mission mission items that has been loaded by the ground station. Do not change this manually." user="Advanced">
+<field name="Range">0 32766</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Mission Restart when entering Auto mode" name="MIS_RESTART" documentation="Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)" user="Advanced">
+<values>
+<value code="0">Resume Mission</value>
+<value code=" 1">Restart Mission</value>
+</values>
+</param>
+<param humanName="Mission options bitmask" name="MIS_OPTIONS" documentation="Bitmask of what options to use in missions." user="Advanced">
+<field name="Bitmask">0:Clear Mission on reboot</field>
+</param>
+</parameters>
+<parameters name="MNT">
+<param humanName="Mount default operating mode" name="MNT_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
+<values>
+<value code="0">Retracted</value>
+<value code="1">Neutral</value>
+<value code="2">MavLink Targeting</value>
+<value code="3">RC Targeting</value>
+<value code="4">GPS Point</value>
+</values>
+</param>
+<param humanName="Mount roll angle when in retracted position" name="MNT_RETRACT_X" documentation="Mount roll angle when in retracted position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Mount tilt/pitch angle when in retracted position" name="MNT_RETRACT_Y" documentation="Mount tilt/pitch angle when in retracted position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Mount yaw/pan angle when in retracted position" name="MNT_RETRACT_Z" documentation="Mount yaw/pan angle when in retracted position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Mount roll angle when in neutral position" name="MNT_NEUTRAL_X" documentation="Mount roll angle when in neutral position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Mount tilt/pitch angle when in neutral position" name="MNT_NEUTRAL_Y" documentation="Mount tilt/pitch angle when in neutral position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Mount pan/yaw angle when in neutral position" name="MNT_NEUTRAL_Z" documentation="Mount pan/yaw angle when in neutral position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Stabilize mount's roll angle" name="MNT_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Stabilize mount's pitch/tilt angle" name="MNT_STAB_TILT" documentation="enable tilt/pitch stabilisation relative to Earth" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Stabilize mount pan/yaw angle" name="MNT_STAB_PAN" documentation="enable pan/yaw stabilisation relative to Earth" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="roll RC input channel" name="MNT_RC_IN_ROLL" documentation="0 for none, any other for the RC channel to be used to control roll movements" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="5">RC5</value>
+<value code="6">RC6</value>
+<value code="7">RC7</value>
+<value code="8">RC8</value>
+<value code="9">RC9</value>
+<value code="10">RC10</value>
+<value code="11">RC11</value>
+<value code="12">RC12</value>
+</values>
+</param>
+<param humanName="Minimum roll angle" name="MNT_ANGMIN_ROL" documentation="Minimum physical roll angular position of mount." user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Maximum roll angle" name="MNT_ANGMAX_ROL" documentation="Maximum physical roll angular position of the mount" user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="tilt (pitch) RC input channel" name="MNT_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="5">RC5</value>
+<value code="6">RC6</value>
+<value code="7">RC7</value>
+<value code="8">RC8</value>
+<value code="9">RC9</value>
+<value code="10">RC10</value>
+<value code="11">RC11</value>
+<value code="12">RC12</value>
+</values>
+</param>
+<param humanName="Minimum tilt angle" name="MNT_ANGMIN_TIL" documentation="Minimum physical tilt (pitch) angular position of mount." user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Maximum tilt angle" name="MNT_ANGMAX_TIL" documentation="Maximum physical tilt (pitch) angular position of the mount" user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="pan (yaw) RC input channel" name="MNT_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="5">RC5</value>
+<value code="6">RC6</value>
+<value code="7">RC7</value>
+<value code="8">RC8</value>
+<value code="9">RC9</value>
+<value code="10">RC10</value>
+<value code="11">RC11</value>
+<value code="12">RC12</value>
+</values>
+</param>
+<param humanName="Minimum pan angle" name="MNT_ANGMIN_PAN" documentation="Minimum physical pan (yaw) angular position of mount." user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Maximum pan angle" name="MNT_ANGMAX_PAN" documentation="Maximum physical pan (yaw) angular position of the mount" user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="mount joystick speed" name="MNT_JSTICK_SPD" documentation="0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second." user="Standard">
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Roll stabilization lead time" name="MNT_LEAD_RLL" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
+<field name="Range">0.0 0.2</field>
+<field name="Increment">.005</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Pitch stabilization lead time" name="MNT_LEAD_PTCH" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
+<field name="Range">0.0 0.2</field>
+<field name="Increment">.005</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Mount Type" name="MNT_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
+<values>
+<value code="0">None</value>
+<value code=" 1">Servo</value>
+<value code=" 2">3DR Solo</value>
+<value code=" 3">Alexmos Serial</value>
+<value code=" 4">SToRM32 MAVLink</value>
+<value code=" 5">SToRM32 Serial</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Mount default operating mode" name="MNT2_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
+<values>
+<value code="0">Retracted</value>
+<value code="1">Neutral</value>
+<value code="2">MavLink Targeting</value>
+<value code="3">RC Targeting</value>
+<value code="4">GPS Point</value>
+</values>
+</param>
+<param humanName="Mount2 roll angle when in retracted position" name="MNT2_RETRACT_X" documentation="Mount2 roll angle when in retracted position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Mount2 tilt/pitch angle when in retracted position" name="MNT2_RETRACT_Y" documentation="Mount2 tilt/pitch angle when in retracted position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Mount2 yaw/pan angle when in retracted position" name="MNT2_RETRACT_Z" documentation="Mount2 yaw/pan angle when in retracted position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Mount2 roll angle when in neutral position" name="MNT2_NEUTRAL_X" documentation="Mount2 roll angle when in neutral position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Mount2 tilt/pitch angle when in neutral position" name="MNT2_NEUTRAL_Y" documentation="Mount2 tilt/pitch angle when in neutral position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Mount2 pan/yaw angle when in neutral position" name="MNT2_NEUTRAL_Z" documentation="Mount2 pan/yaw angle when in neutral position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Stabilize Mount2's roll angle" name="MNT2_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Stabilize Mount2's pitch/tilt angle" name="MNT2_STAB_TILT" documentation="enable tilt/pitch stabilisation relative to Earth" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Stabilize mount2 pan/yaw angle" name="MNT2_STAB_PAN" documentation="enable pan/yaw stabilisation relative to Earth" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Mount2's roll RC input channel" name="MNT2_RC_IN_ROLL" documentation="0 for none, any other for the RC channel to be used to control roll movements" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="5">RC5</value>
+<value code="6">RC6</value>
+<value code="7">RC7</value>
+<value code="8">RC8</value>
+<value code="9">RC9</value>
+<value code="10">RC10</value>
+<value code="11">RC11</value>
+<value code="12">RC12</value>
+</values>
+</param>
+<param humanName="Mount2's minimum roll angle" name="MNT2_ANGMIN_ROL" documentation="Mount2's minimum physical roll angular position" user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Mount2's maximum roll angle" name="MNT2_ANGMAX_ROL" documentation="Mount2's maximum physical roll angular position" user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Mount2's tilt (pitch) RC input channel" name="MNT2_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="5">RC5</value>
+<value code="6">RC6</value>
+<value code="7">RC7</value>
+<value code="8">RC8</value>
+<value code="9">RC9</value>
+<value code="10">RC10</value>
+<value code="11">RC11</value>
+<value code="12">RC12</value>
+</values>
+</param>
+<param humanName="Mount2's minimum tilt angle" name="MNT2_ANGMIN_TIL" documentation="Mount2's minimum physical tilt (pitch) angular position" user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Mount2's maximum tilt angle" name="MNT2_ANGMAX_TIL" documentation="Mount2's maximum physical tilt (pitch) angular position" user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Mount2's pan (yaw) RC input channel" name="MNT2_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="5">RC5</value>
+<value code="6">RC6</value>
+<value code="7">RC7</value>
+<value code="8">RC8</value>
+<value code="9">RC9</value>
+<value code="10">RC10</value>
+<value code="11">RC11</value>
+<value code="12">RC12</value>
+</values>
+</param>
+<param humanName="Mount2's minimum pan angle" name="MNT2_ANGMIN_PAN" documentation="Mount2's minimum physical pan (yaw) angular position" user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Mount2's maximum pan angle" name="MNT2_ANGMAX_PAN" documentation="MOunt2's maximum physical pan (yaw) angular position" user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Mount2's Roll stabilization lead time" name="MNT2_LEAD_RLL" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
+<field name="Range">0.0 0.2</field>
+<field name="Increment">.005</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Mount2's Pitch stabilization lead time" name="MNT2_LEAD_PTCH" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
+<field name="Range">0.0 0.2</field>
+<field name="Increment">.005</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Mount2 Type" name="MNT2_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
+<values>
+<value code="0">None</value>
+<value code=" 1">Servo</value>
+<value code=" 2">3DR Solo</value>
+<value code=" 3">Alexmos Serial</value>
+<value code=" 4">SToRM32 MAVLink</value>
+<value code=" 5">SToRM32 Serial</value>
+</values>
+</param>
+</parameters>
+<parameters name="NAVL1_">
+<param humanName="L1 control period" name="NAVL1_PERIOD" documentation="Period in seconds of L1 tracking loop. This parameter is the primary control for agressiveness of turns in auto mode. This needs to be larger for less responsive airframes. The default of 20 is quite conservative, but for most RC aircraft will lead to reasonable flight. For smaller more agile aircraft a value closer to 15 is appropriate, or even as low as 10 for some very agile aircraft. When tuning, change this value in small increments, as a value that is much too small (say 5 or 10 below the right value) can lead to very radical turns, and a risk of stalling." user="Standard">
+<field name="Range">1 60</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="L1 control damping ratio" name="NAVL1_DAMPING" documentation="Damping ratio for L1 control. Increase this in increments of 0.05 if you are getting overshoot in path tracking. You should not need a value below 0.7 or above 0.85." user="Advanced">
+<field name="Range">0.6 1.0</field>
+<field name="Increment">0.05</field>
+</param>
+<param humanName="L1 control crosstrack integrator gain" name="NAVL1_XTRACK_I" documentation="Crosstrack error integrator gain. This gain is applied to the crosstrack error to ensure it converges to zero. Set to zero to disable. Smaller values converge slower, higher values will cause crosstrack error oscillation." user="Advanced">
+<field name="Range">0 0.1</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Loiter Radius Bank Angle Limit" name="NAVL1_LIM_BANK" documentation="The sealevel bank angle limit for a continous loiter. (Used to calculate airframe loading limits at higher altitudes). Setting to 0, will instead just scale the loiter radius directly" user="Advanced">
+<field name="Range">0 89</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+</parameters>
+<parameters name="NTF_">
+<param humanName="LED Brightness" name="NTF_LED_BRIGHT" documentation="Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting." user="Advanced">
+<values>
+<value code="0">Off</value>
+<value code="1">Low</value>
+<value code="2">Medium</value>
+<value code="3">High</value>
+</values>
+</param>
+<param humanName="Buzzer enable" name="NTF_BUZZ_ENABLE" documentation="Enable or disable the buzzer." user="Advanced">
+<values>
+<value code="0">Disable</value>
+<value code="1">Enable</value>
+</values>
+</param>
+<param humanName="Specifies colour source for the RGBLed" name="NTF_LED_OVERRIDE" documentation='Specifies the source for the colours and brightness for the LED.  OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially "Green" is disarmed (safe-to-approach), "Red" is armed (not safe-to-approach).' user="Advanced">
+<values>
+<value code="0">Standard</value>
+<value code="1">MAVLink</value>
+<value code="2">OutbackChallenge</value>
+</values>
+</param>
+<param humanName="Type of on-board I2C display" name="NTF_DISPLAY_TYPE" documentation="This sets up the type of on-board I2C display. Disabled by default." user="Advanced">
+<values>
+<value code="0">Disable</value>
+<value code="1">ssd1306</value>
+<value code="2">sh1106</value>
+</values>
+</param>
+<param humanName="OreoLED Theme" name="NTF_OREO_THEME" documentation="Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Aircraft</value>
+<value code="2">Rover</value>
+</values>
+</param>
+<param humanName="Buzzer pin" name="NTF_BUZZ_PIN" documentation="Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET!" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+</values>
+</param>
+<param humanName="LED Driver Types" name="NTF_LED_TYPES" documentation="Controls what types of LEDs will be enabled" user="Advanced">
+<field name="Bitmask">0:Build in LED, 1:Internal ToshibaLED, 2:External ToshibaLED, 3:External PCA9685, 4:Oreo LED, 5:UAVCAN, 6:NCP5623 External, 7:NCP5623 Internal</field>
+</param>
+<param humanName="Buzzer-on pin logic level" name="NTF_BUZZ_ON_LVL" documentation="Specifies pin level that indicates buzzer should play" user="Advanced">
+<values>
+<value code="0">LowIsOn</value>
+<value code="1">HighIsOn</value>
+</values>
+</param>
+</parameters>
+<parameters name="OSD">
+<param humanName="OSD type" name="OSD_TYPE" documentation="OSD type" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">MAX7456</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Screen switch transmitter channel" name="OSD_CHAN" documentation="This sets the channel used to switch different OSD screens." user="Standard">
+<values>
+<value code="0">Disable</value>
+<value code="5">Chan5</value>
+<value code="6">Chan6</value>
+<value code="7">Chan7</value>
+<value code="8">Chan8</value>
+<value code="9">Chan9</value>
+<value code="10">Chan10</value>
+<value code="11">Chan11</value>
+<value code="12">Chan12</value>
+<value code="13">Chan13</value>
+<value code="14">Chan14</value>
+<value code="15">Chan15</value>
+<value code="16">Chan16</value>
+</values>
+</param>
+<param humanName="OSD Options" name="OSD_OPTIONS" documentation="This sets options that change the display" user="Standard">
+<field name="Bitmask">0:UseDecimalPack, 1:InvertedWindPointer, 2:InvertedAHRoll</field>
+</param>
+<param humanName="OSD Font" name="OSD_FONT" documentation="This sets which OSD font to use. It is an integer from 0 to the number of fonts available" user="Standard">
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="OSD vertical offset" name="OSD_V_OFFSET" documentation="Sets vertical offset of the osd inside image" user="Standard">
+<field name="Range">0 31</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="OSD horizontal offset" name="OSD_H_OFFSET" documentation="Sets horizontal offset of the osd inside image" user="Standard">
+<field name="Range">0 63</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="RSSI warn level (in %)" name="OSD_W_RSSI" documentation="Set level at which RSSI item will flash" user="Standard">
+<field name="Range">0 99</field>
+</param>
+<param humanName="NSAT warn level" name="OSD_W_NSAT" documentation="Set level at which NSAT item will flash" user="Standard">
+<field name="Range">1 30</field>
+</param>
+<param humanName="BAT_VOLT warn level" name="OSD_W_BATVOLT" documentation="Set level at which BAT_VOLT item will flash" user="Standard">
+<field name="Range">0 100</field>
+</param>
+<param humanName="Display Units" name="OSD_UNITS" documentation="Sets the units to use in displaying items" user="Standard">
+<values>
+<value code="0">Metric</value>
+<value code="1">Imperial</value>
+<value code="2">SI</value>
+<value code="3">Aviation</value>
+</values>
+</param>
+<param humanName="Message display duration in seconds" name="OSD_MSG_TIME" documentation="Sets message duration seconds" user="Standard">
+<field name="Range">1 20</field>
+</param>
+<param humanName="Arm screen" name="OSD_ARM_SCR" documentation="Screen to be shown on Arm event. Zero to disable the feature." user="Standard">
+<field name="Range">0 4</field>
+</param>
+<param humanName="Disarm screen" name="OSD_DSARM_SCR" documentation="Screen to be shown on disarm event. Zero to disable the feature." user="Standard">
+<field name="Range">0 4</field>
+</param>
+<param humanName="Failsafe screen" name="OSD_FS_SCR" documentation="Screen to be shown on failsafe event. Zero to disable the feature." user="Standard">
+<field name="Range">0 4</field>
+</param>
+</parameters>
+<parameters name="OSD1_">
+<param humanName="Enable screen" name="OSD1_ENABLE" documentation="Enable this screen" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Transmitter switch screen minimum pwm" name="OSD1_CHAN_MIN" documentation="This sets the PWM lower limit for this screen" user="Standard">
+<field name="Range">900 2100</field>
+</param>
+<param humanName="Transmitter switch screen maximum pwm" name="OSD1_CHAN_MAX" documentation="This sets the PWM upper limit for this screen" user="Standard">
+<field name="Range">900 2100</field>
+</param>
+</parameters>
+<parameters name="OSD1_ALTITUDE">
+<param humanName="Enable" name="OSD1_ALTITUDE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_ALTITUDE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_ALTITUDE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_ASPD2">
+<param humanName="Enable" name="OSD1_ASPD2_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_ASPD2_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_ASPD2_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_ATEMP">
+<param humanName="Enable" name="OSD1_ATEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_ATEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_ATEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_BAT2USED">
+<param humanName="Enable" name="OSD1_BAT2USED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_BAT2USED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_BAT2USED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_BAT2VLT">
+<param humanName="Enable" name="OSD1_BAT2VLT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_BAT2VLT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_BAT2VLT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_BATUSED">
+<param humanName="Enable" name="OSD1_BATUSED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_BATUSED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_BATUSED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_BATVOLT">
+<param humanName="Enable" name="OSD1_BATVOLT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_BATVOLT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_BATVOLT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_BLHAMPS">
+<param humanName="Enable" name="OSD1_BLHAMPS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_BLHAMPS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_BLHAMPS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_BLHRPM">
+<param humanName="Enable" name="OSD1_BLHRPM_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_BLHRPM_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_BLHRPM_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_BLHTEMP">
+<param humanName="Enable" name="OSD1_BLHTEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_BLHTEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_BLHTEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_BTEMP">
+<param humanName="Enable" name="OSD1_BTEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_BTEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_BTEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_CLIMBEFF">
+<param humanName="Enable" name="OSD1_CLIMBEFF_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_CLIMBEFF_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_CLIMBEFF_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_CURRENT">
+<param humanName="Enable" name="OSD1_CURRENT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_CURRENT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_CURRENT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_DIST">
+<param humanName="Enable" name="OSD1_DIST_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_DIST_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_DIST_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_EFF">
+<param humanName="Enable" name="OSD1_EFF_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_EFF_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_EFF_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_FLTIME">
+<param humanName="Enable" name="OSD1_FLTIME_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_FLTIME_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_FLTIME_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_FLTMODE">
+<param humanName="Enable" name="OSD1_FLTMODE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_FLTMODE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_FLTMODE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_GPSLAT">
+<param humanName="Enable" name="OSD1_GPSLAT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_GPSLAT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_GPSLAT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_GPSLONG">
+<param humanName="Enable" name="OSD1_GPSLONG_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_GPSLONG_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_GPSLONG_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_GSPEED">
+<param humanName="Enable" name="OSD1_GSPEED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_GSPEED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_GSPEED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_HDOP">
+<param humanName="Enable" name="OSD1_HDOP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_HDOP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_HDOP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_HOME">
+<param humanName="Enable" name="OSD1_HOME_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_HOME_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_HOME_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_HORIZON">
+<param humanName="Enable" name="OSD1_HORIZON_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_HORIZON_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_HORIZON_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_MESSAGE">
+<param humanName="Enable" name="OSD1_MESSAGE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_MESSAGE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_MESSAGE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_PITCH">
+<param humanName="Enable" name="OSD1_PITCH_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_PITCH_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_PITCH_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_ROLL">
+<param humanName="Enable" name="OSD1_ROLL_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_ROLL_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_ROLL_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_RSSI">
+<param humanName="Enable" name="OSD1_RSSI_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_RSSI_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_RSSI_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_SATS">
+<param humanName="Enable" name="OSD1_SATS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_SATS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_SATS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_STATS">
+<param humanName="Enable" name="OSD1_STATS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_STATS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_STATS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_TEMP">
+<param humanName="Enable" name="OSD1_TEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_TEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_TEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_WAYPOINT">
+<param humanName="Enable" name="OSD1_WAYPOINT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_WAYPOINT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_WAYPOINT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_XTRACK">
+<param humanName="Enable" name="OSD1_XTRACK_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_XTRACK_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_XTRACK_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_">
+<param humanName="Enable screen" name="OSD2_ENABLE" documentation="Enable this screen" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Transmitter switch screen minimum pwm" name="OSD2_CHAN_MIN" documentation="This sets the PWM lower limit for this screen" user="Standard">
+<field name="Range">900 2100</field>
+</param>
+<param humanName="Transmitter switch screen maximum pwm" name="OSD2_CHAN_MAX" documentation="This sets the PWM upper limit for this screen" user="Standard">
+<field name="Range">900 2100</field>
+</param>
+</parameters>
+<parameters name="OSD2_ALTITUDE">
+<param humanName="Enable" name="OSD2_ALTITUDE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_ALTITUDE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_ALTITUDE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_ASPD2">
+<param humanName="Enable" name="OSD2_ASPD2_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_ASPD2_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_ASPD2_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_ATEMP">
+<param humanName="Enable" name="OSD2_ATEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_ATEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_ATEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_BAT2USED">
+<param humanName="Enable" name="OSD2_BAT2USED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_BAT2USED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_BAT2USED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_BAT2VLT">
+<param humanName="Enable" name="OSD2_BAT2VLT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_BAT2VLT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_BAT2VLT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_BATUSED">
+<param humanName="Enable" name="OSD2_BATUSED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_BATUSED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_BATUSED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_BATVOLT">
+<param humanName="Enable" name="OSD2_BATVOLT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_BATVOLT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_BATVOLT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_BLHAMPS">
+<param humanName="Enable" name="OSD2_BLHAMPS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_BLHAMPS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_BLHAMPS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_BLHRPM">
+<param humanName="Enable" name="OSD2_BLHRPM_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_BLHRPM_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_BLHRPM_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_BLHTEMP">
+<param humanName="Enable" name="OSD2_BLHTEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_BLHTEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_BLHTEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_BTEMP">
+<param humanName="Enable" name="OSD2_BTEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_BTEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_BTEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_CLIMBEFF">
+<param humanName="Enable" name="OSD2_CLIMBEFF_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_CLIMBEFF_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_CLIMBEFF_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_CURRENT">
+<param humanName="Enable" name="OSD2_CURRENT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_CURRENT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_CURRENT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_DIST">
+<param humanName="Enable" name="OSD2_DIST_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_DIST_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_DIST_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_EFF">
+<param humanName="Enable" name="OSD2_EFF_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_EFF_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_EFF_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_FLTIME">
+<param humanName="Enable" name="OSD2_FLTIME_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_FLTIME_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_FLTIME_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_FLTMODE">
+<param humanName="Enable" name="OSD2_FLTMODE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_FLTMODE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_FLTMODE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_GPSLAT">
+<param humanName="Enable" name="OSD2_GPSLAT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_GPSLAT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_GPSLAT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_GPSLONG">
+<param humanName="Enable" name="OSD2_GPSLONG_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_GPSLONG_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_GPSLONG_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_GSPEED">
+<param humanName="Enable" name="OSD2_GSPEED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_GSPEED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_GSPEED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_HDOP">
+<param humanName="Enable" name="OSD2_HDOP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_HDOP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_HDOP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_HOME">
+<param humanName="Enable" name="OSD2_HOME_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_HOME_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_HOME_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_HORIZON">
+<param humanName="Enable" name="OSD2_HORIZON_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_HORIZON_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_HORIZON_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_MESSAGE">
+<param humanName="Enable" name="OSD2_MESSAGE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_MESSAGE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_MESSAGE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_PITCH">
+<param humanName="Enable" name="OSD2_PITCH_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_PITCH_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_PITCH_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_ROLL">
+<param humanName="Enable" name="OSD2_ROLL_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_ROLL_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_ROLL_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_RSSI">
+<param humanName="Enable" name="OSD2_RSSI_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_RSSI_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_RSSI_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_SATS">
+<param humanName="Enable" name="OSD2_SATS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_SATS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_SATS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_STATS">
+<param humanName="Enable" name="OSD2_STATS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_STATS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_STATS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_TEMP">
+<param humanName="Enable" name="OSD2_TEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_TEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_TEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_WAYPOINT">
+<param humanName="Enable" name="OSD2_WAYPOINT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_WAYPOINT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_WAYPOINT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_XTRACK">
+<param humanName="Enable" name="OSD2_XTRACK_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_XTRACK_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_XTRACK_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_">
+<param humanName="Enable screen" name="OSD3_ENABLE" documentation="Enable this screen" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Transmitter switch screen minimum pwm" name="OSD3_CHAN_MIN" documentation="This sets the PWM lower limit for this screen" user="Standard">
+<field name="Range">900 2100</field>
+</param>
+<param humanName="Transmitter switch screen maximum pwm" name="OSD3_CHAN_MAX" documentation="This sets the PWM upper limit for this screen" user="Standard">
+<field name="Range">900 2100</field>
+</param>
+</parameters>
+<parameters name="OSD3_ALTITUDE">
+<param humanName="Enable" name="OSD3_ALTITUDE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_ALTITUDE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_ALTITUDE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_ASPD2">
+<param humanName="Enable" name="OSD3_ASPD2_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_ASPD2_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_ASPD2_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_ATEMP">
+<param humanName="Enable" name="OSD3_ATEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_ATEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_ATEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_BAT2USED">
+<param humanName="Enable" name="OSD3_BAT2USED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_BAT2USED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_BAT2USED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_BAT2VLT">
+<param humanName="Enable" name="OSD3_BAT2VLT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_BAT2VLT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_BAT2VLT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_BATUSED">
+<param humanName="Enable" name="OSD3_BATUSED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_BATUSED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_BATUSED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_BATVOLT">
+<param humanName="Enable" name="OSD3_BATVOLT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_BATVOLT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_BATVOLT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_BLHAMPS">
+<param humanName="Enable" name="OSD3_BLHAMPS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_BLHAMPS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_BLHAMPS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_BLHRPM">
+<param humanName="Enable" name="OSD3_BLHRPM_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_BLHRPM_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_BLHRPM_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_BLHTEMP">
+<param humanName="Enable" name="OSD3_BLHTEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_BLHTEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_BLHTEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_BTEMP">
+<param humanName="Enable" name="OSD3_BTEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_BTEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_BTEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_CLIMBEFF">
+<param humanName="Enable" name="OSD3_CLIMBEFF_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_CLIMBEFF_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_CLIMBEFF_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_CURRENT">
+<param humanName="Enable" name="OSD3_CURRENT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_CURRENT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_CURRENT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_DIST">
+<param humanName="Enable" name="OSD3_DIST_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_DIST_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_DIST_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_EFF">
+<param humanName="Enable" name="OSD3_EFF_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_EFF_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_EFF_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_FLTIME">
+<param humanName="Enable" name="OSD3_FLTIME_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_FLTIME_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_FLTIME_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_FLTMODE">
+<param humanName="Enable" name="OSD3_FLTMODE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_FLTMODE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_FLTMODE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_GPSLAT">
+<param humanName="Enable" name="OSD3_GPSLAT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_GPSLAT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_GPSLAT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_GPSLONG">
+<param humanName="Enable" name="OSD3_GPSLONG_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_GPSLONG_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_GPSLONG_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_GSPEED">
+<param humanName="Enable" name="OSD3_GSPEED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_GSPEED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_GSPEED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_HDOP">
+<param humanName="Enable" name="OSD3_HDOP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_HDOP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_HDOP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_HOME">
+<param humanName="Enable" name="OSD3_HOME_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_HOME_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_HOME_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_HORIZON">
+<param humanName="Enable" name="OSD3_HORIZON_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_HORIZON_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_HORIZON_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_MESSAGE">
+<param humanName="Enable" name="OSD3_MESSAGE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_MESSAGE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_MESSAGE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_PITCH">
+<param humanName="Enable" name="OSD3_PITCH_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_PITCH_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_PITCH_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_ROLL">
+<param humanName="Enable" name="OSD3_ROLL_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_ROLL_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_ROLL_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_RSSI">
+<param humanName="Enable" name="OSD3_RSSI_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_RSSI_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_RSSI_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_SATS">
+<param humanName="Enable" name="OSD3_SATS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_SATS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_SATS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_STATS">
+<param humanName="Enable" name="OSD3_STATS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_STATS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_STATS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_TEMP">
+<param humanName="Enable" name="OSD3_TEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_TEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_TEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_WAYPOINT">
+<param humanName="Enable" name="OSD3_WAYPOINT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_WAYPOINT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_WAYPOINT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_XTRACK">
+<param humanName="Enable" name="OSD3_XTRACK_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_XTRACK_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_XTRACK_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_">
+<param humanName="Enable screen" name="OSD4_ENABLE" documentation="Enable this screen" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Transmitter switch screen minimum pwm" name="OSD4_CHAN_MIN" documentation="This sets the PWM lower limit for this screen" user="Standard">
+<field name="Range">900 2100</field>
+</param>
+<param humanName="Transmitter switch screen maximum pwm" name="OSD4_CHAN_MAX" documentation="This sets the PWM upper limit for this screen" user="Standard">
+<field name="Range">900 2100</field>
+</param>
+</parameters>
+<parameters name="OSD4_ALTITUDE">
+<param humanName="Enable" name="OSD4_ALTITUDE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_ALTITUDE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_ALTITUDE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_ASPD2">
+<param humanName="Enable" name="OSD4_ASPD2_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_ASPD2_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_ASPD2_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_ATEMP">
+<param humanName="Enable" name="OSD4_ATEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_ATEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_ATEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_BAT2USED">
+<param humanName="Enable" name="OSD4_BAT2USED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_BAT2USED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_BAT2USED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_BAT2VLT">
+<param humanName="Enable" name="OSD4_BAT2VLT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_BAT2VLT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_BAT2VLT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_BATUSED">
+<param humanName="Enable" name="OSD4_BATUSED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_BATUSED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_BATUSED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_BATVOLT">
+<param humanName="Enable" name="OSD4_BATVOLT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_BATVOLT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_BATVOLT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_BLHAMPS">
+<param humanName="Enable" name="OSD4_BLHAMPS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_BLHAMPS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_BLHAMPS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_BLHRPM">
+<param humanName="Enable" name="OSD4_BLHRPM_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_BLHRPM_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_BLHRPM_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_BLHTEMP">
+<param humanName="Enable" name="OSD4_BLHTEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_BLHTEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_BLHTEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_BTEMP">
+<param humanName="Enable" name="OSD4_BTEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_BTEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_BTEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_CLIMBEFF">
+<param humanName="Enable" name="OSD4_CLIMBEFF_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_CLIMBEFF_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_CLIMBEFF_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_CURRENT">
+<param humanName="Enable" name="OSD4_CURRENT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_CURRENT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_CURRENT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_DIST">
+<param humanName="Enable" name="OSD4_DIST_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_DIST_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_DIST_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_EFF">
+<param humanName="Enable" name="OSD4_EFF_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_EFF_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_EFF_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_FLTIME">
+<param humanName="Enable" name="OSD4_FLTIME_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_FLTIME_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_FLTIME_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_FLTMODE">
+<param humanName="Enable" name="OSD4_FLTMODE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_FLTMODE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_FLTMODE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_GPSLAT">
+<param humanName="Enable" name="OSD4_GPSLAT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_GPSLAT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_GPSLAT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_GPSLONG">
+<param humanName="Enable" name="OSD4_GPSLONG_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_GPSLONG_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_GPSLONG_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_GSPEED">
+<param humanName="Enable" name="OSD4_GSPEED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_GSPEED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_GSPEED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_HDOP">
+<param humanName="Enable" name="OSD4_HDOP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_HDOP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_HDOP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_HOME">
+<param humanName="Enable" name="OSD4_HOME_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_HOME_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_HOME_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_HORIZON">
+<param humanName="Enable" name="OSD4_HORIZON_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_HORIZON_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_HORIZON_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_MESSAGE">
+<param humanName="Enable" name="OSD4_MESSAGE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_MESSAGE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_MESSAGE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_PITCH">
+<param humanName="Enable" name="OSD4_PITCH_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_PITCH_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_PITCH_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_ROLL">
+<param humanName="Enable" name="OSD4_ROLL_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_ROLL_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_ROLL_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_RSSI">
+<param humanName="Enable" name="OSD4_RSSI_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_RSSI_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_RSSI_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_SATS">
+<param humanName="Enable" name="OSD4_SATS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_SATS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_SATS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_STATS">
+<param humanName="Enable" name="OSD4_STATS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_STATS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_STATS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_TEMP">
+<param humanName="Enable" name="OSD4_TEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_TEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_TEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_WAYPOINT">
+<param humanName="Enable" name="OSD4_WAYPOINT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_WAYPOINT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_WAYPOINT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_XTRACK">
+<param humanName="Enable" name="OSD4_XTRACK_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_XTRACK_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_XTRACK_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="PTCH2SRV_">
+<param humanName="Pitch Time Constant" name="PTCH2SRV_TCONST" documentation="Time constant in seconds from demanded to achieved pitch angle. Most models respond well to 0.5. May be reduced for faster responses, but setting lower than a model can achieve will not help." user="Advanced">
+<field name="Range">0.4 1.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Proportional Gain" name="PTCH2SRV_P" documentation="Proportional gain from pitch angle demands to elevator. Higher values allow more servo response but can cause oscillations. Automatically set and adjusted by AUTOTUNE mode." user="User">
+<field name="Range">0.1 3.0</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Damping Gain" name="PTCH2SRV_D" documentation="Damping gain from pitch acceleration to elevator. Higher values reduce pitching in turbulence, but can cause oscillations. Automatically set and adjusted by AUTOTUNE mode." user="User">
+<field name="Range">0 0.2</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Integrator Gain" name="PTCH2SRV_I" documentation='Integrator gain from long-term pitch angle offsets to elevator. Higher values "trim" out offsets faster but can cause oscillations. Automatically set and adjusted by AUTOTUNE mode.' user="User">
+<field name="Range">0 0.5</field>
+<field name="Increment">0.05</field>
+</param>
+<param humanName="Pitch up max rate" name="PTCH2SRV_RMAX_UP" documentation="Maximum pitch up rate that the pitch controller demands (degrees/sec) in ACRO mode." user="Advanced">
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
+</param>
+<param humanName="Pitch down max rate" name="PTCH2SRV_RMAX_DN" documentation="This sets the maximum nose down pitch rate that the controller will demand (degrees/sec). Setting it to zero disables the limit." user="Advanced">
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
+</param>
+<param humanName="Roll compensation" name="PTCH2SRV_RLL" documentation="Gain added to pitch to keep aircraft from descending or ascending in turns. Increase in increments of 0.05 to reduce altitude loss. Decrease for altitude gain." user="User">
+<field name="Range">0.7 1.5</field>
+<field name="Increment">0.05</field>
+</param>
+<param humanName="Integrator limit" name="PTCH2SRV_IMAX" documentation="Limit of pitch integrator gain in centi-degrees of servo travel. Servos are assumed to have +/- 4500 centi-degrees of travel, so a value of 3000 allows trim of up to 2/3 of servo travel range." user="Advanced">
+<field name="Range">0 4500</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Feed forward Gain" name="PTCH2SRV_FF" documentation="Gain from demanded rate to elevator output." user="User">
+<field name="Range">0.1 4.0</field>
+<field name="Increment">0.1</field>
+</param>
+</parameters>
+<parameters name="Q_">
+<param humanName="Enable QuadPlane" name="Q_ENABLE" documentation="This enables QuadPlane functionality, assuming multicopter motors start on output 5. If this is set to 2 then when starting AUTO mode it will initially be in VTOL AUTO mode." user="Standard">
+<values>
+<value code="0">Disable</value>
+<value code="1">Enable</value>
+<value code="2">Enable VTOL AUTO</value>
+</values>
+</param>
+<param humanName="Angle Max" name="Q_ANGLE_MAX" documentation="Maximum lean angle in all VTOL flight modes" user="Advanced">
+<field name="Range">1000 8000</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Transition time" name="Q_TRANSITION_MS" documentation="Transition time in milliseconds after minimum airspeed is reached" user="Advanced">
+<field name="Range">0 30000</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+</param>
+<param humanName="Pilot maximum vertical speed" name="Q_VELZ_MAX" documentation="The maximum vertical velocity the pilot may request in cm/s" user="Standard">
+<field name="Range">50 500</field>
+<field name="Increment">10</field>
+<field name="Units">cm/s</field>
+<field name="UnitText">centimeters per second</field>
+</param>
+<param humanName="Pilot vertical acceleration" name="Q_ACCEL_Z" documentation="The vertical acceleration used when pilot is controlling the altitude" user="Standard">
+<field name="Range">50 500</field>
+<field name="Increment">10</field>
+<field name="Units">cm/s/s</field>
+<field name="UnitText">centimeters per square second</field>
+</param>
+<param humanName="RC output speed in Hz" name="Q_RC_SPEED" documentation="This is the PWM refresh rate in Hz for QuadPlane quad motors" user="Standard">
+<field name="Range">50 500</field>
+<field name="Increment">10</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Minimum PWM output" name="Q_THR_MIN_PWM" documentation="This is the minimum PWM output for the quad motors" user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM output" name="Q_THR_MAX_PWM" documentation="This is the maximum PWM output for the quad motors" user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Quadplane assistance speed" name="Q_ASSIST_SPEED" documentation="This is the speed below which the quad motors will provide stability and lift assistance in fixed wing modes. Zero means no assistance except during transition" user="Standard">
+<field name="Range">0 100</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Maximum yaw rate" name="Q_YAW_RATE_MAX" documentation="This is the maximum yaw rate for pilot input on rudder stick in degrees/second" user="Standard">
+<field name="Range">50 500</field>
+<field name="Increment">1</field>
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
+</param>
+<param humanName="Land speed" name="Q_LAND_SPEED" documentation="The descent speed for the final stage of landing in cm/s" user="Standard">
+<field name="Range">30 200</field>
+<field name="Increment">10</field>
+<field name="Units">cm/s</field>
+<field name="UnitText">centimeters per second</field>
+</param>
+<param humanName="Land final altitude" name="Q_LAND_FINAL_ALT" documentation="The altitude at which we should switch to Q_LAND_SPEED descent rate" user="Standard">
+<field name="Range">0.5 50</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Transition max pitch" name="Q_TRAN_PIT_MAX" documentation="Maximum pitch during transition to auto fixed wing flight" user="Standard">
+<field name="Range">0 30</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Frame Class" name="Q_FRAME_CLASS" documentation="Controls major frame class for multicopter component" user="Standard">
+<values>
+<value code="0">Undefined</value>
+<value code=" 1">Quad</value>
+<value code=" 2">Hexa</value>
+<value code=" 3">Octa</value>
+<value code=" 4">OctaQuad</value>
+<value code=" 5">Y6</value>
+<value code=" 7">Tri</value>
+<value code=" 10"> TailSitter</value>
+</values>
+</param>
+<param humanName="Frame Type (+, X or V)" name="Q_FRAME_TYPE" documentation="Controls motor mixing for multicopter component" user="Standard">
+<values>
+<value code="0">Plus</value>
+<value code=" 1">X</value>
+<value code=" 2">V</value>
+<value code=" 3">H</value>
+<value code=" 4">V-Tail</value>
+<value code=" 5">A-Tail</value>
+<value code=" 10">Y6B</value>
+<value code=" 11">Y6F</value>
+</values>
+</param>
+<param humanName="Forward velocity hold gain" name="Q_VFWD_GAIN" documentation="Controls use of forward motor in vtol modes. If this is zero then the forward motor will not be used for position control in VTOL modes. A value of 0.05 is a good place to start if you want to use the forward motor for position control. No forward motor will be used in QSTABILIZE or QHOVER modes. Use QLOITER for position hold with the forward motor." user="Standard">
+<field name="Range">0 0.5</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Weathervaning gain" name="Q_WVANE_GAIN" documentation="This controls the tendency to yaw to face into the wind. A value of 0.1 is to start with and will give a slow turn into the wind. Use a value of 0.4 for more rapid response. The weathervaning works by turning into the direction of roll." user="Standard">
+<field name="Range">0 1</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Weathervaning min roll" name="Q_WVANE_MINROLL" documentation="This set the minimum roll in degrees before active weathervaning will start. This may need to be larger if your aircraft has bad roll trim." user="Standard">
+<field name="Range">0 10</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="QRTL return altitude" name="Q_RTL_ALT" documentation="The altitude which QRTL mode heads to initially" user="Standard">
+<field name="Range">1 200</field>
+<field name="Increment">1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="VTOL RTL mode" name="Q_RTL_MODE" documentation="If this is set to 1 then an RTL will change to QRTL when within RTL_RADIUS meters of the RTL destination" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Tiltrotor mask" name="Q_TILT_MASK" documentation="This is a bitmask of motors that are tiltable in a tiltrotor (or tiltwing). The mask is in terms of the standard motor order for the frame type." user="Standard">
+</param>
+<param humanName="Tiltrotor upwards tilt rate" name="Q_TILT_RATE_UP" documentation="This is the maximum speed at which the motor angle will change for a tiltrotor when moving from forward flight to hover" user="Standard">
+<field name="Range">10 300</field>
+<field name="Increment">1</field>
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
+</param>
+<param humanName="Tiltrotor maximum VTOL angle" name="Q_TILT_MAX" documentation="This is the maximum angle of the tiltable motors at which multicopter control will be enabled. Beyond this angle the plane will fly solely as a fixed wing aircraft and the motors will tilt to their maximum angle at the TILT_RATE" user="Standard">
+<field name="Range">20 80</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Enable VTOL in GUIDED mode" name="Q_GUIDED_MODE" documentation="This enables use of VTOL in guided mode. When enabled the aircraft will switch to VTOL flight when the guided destination is reached and hover at the destination." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="ESC Calibration" name="Q_ESC_CAL" documentation="This is used to calibrate the throttle range of the VTOL motors. Please read http://ardupilot.org/plane/docs/quadplane-esc-calibration.html before using. This parameter is automatically set back to 0 on every boot. This parameter only takes effect in QSTABILIZE mode. When set to 1 the output of all motors will come directly from the throttle stick when armed, and will be zero when disarmed. When set to 2 the output of all motors will be maximum when armed and zero when disarmed. Make sure you remove all properllers before using." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">ThrottleInput</value>
+<value code="2">FullInput</value>
+</values>
+</param>
+<param humanName="Forward velocity alt cutoff" name="Q_VFWD_ALT" documentation="Controls altitude to disable forward velocity assist when below this relative altitude. This is useful to keep the forward velocity propeller from hitting the ground. Rangefinder height data is incorporated when available." user="Standard">
+<field name="Range">0 10</field>
+<field name="Increment">0.25</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Cut IC engine on landing" name="Q_LAND_ICE_CUT" documentation="This controls stopping an internal combustion engine in the final landing stage of a VTOL. This is important for aircraft where the forward thrust engine may experience prop-strike if left running during landing. This requires the engine controls are enabled using the ICE_* parameters." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Quadplane assistance angle" name="Q_ASSIST_ANGLE" documentation="This is the angular error in attitude beyond which the quadplane VTOL motors will provide stability assistance. This will only be used if Q_ASSIST_SPEED is also non-zero. Assistance will be given if the attitude is outside the normal attitude limits by at least 5 degrees and the angular error in roll or pitch is greater than this angle for at least 1 second. Set to zero to disable angle assistance." user="Standard">
+<field name="Range">0 90</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Tiltrotor type" name="Q_TILT_TYPE" documentation="This is the type of tiltrotor when TILT_MASK is non-zero. A continuous tiltrotor can tilt the rotors to any angle on demand. A binary tiltrotor assumes a retract style servo where the servo is either fully forward or fully up. In both cases the servo can't move faster than Q_TILT_RATE. A vectored yaw tiltrotor will use the tilt of the motors to control yaw in hover">
+<values>
+<value code="0">Continuous</value>
+<value code="1">Binary</value>
+<value code="2">VectoredYaw</value>
+</values>
+</param>
+<param humanName="Tailsitter transition angle" name="Q_TAILSIT_ANGLE" documentation="This is the angle at which tailsitter aircraft will change from VTOL control to fixed wing control.">
+<field name="Range">5 80</field>
+</param>
+<param humanName="Tiltrotor downwards tilt rate" name="Q_TILT_RATE_DN" documentation="This is the maximum speed at which the motor angle will change for a tiltrotor when moving from hover to forward flight. When this is zero the Q_TILT_RATE_UP value is used." user="Standard">
+<field name="Range">10 300</field>
+<field name="Increment">1</field>
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
+</param>
+<param humanName="Tailsitter input type" name="Q_TAILSIT_INPUT" documentation="This controls whether stick input when hovering as a tailsitter follows the conventions for fixed wing hovering or multicopter hovering. When multicopter input is selected the roll stick will roll the aircraft in earth frame and yaw stick will yaw in earth frame. When using fixed wing input the roll and yaw sticks are swapped so that the roll stick controls earth-frame yaw and rudder controls earth-frame roll. When body-frame roll is selected, the yaw stick controls earth-frame yaw rate and the roll stick controls roll in the tailsitter's body frame.">
+<values>
+<value code="0">MultiCopterInput</value>
+<value code="1">FixedWingInput</value>
+<value code="2">BodyFrameRoll_M</value>
+<value code="3">BodyFrameRoll_P</value>
+</values>
+</param>
+<param humanName="Tailsitter input mask" name="Q_TAILSIT_MASK" documentation="This controls what channels have full manual control when hovering as a tailsitter and the Q_TAILSIT_MASKCH channel in high. This can be used to teach yourself to prop-hang a 3D plane by learning one or more channels at a time.">
+<field name="Bitmask">0:Aileron,1:Elevator,2:Throttle,3:Rudder</field>
+</param>
+<param humanName="Tailsitter input mask channel" name="Q_TAILSIT_MASKCH" documentation="This controls what input channel will activate the Q_TAILSIT_MASK mask. When this channel goes above 1700 then the pilot will have direct manual control of the output channels specified in Q_TAILSIT_MASK. Set to zero to disable.">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Channel1</value>
+<value code="2">Channel2</value>
+<value code="3">Channel3</value>
+<value code="4">Channel4</value>
+<value code="5">Channel5</value>
+<value code="6">Channel6</value>
+<value code="7">Channel7</value>
+<value code="8">Channel8</value>
+</values>
+</param>
+<param humanName="Tailsitter vector thrust gain in forward flight" name="Q_TAILSIT_VFGAIN" documentation="This controls the amount of vectored thrust control used in forward flight for a vectored tailsitter">
+<field name="Range">0 1</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Tailsitter vector thrust gain in hover" name="Q_TAILSIT_VHGAIN" documentation="This controls the amount of vectored thrust control used in hover for a vectored tailsitter">
+<field name="Range">0 1</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Tilt minimum angle for vectored yaw" name="Q_TILT_YAW_ANGLE" documentation="This is the angle of the tilt servos when in VTOL mode and at minimum output. This needs to be set for Q_TILT_TYPE=3 to enable vectored control for yaw of tricopter tilt quadplanes.">
+<field name="Range">0 30</field>
+</param>
+<param humanName="Tailsitter vector thrust gain power" name="Q_TAILSIT_VHPOW" documentation="This controls the amount of extra pitch given to the vectored control when at high pitch errors">
+<field name="Range">0 4</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="MAVLink type identifier" name="Q_MAV_TYPE" documentation="This controls the mavlink type given in HEARTBEAT messages. For some GCS types a particular setting will be needed for correct operation.">
+<values>
+<value code="0">AUTO</value>
+<value code="1">FIXED_WING</value>
+<value code="2">QUADROTOR</value>
+<value code="3">COAXIAL</value>
+<value code="4">HELICOPTER</value>
+<value code="7">AIRSHIP</value>
+<value code="8">FREE_BALLOON</value>
+<value code="9">ROCKET</value>
+<value code="10">GROUND_ROVER</value>
+<value code="11">SURFACE_BOAT</value>
+<value code="12">SUBMARINE</value>
+<value code="16">FLAPPING_WING</value>
+<value code="17">KITE</value>
+<value code="19">VTOL_DUOROTOR</value>
+<value code="20">VTOL_QUADROTOR</value>
+<value code="21">VTOL_TILTROTOR</value>
+</values>
+</param>
+<param humanName="quadplane options" name="Q_OPTIONS" documentation="This provides a set of additional control options for quadplanes. LevelTransition means that the wings should be held level to within LEVEL_ROLL_LIMIT degrees during transition to fixed wing flight, and the vehicle will not use the vertical lift motors to climb during the transition. If AllowFWTakeoff bit is not set then fixed wing takeoff on quadplanes will instead perform a VTOL takeoff. If AllowFWLand bit is not set then fixed wing land on quadplanes will instead perform a VTOL land. If respect takeoff frame is not set the vehicle will interpret all takeoff waypoints as an altitude above the corrent position.">
+<field name="Bitmask">0:LevelTransition,1:AllowFWTakeoff,2:AllowFWLand,3:Respect takeoff frame types,4:Use a fixed wing approach for VTOL landings</field>
+</param>
+<param humanName="Transition deceleration" name="Q_TRANS_DECEL" documentation="This is deceleration rate that will be used in calculating the stopping distance when transitioning from fixed wing flight to multicopter flight." user="Standard">
+<field name="Range">0.2 5</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Maximum control throttle scaling value" name="Q_TAILSIT_THSCMX" documentation="Maximum value of throttle scaling for tailsitter velocity scaling, reduce this value to remove low thorottle D ossilaitons " user="Standard">
+<field name="Range">1 5</field>
+</param>
+<param humanName="Quadplane AHRS trim pitch" name="Q_TRIM_PITCH" documentation="This sets the compensation for the pitch angle trim difference between forward and vertical flight pitch, NOTE! this is relative to forward flight trim not mounting locaiton. For tailsitters this is relative to a baseline of 90 degrees." user="Advanced">
+<field name="Range">-10 +10</field>
+<field name="Increment">0.1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Maximum Roll angle" name="Q_TAILSIT_RLL_MX" documentation="Maximum Allowed roll angle for tailsitters. If this is zero then Q_ANGLE_MAX is used." user="Standard">
+<field name="Range">0 80</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Quadplane fixed wing landing approach radius" name="Q_FW_LND_APR_RAD" documentation="This provides the radius used, when using a fixed wing landing approach. If set to 0 then the WP_LOITER_RAD will be selected." user="Advanced">
+<field name="Range">0 200</field>
+<field name="Increment">5</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Quadplane transition failure time" name="Q_TRANS_FAIL" documentation="Maximum time allowed for forward transitions, exceeding this time will cancel the transition and the aircraft will immediately change to QLAND. 0 for no limit." user="Advanced">
+<field name="Range">0 20</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Tailsiter mask" name="Q_TAILSIT_MOTMX" documentation="Bitmask of motors to remain active in forward flight for a 'copter' tailsitter. Non-zero indicates airframe is a tailsitter which pitches forward 90 degrees in forward flight modes." user="Standard">
+<field name="Bitmask">0:Motor 1,1:Motor 2,2:Motor 3,3:Motor 4, 4:Motor 5,5:Motor 6,6:Motor 7,7:Motor 8</field>
+</param>
+<param humanName="Throttle expo strength" name="Q_THROTTLE_EXPO" documentation="Amount of curvature in throttle curve: 0 is linear, 1 is cubic" user="Advanced">
+<field name="Range">0 1</field>
+<field name="Increment">.1</field>
+</param>
+<param humanName="QACRO mode roll rate" name="Q_ACRO_RLL_RATE" documentation="The maximum roll rate at full stick deflection in QACRO mode" user="Standard">
+<field name="Range">10 500</field>
+<field name="Increment">1</field>
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
+</param>
+<param humanName="QACRO mode pitch rate" name="Q_ACRO_PIT_RATE" documentation="The maximum pitch rate at full stick deflection in QACRO mode" user="Standard">
+<field name="Range">10 500</field>
+<field name="Increment">1</field>
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
+</param>
+<param humanName="QACRO mode yaw rate" name="Q_ACRO_YAW_RATE" documentation="The maximum yaw rate at full stick deflection in QACRO mode" user="Standard">
+<field name="Range">10 500</field>
+<field name="Increment">1</field>
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
+</param>
+</parameters>
+<parameters name="Q_A_">
+<param humanName="Yaw target slew rate" name="Q_A_SLEW_YAW" documentation="Maximum rate the yaw target can be updated in Loiter, RTL, Auto flight modes" user="Advanced">
+<field name="Range">500 18000</field>
+<field name="Increment">100</field>
+<field name="Units">cdeg/s</field>
+<field name="UnitText">centidegrees per second</field>
+</param>
+<param humanName="Acceleration Max for Yaw" name="Q_A_ACCEL_Y_MAX" documentation="Maximum acceleration in yaw axis" user="Advanced">
+<field name="Range">0 72000</field>
+<values>
+<value code="0">Disabled</value>
+<value code=" 9000">VerySlow</value>
+<value code=" 18000">Slow</value>
+<value code=" 36000">Medium</value>
+<value code=" 54000">Fast</value>
+</values>
+<field name="Increment">1000</field>
+<field name="Units">cdeg/s/s</field>
+<field name="UnitText">centidegrees per square second</field>
+</param>
+<param humanName="Rate Feedforward Enable" name="Q_A_RATE_FF_ENAB" documentation="Controls whether body-frame rate feedfoward is enabled or disabled" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code=" 1">Enabled</value>
+</values>
+</param>
+<param humanName="Acceleration Max for Roll" name="Q_A_ACCEL_R_MAX" documentation="Maximum acceleration in roll axis" user="Advanced">
+<field name="Range">0 180000</field>
+<values>
+<value code="0">Disabled</value>
+<value code=" 30000">VerySlow</value>
+<value code=" 72000">Slow</value>
+<value code=" 108000">Medium</value>
+<value code=" 162000">Fast</value>
+</values>
+<field name="Increment">1000</field>
+<field name="Units">cdeg/s/s</field>
+<field name="UnitText">centidegrees per square second</field>
+</param>
+<param humanName="Acceleration Max for Pitch" name="Q_A_ACCEL_P_MAX" documentation="Maximum acceleration in pitch axis" user="Advanced">
+<field name="Range">0 180000</field>
+<values>
+<value code="0">Disabled</value>
+<value code=" 30000">VerySlow</value>
+<value code=" 72000">Slow</value>
+<value code=" 108000">Medium</value>
+<value code=" 162000">Fast</value>
+</values>
+<field name="Increment">1000</field>
+<field name="Units">cdeg/s/s</field>
+<field name="UnitText">centidegrees per square second</field>
+</param>
+<param humanName="Angle Boost" name="Q_A_ANGLE_BOOST" documentation="Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code=" 1">Enabled</value>
+</values>
+</param>
+<param humanName="Roll axis angle controller P gain" name="Q_A_ANG_RLL_P" documentation="Roll axis angle controller P gain.  Converts the error between the desired roll angle and actual angle to a desired roll rate" user="Standard">
+<field name="Range">0.0 12.000</field>
+</param>
+<param humanName="Pitch axis angle controller P gain" name="Q_A_ANG_PIT_P" documentation="Pitch axis angle controller P gain.  Converts the error between the desired pitch angle and actual angle to a desired pitch rate" user="Standard">
+<field name="Range">0.0 12.000</field>
+</param>
+<param humanName="Yaw axis angle controller P gain" name="Q_A_ANG_YAW_P" documentation="Yaw axis angle controller P gain.  Converts the error between the desired yaw angle and actual angle to a desired yaw rate" user="Standard">
+<field name="Range">0.0 6.000</field>
+</param>
+<param humanName="Angle Limit (to maintain altitude) Time Constant" name="Q_A_ANG_LIM_TC" documentation="Angle Limit (to maintain altitude) Time Constant" user="Advanced">
+<field name="Range">0.5 10.0</field>
+</param>
+<param humanName="Angular Velocity Max for Roll" name="Q_A_RATE_R_MAX" documentation="Maximum angular velocity in roll axis" user="Advanced">
+<field name="Range">0 1080</field>
+<values>
+<value code="0">Disabled</value>
+<value code=" 360">Slow</value>
+<value code=" 720">Medium</value>
+<value code=" 1080">Fast</value>
+</values>
+<field name="Increment">1</field>
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
+</param>
+<param humanName="Angular Velocity Max for Pitch" name="Q_A_RATE_P_MAX" documentation="Maximum angular velocity in pitch axis" user="Advanced">
+<field name="Range">0 1080</field>
+<values>
+<value code="0">Disabled</value>
+<value code=" 360">Slow</value>
+<value code=" 720">Medium</value>
+<value code=" 1080">Fast</value>
+</values>
+<field name="Increment">1</field>
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
+</param>
+<param humanName="Angular Velocity Max for Yaw" name="Q_A_RATE_Y_MAX" documentation="Maximum angular velocity in yaw axis" user="Advanced">
+<field name="Range">0 1080</field>
+<values>
+<value code="0">Disabled</value>
+<value code=" 360">Slow</value>
+<value code=" 720">Medium</value>
+<value code=" 1080">Fast</value>
+</values>
+<field name="Increment">1</field>
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
+</param>
+<param humanName="Attitude control input time constant (aka smoothing)" name="Q_A_INPUT_TC" documentation="Attitude control input time constant.  Low numbers lead to sharper response, higher numbers to softer response" user="Standard">
+<field name="Range">0 1</field>
+<field name="Values">0.5:Very Soft, 0.2:Soft, 0.15:Medium, 0.1:Crisp, 0.05:Very Crisp</field>
+<field name="Increment">0.01</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Roll axis rate controller P gain" name="Q_A_RAT_RLL_P" documentation="Roll axis rate controller P gain.  Converts the difference between desired roll rate and actual roll rate into a motor speed output" user="Standard">
+<field name="Range">0.05 0.5</field>
+<field name="Increment">0.005</field>
+</param>
+<param humanName="Roll axis rate controller I gain" name="Q_A_RAT_RLL_I" documentation="Roll axis rate controller I gain.  Corrects long-term difference in desired roll rate vs actual roll rate" user="Standard">
+<field name="Range">0.01 2.0</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Roll axis rate controller I gain maximum" name="Q_A_RAT_RLL_IMAX" documentation="Roll axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
+<field name="Range">0 1</field>
+<field name="Increment">0.01</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Roll axis rate controller D gain" name="Q_A_RAT_RLL_D" documentation="Roll axis rate controller D gain.  Compensates for short-term change in desired roll rate vs actual roll rate" user="Standard">
+<field name="Range">0.0 0.02</field>
+<field name="Increment">0.001</field>
+</param>
+<param humanName="Roll axis rate controller feed forward" name="Q_A_RAT_RLL_FF" documentation="Roll axis rate controller feed forward" user="Standard">
+<field name="Range">0 0.5</field>
+<field name="Increment">0.001</field>
+</param>
+<param humanName="Roll axis rate controller input frequency in Hz" name="Q_A_RAT_RLL_FILT" documentation="Roll axis rate controller input frequency in Hz" user="Standard">
+<field name="Range">1 100</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Pitch axis rate controller P gain" name="Q_A_RAT_PIT_P" documentation="Pitch axis rate controller P gain.  Converts the difference between desired pitch rate and actual pitch rate into a motor speed output" user="Standard">
+<field name="Range">0.05 0.50</field>
+<field name="Increment">0.005</field>
+</param>
+<param humanName="Pitch axis rate controller I gain" name="Q_A_RAT_PIT_I" documentation="Pitch axis rate controller I gain.  Corrects long-term difference in desired pitch rate vs actual pitch rate" user="Standard">
+<field name="Range">0.01 2.0</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Pitch axis rate controller I gain maximum" name="Q_A_RAT_PIT_IMAX" documentation="Pitch axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
+<field name="Range">0 1</field>
+<field name="Increment">0.01</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Pitch axis rate controller D gain" name="Q_A_RAT_PIT_D" documentation="Pitch axis rate controller D gain.  Compensates for short-term change in desired pitch rate vs actual pitch rate" user="Standard">
+<field name="Range">0.0 0.02</field>
+<field name="Increment">0.001</field>
+</param>
+<param humanName="Pitch axis rate controller feed forward" name="Q_A_RAT_PIT_FF" documentation="Pitch axis rate controller feed forward" user="Standard">
+<field name="Range">0 0.5</field>
+<field name="Increment">0.001</field>
+</param>
+<param humanName="Pitch axis rate controller input frequency in Hz" name="Q_A_RAT_PIT_FILT" documentation="Pitch axis rate controller input frequency in Hz" user="Standard">
+<field name="Range">1 100</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Yaw axis rate controller P gain" name="Q_A_RAT_YAW_P" documentation="Yaw axis rate controller P gain.  Converts the difference between desired yaw rate and actual yaw rate into a motor speed output" user="Standard">
+<field name="Range">0.10 2.50</field>
+<field name="Increment">0.005</field>
+</param>
+<param humanName="Yaw axis rate controller I gain" name="Q_A_RAT_YAW_I" documentation="Yaw axis rate controller I gain.  Corrects long-term difference in desired yaw rate vs actual yaw rate" user="Standard">
+<field name="Range">0.010 1.0</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Yaw axis rate controller I gain maximum" name="Q_A_RAT_YAW_IMAX" documentation="Yaw axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
+<field name="Range">0 1</field>
+<field name="Increment">0.01</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Yaw axis rate controller D gain" name="Q_A_RAT_YAW_D" documentation="Yaw axis rate controller D gain.  Compensates for short-term change in desired yaw rate vs actual yaw rate" user="Standard">
+<field name="Range">0.000 0.02</field>
+<field name="Increment">0.001</field>
+</param>
+<param humanName="Yaw axis rate controller feed forward" name="Q_A_RAT_YAW_FF" documentation="Yaw axis rate controller feed forward" user="Standard">
+<field name="Range">0 0.5</field>
+<field name="Increment">0.001</field>
+</param>
+<param humanName="Yaw axis rate controller input frequency in Hz" name="Q_A_RAT_YAW_FILT" documentation="Yaw axis rate controller input frequency in Hz" user="Standard">
+<field name="Range">1 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Throttle Mix Minimum" name="Q_A_THR_MIX_MIN" documentation="Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)" user="Advanced">
+<field name="Range">0.1 0.25</field>
+</param>
+<param humanName="Throttle Mix Maximum" name="Q_A_THR_MIX_MAX" documentation="Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)" user="Advanced">
+<field name="Range">0.5 0.9</field>
+</param>
+<param humanName="Throttle Mix Manual" name="Q_A_THR_MIX_MAN" documentation="Throttle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle)" user="Advanced">
+<field name="Range">0.1 0.9</field>
+</param>
+</parameters>
+<parameters name="Q_LOIT_">
+<param humanName="Loiter Angle Max" name="Q_LOIT_ANG_MAX" documentation="Loiter maximum lean angle. Set to zero for 2/3 of PSC_ANGLE_MAX or ANGLE_MAX" user="Advanced">
+<field name="Range">0 45</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Loiter Horizontal Maximum Speed" name="Q_LOIT_SPEED" documentation="Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode" user="Standard">
+<field name="Range">20 2000</field>
+<field name="Increment">50</field>
+<field name="Units">cm/s</field>
+<field name="UnitText">centimeters per second</field>
+</param>
+<param humanName="Loiter maximum correction acceleration" name="Q_LOIT_ACC_MAX" documentation="Loiter maximum correction acceleration in cm/s/s.  Higher values cause the copter to correct position errors more aggressively." user="Advanced">
+<field name="Range">100 981</field>
+<field name="Increment">1</field>
+<field name="Units">cm/s/s</field>
+<field name="UnitText">centimeters per square second</field>
+</param>
+<param humanName="Loiter braking acceleration" name="Q_LOIT_BRK_ACCEL" documentation="Loiter braking acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered." user="Advanced">
+<field name="Range">25 250</field>
+<field name="Increment">1</field>
+<field name="Units">cm/s/s</field>
+<field name="UnitText">centimeters per square second</field>
+</param>
+<param humanName="Loiter braking jerk" name="Q_LOIT_BRK_JERK" documentation="Loiter braking jerk in cm/s/s/s. Higher values will remove braking faster if the pilot moves the sticks during a braking maneuver." user="Advanced">
+<field name="Range">500 5000</field>
+<field name="Increment">1</field>
+<field name="Units">cm/s/s/s</field>
+<field name="UnitText">centimeters per cubic second</field>
+</param>
+<param humanName="Loiter brake start delay (in seconds)" name="Q_LOIT_BRK_DELAY" documentation="Loiter brake start delay (in seconds)" user="Advanced">
+<field name="Range">0 2</field>
+<field name="Increment">0.1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+</parameters>
+<parameters name="Q_M_">
+<param humanName="Matrix Yaw Min" name="Q_M_YAW_HEADROOM" documentation="Yaw control is given at least this pwm in microseconds range" user="Advanced">
+<field name="Range">0 500</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Thrust Curve Expo" name="Q_M_THST_EXPO" documentation="Motor thrust curve exponent (from 0 for linear to 1.0 for second order curve)" user="Advanced">
+<field name="Range">0.25 0.8</field>
+</param>
+<param humanName="Motor Spin maximum" name="Q_M_SPIN_MAX" documentation="Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range" user="Advanced">
+<field name="Values">0.9:Low, 0.95:Default, 1.0:High</field>
+</param>
+<param humanName="Battery voltage compensation maximum voltage" name="Q_M_BAT_VOLT_MAX" documentation="Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust).  Recommend 4.4 * cell count, 0 = Disabled" user="Advanced">
+<field name="Range">6 35</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery voltage compensation minimum voltage" name="Q_M_BAT_VOLT_MIN" documentation="Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust).  Recommend 3.5 * cell count, 0 = Disabled" user="Advanced">
+<field name="Range">6 35</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Motor Current Max" name="Q_M_BAT_CURR_MAX" documentation="Maximum current over which maximum throttle is limited (0 = Disabled)" user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">A</field>
+<field name="UnitText">ampere</field>
+</param>
+<param humanName="Output PWM type" name="Q_M_PWM_TYPE" documentation="This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output" user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">OneShot</value>
+<value code="2">OneShot125</value>
+<value code="3">Brushed</value>
+<value code="4">DShot150</value>
+<value code="5">DShot300</value>
+<value code="6">DShot600</value>
+<value code="7">DShot1200</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="PWM output miniumum" name="Q_M_PWM_MIN" documentation="This sets the min PWM output value in microseconds that will ever be output to the motors, 0 = use input RC3_MIN" user="Advanced">
+<field name="Range">0 2000</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="PWM output maximum" name="Q_M_PWM_MAX" documentation="This sets the max PWM value in microseconds that will ever be output to the motors, 0 = use input RC3_MAX" user="Advanced">
+<field name="Range">0 2000</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Motor Spin minimum" name="Q_M_SPIN_MIN" documentation="Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range.  Should be higher than MOT_SPIN_ARM." user="Advanced">
+<field name="Values">0.0:Low, 0.15:Default, 0.3:High</field>
+</param>
+<param humanName="Motor Spin armed" name="Q_M_SPIN_ARM" documentation="Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range.  Should be lower than MOT_SPIN_MIN." user="Advanced">
+<field name="Values">0.0:Low, 0.1:Default, 0.2:High</field>
+</param>
+<param humanName="Motor Current Max Time Constant" name="Q_M_BAT_CURR_TC" documentation="Time constant used to limit the maximum current" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Thrust Hover Value" name="Q_M_THST_HOVER" documentation="Motor thrust needed to hover expressed as a number from 0 to 1" user="Advanced">
+<field name="Range">0.2 0.8</field>
+</param>
+<param humanName="Hover Value Learning" name="Q_M_HOVER_LEARN" documentation="Enable/Disable automatic learning of hover throttle" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+</values>
+</param>
+<param humanName="Motor PWM output disabled when disarmed" name="Q_M_SAFE_DISARM" documentation="Disables motor PWM output when disarmed" user="Advanced">
+<values>
+<value code="0">PWM enabled while disarmed</value>
+<value code=" 1">PWM disabled while disarmed</value>
+</values>
+</param>
+<param humanName="Yaw Servo Max Lean Angle" name="Q_M_YAW_SV_ANGLE" documentation="Yaw servo's maximum lean angle" user="Standard">
+<field name="Range">5 80</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Spool up time" name="Q_M_SPOOL_TIME" documentation="Time in seconds to spool up the motors from zero to min throttle. " user="Advanced">
+<field name="Range">0 2</field>
+<field name="Increment">0.1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Motor boost scale" name="Q_M_BOOST_SCALE" documentation="Booster motor output scaling factor vs main throttle.  The output to the BoostThrottle servo will be the main throttle times this scaling factor. A higher scaling factor will put more of the load on the booster motor. A value of 1 will set the BoostThrottle equal to the main throttle." user="Advanced">
+<field name="Range">0 5</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Battery compensation index" name="Q_M_BAT_IDX" documentation="Which battery monitor should be used for doing compensation" user="Advanced">
+<values>
+<value code="0">First battery</value>
+<value code=" 1">Second battery</value>
+</values>
+</param>
+<param humanName="Output slew time for increasing throttle" name="Q_M_SLEW_UP_TIME" documentation="Time in seconds to slew output from zero to full.  For medium size copter such as a Solo, a value of 0.25 is a good starting point.  This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5." user="Advanced">
+<field name="Range">0 .5</field>
+<field name="Increment">0.001</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Output slew time for decreasing throttle" name="Q_M_SLEW_DN_TIME" documentation="Time in seconds to slew output from full to zero.  For medium size copter such as a Solo, a value of 0.275 is a good starting point.  This is used to limit the rate at which output can change.  Range is constrained between 0 and 0.5." user="Advanced">
+<field name="Range">0 .5</field>
+<field name="Increment">0.001</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+</parameters>
+<parameters name="Q_P">
+<param humanName="XY Acceleration filter cutoff frequency" name="Q_P_ACC_XY_FILT" documentation="Lower values will slow the response of the navigation controller and reduce twitchiness" user="Advanced">
+<field name="Range">0.5 5</field>
+<field name="Increment">0.1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Position (vertical) controller P gain" name="Q_P_POSZ_P" documentation="Position (vertical) controller P gain.  Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller" user="Standard">
+<field name="Range">1.000 3.000</field>
+</param>
+<param humanName="Velocity (vertical) controller P gain" name="Q_P_VELZ_P" documentation="Velocity (vertical) controller P gain.  Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller" user="Standard">
+<field name="Range">1.000 8.000</field>
+</param>
+<param humanName="Acceleration (vertical) controller P gain" name="Q_P_ACCZ_P" documentation="Acceleration (vertical) controller P gain.  Converts the difference between desired vertical acceleration and actual acceleration into a motor output" user="Standard">
+<field name="Range">0.500 1.500</field>
+<field name="Increment">0.05</field>
+</param>
+<param humanName="Acceleration (vertical) controller I gain" name="Q_P_ACCZ_I" documentation="Acceleration (vertical) controller I gain.  Corrects long-term difference in desired vertical acceleration and actual acceleration" user="Standard">
+<field name="Range">0.000 3.000</field>
+</param>
+<param humanName="Acceleration (vertical) controller I gain maximum" name="Q_P_ACCZ_IMAX" documentation="Acceleration (vertical) controller I gain maximum.  Constrains the maximum pwm that the I term will generate" user="Standard">
+<field name="Range">0 1000</field>
+<field name="Units">d%</field>
+<field name="UnitText">decipercent</field>
+</param>
+<param humanName="Acceleration (vertical) controller D gain" name="Q_P_ACCZ_D" documentation="Acceleration (vertical) controller D gain.  Compensates for short-term change in desired vertical acceleration vs actual acceleration" user="Standard">
+<field name="Range">0.000 0.400</field>
+</param>
+<param humanName="Acceleration (vertical) controller filter" name="Q_P_ACCZ_FILT" documentation="Filter applied to acceleration to reduce noise.  Lower values reduce noise but add delay." user="Standard">
+<field name="Range">1.000 100.000</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Position (horizonal) controller P gain" name="Q_P_POSXY_P" documentation="Position controller P gain.  Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller" user="Standard">
+<field name="Range">0.500 2.000</field>
+</param>
+<param humanName="Velocity (horizontal) P gain" name="Q_P_VELXY_P" documentation="Velocity (horizontal) P gain.  Converts the difference between desired velocity to a target acceleration" user="Advanced">
+<field name="Range">0.1 6.0</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Velocity (horizontal) I gain" name="Q_P_VELXY_I" documentation="Velocity (horizontal) I gain.  Corrects long-term difference in desired velocity to a target acceleration" user="Advanced">
+<field name="Range">0.02 1.00</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Velocity (horizontal) D gain" name="Q_P_VELXY_D" documentation="Velocity (horizontal) D gain.  Corrects short-term changes in velocity" user="Advanced">
+<field name="Range">0.00 1.00</field>
+<field name="Increment">0.001</field>
+</param>
+<param humanName="Velocity (horizontal) integrator maximum" name="Q_P_VELXY_IMAX" documentation="Velocity (horizontal) integrator maximum.  Constrains the target acceleration that the I gain will output" user="Advanced">
+<field name="Range">0 4500</field>
+<field name="Increment">10</field>
+<field name="Units">cm/s/s</field>
+<field name="UnitText">centimeters per square second</field>
+</param>
+<param humanName="Velocity (horizontal) input filter" name="Q_P_VELXY_FILT" documentation="Velocity (horizontal) input filter.  This filter (in hz) is applied to the input for P and I terms" user="Advanced">
+<field name="Range">0 100</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Velocity (horizontal) input filter" name="Q_P_VELXY_D_FILT" documentation="Velocity (horizontal) input filter.  This filter (in hz) is applied to the input for P and I terms" user="Advanced">
+<field name="Range">0 100</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Position Control Angle Max" name="Q_P_ANGLE_MAX" documentation="Maximum lean angle autopilot can request.  Set to zero to use ANGLE_MAX parameter value" user="Advanced">
+<field name="Range">0 45</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+</parameters>
+<parameters name="Q_WP_">
+<param humanName="Waypoint Horizontal Speed Target" name="Q_WP_SPEED" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission" user="Standard">
+<field name="Range">20 2000</field>
+<field name="Increment">50</field>
+<field name="Units">cm/s</field>
+<field name="UnitText">centimeters per second</field>
+</param>
+<param humanName="Waypoint Radius" name="Q_WP_RADIUS" documentation="Defines the distance from a waypoint, that when crossed indicates the wp has been hit." user="Standard">
+<field name="Range">5 1000</field>
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Waypoint Climb Speed Target" name="Q_WP_SPEED_UP" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission" user="Standard">
+<field name="Range">10 1000</field>
+<field name="Increment">50</field>
+<field name="Units">cm/s</field>
+<field name="UnitText">centimeters per second</field>
+</param>
+<param humanName="Waypoint Descent Speed Target" name="Q_WP_SPEED_DN" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission" user="Standard">
+<field name="Range">10 500</field>
+<field name="Increment">10</field>
+<field name="Units">cm/s</field>
+<field name="UnitText">centimeters per second</field>
+</param>
+<param humanName="Waypoint Acceleration " name="Q_WP_ACCEL" documentation="Defines the horizontal acceleration in cm/s/s used during missions" user="Standard">
+<field name="Range">50 500</field>
+<field name="Increment">10</field>
+<field name="Units">cm/s/s</field>
+<field name="UnitText">centimeters per square second</field>
+</param>
+<param humanName="Waypoint Vertical Acceleration" name="Q_WP_ACCEL_Z" documentation="Defines the vertical acceleration in cm/s/s used during missions" user="Standard">
+<field name="Range">50 500</field>
+<field name="Increment">10</field>
+<field name="Units">cm/s/s</field>
+<field name="UnitText">centimeters per square second</field>
+</param>
+<param humanName="Waypoint missions use rangefinder for terrain following" name="Q_WP_RFND_USE" documentation="This controls if waypoint missions use rangefinder for terrain following" user="Advanced">
+<values>
+<value code="0">Disable</value>
+<value code="1">Enable</value>
+</values>
+</param>
+</parameters>
+<parameters name="RALLY_">
+<param humanName="Rally Total" name="RALLY_TOTAL" documentation="Number of rally points currently loaded" user="Advanced">
+</param>
+<param humanName="Rally Limit" name="RALLY_LIMIT_KM" documentation="Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">km</field>
+<field name="UnitText">kilometers</field>
+</param>
+<param humanName="Rally Include Home" name="RALLY_INCL_HOME" documentation="Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL" user="Standard">
+<values>
+<value code="0">DoNotIncludeHome</value>
+<value code="1">IncludeHome</value>
+</values>
+</param>
+</parameters>
+<parameters name="RC">
+<param humanName="RC override timeout" name="RC_OVERRIDE_TIME" documentation="Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled" user="Advanced">
+<field name="Range">0.0 120.0</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="RC options" name="RC_OPTIONS" documentation="RC input options" user="Advanced">
+<field name="Bitmask">0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe</field>
+</param>
+</parameters>
+<parameters name="RC10_">
+<param humanName="RC min PWM" name="RC10_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC trim PWM" name="RC10_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC max PWM" name="RC10_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC reversed" name="RC10_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="RC dead-zone" name="RC10_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC input option" name="RC10_OPTION" documentation="Function assigned to this RC channel" user="Standard">
+<values>
+<value code="0">Do Nothing</value>
+<value code=" 9">Camera Trigger</value>
+<value code=" 28">Relay On/Off</value>
+<value code=" 29">Landing Gear</value>
+<value code=" 34">Relay2 On/Off</value>
+<value code=" 30">Lost Plane Sound</value>
+<value code=" 31">Motor Emergency Stop</value>
+<value code=" 35">Relay3 On/Off</value>
+<value code=" 36">Relay4 On/Off</value>
+<value code=" 41">ArmDisarm</value>
+<value code=" 43">InvertedFlight</value>
+<value code=" 46">RC Override Enable</value>
+<value code=" 58">Clear Waypoints</value>
+<value code=" 62">Compass Learn</value>
+<value code=" 64">Reverse Throttle</value>
+<value code=" 65">GPS Disable</value>
+<value code=" 66">Relay5</value>
+<value code=" 67">Relay6</value>
+</values>
+</param>
+</parameters>
+<parameters name="RC11_">
+<param humanName="RC min PWM" name="RC11_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC trim PWM" name="RC11_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC max PWM" name="RC11_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC reversed" name="RC11_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="RC dead-zone" name="RC11_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC input option" name="RC11_OPTION" documentation="Function assigned to this RC channel" user="Standard">
+<values>
+<value code="0">Do Nothing</value>
+<value code=" 9">Camera Trigger</value>
+<value code=" 28">Relay On/Off</value>
+<value code=" 29">Landing Gear</value>
+<value code=" 34">Relay2 On/Off</value>
+<value code=" 30">Lost Plane Sound</value>
+<value code=" 31">Motor Emergency Stop</value>
+<value code=" 35">Relay3 On/Off</value>
+<value code=" 36">Relay4 On/Off</value>
+<value code=" 41">ArmDisarm</value>
+<value code=" 43">InvertedFlight</value>
+<value code=" 46">RC Override Enable</value>
+<value code=" 58">Clear Waypoints</value>
+<value code=" 62">Compass Learn</value>
+<value code=" 64">Reverse Throttle</value>
+<value code=" 65">GPS Disable</value>
+<value code=" 66">Relay5</value>
+<value code=" 67">Relay6</value>
+</values>
+</param>
+</parameters>
+<parameters name="RC12_">
+<param humanName="RC min PWM" name="RC12_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC trim PWM" name="RC12_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC max PWM" name="RC12_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC reversed" name="RC12_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="RC dead-zone" name="RC12_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC input option" name="RC12_OPTION" documentation="Function assigned to this RC channel" user="Standard">
+<values>
+<value code="0">Do Nothing</value>
+<value code=" 9">Camera Trigger</value>
+<value code=" 28">Relay On/Off</value>
+<value code=" 29">Landing Gear</value>
+<value code=" 34">Relay2 On/Off</value>
+<value code=" 30">Lost Plane Sound</value>
+<value code=" 31">Motor Emergency Stop</value>
+<value code=" 35">Relay3 On/Off</value>
+<value code=" 36">Relay4 On/Off</value>
+<value code=" 41">ArmDisarm</value>
+<value code=" 43">InvertedFlight</value>
+<value code=" 46">RC Override Enable</value>
+<value code=" 58">Clear Waypoints</value>
+<value code=" 62">Compass Learn</value>
+<value code=" 64">Reverse Throttle</value>
+<value code=" 65">GPS Disable</value>
+<value code=" 66">Relay5</value>
+<value code=" 67">Relay6</value>
+</values>
+</param>
+</parameters>
+<parameters name="RC13_">
+<param humanName="RC min PWM" name="RC13_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC trim PWM" name="RC13_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC max PWM" name="RC13_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC reversed" name="RC13_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="RC dead-zone" name="RC13_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC input option" name="RC13_OPTION" documentation="Function assigned to this RC channel" user="Standard">
+<values>
+<value code="0">Do Nothing</value>
+<value code=" 9">Camera Trigger</value>
+<value code=" 28">Relay On/Off</value>
+<value code=" 29">Landing Gear</value>
+<value code=" 34">Relay2 On/Off</value>
+<value code=" 30">Lost Plane Sound</value>
+<value code=" 31">Motor Emergency Stop</value>
+<value code=" 35">Relay3 On/Off</value>
+<value code=" 36">Relay4 On/Off</value>
+<value code=" 41">ArmDisarm</value>
+<value code=" 43">InvertedFlight</value>
+<value code=" 46">RC Override Enable</value>
+<value code=" 58">Clear Waypoints</value>
+<value code=" 62">Compass Learn</value>
+<value code=" 64">Reverse Throttle</value>
+<value code=" 65">GPS Disable</value>
+<value code=" 66">Relay5</value>
+<value code=" 67">Relay6</value>
+</values>
+</param>
+</parameters>
+<parameters name="RC14_">
+<param humanName="RC min PWM" name="RC14_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC trim PWM" name="RC14_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC max PWM" name="RC14_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC reversed" name="RC14_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="RC dead-zone" name="RC14_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC input option" name="RC14_OPTION" documentation="Function assigned to this RC channel" user="Standard">
+<values>
+<value code="0">Do Nothing</value>
+<value code=" 9">Camera Trigger</value>
+<value code=" 28">Relay On/Off</value>
+<value code=" 29">Landing Gear</value>
+<value code=" 34">Relay2 On/Off</value>
+<value code=" 30">Lost Plane Sound</value>
+<value code=" 31">Motor Emergency Stop</value>
+<value code=" 35">Relay3 On/Off</value>
+<value code=" 36">Relay4 On/Off</value>
+<value code=" 41">ArmDisarm</value>
+<value code=" 43">InvertedFlight</value>
+<value code=" 46">RC Override Enable</value>
+<value code=" 58">Clear Waypoints</value>
+<value code=" 62">Compass Learn</value>
+<value code=" 64">Reverse Throttle</value>
+<value code=" 65">GPS Disable</value>
+<value code=" 66">Relay5</value>
+<value code=" 67">Relay6</value>
+</values>
+</param>
+</parameters>
+<parameters name="RC15_">
+<param humanName="RC min PWM" name="RC15_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC trim PWM" name="RC15_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC max PWM" name="RC15_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC reversed" name="RC15_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="RC dead-zone" name="RC15_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC input option" name="RC15_OPTION" documentation="Function assigned to this RC channel" user="Standard">
+<values>
+<value code="0">Do Nothing</value>
+<value code=" 9">Camera Trigger</value>
+<value code=" 28">Relay On/Off</value>
+<value code=" 29">Landing Gear</value>
+<value code=" 34">Relay2 On/Off</value>
+<value code=" 30">Lost Plane Sound</value>
+<value code=" 31">Motor Emergency Stop</value>
+<value code=" 35">Relay3 On/Off</value>
+<value code=" 36">Relay4 On/Off</value>
+<value code=" 41">ArmDisarm</value>
+<value code=" 43">InvertedFlight</value>
+<value code=" 46">RC Override Enable</value>
+<value code=" 58">Clear Waypoints</value>
+<value code=" 62">Compass Learn</value>
+<value code=" 64">Reverse Throttle</value>
+<value code=" 65">GPS Disable</value>
+<value code=" 66">Relay5</value>
+<value code=" 67">Relay6</value>
+</values>
+</param>
+</parameters>
+<parameters name="RC16_">
+<param humanName="RC min PWM" name="RC16_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC trim PWM" name="RC16_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC max PWM" name="RC16_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC reversed" name="RC16_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="RC dead-zone" name="RC16_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC input option" name="RC16_OPTION" documentation="Function assigned to this RC channel" user="Standard">
+<values>
+<value code="0">Do Nothing</value>
+<value code=" 9">Camera Trigger</value>
+<value code=" 28">Relay On/Off</value>
+<value code=" 29">Landing Gear</value>
+<value code=" 34">Relay2 On/Off</value>
+<value code=" 30">Lost Plane Sound</value>
+<value code=" 31">Motor Emergency Stop</value>
+<value code=" 35">Relay3 On/Off</value>
+<value code=" 36">Relay4 On/Off</value>
+<value code=" 41">ArmDisarm</value>
+<value code=" 43">InvertedFlight</value>
+<value code=" 46">RC Override Enable</value>
+<value code=" 58">Clear Waypoints</value>
+<value code=" 62">Compass Learn</value>
+<value code=" 64">Reverse Throttle</value>
+<value code=" 65">GPS Disable</value>
+<value code=" 66">Relay5</value>
+<value code=" 67">Relay6</value>
+</values>
+</param>
+</parameters>
+<parameters name="RC1_">
+<param humanName="RC min PWM" name="RC1_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC trim PWM" name="RC1_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC max PWM" name="RC1_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC reversed" name="RC1_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="RC dead-zone" name="RC1_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC input option" name="RC1_OPTION" documentation="Function assigned to this RC channel" user="Standard">
+<values>
+<value code="0">Do Nothing</value>
+<value code=" 9">Camera Trigger</value>
+<value code=" 28">Relay On/Off</value>
+<value code=" 29">Landing Gear</value>
+<value code=" 34">Relay2 On/Off</value>
+<value code=" 30">Lost Plane Sound</value>
+<value code=" 31">Motor Emergency Stop</value>
+<value code=" 35">Relay3 On/Off</value>
+<value code=" 36">Relay4 On/Off</value>
+<value code=" 41">ArmDisarm</value>
+<value code=" 43">InvertedFlight</value>
+<value code=" 46">RC Override Enable</value>
+<value code=" 58">Clear Waypoints</value>
+<value code=" 62">Compass Learn</value>
+<value code=" 64">Reverse Throttle</value>
+<value code=" 65">GPS Disable</value>
+<value code=" 66">Relay5</value>
+<value code=" 67">Relay6</value>
+</values>
+</param>
+</parameters>
+<parameters name="RC2_">
+<param humanName="RC min PWM" name="RC2_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC trim PWM" name="RC2_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC max PWM" name="RC2_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC reversed" name="RC2_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="RC dead-zone" name="RC2_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC input option" name="RC2_OPTION" documentation="Function assigned to this RC channel" user="Standard">
+<values>
+<value code="0">Do Nothing</value>
+<value code=" 9">Camera Trigger</value>
+<value code=" 28">Relay On/Off</value>
+<value code=" 29">Landing Gear</value>
+<value code=" 34">Relay2 On/Off</value>
+<value code=" 30">Lost Plane Sound</value>
+<value code=" 31">Motor Emergency Stop</value>
+<value code=" 35">Relay3 On/Off</value>
+<value code=" 36">Relay4 On/Off</value>
+<value code=" 41">ArmDisarm</value>
+<value code=" 43">InvertedFlight</value>
+<value code=" 46">RC Override Enable</value>
+<value code=" 58">Clear Waypoints</value>
+<value code=" 62">Compass Learn</value>
+<value code=" 64">Reverse Throttle</value>
+<value code=" 65">GPS Disable</value>
+<value code=" 66">Relay5</value>
+<value code=" 67">Relay6</value>
+</values>
+</param>
+</parameters>
+<parameters name="RC3_">
+<param humanName="RC min PWM" name="RC3_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC trim PWM" name="RC3_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC max PWM" name="RC3_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC reversed" name="RC3_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="RC dead-zone" name="RC3_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC input option" name="RC3_OPTION" documentation="Function assigned to this RC channel" user="Standard">
+<values>
+<value code="0">Do Nothing</value>
+<value code=" 9">Camera Trigger</value>
+<value code=" 28">Relay On/Off</value>
+<value code=" 29">Landing Gear</value>
+<value code=" 34">Relay2 On/Off</value>
+<value code=" 30">Lost Plane Sound</value>
+<value code=" 31">Motor Emergency Stop</value>
+<value code=" 35">Relay3 On/Off</value>
+<value code=" 36">Relay4 On/Off</value>
+<value code=" 41">ArmDisarm</value>
+<value code=" 43">InvertedFlight</value>
+<value code=" 46">RC Override Enable</value>
+<value code=" 58">Clear Waypoints</value>
+<value code=" 62">Compass Learn</value>
+<value code=" 64">Reverse Throttle</value>
+<value code=" 65">GPS Disable</value>
+<value code=" 66">Relay5</value>
+<value code=" 67">Relay6</value>
+</values>
+</param>
+</parameters>
+<parameters name="RC4_">
+<param humanName="RC min PWM" name="RC4_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC trim PWM" name="RC4_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC max PWM" name="RC4_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC reversed" name="RC4_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="RC dead-zone" name="RC4_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC input option" name="RC4_OPTION" documentation="Function assigned to this RC channel" user="Standard">
+<values>
+<value code="0">Do Nothing</value>
+<value code=" 9">Camera Trigger</value>
+<value code=" 28">Relay On/Off</value>
+<value code=" 29">Landing Gear</value>
+<value code=" 34">Relay2 On/Off</value>
+<value code=" 30">Lost Plane Sound</value>
+<value code=" 31">Motor Emergency Stop</value>
+<value code=" 35">Relay3 On/Off</value>
+<value code=" 36">Relay4 On/Off</value>
+<value code=" 41">ArmDisarm</value>
+<value code=" 43">InvertedFlight</value>
+<value code=" 46">RC Override Enable</value>
+<value code=" 58">Clear Waypoints</value>
+<value code=" 62">Compass Learn</value>
+<value code=" 64">Reverse Throttle</value>
+<value code=" 65">GPS Disable</value>
+<value code=" 66">Relay5</value>
+<value code=" 67">Relay6</value>
+</values>
+</param>
+</parameters>
+<parameters name="RC5_">
+<param humanName="RC min PWM" name="RC5_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC trim PWM" name="RC5_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC max PWM" name="RC5_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC reversed" name="RC5_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="RC dead-zone" name="RC5_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC input option" name="RC5_OPTION" documentation="Function assigned to this RC channel" user="Standard">
+<values>
+<value code="0">Do Nothing</value>
+<value code=" 9">Camera Trigger</value>
+<value code=" 28">Relay On/Off</value>
+<value code=" 29">Landing Gear</value>
+<value code=" 34">Relay2 On/Off</value>
+<value code=" 30">Lost Plane Sound</value>
+<value code=" 31">Motor Emergency Stop</value>
+<value code=" 35">Relay3 On/Off</value>
+<value code=" 36">Relay4 On/Off</value>
+<value code=" 41">ArmDisarm</value>
+<value code=" 43">InvertedFlight</value>
+<value code=" 46">RC Override Enable</value>
+<value code=" 58">Clear Waypoints</value>
+<value code=" 62">Compass Learn</value>
+<value code=" 64">Reverse Throttle</value>
+<value code=" 65">GPS Disable</value>
+<value code=" 66">Relay5</value>
+<value code=" 67">Relay6</value>
+</values>
+</param>
+</parameters>
+<parameters name="RC6_">
+<param humanName="RC min PWM" name="RC6_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC trim PWM" name="RC6_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC max PWM" name="RC6_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC reversed" name="RC6_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="RC dead-zone" name="RC6_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC input option" name="RC6_OPTION" documentation="Function assigned to this RC channel" user="Standard">
+<values>
+<value code="0">Do Nothing</value>
+<value code=" 9">Camera Trigger</value>
+<value code=" 28">Relay On/Off</value>
+<value code=" 29">Landing Gear</value>
+<value code=" 34">Relay2 On/Off</value>
+<value code=" 30">Lost Plane Sound</value>
+<value code=" 31">Motor Emergency Stop</value>
+<value code=" 35">Relay3 On/Off</value>
+<value code=" 36">Relay4 On/Off</value>
+<value code=" 41">ArmDisarm</value>
+<value code=" 43">InvertedFlight</value>
+<value code=" 46">RC Override Enable</value>
+<value code=" 58">Clear Waypoints</value>
+<value code=" 62">Compass Learn</value>
+<value code=" 64">Reverse Throttle</value>
+<value code=" 65">GPS Disable</value>
+<value code=" 66">Relay5</value>
+<value code=" 67">Relay6</value>
+</values>
+</param>
+</parameters>
+<parameters name="RC7_">
+<param humanName="RC min PWM" name="RC7_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC trim PWM" name="RC7_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC max PWM" name="RC7_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC reversed" name="RC7_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="RC dead-zone" name="RC7_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC input option" name="RC7_OPTION" documentation="Function assigned to this RC channel" user="Standard">
+<values>
+<value code="0">Do Nothing</value>
+<value code=" 9">Camera Trigger</value>
+<value code=" 28">Relay On/Off</value>
+<value code=" 29">Landing Gear</value>
+<value code=" 34">Relay2 On/Off</value>
+<value code=" 30">Lost Plane Sound</value>
+<value code=" 31">Motor Emergency Stop</value>
+<value code=" 35">Relay3 On/Off</value>
+<value code=" 36">Relay4 On/Off</value>
+<value code=" 41">ArmDisarm</value>
+<value code=" 43">InvertedFlight</value>
+<value code=" 46">RC Override Enable</value>
+<value code=" 58">Clear Waypoints</value>
+<value code=" 62">Compass Learn</value>
+<value code=" 64">Reverse Throttle</value>
+<value code=" 65">GPS Disable</value>
+<value code=" 66">Relay5</value>
+<value code=" 67">Relay6</value>
+</values>
+</param>
+</parameters>
+<parameters name="RC8_">
+<param humanName="RC min PWM" name="RC8_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC trim PWM" name="RC8_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC max PWM" name="RC8_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC reversed" name="RC8_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="RC dead-zone" name="RC8_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC input option" name="RC8_OPTION" documentation="Function assigned to this RC channel" user="Standard">
+<values>
+<value code="0">Do Nothing</value>
+<value code=" 9">Camera Trigger</value>
+<value code=" 28">Relay On/Off</value>
+<value code=" 29">Landing Gear</value>
+<value code=" 34">Relay2 On/Off</value>
+<value code=" 30">Lost Plane Sound</value>
+<value code=" 31">Motor Emergency Stop</value>
+<value code=" 35">Relay3 On/Off</value>
+<value code=" 36">Relay4 On/Off</value>
+<value code=" 41">ArmDisarm</value>
+<value code=" 43">InvertedFlight</value>
+<value code=" 46">RC Override Enable</value>
+<value code=" 58">Clear Waypoints</value>
+<value code=" 62">Compass Learn</value>
+<value code=" 64">Reverse Throttle</value>
+<value code=" 65">GPS Disable</value>
+<value code=" 66">Relay5</value>
+<value code=" 67">Relay6</value>
+</values>
+</param>
+</parameters>
+<parameters name="RC9_">
+<param humanName="RC min PWM" name="RC9_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC trim PWM" name="RC9_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC max PWM" name="RC9_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC reversed" name="RC9_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="RC dead-zone" name="RC9_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC input option" name="RC9_OPTION" documentation="Function assigned to this RC channel" user="Standard">
+<values>
+<value code="0">Do Nothing</value>
+<value code=" 9">Camera Trigger</value>
+<value code=" 28">Relay On/Off</value>
+<value code=" 29">Landing Gear</value>
+<value code=" 34">Relay2 On/Off</value>
+<value code=" 30">Lost Plane Sound</value>
+<value code=" 31">Motor Emergency Stop</value>
+<value code=" 35">Relay3 On/Off</value>
+<value code=" 36">Relay4 On/Off</value>
+<value code=" 41">ArmDisarm</value>
+<value code=" 43">InvertedFlight</value>
+<value code=" 46">RC Override Enable</value>
+<value code=" 58">Clear Waypoints</value>
+<value code=" 62">Compass Learn</value>
+<value code=" 64">Reverse Throttle</value>
+<value code=" 65">GPS Disable</value>
+<value code=" 66">Relay5</value>
+<value code=" 67">Relay6</value>
+</values>
+</param>
+</parameters>
+<parameters name="RCMAP_">
+<param humanName="Roll channel" name="RCMAP_ROLL" documentation="Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect." user="Advanced">
+<field name="Range">1 8</field>
+<field name="Increment">1</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Pitch channel" name="RCMAP_PITCH" documentation="Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect." user="Advanced">
+<field name="Range">1 8</field>
+<field name="Increment">1</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Throttle channel" name="RCMAP_THROTTLE" documentation="Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Warning APM 2.X: Changing the throttle channel could produce unexpected fail-safe results if connection between receiver and on-board PPM Encoder is lost. Disabling on-board PPM Encoder is recommended.  Reboot is required for changes to take effect." user="Advanced">
+<field name="Range">1 8</field>
+<field name="Increment">1</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Yaw channel" name="RCMAP_YAW" documentation="Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect." user="Advanced">
+<field name="Range">1 8</field>
+<field name="Increment">1</field>
+<field name="RebootRequired">True</field>
+</param>
+</parameters>
+<parameters name="RELAY_">
+<param humanName="First Relay Pin" name="RELAY_PIN" documentation="Digital pin number for first relay control. This is the pin used for camera control." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="49">BB Blue GP0 pin 4</value>
+<value code="50">AUXOUT1</value>
+<value code="51">AUXOUT2</value>
+<value code="52">AUXOUT3</value>
+<value code="53">AUXOUT4</value>
+<value code="54">AUXOUT5</value>
+<value code="55">AUXOUT6</value>
+<value code="57">BB Blue GP0 pin 3</value>
+<value code="113">BB Blue GP0 pin 6</value>
+<value code="116">BB Blue GP0 pin 5</value>
+</values>
+</param>
+<param humanName="Second Relay Pin" name="RELAY_PIN2" documentation="Digital pin number for 2nd relay control." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="49">BB Blue GP0 pin 4</value>
+<value code="50">AUXOUT1</value>
+<value code="51">AUXOUT2</value>
+<value code="52">AUXOUT3</value>
+<value code="53">AUXOUT4</value>
+<value code="54">AUXOUT5</value>
+<value code="55">AUXOUT6</value>
+<value code="57">BB Blue GP0 pin 3</value>
+<value code="113">BB Blue GP0 pin 6</value>
+<value code="116">BB Blue GP0 pin 5</value>
+</values>
+</param>
+<param humanName="Third Relay Pin" name="RELAY_PIN3" documentation="Digital pin number for 3rd relay control." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="49">BB Blue GP0 pin 4</value>
+<value code="50">AUXOUT1</value>
+<value code="51">AUXOUT2</value>
+<value code="52">AUXOUT3</value>
+<value code="53">AUXOUT4</value>
+<value code="54">AUXOUT5</value>
+<value code="55">AUXOUT6</value>
+<value code="57">BB Blue GP0 pin 3</value>
+<value code="113">BB Blue GP0 pin 6</value>
+<value code="116">BB Blue GP0 pin 5</value>
+</values>
+</param>
+<param humanName="Fourth Relay Pin" name="RELAY_PIN4" documentation="Digital pin number for 4th relay control." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="49">BB Blue GP0 pin 4</value>
+<value code="50">AUXOUT1</value>
+<value code="51">AUXOUT2</value>
+<value code="52">AUXOUT3</value>
+<value code="53">AUXOUT4</value>
+<value code="54">AUXOUT5</value>
+<value code="55">AUXOUT6</value>
+<value code="57">BB Blue GP0 pin 3</value>
+<value code="113">BB Blue GP0 pin 6</value>
+<value code="116">BB Blue GP0 pin 5</value>
+</values>
+</param>
+<param humanName="Default relay state" name="RELAY_DEFAULT" documentation="The state of the relay on boot." user="Standard">
+<values>
+<value code="0">Off</value>
+<value code="1">On</value>
+<value code="2">NoChange</value>
+</values>
+</param>
+<param humanName="Fifth Relay Pin" name="RELAY_PIN5" documentation="Digital pin number for 5th relay control." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="49">BB Blue GP0 pin 4</value>
+<value code="50">AUXOUT1</value>
+<value code="51">AUXOUT2</value>
+<value code="52">AUXOUT3</value>
+<value code="53">AUXOUT4</value>
+<value code="54">AUXOUT5</value>
+<value code="55">AUXOUT6</value>
+<value code="57">BB Blue GP0 pin 3</value>
+<value code="113">BB Blue GP0 pin 6</value>
+<value code="116">BB Blue GP0 pin 5</value>
+</values>
+</param>
+<param humanName="Sixth Relay Pin" name="RELAY_PIN6" documentation="Digital pin number for 6th relay control." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="49">BB Blue GP0 pin 4</value>
+<value code="50">AUXOUT1</value>
+<value code="51">AUXOUT2</value>
+<value code="52">AUXOUT3</value>
+<value code="53">AUXOUT4</value>
+<value code="54">AUXOUT5</value>
+<value code="55">AUXOUT6</value>
+<value code="57">BB Blue GP0 pin 3</value>
+<value code="113">BB Blue GP0 pin 6</value>
+<value code="116">BB Blue GP0 pin 5</value>
+</values>
+</param>
+</parameters>
+<parameters name="RLL2SRV_">
+<param humanName="Roll Time Constant" name="RLL2SRV_TCONST" documentation="Time constant in seconds from demanded to achieved roll angle. Most models respond well to 0.5. May be reduced for faster responses, but setting lower than a model can achieve will not help." user="Advanced">
+<field name="Range">0.4 1.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Proportional Gain" name="RLL2SRV_P" documentation="Proportional gain from roll angle demands to ailerons. Higher values allow more servo response but can cause oscillations. Automatically set and adjusted by AUTOTUNE mode." user="User">
+<field name="Range">0.1 4.0</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Damping Gain" name="RLL2SRV_D" documentation="Damping gain from roll acceleration to ailerons. Higher values reduce rolling in turbulence, but can cause oscillations. Automatically set and adjusted by AUTOTUNE mode." user="User">
+<field name="Range">0 0.2</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Integrator Gain" name="RLL2SRV_I" documentation='Integrator gain from long-term roll angle offsets to ailerons. Higher values "trim" out offsets faster but can cause oscillations. Automatically set and adjusted by AUTOTUNE mode.' user="User">
+<field name="Range">0 1.0</field>
+<field name="Increment">0.05</field>
+</param>
+<param humanName="Maximum Roll Rate" name="RLL2SRV_RMAX" documentation="Maximum roll rate that the roll controller demands (degrees/sec) in ACRO mode." user="Advanced">
+<field name="Range">0 180</field>
+<field name="Increment">1</field>
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
+</param>
+<param humanName="Integrator limit" name="RLL2SRV_IMAX" documentation="Limit of roll integrator gain in centi-degrees of servo travel. Servos are assumed to have +/- 4500 centi-degrees of travel, so a value of 3000 allows trim of up to 2/3 of servo travel range." user="Advanced">
+<field name="Range">0 4500</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Feed forward Gain" name="RLL2SRV_FF" documentation="Gain from demanded rate to aileron output. " user="User">
+<field name="Range">0.1 4.0</field>
+<field name="Increment">0.1</field>
+</param>
+</parameters>
+<parameters name="RNGFND1_">
+<param humanName="Rangefinder type" name="RNGFND1_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">Analog</value>
+<value code="2">MaxbotixI2C</value>
+<value code="3">LidarLiteV2-I2C</value>
+<value code="5">PX4-PWM</value>
+<value code="6">BBB-PRU</value>
+<value code="7">LightWareI2C</value>
+<value code="8">LightWareSerial</value>
+<value code="9">Bebop</value>
+<value code="10">MAVLink</value>
+<value code="11">uLanding</value>
+<value code="12">LeddarOne</value>
+<value code="13">MaxbotixSerial</value>
+<value code="14">TeraRangerI2C</value>
+<value code="15">LidarLiteV3-I2C</value>
+<value code="16">VL53L0X</value>
+<value code="17">NMEA</value>
+<value code="18">WASP-LRF</value>
+<value code="19">BenewakeTF02</value>
+<value code="20">BenewakeTFmini</value>
+<value code="21">LidarLightV3HP</value>
+<value code="22">PWM</value>
+<value code="23">BlueRoboticsPing</value>
+</values>
+</param>
+<param humanName="Rangefinder pin" name="RNGFND1_PIN" documentation="Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
+<values>
+<value code="-1">Not Used</value>
+<value code=" 11">PX4-airspeed port</value>
+<value code=" 15">Pixhawk-airspeed port</value>
+</values>
+</param>
+<param humanName="Rangefinder scaling" name="RNGFND1_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
+<field name="Increment">0.001</field>
+<field name="Units">m/V</field>
+<field name="UnitText">meters per volt</field>
+</param>
+<param humanName="rangefinder offset" name="RNGFND1_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
+<field name="Increment">0.001</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Rangefinder function" name="RNGFND1_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
+<values>
+<value code="0">Linear</value>
+<value code="1">Inverted</value>
+<value code="2">Hyperbolic</value>
+</values>
+</param>
+<param humanName="Rangefinder minimum distance" name="RNGFND1_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Rangefinder maximum distance" name="RNGFND1_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Rangefinder stop pin" name="RNGFND1_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Standard">
+<values>
+<value code="-1">Not Used</value>
+<value code="50">Pixhawk AUXOUT1</value>
+<value code="51">Pixhawk AUXOUT2</value>
+<value code="52">Pixhawk AUXOUT3</value>
+<value code="53">Pixhawk AUXOUT4</value>
+<value code="54">Pixhawk AUXOUT5</value>
+<value code="55">Pixhawk AUXOUT6</value>
+<value code="111">PX4 FMU Relay1</value>
+<value code="112">PX4 FMU Relay2</value>
+<value code="113">PX4IO Relay1</value>
+<value code="114">PX4IO Relay2</value>
+<value code="115">PX4IO ACC1</value>
+<value code="116">PX4IO ACC2</value>
+</values>
+</param>
+<param humanName="Rangefinder settle time" name="RNGFND1_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Standard">
+<field name="Increment">1</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+</param>
+<param humanName="Ratiometric" name="RNGFND1_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
+<values>
+<value code="0">No</value>
+<value code="1">Yes</value>
+</values>
+</param>
+<param humanName="Powersave range" name="RNGFND1_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
+<field name="Range">0 32767</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND1_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
+<field name="Range">5 127</field>
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Bus address of sensor" name="RNGFND1_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
+<field name="Range">0 127</field>
+<field name="Increment">1</field>
+</param>
+<param humanName=" X position offset" name="RNGFND1_POS_X" documentation="X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Y position offset" name="RNGFND1_POS_Y" documentation="Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Z position offset" name="RNGFND1_POS_Z" documentation="Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Rangefinder orientation" name="RNGFND1_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
+<values>
+<value code="0">Forward</value>
+<value code=" 1">Forward-Right</value>
+<value code=" 2">Right</value>
+<value code=" 3">Back-Right</value>
+<value code=" 4">Back</value>
+<value code=" 5">Back-Left</value>
+<value code=" 6">Left</value>
+<value code=" 7">Forward-Left</value>
+<value code=" 24">Up</value>
+<value code=" 25">Down</value>
+</values>
+</param>
+</parameters>
+<parameters name="RNGFND1_">
+<param humanName="Moving Average Range" name="RNGFND1_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Moving Median Filter" name="RNGFND1_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Frequency" name="RNGFND1_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
+<field name="Range">0 10000</field>
+</param>
+<param humanName="Multi-pulse averages" name="RNGFND1_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Sensitivity threshold" name="RNGFND1_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
+<field name="Range">-1 255</field>
+</param>
+<param humanName="Baud rate" name="RNGFND1_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
+<values>
+<value code="0">Low Speed</value>
+<value code="1">High Speed</value>
+</values>
+</param>
+</parameters>
+<parameters name="RNGFND2_">
+<param humanName="Rangefinder type" name="RNGFND2_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">Analog</value>
+<value code="2">MaxbotixI2C</value>
+<value code="3">LidarLiteV2-I2C</value>
+<value code="5">PX4-PWM</value>
+<value code="6">BBB-PRU</value>
+<value code="7">LightWareI2C</value>
+<value code="8">LightWareSerial</value>
+<value code="9">Bebop</value>
+<value code="10">MAVLink</value>
+<value code="11">uLanding</value>
+<value code="12">LeddarOne</value>
+<value code="13">MaxbotixSerial</value>
+<value code="14">TeraRangerI2C</value>
+<value code="15">LidarLiteV3-I2C</value>
+<value code="16">VL53L0X</value>
+<value code="17">NMEA</value>
+<value code="18">WASP-LRF</value>
+<value code="19">BenewakeTF02</value>
+<value code="20">BenewakeTFmini</value>
+<value code="21">LidarLightV3HP</value>
+<value code="22">PWM</value>
+<value code="23">BlueRoboticsPing</value>
+</values>
+</param>
+<param humanName="Rangefinder pin" name="RNGFND2_PIN" documentation="Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
+<values>
+<value code="-1">Not Used</value>
+<value code=" 11">PX4-airspeed port</value>
+<value code=" 15">Pixhawk-airspeed port</value>
+</values>
+</param>
+<param humanName="Rangefinder scaling" name="RNGFND2_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
+<field name="Increment">0.001</field>
+<field name="Units">m/V</field>
+<field name="UnitText">meters per volt</field>
+</param>
+<param humanName="rangefinder offset" name="RNGFND2_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
+<field name="Increment">0.001</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Rangefinder function" name="RNGFND2_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
+<values>
+<value code="0">Linear</value>
+<value code="1">Inverted</value>
+<value code="2">Hyperbolic</value>
+</values>
+</param>
+<param humanName="Rangefinder minimum distance" name="RNGFND2_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Rangefinder maximum distance" name="RNGFND2_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Rangefinder stop pin" name="RNGFND2_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Standard">
+<values>
+<value code="-1">Not Used</value>
+<value code="50">Pixhawk AUXOUT1</value>
+<value code="51">Pixhawk AUXOUT2</value>
+<value code="52">Pixhawk AUXOUT3</value>
+<value code="53">Pixhawk AUXOUT4</value>
+<value code="54">Pixhawk AUXOUT5</value>
+<value code="55">Pixhawk AUXOUT6</value>
+<value code="111">PX4 FMU Relay1</value>
+<value code="112">PX4 FMU Relay2</value>
+<value code="113">PX4IO Relay1</value>
+<value code="114">PX4IO Relay2</value>
+<value code="115">PX4IO ACC1</value>
+<value code="116">PX4IO ACC2</value>
+</values>
+</param>
+<param humanName="Rangefinder settle time" name="RNGFND2_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Standard">
+<field name="Increment">1</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+</param>
+<param humanName="Ratiometric" name="RNGFND2_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
+<values>
+<value code="0">No</value>
+<value code="1">Yes</value>
+</values>
+</param>
+<param humanName="Powersave range" name="RNGFND2_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
+<field name="Range">0 32767</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND2_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
+<field name="Range">5 127</field>
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Bus address of sensor" name="RNGFND2_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
+<field name="Range">0 127</field>
+<field name="Increment">1</field>
+</param>
+<param humanName=" X position offset" name="RNGFND2_POS_X" documentation="X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Y position offset" name="RNGFND2_POS_Y" documentation="Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Z position offset" name="RNGFND2_POS_Z" documentation="Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Rangefinder orientation" name="RNGFND2_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
+<values>
+<value code="0">Forward</value>
+<value code=" 1">Forward-Right</value>
+<value code=" 2">Right</value>
+<value code=" 3">Back-Right</value>
+<value code=" 4">Back</value>
+<value code=" 5">Back-Left</value>
+<value code=" 6">Left</value>
+<value code=" 7">Forward-Left</value>
+<value code=" 24">Up</value>
+<value code=" 25">Down</value>
+</values>
+</param>
+</parameters>
+<parameters name="RNGFND2_">
+<param humanName="Moving Average Range" name="RNGFND2_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Moving Median Filter" name="RNGFND2_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Frequency" name="RNGFND2_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
+<field name="Range">0 10000</field>
+</param>
+<param humanName="Multi-pulse averages" name="RNGFND2_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Sensitivity threshold" name="RNGFND2_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
+<field name="Range">-1 255</field>
+</param>
+<param humanName="Baud rate" name="RNGFND2_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
+<values>
+<value code="0">Low Speed</value>
+<value code="1">High Speed</value>
+</values>
+</param>
+</parameters>
+<parameters name="RNGFND3_">
+<param humanName="Rangefinder type" name="RNGFND3_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">Analog</value>
+<value code="2">MaxbotixI2C</value>
+<value code="3">LidarLiteV2-I2C</value>
+<value code="5">PX4-PWM</value>
+<value code="6">BBB-PRU</value>
+<value code="7">LightWareI2C</value>
+<value code="8">LightWareSerial</value>
+<value code="9">Bebop</value>
+<value code="10">MAVLink</value>
+<value code="11">uLanding</value>
+<value code="12">LeddarOne</value>
+<value code="13">MaxbotixSerial</value>
+<value code="14">TeraRangerI2C</value>
+<value code="15">LidarLiteV3-I2C</value>
+<value code="16">VL53L0X</value>
+<value code="17">NMEA</value>
+<value code="18">WASP-LRF</value>
+<value code="19">BenewakeTF02</value>
+<value code="20">BenewakeTFmini</value>
+<value code="21">LidarLightV3HP</value>
+<value code="22">PWM</value>
+<value code="23">BlueRoboticsPing</value>
+</values>
+</param>
+<param humanName="Rangefinder pin" name="RNGFND3_PIN" documentation="Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
+<values>
+<value code="-1">Not Used</value>
+<value code=" 11">PX4-airspeed port</value>
+<value code=" 15">Pixhawk-airspeed port</value>
+</values>
+</param>
+<param humanName="Rangefinder scaling" name="RNGFND3_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
+<field name="Increment">0.001</field>
+<field name="Units">m/V</field>
+<field name="UnitText">meters per volt</field>
+</param>
+<param humanName="rangefinder offset" name="RNGFND3_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
+<field name="Increment">0.001</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Rangefinder function" name="RNGFND3_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
+<values>
+<value code="0">Linear</value>
+<value code="1">Inverted</value>
+<value code="2">Hyperbolic</value>
+</values>
+</param>
+<param humanName="Rangefinder minimum distance" name="RNGFND3_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Rangefinder maximum distance" name="RNGFND3_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Rangefinder stop pin" name="RNGFND3_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Standard">
+<values>
+<value code="-1">Not Used</value>
+<value code="50">Pixhawk AUXOUT1</value>
+<value code="51">Pixhawk AUXOUT2</value>
+<value code="52">Pixhawk AUXOUT3</value>
+<value code="53">Pixhawk AUXOUT4</value>
+<value code="54">Pixhawk AUXOUT5</value>
+<value code="55">Pixhawk AUXOUT6</value>
+<value code="111">PX4 FMU Relay1</value>
+<value code="112">PX4 FMU Relay2</value>
+<value code="113">PX4IO Relay1</value>
+<value code="114">PX4IO Relay2</value>
+<value code="115">PX4IO ACC1</value>
+<value code="116">PX4IO ACC2</value>
+</values>
+</param>
+<param humanName="Rangefinder settle time" name="RNGFND3_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Standard">
+<field name="Increment">1</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+</param>
+<param humanName="Ratiometric" name="RNGFND3_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
+<values>
+<value code="0">No</value>
+<value code="1">Yes</value>
+</values>
+</param>
+<param humanName="Powersave range" name="RNGFND3_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
+<field name="Range">0 32767</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND3_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
+<field name="Range">5 127</field>
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Bus address of sensor" name="RNGFND3_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
+<field name="Range">0 127</field>
+<field name="Increment">1</field>
+</param>
+<param humanName=" X position offset" name="RNGFND3_POS_X" documentation="X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Y position offset" name="RNGFND3_POS_Y" documentation="Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Z position offset" name="RNGFND3_POS_Z" documentation="Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Rangefinder orientation" name="RNGFND3_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
+<values>
+<value code="0">Forward</value>
+<value code=" 1">Forward-Right</value>
+<value code=" 2">Right</value>
+<value code=" 3">Back-Right</value>
+<value code=" 4">Back</value>
+<value code=" 5">Back-Left</value>
+<value code=" 6">Left</value>
+<value code=" 7">Forward-Left</value>
+<value code=" 24">Up</value>
+<value code=" 25">Down</value>
+</values>
+</param>
+</parameters>
+<parameters name="RNGFND3_">
+<param humanName="Moving Average Range" name="RNGFND3_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Moving Median Filter" name="RNGFND3_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Frequency" name="RNGFND3_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
+<field name="Range">0 10000</field>
+</param>
+<param humanName="Multi-pulse averages" name="RNGFND3_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Sensitivity threshold" name="RNGFND3_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
+<field name="Range">-1 255</field>
+</param>
+<param humanName="Baud rate" name="RNGFND3_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
+<values>
+<value code="0">Low Speed</value>
+<value code="1">High Speed</value>
+</values>
+</param>
+</parameters>
+<parameters name="RNGFND4_">
+<param humanName="Rangefinder type" name="RNGFND4_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">Analog</value>
+<value code="2">MaxbotixI2C</value>
+<value code="3">LidarLiteV2-I2C</value>
+<value code="5">PX4-PWM</value>
+<value code="6">BBB-PRU</value>
+<value code="7">LightWareI2C</value>
+<value code="8">LightWareSerial</value>
+<value code="9">Bebop</value>
+<value code="10">MAVLink</value>
+<value code="11">uLanding</value>
+<value code="12">LeddarOne</value>
+<value code="13">MaxbotixSerial</value>
+<value code="14">TeraRangerI2C</value>
+<value code="15">LidarLiteV3-I2C</value>
+<value code="16">VL53L0X</value>
+<value code="17">NMEA</value>
+<value code="18">WASP-LRF</value>
+<value code="19">BenewakeTF02</value>
+<value code="20">BenewakeTFmini</value>
+<value code="21">LidarLightV3HP</value>
+<value code="22">PWM</value>
+<value code="23">BlueRoboticsPing</value>
+</values>
+</param>
+<param humanName="Rangefinder pin" name="RNGFND4_PIN" documentation="Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
+<values>
+<value code="-1">Not Used</value>
+<value code=" 11">PX4-airspeed port</value>
+<value code=" 15">Pixhawk-airspeed port</value>
+</values>
+</param>
+<param humanName="Rangefinder scaling" name="RNGFND4_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
+<field name="Increment">0.001</field>
+<field name="Units">m/V</field>
+<field name="UnitText">meters per volt</field>
+</param>
+<param humanName="rangefinder offset" name="RNGFND4_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
+<field name="Increment">0.001</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Rangefinder function" name="RNGFND4_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
+<values>
+<value code="0">Linear</value>
+<value code="1">Inverted</value>
+<value code="2">Hyperbolic</value>
+</values>
+</param>
+<param humanName="Rangefinder minimum distance" name="RNGFND4_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Rangefinder maximum distance" name="RNGFND4_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Rangefinder stop pin" name="RNGFND4_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Standard">
+<values>
+<value code="-1">Not Used</value>
+<value code="50">Pixhawk AUXOUT1</value>
+<value code="51">Pixhawk AUXOUT2</value>
+<value code="52">Pixhawk AUXOUT3</value>
+<value code="53">Pixhawk AUXOUT4</value>
+<value code="54">Pixhawk AUXOUT5</value>
+<value code="55">Pixhawk AUXOUT6</value>
+<value code="111">PX4 FMU Relay1</value>
+<value code="112">PX4 FMU Relay2</value>
+<value code="113">PX4IO Relay1</value>
+<value code="114">PX4IO Relay2</value>
+<value code="115">PX4IO ACC1</value>
+<value code="116">PX4IO ACC2</value>
+</values>
+</param>
+<param humanName="Rangefinder settle time" name="RNGFND4_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Standard">
+<field name="Increment">1</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+</param>
+<param humanName="Ratiometric" name="RNGFND4_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
+<values>
+<value code="0">No</value>
+<value code="1">Yes</value>
+</values>
+</param>
+<param humanName="Powersave range" name="RNGFND4_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
+<field name="Range">0 32767</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND4_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
+<field name="Range">5 127</field>
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Bus address of sensor" name="RNGFND4_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
+<field name="Range">0 127</field>
+<field name="Increment">1</field>
+</param>
+<param humanName=" X position offset" name="RNGFND4_POS_X" documentation="X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Y position offset" name="RNGFND4_POS_Y" documentation="Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Z position offset" name="RNGFND4_POS_Z" documentation="Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Rangefinder orientation" name="RNGFND4_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
+<values>
+<value code="0">Forward</value>
+<value code=" 1">Forward-Right</value>
+<value code=" 2">Right</value>
+<value code=" 3">Back-Right</value>
+<value code=" 4">Back</value>
+<value code=" 5">Back-Left</value>
+<value code=" 6">Left</value>
+<value code=" 7">Forward-Left</value>
+<value code=" 24">Up</value>
+<value code=" 25">Down</value>
+</values>
+</param>
+</parameters>
+<parameters name="RNGFND4_">
+<param humanName="Moving Average Range" name="RNGFND4_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Moving Median Filter" name="RNGFND4_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Frequency" name="RNGFND4_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
+<field name="Range">0 10000</field>
+</param>
+<param humanName="Multi-pulse averages" name="RNGFND4_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Sensitivity threshold" name="RNGFND4_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
+<field name="Range">-1 255</field>
+</param>
+<param humanName="Baud rate" name="RNGFND4_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
+<values>
+<value code="0">Low Speed</value>
+<value code="1">High Speed</value>
+</values>
+</param>
+</parameters>
+<parameters name="RNGFND5_">
+<param humanName="Rangefinder type" name="RNGFND5_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">Analog</value>
+<value code="2">MaxbotixI2C</value>
+<value code="3">LidarLiteV2-I2C</value>
+<value code="5">PX4-PWM</value>
+<value code="6">BBB-PRU</value>
+<value code="7">LightWareI2C</value>
+<value code="8">LightWareSerial</value>
+<value code="9">Bebop</value>
+<value code="10">MAVLink</value>
+<value code="11">uLanding</value>
+<value code="12">LeddarOne</value>
+<value code="13">MaxbotixSerial</value>
+<value code="14">TeraRangerI2C</value>
+<value code="15">LidarLiteV3-I2C</value>
+<value code="16">VL53L0X</value>
+<value code="17">NMEA</value>
+<value code="18">WASP-LRF</value>
+<value code="19">BenewakeTF02</value>
+<value code="20">BenewakeTFmini</value>
+<value code="21">LidarLightV3HP</value>
+<value code="22">PWM</value>
+<value code="23">BlueRoboticsPing</value>
+</values>
+</param>
+<param humanName="Rangefinder pin" name="RNGFND5_PIN" documentation="Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
+<values>
+<value code="-1">Not Used</value>
+<value code=" 11">PX4-airspeed port</value>
+<value code=" 15">Pixhawk-airspeed port</value>
+</values>
+</param>
+<param humanName="Rangefinder scaling" name="RNGFND5_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
+<field name="Increment">0.001</field>
+<field name="Units">m/V</field>
+<field name="UnitText">meters per volt</field>
+</param>
+<param humanName="rangefinder offset" name="RNGFND5_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
+<field name="Increment">0.001</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Rangefinder function" name="RNGFND5_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
+<values>
+<value code="0">Linear</value>
+<value code="1">Inverted</value>
+<value code="2">Hyperbolic</value>
+</values>
+</param>
+<param humanName="Rangefinder minimum distance" name="RNGFND5_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Rangefinder maximum distance" name="RNGFND5_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Rangefinder stop pin" name="RNGFND5_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Standard">
+<values>
+<value code="-1">Not Used</value>
+<value code="50">Pixhawk AUXOUT1</value>
+<value code="51">Pixhawk AUXOUT2</value>
+<value code="52">Pixhawk AUXOUT3</value>
+<value code="53">Pixhawk AUXOUT4</value>
+<value code="54">Pixhawk AUXOUT5</value>
+<value code="55">Pixhawk AUXOUT6</value>
+<value code="111">PX4 FMU Relay1</value>
+<value code="112">PX4 FMU Relay2</value>
+<value code="113">PX4IO Relay1</value>
+<value code="114">PX4IO Relay2</value>
+<value code="115">PX4IO ACC1</value>
+<value code="116">PX4IO ACC2</value>
+</values>
+</param>
+<param humanName="Rangefinder settle time" name="RNGFND5_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Standard">
+<field name="Increment">1</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+</param>
+<param humanName="Ratiometric" name="RNGFND5_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
+<values>
+<value code="0">No</value>
+<value code="1">Yes</value>
+</values>
+</param>
+<param humanName="Powersave range" name="RNGFND5_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
+<field name="Range">0 32767</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND5_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
+<field name="Range">5 127</field>
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Bus address of sensor" name="RNGFND5_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
+<field name="Range">0 127</field>
+<field name="Increment">1</field>
+</param>
+<param humanName=" X position offset" name="RNGFND5_POS_X" documentation="X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Y position offset" name="RNGFND5_POS_Y" documentation="Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Z position offset" name="RNGFND5_POS_Z" documentation="Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Rangefinder orientation" name="RNGFND5_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
+<values>
+<value code="0">Forward</value>
+<value code=" 1">Forward-Right</value>
+<value code=" 2">Right</value>
+<value code=" 3">Back-Right</value>
+<value code=" 4">Back</value>
+<value code=" 5">Back-Left</value>
+<value code=" 6">Left</value>
+<value code=" 7">Forward-Left</value>
+<value code=" 24">Up</value>
+<value code=" 25">Down</value>
+</values>
+</param>
+</parameters>
+<parameters name="RNGFND5_">
+<param humanName="Moving Average Range" name="RNGFND5_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Moving Median Filter" name="RNGFND5_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Frequency" name="RNGFND5_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
+<field name="Range">0 10000</field>
+</param>
+<param humanName="Multi-pulse averages" name="RNGFND5_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Sensitivity threshold" name="RNGFND5_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
+<field name="Range">-1 255</field>
+</param>
+<param humanName="Baud rate" name="RNGFND5_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
+<values>
+<value code="0">Low Speed</value>
+<value code="1">High Speed</value>
+</values>
+</param>
+</parameters>
+<parameters name="RNGFND6_">
+<param humanName="Rangefinder type" name="RNGFND6_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">Analog</value>
+<value code="2">MaxbotixI2C</value>
+<value code="3">LidarLiteV2-I2C</value>
+<value code="5">PX4-PWM</value>
+<value code="6">BBB-PRU</value>
+<value code="7">LightWareI2C</value>
+<value code="8">LightWareSerial</value>
+<value code="9">Bebop</value>
+<value code="10">MAVLink</value>
+<value code="11">uLanding</value>
+<value code="12">LeddarOne</value>
+<value code="13">MaxbotixSerial</value>
+<value code="14">TeraRangerI2C</value>
+<value code="15">LidarLiteV3-I2C</value>
+<value code="16">VL53L0X</value>
+<value code="17">NMEA</value>
+<value code="18">WASP-LRF</value>
+<value code="19">BenewakeTF02</value>
+<value code="20">BenewakeTFmini</value>
+<value code="21">LidarLightV3HP</value>
+<value code="22">PWM</value>
+<value code="23">BlueRoboticsPing</value>
+</values>
+</param>
+<param humanName="Rangefinder pin" name="RNGFND6_PIN" documentation="Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
+<values>
+<value code="-1">Not Used</value>
+<value code=" 11">PX4-airspeed port</value>
+<value code=" 15">Pixhawk-airspeed port</value>
+</values>
+</param>
+<param humanName="Rangefinder scaling" name="RNGFND6_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
+<field name="Increment">0.001</field>
+<field name="Units">m/V</field>
+<field name="UnitText">meters per volt</field>
+</param>
+<param humanName="rangefinder offset" name="RNGFND6_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
+<field name="Increment">0.001</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Rangefinder function" name="RNGFND6_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
+<values>
+<value code="0">Linear</value>
+<value code="1">Inverted</value>
+<value code="2">Hyperbolic</value>
+</values>
+</param>
+<param humanName="Rangefinder minimum distance" name="RNGFND6_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Rangefinder maximum distance" name="RNGFND6_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Rangefinder stop pin" name="RNGFND6_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Standard">
+<values>
+<value code="-1">Not Used</value>
+<value code="50">Pixhawk AUXOUT1</value>
+<value code="51">Pixhawk AUXOUT2</value>
+<value code="52">Pixhawk AUXOUT3</value>
+<value code="53">Pixhawk AUXOUT4</value>
+<value code="54">Pixhawk AUXOUT5</value>
+<value code="55">Pixhawk AUXOUT6</value>
+<value code="111">PX4 FMU Relay1</value>
+<value code="112">PX4 FMU Relay2</value>
+<value code="113">PX4IO Relay1</value>
+<value code="114">PX4IO Relay2</value>
+<value code="115">PX4IO ACC1</value>
+<value code="116">PX4IO ACC2</value>
+</values>
+</param>
+<param humanName="Rangefinder settle time" name="RNGFND6_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Standard">
+<field name="Increment">1</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+</param>
+<param humanName="Ratiometric" name="RNGFND6_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
+<values>
+<value code="0">No</value>
+<value code="1">Yes</value>
+</values>
+</param>
+<param humanName="Powersave range" name="RNGFND6_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
+<field name="Range">0 32767</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND6_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
+<field name="Range">5 127</field>
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Bus address of sensor" name="RNGFND6_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
+<field name="Range">0 127</field>
+<field name="Increment">1</field>
+</param>
+<param humanName=" X position offset" name="RNGFND6_POS_X" documentation="X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Y position offset" name="RNGFND6_POS_Y" documentation="Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Z position offset" name="RNGFND6_POS_Z" documentation="Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Rangefinder orientation" name="RNGFND6_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
+<values>
+<value code="0">Forward</value>
+<value code=" 1">Forward-Right</value>
+<value code=" 2">Right</value>
+<value code=" 3">Back-Right</value>
+<value code=" 4">Back</value>
+<value code=" 5">Back-Left</value>
+<value code=" 6">Left</value>
+<value code=" 7">Forward-Left</value>
+<value code=" 24">Up</value>
+<value code=" 25">Down</value>
+</values>
+</param>
+</parameters>
+<parameters name="RNGFND6_">
+<param humanName="Moving Average Range" name="RNGFND6_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Moving Median Filter" name="RNGFND6_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Frequency" name="RNGFND6_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
+<field name="Range">0 10000</field>
+</param>
+<param humanName="Multi-pulse averages" name="RNGFND6_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Sensitivity threshold" name="RNGFND6_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
+<field name="Range">-1 255</field>
+</param>
+<param humanName="Baud rate" name="RNGFND6_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
+<values>
+<value code="0">Low Speed</value>
+<value code="1">High Speed</value>
+</values>
+</param>
+</parameters>
+<parameters name="RNGFND7_">
+<param humanName="Rangefinder type" name="RNGFND7_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">Analog</value>
+<value code="2">MaxbotixI2C</value>
+<value code="3">LidarLiteV2-I2C</value>
+<value code="5">PX4-PWM</value>
+<value code="6">BBB-PRU</value>
+<value code="7">LightWareI2C</value>
+<value code="8">LightWareSerial</value>
+<value code="9">Bebop</value>
+<value code="10">MAVLink</value>
+<value code="11">uLanding</value>
+<value code="12">LeddarOne</value>
+<value code="13">MaxbotixSerial</value>
+<value code="14">TeraRangerI2C</value>
+<value code="15">LidarLiteV3-I2C</value>
+<value code="16">VL53L0X</value>
+<value code="17">NMEA</value>
+<value code="18">WASP-LRF</value>
+<value code="19">BenewakeTF02</value>
+<value code="20">BenewakeTFmini</value>
+<value code="21">LidarLightV3HP</value>
+<value code="22">PWM</value>
+<value code="23">BlueRoboticsPing</value>
+</values>
+</param>
+<param humanName="Rangefinder pin" name="RNGFND7_PIN" documentation="Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
+<values>
+<value code="-1">Not Used</value>
+<value code=" 11">PX4-airspeed port</value>
+<value code=" 15">Pixhawk-airspeed port</value>
+</values>
+</param>
+<param humanName="Rangefinder scaling" name="RNGFND7_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
+<field name="Increment">0.001</field>
+<field name="Units">m/V</field>
+<field name="UnitText">meters per volt</field>
+</param>
+<param humanName="rangefinder offset" name="RNGFND7_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
+<field name="Increment">0.001</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Rangefinder function" name="RNGFND7_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
+<values>
+<value code="0">Linear</value>
+<value code="1">Inverted</value>
+<value code="2">Hyperbolic</value>
+</values>
+</param>
+<param humanName="Rangefinder minimum distance" name="RNGFND7_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Rangefinder maximum distance" name="RNGFND7_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Rangefinder stop pin" name="RNGFND7_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Standard">
+<values>
+<value code="-1">Not Used</value>
+<value code="50">Pixhawk AUXOUT1</value>
+<value code="51">Pixhawk AUXOUT2</value>
+<value code="52">Pixhawk AUXOUT3</value>
+<value code="53">Pixhawk AUXOUT4</value>
+<value code="54">Pixhawk AUXOUT5</value>
+<value code="55">Pixhawk AUXOUT6</value>
+<value code="111">PX4 FMU Relay1</value>
+<value code="112">PX4 FMU Relay2</value>
+<value code="113">PX4IO Relay1</value>
+<value code="114">PX4IO Relay2</value>
+<value code="115">PX4IO ACC1</value>
+<value code="116">PX4IO ACC2</value>
+</values>
+</param>
+<param humanName="Rangefinder settle time" name="RNGFND7_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Standard">
+<field name="Increment">1</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+</param>
+<param humanName="Ratiometric" name="RNGFND7_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
+<values>
+<value code="0">No</value>
+<value code="1">Yes</value>
+</values>
+</param>
+<param humanName="Powersave range" name="RNGFND7_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
+<field name="Range">0 32767</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND7_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
+<field name="Range">5 127</field>
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Bus address of sensor" name="RNGFND7_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
+<field name="Range">0 127</field>
+<field name="Increment">1</field>
+</param>
+<param humanName=" X position offset" name="RNGFND7_POS_X" documentation="X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Y position offset" name="RNGFND7_POS_Y" documentation="Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Z position offset" name="RNGFND7_POS_Z" documentation="Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Rangefinder orientation" name="RNGFND7_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
+<values>
+<value code="0">Forward</value>
+<value code=" 1">Forward-Right</value>
+<value code=" 2">Right</value>
+<value code=" 3">Back-Right</value>
+<value code=" 4">Back</value>
+<value code=" 5">Back-Left</value>
+<value code=" 6">Left</value>
+<value code=" 7">Forward-Left</value>
+<value code=" 24">Up</value>
+<value code=" 25">Down</value>
+</values>
+</param>
+</parameters>
+<parameters name="RNGFND7_">
+<param humanName="Moving Average Range" name="RNGFND7_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Moving Median Filter" name="RNGFND7_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Frequency" name="RNGFND7_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
+<field name="Range">0 10000</field>
+</param>
+<param humanName="Multi-pulse averages" name="RNGFND7_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Sensitivity threshold" name="RNGFND7_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
+<field name="Range">-1 255</field>
+</param>
+<param humanName="Baud rate" name="RNGFND7_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
+<values>
+<value code="0">Low Speed</value>
+<value code="1">High Speed</value>
+</values>
+</param>
+</parameters>
+<parameters name="RNGFND8_">
+<param humanName="Rangefinder type" name="RNGFND8_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">Analog</value>
+<value code="2">MaxbotixI2C</value>
+<value code="3">LidarLiteV2-I2C</value>
+<value code="5">PX4-PWM</value>
+<value code="6">BBB-PRU</value>
+<value code="7">LightWareI2C</value>
+<value code="8">LightWareSerial</value>
+<value code="9">Bebop</value>
+<value code="10">MAVLink</value>
+<value code="11">uLanding</value>
+<value code="12">LeddarOne</value>
+<value code="13">MaxbotixSerial</value>
+<value code="14">TeraRangerI2C</value>
+<value code="15">LidarLiteV3-I2C</value>
+<value code="16">VL53L0X</value>
+<value code="17">NMEA</value>
+<value code="18">WASP-LRF</value>
+<value code="19">BenewakeTF02</value>
+<value code="20">BenewakeTFmini</value>
+<value code="21">LidarLightV3HP</value>
+<value code="22">PWM</value>
+<value code="23">BlueRoboticsPing</value>
+</values>
+</param>
+<param humanName="Rangefinder pin" name="RNGFND8_PIN" documentation="Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
+<values>
+<value code="-1">Not Used</value>
+<value code=" 11">PX4-airspeed port</value>
+<value code=" 15">Pixhawk-airspeed port</value>
+</values>
+</param>
+<param humanName="Rangefinder scaling" name="RNGFND8_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
+<field name="Increment">0.001</field>
+<field name="Units">m/V</field>
+<field name="UnitText">meters per volt</field>
+</param>
+<param humanName="rangefinder offset" name="RNGFND8_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
+<field name="Increment">0.001</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Rangefinder function" name="RNGFND8_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
+<values>
+<value code="0">Linear</value>
+<value code="1">Inverted</value>
+<value code="2">Hyperbolic</value>
+</values>
+</param>
+<param humanName="Rangefinder minimum distance" name="RNGFND8_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Rangefinder maximum distance" name="RNGFND8_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Rangefinder stop pin" name="RNGFND8_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Standard">
+<values>
+<value code="-1">Not Used</value>
+<value code="50">Pixhawk AUXOUT1</value>
+<value code="51">Pixhawk AUXOUT2</value>
+<value code="52">Pixhawk AUXOUT3</value>
+<value code="53">Pixhawk AUXOUT4</value>
+<value code="54">Pixhawk AUXOUT5</value>
+<value code="55">Pixhawk AUXOUT6</value>
+<value code="111">PX4 FMU Relay1</value>
+<value code="112">PX4 FMU Relay2</value>
+<value code="113">PX4IO Relay1</value>
+<value code="114">PX4IO Relay2</value>
+<value code="115">PX4IO ACC1</value>
+<value code="116">PX4IO ACC2</value>
+</values>
+</param>
+<param humanName="Rangefinder settle time" name="RNGFND8_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Standard">
+<field name="Increment">1</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+</param>
+<param humanName="Ratiometric" name="RNGFND8_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
+<values>
+<value code="0">No</value>
+<value code="1">Yes</value>
+</values>
+</param>
+<param humanName="Powersave range" name="RNGFND8_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
+<field name="Range">0 32767</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND8_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
+<field name="Range">5 127</field>
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Bus address of sensor" name="RNGFND8_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
+<field name="Range">0 127</field>
+<field name="Increment">1</field>
+</param>
+<param humanName=" X position offset" name="RNGFND8_POS_X" documentation="X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Y position offset" name="RNGFND8_POS_Y" documentation="Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Z position offset" name="RNGFND8_POS_Z" documentation="Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Rangefinder orientation" name="RNGFND8_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
+<values>
+<value code="0">Forward</value>
+<value code=" 1">Forward-Right</value>
+<value code=" 2">Right</value>
+<value code=" 3">Back-Right</value>
+<value code=" 4">Back</value>
+<value code=" 5">Back-Left</value>
+<value code=" 6">Left</value>
+<value code=" 7">Forward-Left</value>
+<value code=" 24">Up</value>
+<value code=" 25">Down</value>
+</values>
+</param>
+</parameters>
+<parameters name="RNGFND8_">
+<param humanName="Moving Average Range" name="RNGFND8_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Moving Median Filter" name="RNGFND8_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Frequency" name="RNGFND8_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
+<field name="Range">0 10000</field>
+</param>
+<param humanName="Multi-pulse averages" name="RNGFND8_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Sensitivity threshold" name="RNGFND8_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
+<field name="Range">-1 255</field>
+</param>
+<param humanName="Baud rate" name="RNGFND8_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
+<values>
+<value code="0">Low Speed</value>
+<value code="1">High Speed</value>
+</values>
+</param>
+</parameters>
+<parameters name="RNGFND9_">
+<param humanName="Rangefinder type" name="RNGFND9_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">Analog</value>
+<value code="2">MaxbotixI2C</value>
+<value code="3">LidarLiteV2-I2C</value>
+<value code="5">PX4-PWM</value>
+<value code="6">BBB-PRU</value>
+<value code="7">LightWareI2C</value>
+<value code="8">LightWareSerial</value>
+<value code="9">Bebop</value>
+<value code="10">MAVLink</value>
+<value code="11">uLanding</value>
+<value code="12">LeddarOne</value>
+<value code="13">MaxbotixSerial</value>
+<value code="14">TeraRangerI2C</value>
+<value code="15">LidarLiteV3-I2C</value>
+<value code="16">VL53L0X</value>
+<value code="17">NMEA</value>
+<value code="18">WASP-LRF</value>
+<value code="19">BenewakeTF02</value>
+<value code="20">BenewakeTFmini</value>
+<value code="21">LidarLightV3HP</value>
+<value code="22">PWM</value>
+<value code="23">BlueRoboticsPing</value>
+</values>
+</param>
+<param humanName="Rangefinder pin" name="RNGFND9_PIN" documentation="Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
+<values>
+<value code="-1">Not Used</value>
+<value code=" 11">PX4-airspeed port</value>
+<value code=" 15">Pixhawk-airspeed port</value>
+</values>
+</param>
+<param humanName="Rangefinder scaling" name="RNGFND9_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
+<field name="Increment">0.001</field>
+<field name="Units">m/V</field>
+<field name="UnitText">meters per volt</field>
+</param>
+<param humanName="rangefinder offset" name="RNGFND9_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
+<field name="Increment">0.001</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Rangefinder function" name="RNGFND9_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
+<values>
+<value code="0">Linear</value>
+<value code="1">Inverted</value>
+<value code="2">Hyperbolic</value>
+</values>
+</param>
+<param humanName="Rangefinder minimum distance" name="RNGFND9_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Rangefinder maximum distance" name="RNGFND9_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Rangefinder stop pin" name="RNGFND9_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Standard">
+<values>
+<value code="-1">Not Used</value>
+<value code="50">Pixhawk AUXOUT1</value>
+<value code="51">Pixhawk AUXOUT2</value>
+<value code="52">Pixhawk AUXOUT3</value>
+<value code="53">Pixhawk AUXOUT4</value>
+<value code="54">Pixhawk AUXOUT5</value>
+<value code="55">Pixhawk AUXOUT6</value>
+<value code="111">PX4 FMU Relay1</value>
+<value code="112">PX4 FMU Relay2</value>
+<value code="113">PX4IO Relay1</value>
+<value code="114">PX4IO Relay2</value>
+<value code="115">PX4IO ACC1</value>
+<value code="116">PX4IO ACC2</value>
+</values>
+</param>
+<param humanName="Rangefinder settle time" name="RNGFND9_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Standard">
+<field name="Increment">1</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+</param>
+<param humanName="Ratiometric" name="RNGFND9_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
+<values>
+<value code="0">No</value>
+<value code="1">Yes</value>
+</values>
+</param>
+<param humanName="Powersave range" name="RNGFND9_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
+<field name="Range">0 32767</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND9_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
+<field name="Range">5 127</field>
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Bus address of sensor" name="RNGFND9_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
+<field name="Range">0 127</field>
+<field name="Increment">1</field>
+</param>
+<param humanName=" X position offset" name="RNGFND9_POS_X" documentation="X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Y position offset" name="RNGFND9_POS_Y" documentation="Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Z position offset" name="RNGFND9_POS_Z" documentation="Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Rangefinder orientation" name="RNGFND9_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
+<values>
+<value code="0">Forward</value>
+<value code=" 1">Forward-Right</value>
+<value code=" 2">Right</value>
+<value code=" 3">Back-Right</value>
+<value code=" 4">Back</value>
+<value code=" 5">Back-Left</value>
+<value code=" 6">Left</value>
+<value code=" 7">Forward-Left</value>
+<value code=" 24">Up</value>
+<value code=" 25">Down</value>
+</values>
+</param>
+</parameters>
+<parameters name="RNGFND9_">
+<param humanName="Moving Average Range" name="RNGFND9_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Moving Median Filter" name="RNGFND9_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Frequency" name="RNGFND9_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
+<field name="Range">0 10000</field>
+</param>
+<param humanName="Multi-pulse averages" name="RNGFND9_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Sensitivity threshold" name="RNGFND9_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
+<field name="Range">-1 255</field>
+</param>
+<param humanName="Baud rate" name="RNGFND9_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
+<values>
+<value code="0">Low Speed</value>
+<value code="1">High Speed</value>
+</values>
+</param>
+</parameters>
+<parameters name="RNGFNDA_">
+<param humanName="Rangefinder type" name="RNGFNDA_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">Analog</value>
+<value code="2">MaxbotixI2C</value>
+<value code="3">LidarLiteV2-I2C</value>
+<value code="5">PX4-PWM</value>
+<value code="6">BBB-PRU</value>
+<value code="7">LightWareI2C</value>
+<value code="8">LightWareSerial</value>
+<value code="9">Bebop</value>
+<value code="10">MAVLink</value>
+<value code="11">uLanding</value>
+<value code="12">LeddarOne</value>
+<value code="13">MaxbotixSerial</value>
+<value code="14">TeraRangerI2C</value>
+<value code="15">LidarLiteV3-I2C</value>
+<value code="16">VL53L0X</value>
+<value code="17">NMEA</value>
+<value code="18">WASP-LRF</value>
+<value code="19">BenewakeTF02</value>
+<value code="20">BenewakeTFmini</value>
+<value code="21">LidarLightV3HP</value>
+<value code="22">PWM</value>
+<value code="23">BlueRoboticsPing</value>
+</values>
+</param>
+<param humanName="Rangefinder pin" name="RNGFNDA_PIN" documentation="Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
+<values>
+<value code="-1">Not Used</value>
+<value code=" 11">PX4-airspeed port</value>
+<value code=" 15">Pixhawk-airspeed port</value>
+</values>
+</param>
+<param humanName="Rangefinder scaling" name="RNGFNDA_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
+<field name="Increment">0.001</field>
+<field name="Units">m/V</field>
+<field name="UnitText">meters per volt</field>
+</param>
+<param humanName="rangefinder offset" name="RNGFNDA_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
+<field name="Increment">0.001</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Rangefinder function" name="RNGFNDA_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
+<values>
+<value code="0">Linear</value>
+<value code="1">Inverted</value>
+<value code="2">Hyperbolic</value>
+</values>
+</param>
+<param humanName="Rangefinder minimum distance" name="RNGFNDA_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Rangefinder maximum distance" name="RNGFNDA_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Rangefinder stop pin" name="RNGFNDA_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Standard">
+<values>
+<value code="-1">Not Used</value>
+<value code="50">Pixhawk AUXOUT1</value>
+<value code="51">Pixhawk AUXOUT2</value>
+<value code="52">Pixhawk AUXOUT3</value>
+<value code="53">Pixhawk AUXOUT4</value>
+<value code="54">Pixhawk AUXOUT5</value>
+<value code="55">Pixhawk AUXOUT6</value>
+<value code="111">PX4 FMU Relay1</value>
+<value code="112">PX4 FMU Relay2</value>
+<value code="113">PX4IO Relay1</value>
+<value code="114">PX4IO Relay2</value>
+<value code="115">PX4IO ACC1</value>
+<value code="116">PX4IO ACC2</value>
+</values>
+</param>
+<param humanName="Rangefinder settle time" name="RNGFNDA_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Standard">
+<field name="Increment">1</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+</param>
+<param humanName="Ratiometric" name="RNGFNDA_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
+<values>
+<value code="0">No</value>
+<value code="1">Yes</value>
+</values>
+</param>
+<param humanName="Powersave range" name="RNGFNDA_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
+<field name="Range">0 32767</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFNDA_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
+<field name="Range">5 127</field>
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Bus address of sensor" name="RNGFNDA_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
+<field name="Range">0 127</field>
+<field name="Increment">1</field>
+</param>
+<param humanName=" X position offset" name="RNGFNDA_POS_X" documentation="X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Y position offset" name="RNGFNDA_POS_Y" documentation="Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Z position offset" name="RNGFNDA_POS_Z" documentation="Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Rangefinder orientation" name="RNGFNDA_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
+<values>
+<value code="0">Forward</value>
+<value code=" 1">Forward-Right</value>
+<value code=" 2">Right</value>
+<value code=" 3">Back-Right</value>
+<value code=" 4">Back</value>
+<value code=" 5">Back-Left</value>
+<value code=" 6">Left</value>
+<value code=" 7">Forward-Left</value>
+<value code=" 24">Up</value>
+<value code=" 25">Down</value>
+</values>
+</param>
+</parameters>
+<parameters name="RNGFNDA_">
+<param humanName="Moving Average Range" name="RNGFNDA_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Moving Median Filter" name="RNGFNDA_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Frequency" name="RNGFNDA_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
+<field name="Range">0 10000</field>
+</param>
+<param humanName="Multi-pulse averages" name="RNGFNDA_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Sensitivity threshold" name="RNGFNDA_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
+<field name="Range">-1 255</field>
+</param>
+<param humanName="Baud rate" name="RNGFNDA_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
+<values>
+<value code="0">Low Speed</value>
+<value code="1">High Speed</value>
+</values>
+</param>
+</parameters>
+<parameters name="RPM">
+<param humanName="RPM type" name="RPM_TYPE" documentation="What type of RPM sensor is connected" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">PX4-PWM</value>
+<value code="2">AUXPIN</value>
+</values>
+</param>
+<param humanName="RPM scaling" name="RPM_SCALING" documentation="Scaling factor between sensor reading and RPM." user="Standard">
+<field name="Increment">0.001</field>
+</param>
+<param humanName="Maximum RPM" name="RPM_MAX" documentation="Maximum RPM to report" user="Standard">
+<field name="Increment">1</field>
+</param>
+<param humanName="Minimum RPM" name="RPM_MIN" documentation="Minimum RPM to report" user="Standard">
+<field name="Increment">1</field>
+</param>
+<param humanName="Minimum Quality" name="RPM_MIN_QUAL" documentation="Minimum data quality to be used" user="Advanced">
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Input pin number" name="RPM_PIN" documentation="Which pin to use" user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">PixhawkAUX1</value>
+<value code="51">PixhawkAUX2</value>
+<value code="52">PixhawkAUX3</value>
+<value code="53">PixhawkAUX4</value>
+<value code="54">PixhawkAUX5</value>
+<value code="55">PixhawkAUX6</value>
+</values>
+</param>
+<param humanName="Second RPM type" name="RPM2_TYPE" documentation="What type of RPM sensor is connected" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">PX4-PWM</value>
+<value code="2">AUXPIN</value>
+</values>
+</param>
+<param humanName="RPM scaling" name="RPM2_SCALING" documentation="Scaling factor between sensor reading and RPM." user="Advanced">
+<field name="Increment">0.001</field>
+</param>
+<param humanName="RPM2 input pin number" name="RPM2_PIN" documentation="Which pin to use" user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">PixhawkAUX1</value>
+<value code="51">PixhawkAUX2</value>
+<value code="52">PixhawkAUX3</value>
+<value code="53">PixhawkAUX4</value>
+<value code="54">PixhawkAUX5</value>
+<value code="55">PixhawkAUX6</value>
+</values>
+</param>
+</parameters>
+<parameters name="RSSI_">
+<param humanName="RSSI Type" name="RSSI_TYPE" documentation="Radio Receiver RSSI type. If your radio receiver supports RSSI of some kind, set it here, then set its associated RSSI_XXXXX parameters, if any." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">AnalogPin</value>
+<value code="2">RCChannelPwmValue</value>
+<value code="3">ReceiverProtocol</value>
+<value code="4">PWMInputPin</value>
+</values>
+</param>
+<param humanName="Receiver RSSI sensing pin" name="RSSI_ANA_PIN" documentation="Pin used to read the RSSI voltage or PWM value" user="Standard">
+<values>
+<value code="8">V5 Nano</value>
+<value code="11">Pixracer</value>
+<value code="13">Pixhawk ADC4</value>
+<value code="14">Pixhawk ADC3</value>
+<value code="15">Pixhawk ADC6</value>
+<value code="15">Pixhawk2 ADC</value>
+<value code="50">PixhawkAUX1</value>
+<value code="51">PixhawkAUX2</value>
+<value code="52">PixhawkAUX3</value>
+<value code="53">PixhawkAUX4</value>
+<value code="54">PixhawkAUX5</value>
+<value code="55">PixhawkAUX6</value>
+<value code="103">Pixhawk SBUS</value>
+</values>
+</param>
+<param humanName="RSSI pin's lowest voltage" name="RSSI_PIN_LOW" documentation="RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers put out inverted values so this value may be higher than RSSI_PIN_HIGH" user="Standard">
+<field name="Range">0 5.0</field>
+<field name="Increment">0.01</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="RSSI pin's highest voltage" name="RSSI_PIN_HIGH" documentation="RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers put out inverted values so this value may be lower than RSSI_PIN_LOW" user="Standard">
+<field name="Range">0 5.0</field>
+<field name="Increment">0.01</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Receiver RSSI channel number" name="RSSI_CHANNEL" documentation="The channel number where RSSI will be output by the radio receiver (5 and above)." user="Standard">
+<field name="Range">0 16</field>
+</param>
+<param humanName="RSSI PWM low value" name="RSSI_CHAN_LOW" documentation="PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers output inverted values so this value may be lower than RSSI_CHAN_HIGH" user="Standard">
+<field name="Range">0 2000</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Receiver RSSI PWM high value" name="RSSI_CHAN_HIGH" documentation="PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers output inverted values so this value may be higher than RSSI_CHAN_LOW" user="Standard">
+<field name="Range">0 2000</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+</parameters>
+<parameters name="SCHED_">
+<param humanName="Scheduler debug level" name="SCHED_DEBUG" documentation='Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.' user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="2">ShowSlips</value>
+<value code="3">ShowOverruns</value>
+</values>
+</param>
+<param humanName="Scheduling main loop rate" name="SCHED_LOOP_RATE" documentation="This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart. Values over 400 are considered highly experimental." user="Advanced">
+<values>
+<value code="50">50Hz</value>
+<value code="100">100Hz</value>
+<value code="200">200Hz</value>
+<value code="250">250Hz</value>
+<value code="300">300Hz</value>
+<value code="400">400Hz</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+</parameters>
+<parameters name="SERIAL">
+<param humanName="Serial0 baud rate" name="SERIAL0_BAUD" documentation="The baud rate used on the USB console. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
+<values>
+<value code="1">1200</value>
+<value code="2">2400</value>
+<value code="4">4800</value>
+<value code="9">9600</value>
+<value code="19">19200</value>
+<value code="38">38400</value>
+<value code="57">57600</value>
+<value code="111">111100</value>
+<value code="115">115200</value>
+<value code="256">256000</value>
+<value code="460">460800</value>
+<value code="500">500000</value>
+<value code="921">921600</value>
+<value code="1500">1500000</value>
+</values>
+</param>
+<param humanName="Console protocol selection" name="SERIAL0_PROTOCOL" documentation="Control what protocol to use on the console. " user="Standard">
+<values>
+<value code="1">MAVlink1</value>
+<value code=" 2">MAVLink2</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Telem1 protocol selection" name="SERIAL1_PROTOCOL" documentation="Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
+<values>
+<value code="-1">None</value>
+<value code=" 1">MAVLink1</value>
+<value code=" 2">MAVLink2</value>
+<value code=" 3">Frsky D</value>
+<value code=" 4">Frsky SPort</value>
+<value code=" 5">GPS</value>
+<value code=" 7">Alexmos Gimbal Serial</value>
+<value code=" 8">SToRM32 Gimbal Serial</value>
+<value code=" 9">Rangefinder</value>
+<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
+<value code=" 11">Lidar360</value>
+<value code=" 13">Beacon</value>
+<value code=" 14">Volz servo out</value>
+<value code=" 15">SBus servo out</value>
+<value code=" 16">ESC Telemetry</value>
+<value code=" 17">Devo Telemetry</value>
+<value code=" 18">OpticalFlow</value>
+<value code=" 19">RobotisServo</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Telem1 Baud Rate" name="SERIAL1_BAUD" documentation="The baud rate used on the Telem1 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
+<values>
+<value code="1">1200</value>
+<value code="2">2400</value>
+<value code="4">4800</value>
+<value code="9">9600</value>
+<value code="19">19200</value>
+<value code="38">38400</value>
+<value code="57">57600</value>
+<value code="111">111100</value>
+<value code="115">115200</value>
+<value code="256">256000</value>
+<value code="500">500000</value>
+<value code="921">921600</value>
+<value code="1500">1500000</value>
+</values>
+</param>
+<param humanName="Telemetry 2 protocol selection" name="SERIAL2_PROTOCOL" documentation="Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
+<values>
+<value code="-1">None</value>
+<value code=" 1">MAVLink1</value>
+<value code=" 2">MAVLink2</value>
+<value code=" 3">Frsky D</value>
+<value code=" 4">Frsky SPort</value>
+<value code=" 5">GPS</value>
+<value code=" 7">Alexmos Gimbal Serial</value>
+<value code=" 8">SToRM32 Gimbal Serial</value>
+<value code=" 9">Rangefinder</value>
+<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
+<value code=" 11">Lidar360</value>
+<value code=" 13">Beacon</value>
+<value code=" 14">Volz servo out</value>
+<value code=" 15">SBus servo out</value>
+<value code=" 16">ESC Telemetry</value>
+<value code=" 17">Devo Telemetry</value>
+<value code=" 18">OpticalFlow</value>
+<value code=" 19">RobotisServo</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Telemetry 2 Baud Rate" name="SERIAL2_BAUD" documentation="The baud rate of the Telem2 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
+<values>
+<value code="1">1200</value>
+<value code="2">2400</value>
+<value code="4">4800</value>
+<value code="9">9600</value>
+<value code="19">19200</value>
+<value code="38">38400</value>
+<value code="57">57600</value>
+<value code="111">111100</value>
+<value code="115">115200</value>
+<value code="256">256000</value>
+<value code="500">500000</value>
+<value code="921">921600</value>
+<value code="1500">1500000</value>
+</values>
+</param>
+<param humanName="Serial 3 (GPS) protocol selection" name="SERIAL3_PROTOCOL" documentation="Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
+<values>
+<value code="-1">None</value>
+<value code=" 1">MAVLink1</value>
+<value code=" 2">MAVLink2</value>
+<value code=" 3">Frsky D</value>
+<value code=" 4">Frsky SPort</value>
+<value code=" 5">GPS</value>
+<value code=" 7">Alexmos Gimbal Serial</value>
+<value code=" 8">SToRM32 Gimbal Serial</value>
+<value code=" 9">Rangefinder</value>
+<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
+<value code=" 11">Lidar360</value>
+<value code=" 13">Beacon</value>
+<value code=" 14">Volz servo out</value>
+<value code=" 15">SBus servo out</value>
+<value code=" 16">ESC Telemetry</value>
+<value code=" 17">Devo Telemetry</value>
+<value code=" 18">OpticalFlow</value>
+<value code=" 19">RobotisServo</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Serial 3 (GPS) Baud Rate" name="SERIAL3_BAUD" documentation="The baud rate used for the Serial 3 (GPS). Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
+<values>
+<value code="1">1200</value>
+<value code="2">2400</value>
+<value code="4">4800</value>
+<value code="9">9600</value>
+<value code="19">19200</value>
+<value code="38">38400</value>
+<value code="57">57600</value>
+<value code="111">111100</value>
+<value code="115">115200</value>
+<value code="256">256000</value>
+<value code="500">500000</value>
+<value code="921">921600</value>
+<value code="1500">1500000</value>
+</values>
+</param>
+<param humanName="Serial4 protocol selection" name="SERIAL4_PROTOCOL" documentation="Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
+<values>
+<value code="-1">None</value>
+<value code=" 1">MAVLink1</value>
+<value code=" 2">MAVLink2</value>
+<value code=" 3">Frsky D</value>
+<value code=" 4">Frsky SPort</value>
+<value code=" 5">GPS</value>
+<value code=" 7">Alexmos Gimbal Serial</value>
+<value code=" 8">SToRM32 Gimbal Serial</value>
+<value code=" 9">Rangefinder</value>
+<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
+<value code=" 11">Lidar360</value>
+<value code=" 13">Beacon</value>
+<value code=" 14">Volz servo out</value>
+<value code=" 15">SBus servo out</value>
+<value code=" 16">ESC Telemetry</value>
+<value code=" 17">Devo Telemetry</value>
+<value code=" 18">OpticalFlow</value>
+<value code=" 19">RobotisServo</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Serial 4 Baud Rate" name="SERIAL4_BAUD" documentation="The baud rate used for Serial4. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
+<values>
+<value code="1">1200</value>
+<value code="2">2400</value>
+<value code="4">4800</value>
+<value code="9">9600</value>
+<value code="19">19200</value>
+<value code="38">38400</value>
+<value code="57">57600</value>
+<value code="111">111100</value>
+<value code="115">115200</value>
+<value code="256">256000</value>
+<value code="500">500000</value>
+<value code="921">921600</value>
+<value code="1500">1500000</value>
+</values>
+</param>
+<param humanName="Serial5 protocol selection" name="SERIAL5_PROTOCOL" documentation="Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
+<values>
+<value code="-1">None</value>
+<value code=" 1">MAVLink1</value>
+<value code=" 2">MAVLink2</value>
+<value code=" 3">Frsky D</value>
+<value code=" 4">Frsky SPort</value>
+<value code=" 5">GPS</value>
+<value code=" 7">Alexmos Gimbal Serial</value>
+<value code=" 8">SToRM32 Gimbal Serial</value>
+<value code=" 9">Rangefinder</value>
+<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
+<value code=" 11">Lidar360</value>
+<value code=" 13">Beacon</value>
+<value code=" 14">Volz servo out</value>
+<value code=" 15">SBus servo out</value>
+<value code=" 16">ESC Telemetry</value>
+<value code=" 17">Devo Telemetry</value>
+<value code=" 18">OpticalFlow</value>
+<value code=" 19">RobotisServo</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Serial 5 Baud Rate" name="SERIAL5_BAUD" documentation="The baud rate used for Serial5. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
+<values>
+<value code="1">1200</value>
+<value code="2">2400</value>
+<value code="4">4800</value>
+<value code="9">9600</value>
+<value code="19">19200</value>
+<value code="38">38400</value>
+<value code="57">57600</value>
+<value code="111">111100</value>
+<value code="115">115200</value>
+<value code="256">256000</value>
+<value code="500">500000</value>
+<value code="921">921600</value>
+<value code="1500">1500000</value>
+</values>
+</param>
+<param humanName="Serial6 protocol selection" name="SERIAL6_PROTOCOL" documentation="Control what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
+<values>
+<value code="-1">None</value>
+<value code=" 1">MAVLink1</value>
+<value code=" 2">MAVLink2</value>
+<value code=" 3">Frsky D</value>
+<value code=" 4">Frsky SPort</value>
+<value code=" 5">GPS</value>
+<value code=" 7">Alexmos Gimbal Serial</value>
+<value code=" 8">SToRM32 Gimbal Serial</value>
+<value code=" 9">Rangefinder</value>
+<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
+<value code=" 11">Lidar360</value>
+<value code=" 13">Beacon</value>
+<value code=" 14">Volz servo out</value>
+<value code=" 15">SBus servo out</value>
+<value code=" 16">ESC Telemetry</value>
+<value code=" 17">Devo Telemetry</value>
+<value code=" 18">OpticalFlow</value>
+<value code=" 19">RobotisServo</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Serial 6 Baud Rate" name="SERIAL6_BAUD" documentation="The baud rate used for Serial6. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
+<values>
+<value code="1">1200</value>
+<value code="2">2400</value>
+<value code="4">4800</value>
+<value code="9">9600</value>
+<value code="19">19200</value>
+<value code="38">38400</value>
+<value code="57">57600</value>
+<value code="111">111100</value>
+<value code="115">115200</value>
+<value code="256">256000</value>
+<value code="500">500000</value>
+<value code="921">921600</value>
+<value code="1500">1500000</value>
+</values>
+</param>
+<param humanName="Telem1 options" name="SERIAL1_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards." user="Advanced">
+<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Telem2 options" name="SERIAL2_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
+<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Serial3 options" name="SERIAL3_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
+<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Serial4 options" name="SERIAL4_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
+<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Serial5 options" name="SERIAL5_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
+<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Serial6 options" name="SERIAL6_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
+<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Serial passthru first port" name="SERIAL_PASS1" documentation="This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port" user="Advanced">
+<values>
+<value code="-1">Disabled</value>
+<value code="0">Serial0</value>
+<value code="1">Serial1</value>
+<value code="2">Serial2</value>
+<value code="3">Serial3</value>
+<value code="4">Serial4</value>
+<value code="5">Serial5</value>
+<value code="6">Serial6</value>
+</values>
+</param>
+<param humanName="Serial passthru second port" name="SERIAL_PASS2" documentation="This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port" user="Advanced">
+<values>
+<value code="-1">Disabled</value>
+<value code="0">Serial0</value>
+<value code="1">Serial1</value>
+<value code="2">Serial2</value>
+<value code="3">Serial3</value>
+<value code="4">Serial4</value>
+<value code="5">Serial5</value>
+<value code="6">Serial6</value>
+</values>
+</param>
+<param humanName="Serial passthru timeout" name="SERIAL_PASSTIMO" documentation="This sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout." user="Advanced">
+<field name="Range">0 120</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+</parameters>
+<parameters name="SERVO">
+<param humanName="Automatic servo trim" name="SERVO_AUTO_TRIM" documentation="This enables automatic servo trim in flight. Servos will be trimed in stabilized flight modes when the aircraft is close to level. Changes to servo trim will be saved every 10 seconds and will persist between flights." user="Advanced">
+<values>
+<value code="0">Disable</value>
+<value code="1">Enable</value>
+</values>
+</param>
+<param humanName="Servo default output rate" name="SERVO_RATE" documentation="This sets the default output rate in Hz for all outputs." user="Advanced">
+<field name="Range">25 400</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+</parameters>
+<parameters name="SERVO10_">
+<param humanName="Minimum PWM" name="SERVO10_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO10_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO10_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO10_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO10_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="88">Winch</value>
+<value code="89">Main Sail</value>
+<value code="90">Camera ISO</value>
+<value code="91">Camera Focus</value>
+<value code="92">Camera Shutter Speed</value>
+<value code="94">Script 1</value>
+<value code="95">Script 2</value>
+<value code="96">Script 3</value>
+<value code="97">Script 4</value>
+<value code="98">Script 5</value>
+<value code="99">Script 6</value>
+<value code="100">Script 7</value>
+<value code="101">Script 8</value>
+<value code="102">Script 9</value>
+<value code="103">Script 10</value>
+<value code="104">Script 11</value>
+<value code="105">Script 12</value>
+<value code="106">Script 13</value>
+<value code="107">Script 14</value>
+<value code="108">Script 15</value>
+<value code="109">Script 16</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO11_">
+<param humanName="Minimum PWM" name="SERVO11_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO11_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO11_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO11_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO11_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="88">Winch</value>
+<value code="89">Main Sail</value>
+<value code="90">Camera ISO</value>
+<value code="91">Camera Focus</value>
+<value code="92">Camera Shutter Speed</value>
+<value code="94">Script 1</value>
+<value code="95">Script 2</value>
+<value code="96">Script 3</value>
+<value code="97">Script 4</value>
+<value code="98">Script 5</value>
+<value code="99">Script 6</value>
+<value code="100">Script 7</value>
+<value code="101">Script 8</value>
+<value code="102">Script 9</value>
+<value code="103">Script 10</value>
+<value code="104">Script 11</value>
+<value code="105">Script 12</value>
+<value code="106">Script 13</value>
+<value code="107">Script 14</value>
+<value code="108">Script 15</value>
+<value code="109">Script 16</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO12_">
+<param humanName="Minimum PWM" name="SERVO12_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO12_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO12_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO12_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO12_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="88">Winch</value>
+<value code="89">Main Sail</value>
+<value code="90">Camera ISO</value>
+<value code="91">Camera Focus</value>
+<value code="92">Camera Shutter Speed</value>
+<value code="94">Script 1</value>
+<value code="95">Script 2</value>
+<value code="96">Script 3</value>
+<value code="97">Script 4</value>
+<value code="98">Script 5</value>
+<value code="99">Script 6</value>
+<value code="100">Script 7</value>
+<value code="101">Script 8</value>
+<value code="102">Script 9</value>
+<value code="103">Script 10</value>
+<value code="104">Script 11</value>
+<value code="105">Script 12</value>
+<value code="106">Script 13</value>
+<value code="107">Script 14</value>
+<value code="108">Script 15</value>
+<value code="109">Script 16</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO13_">
+<param humanName="Minimum PWM" name="SERVO13_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO13_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO13_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO13_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO13_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="88">Winch</value>
+<value code="89">Main Sail</value>
+<value code="90">Camera ISO</value>
+<value code="91">Camera Focus</value>
+<value code="92">Camera Shutter Speed</value>
+<value code="94">Script 1</value>
+<value code="95">Script 2</value>
+<value code="96">Script 3</value>
+<value code="97">Script 4</value>
+<value code="98">Script 5</value>
+<value code="99">Script 6</value>
+<value code="100">Script 7</value>
+<value code="101">Script 8</value>
+<value code="102">Script 9</value>
+<value code="103">Script 10</value>
+<value code="104">Script 11</value>
+<value code="105">Script 12</value>
+<value code="106">Script 13</value>
+<value code="107">Script 14</value>
+<value code="108">Script 15</value>
+<value code="109">Script 16</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO14_">
+<param humanName="Minimum PWM" name="SERVO14_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO14_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO14_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO14_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO14_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="88">Winch</value>
+<value code="89">Main Sail</value>
+<value code="90">Camera ISO</value>
+<value code="91">Camera Focus</value>
+<value code="92">Camera Shutter Speed</value>
+<value code="94">Script 1</value>
+<value code="95">Script 2</value>
+<value code="96">Script 3</value>
+<value code="97">Script 4</value>
+<value code="98">Script 5</value>
+<value code="99">Script 6</value>
+<value code="100">Script 7</value>
+<value code="101">Script 8</value>
+<value code="102">Script 9</value>
+<value code="103">Script 10</value>
+<value code="104">Script 11</value>
+<value code="105">Script 12</value>
+<value code="106">Script 13</value>
+<value code="107">Script 14</value>
+<value code="108">Script 15</value>
+<value code="109">Script 16</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO15_">
+<param humanName="Minimum PWM" name="SERVO15_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO15_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO15_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO15_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO15_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="88">Winch</value>
+<value code="89">Main Sail</value>
+<value code="90">Camera ISO</value>
+<value code="91">Camera Focus</value>
+<value code="92">Camera Shutter Speed</value>
+<value code="94">Script 1</value>
+<value code="95">Script 2</value>
+<value code="96">Script 3</value>
+<value code="97">Script 4</value>
+<value code="98">Script 5</value>
+<value code="99">Script 6</value>
+<value code="100">Script 7</value>
+<value code="101">Script 8</value>
+<value code="102">Script 9</value>
+<value code="103">Script 10</value>
+<value code="104">Script 11</value>
+<value code="105">Script 12</value>
+<value code="106">Script 13</value>
+<value code="107">Script 14</value>
+<value code="108">Script 15</value>
+<value code="109">Script 16</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO16_">
+<param humanName="Minimum PWM" name="SERVO16_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO16_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO16_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO16_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO16_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="88">Winch</value>
+<value code="89">Main Sail</value>
+<value code="90">Camera ISO</value>
+<value code="91">Camera Focus</value>
+<value code="92">Camera Shutter Speed</value>
+<value code="94">Script 1</value>
+<value code="95">Script 2</value>
+<value code="96">Script 3</value>
+<value code="97">Script 4</value>
+<value code="98">Script 5</value>
+<value code="99">Script 6</value>
+<value code="100">Script 7</value>
+<value code="101">Script 8</value>
+<value code="102">Script 9</value>
+<value code="103">Script 10</value>
+<value code="104">Script 11</value>
+<value code="105">Script 12</value>
+<value code="106">Script 13</value>
+<value code="107">Script 14</value>
+<value code="108">Script 15</value>
+<value code="109">Script 16</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO1_">
+<param humanName="Minimum PWM" name="SERVO1_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO1_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO1_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO1_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO1_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="88">Winch</value>
+<value code="89">Main Sail</value>
+<value code="90">Camera ISO</value>
+<value code="91">Camera Focus</value>
+<value code="92">Camera Shutter Speed</value>
+<value code="94">Script 1</value>
+<value code="95">Script 2</value>
+<value code="96">Script 3</value>
+<value code="97">Script 4</value>
+<value code="98">Script 5</value>
+<value code="99">Script 6</value>
+<value code="100">Script 7</value>
+<value code="101">Script 8</value>
+<value code="102">Script 9</value>
+<value code="103">Script 10</value>
+<value code="104">Script 11</value>
+<value code="105">Script 12</value>
+<value code="106">Script 13</value>
+<value code="107">Script 14</value>
+<value code="108">Script 15</value>
+<value code="109">Script 16</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO2_">
+<param humanName="Minimum PWM" name="SERVO2_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO2_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO2_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO2_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO2_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="88">Winch</value>
+<value code="89">Main Sail</value>
+<value code="90">Camera ISO</value>
+<value code="91">Camera Focus</value>
+<value code="92">Camera Shutter Speed</value>
+<value code="94">Script 1</value>
+<value code="95">Script 2</value>
+<value code="96">Script 3</value>
+<value code="97">Script 4</value>
+<value code="98">Script 5</value>
+<value code="99">Script 6</value>
+<value code="100">Script 7</value>
+<value code="101">Script 8</value>
+<value code="102">Script 9</value>
+<value code="103">Script 10</value>
+<value code="104">Script 11</value>
+<value code="105">Script 12</value>
+<value code="106">Script 13</value>
+<value code="107">Script 14</value>
+<value code="108">Script 15</value>
+<value code="109">Script 16</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO3_">
+<param humanName="Minimum PWM" name="SERVO3_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO3_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO3_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO3_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO3_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="88">Winch</value>
+<value code="89">Main Sail</value>
+<value code="90">Camera ISO</value>
+<value code="91">Camera Focus</value>
+<value code="92">Camera Shutter Speed</value>
+<value code="94">Script 1</value>
+<value code="95">Script 2</value>
+<value code="96">Script 3</value>
+<value code="97">Script 4</value>
+<value code="98">Script 5</value>
+<value code="99">Script 6</value>
+<value code="100">Script 7</value>
+<value code="101">Script 8</value>
+<value code="102">Script 9</value>
+<value code="103">Script 10</value>
+<value code="104">Script 11</value>
+<value code="105">Script 12</value>
+<value code="106">Script 13</value>
+<value code="107">Script 14</value>
+<value code="108">Script 15</value>
+<value code="109">Script 16</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO4_">
+<param humanName="Minimum PWM" name="SERVO4_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO4_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO4_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO4_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO4_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="88">Winch</value>
+<value code="89">Main Sail</value>
+<value code="90">Camera ISO</value>
+<value code="91">Camera Focus</value>
+<value code="92">Camera Shutter Speed</value>
+<value code="94">Script 1</value>
+<value code="95">Script 2</value>
+<value code="96">Script 3</value>
+<value code="97">Script 4</value>
+<value code="98">Script 5</value>
+<value code="99">Script 6</value>
+<value code="100">Script 7</value>
+<value code="101">Script 8</value>
+<value code="102">Script 9</value>
+<value code="103">Script 10</value>
+<value code="104">Script 11</value>
+<value code="105">Script 12</value>
+<value code="106">Script 13</value>
+<value code="107">Script 14</value>
+<value code="108">Script 15</value>
+<value code="109">Script 16</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO5_">
+<param humanName="Minimum PWM" name="SERVO5_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO5_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO5_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO5_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO5_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="88">Winch</value>
+<value code="89">Main Sail</value>
+<value code="90">Camera ISO</value>
+<value code="91">Camera Focus</value>
+<value code="92">Camera Shutter Speed</value>
+<value code="94">Script 1</value>
+<value code="95">Script 2</value>
+<value code="96">Script 3</value>
+<value code="97">Script 4</value>
+<value code="98">Script 5</value>
+<value code="99">Script 6</value>
+<value code="100">Script 7</value>
+<value code="101">Script 8</value>
+<value code="102">Script 9</value>
+<value code="103">Script 10</value>
+<value code="104">Script 11</value>
+<value code="105">Script 12</value>
+<value code="106">Script 13</value>
+<value code="107">Script 14</value>
+<value code="108">Script 15</value>
+<value code="109">Script 16</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO6_">
+<param humanName="Minimum PWM" name="SERVO6_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO6_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO6_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO6_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO6_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="88">Winch</value>
+<value code="89">Main Sail</value>
+<value code="90">Camera ISO</value>
+<value code="91">Camera Focus</value>
+<value code="92">Camera Shutter Speed</value>
+<value code="94">Script 1</value>
+<value code="95">Script 2</value>
+<value code="96">Script 3</value>
+<value code="97">Script 4</value>
+<value code="98">Script 5</value>
+<value code="99">Script 6</value>
+<value code="100">Script 7</value>
+<value code="101">Script 8</value>
+<value code="102">Script 9</value>
+<value code="103">Script 10</value>
+<value code="104">Script 11</value>
+<value code="105">Script 12</value>
+<value code="106">Script 13</value>
+<value code="107">Script 14</value>
+<value code="108">Script 15</value>
+<value code="109">Script 16</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO7_">
+<param humanName="Minimum PWM" name="SERVO7_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO7_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO7_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO7_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO7_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="88">Winch</value>
+<value code="89">Main Sail</value>
+<value code="90">Camera ISO</value>
+<value code="91">Camera Focus</value>
+<value code="92">Camera Shutter Speed</value>
+<value code="94">Script 1</value>
+<value code="95">Script 2</value>
+<value code="96">Script 3</value>
+<value code="97">Script 4</value>
+<value code="98">Script 5</value>
+<value code="99">Script 6</value>
+<value code="100">Script 7</value>
+<value code="101">Script 8</value>
+<value code="102">Script 9</value>
+<value code="103">Script 10</value>
+<value code="104">Script 11</value>
+<value code="105">Script 12</value>
+<value code="106">Script 13</value>
+<value code="107">Script 14</value>
+<value code="108">Script 15</value>
+<value code="109">Script 16</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO8_">
+<param humanName="Minimum PWM" name="SERVO8_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO8_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO8_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO8_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO8_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="88">Winch</value>
+<value code="89">Main Sail</value>
+<value code="90">Camera ISO</value>
+<value code="91">Camera Focus</value>
+<value code="92">Camera Shutter Speed</value>
+<value code="94">Script 1</value>
+<value code="95">Script 2</value>
+<value code="96">Script 3</value>
+<value code="97">Script 4</value>
+<value code="98">Script 5</value>
+<value code="99">Script 6</value>
+<value code="100">Script 7</value>
+<value code="101">Script 8</value>
+<value code="102">Script 9</value>
+<value code="103">Script 10</value>
+<value code="104">Script 11</value>
+<value code="105">Script 12</value>
+<value code="106">Script 13</value>
+<value code="107">Script 14</value>
+<value code="108">Script 15</value>
+<value code="109">Script 16</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO9_">
+<param humanName="Minimum PWM" name="SERVO9_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO9_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO9_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO9_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO9_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="88">Winch</value>
+<value code="89">Main Sail</value>
+<value code="90">Camera ISO</value>
+<value code="91">Camera Focus</value>
+<value code="92">Camera Shutter Speed</value>
+<value code="94">Script 1</value>
+<value code="95">Script 2</value>
+<value code="96">Script 3</value>
+<value code="97">Script 4</value>
+<value code="98">Script 5</value>
+<value code="99">Script 6</value>
+<value code="100">Script 7</value>
+<value code="101">Script 8</value>
+<value code="102">Script 9</value>
+<value code="103">Script 10</value>
+<value code="104">Script 11</value>
+<value code="105">Script 12</value>
+<value code="106">Script 13</value>
+<value code="107">Script 14</value>
+<value code="108">Script 15</value>
+<value code="109">Script 16</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO_BLH_">
+<param humanName="BLHeli Channel Bitmask" name="SERVO_BLH_MASK" documentation="Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any)" user="Advanced">
+<field name="Bitmask">0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16</field>
+</param>
+<param humanName="BLHeli auto-enable for multicopter motors" name="SERVO_BLH_AUTO" documentation="If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="BLHeli internal interface test" name="SERVO_BLH_TEST" documentation="Setting SERVO_BLH_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC. The debug output is displayed on the USB console." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">TestMotor1</value>
+<value code="2">TestMotor2</value>
+<value code="3">TestMotor3</value>
+<value code="4">TestMotor4</value>
+<value code="5">TestMotor5</value>
+<value code="6">TestMotor6</value>
+<value code="7">TestMotor7</value>
+<value code="8">TestMotor8</value>
+</values>
+</param>
+<param humanName="BLHeli protocol timeout" name="SERVO_BLH_TMOUT" documentation="This sets the inactivity timeout for the BLHeli protocol in seconds. If no packets are received in this time normal MAVLink operations are resumed. A value of 0 means no timeout" user="Standard">
+<field name="Range">0 300</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="BLHeli telemetry rate" name="SERVO_BLH_TRATE" documentation="This sets the rate in Hz for requesting telemetry from ESCs. It is the rate per ESC. Setting to zero disables telemetry requests" user="Standard">
+<field name="Range">0 500</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="BLHeli debug level" name="SERVO_BLH_DEBUG" documentation="When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="BLHeli output type override" name="SERVO_BLH_OTYPE" documentation="When set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group." user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">OneShot</value>
+<value code="2">OneShot125</value>
+<value code="3">Brushed</value>
+<value code="4">DShot150</value>
+<value code="5">DShot300</value>
+<value code="6">DShot600</value>
+<value code="7">DShot1200</value>
+</values>
+</param>
+<param humanName="Control port" name="SERVO_BLH_PORT" documentation="This sets the telemetry port to use for blheli pass-thru" user="Advanced">
+<values>
+<value code="0">Console</value>
+<value code="1">Telem1</value>
+<value code="2">Telem2</value>
+<value code="3">Telem3</value>
+<value code="4">Telem4</value>
+<value code="5">Telem5</value>
+</values>
+</param>
+<param humanName="BLHeli Motor Poles" name="SERVO_BLH_POLES" documentation="This allows calculation of true RPM from ESC's eRPM. The default is 14." user="Advanced">
+<field name="Range">1 127</field>
+</param>
+<param humanName="BLHeli bitmask of reversible channels" name="SERVO_BLH_REMASK" documentation="Mask of channels which are reversible. This is used for ESCs which have been configured in '3D' mode, allowing for the motor to spin in either direction" user="Advanced">
+<field name="Bitmask">0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16</field>
+</param>
+</parameters>
+<parameters name="SERVO_ROB_">
+<param humanName="Robotis servo position min" name="SERVO_ROB_POSMIN" documentation="Position minimum at servo min value. This should be within the position control range of the servos, normally 0 to 4095" user="Standard">
+<field name="Range">0 4095</field>
+</param>
+<param humanName="Robotis servo position max" name="SERVO_ROB_POSMAX" documentation="Position maximum at servo max value. This should be within the position control range of the servos, normally 0 to 4095" user="Standard">
+<field name="Range">0 4095</field>
+</param>
+</parameters>
+<parameters name="SERVO_SBUS_">
+<param humanName="SBUS default output rate" name="SERVO_SBUS_RATE" documentation="This sets the SBUS output frame rate in Hz." user="Advanced">
+<field name="Range">25 250</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+</parameters>
+<parameters name="SERVO_VOLZ_">
+<param humanName="Channel Bitmask" name="SERVO_VOLZ_MASK" documentation="Enable of volz servo protocol to specific channels" user="Standard">
+<field name="Bitmask">0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16</field>
+</param>
+</parameters>
+<parameters name="SIM_GRPE_">
+<param humanName="Gripper servo Sim enable/disable" name="SIM_GRPE_ENABLE" documentation="Allows you to enable (1) or disable (0) the gripper servo simulation" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Gripper emp pin" name="SIM_GRPE_PIN" documentation="The pin number that the gripper emp is connected to. (start at 1)" user="Advanced">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="SIM_GRPS_">
+<param humanName="Gripper servo Sim enable/disable" name="SIM_GRPS_ENABLE" documentation="Allows you to enable (1) or disable (0) the gripper servo simulation" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Gripper servo pin" name="SIM_GRPS_PIN" documentation="The pin number that the gripper servo is connected to. (start at 1)" user="Advanced">
+<field name="Range">0 15</field>
+</param>
+<param humanName="Gripper Grab PWM" name="SIM_GRPS_GRAB" documentation="PWM value in microseconds sent to Gripper to initiate grabbing the cargo" user="Advanced">
+<field name="Range">1000 2000</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Gripper Release PWM" name="SIM_GRPS_RELEASE" documentation="PWM value in microseconds sent to Gripper to release the cargo" user="Advanced">
+<field name="Range">1000 2000</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Gripper close direction" name="SIM_GRPS_REVERSE" documentation="Reverse the closing direction." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reverse</value>
+</values>
+</param>
+</parameters>
+<parameters name="SIM_PLD_">
+<param humanName="Preland device Sim enable/disable" name="SIM_PLD_ENABLE" documentation="Allows you to enable (1) or disable (0) the Preland simulation" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Precland device origin's latitude" name="SIM_PLD_LAT" documentation="Precland device origin's latitude" user="Advanced">
+<field name="Range">-90 90</field>
+<field name="Increment">0.000001</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Precland device origin's longitude" name="SIM_PLD_LON" documentation="Precland device origin's longitude" user="Advanced">
+<field name="Range">-180 180</field>
+<field name="Increment">0.000001</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Precland device origin's height above sealevel" name="SIM_PLD_HEIGHT" documentation="Precland device origin's height above sealevel" user="Advanced">
+<field name="Range">0 10000</field>
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Precland device systems rotation from north" name="SIM_PLD_YAW" documentation="Precland device systems rotation from north" user="Advanced">
+<field name="Range">-180 +180</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Precland device update rate" name="SIM_PLD_RATE" documentation="Precland device rate. e.g led patter refresh rate, RF message rate, etc." user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Precland device radiance type" name="SIM_PLD_TYPE" documentation="Precland device radiance type: it can be a cylinder, a cone, or a sphere." user="Advanced">
+<values>
+<value code="0">cylinder</value>
+<value code="1">cone</value>
+<value code="2">sphere</value>
+</values>
+</param>
+<param humanName="Precland device alt range" name="SIM_PLD_ALT_LIMIT" documentation="Precland device maximum range altitude" user="Advanced">
+<field name="Range">0 100</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Precland device lateral range" name="SIM_PLD_DIST_LIMIT" documentation="Precland device maximum lateral range" user="Advanced">
+<field name="Range">5 100</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+</parameters>
+<parameters name="SIM_SPR_">
+<param humanName="Gripper servo Sim enable/disable" name="SIM_SPR_ENABLE" documentation="Allows you to enable (1) or disable (0) the gripper servo simulation" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Sprayer pump pin" name="SIM_SPR_PUMP" documentation="The pin number that the Sprayer pump is connected to. (start at 1)" user="Advanced">
+<field name="Range">0 15</field>
+</param>
+<param humanName="Sprayer spinner servo pin" name="SIM_SPR_SPIN" documentation="The pin number that the Sprayer spinner servo is connected to. (start at 1)" user="Advanced">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="SOAR_">
+<param humanName="Is the soaring mode enabled or not" name="SOAR_ENABLE" documentation="Toggles the soaring mode on and off" user="Advanced">
+<values>
+<value code="0">Disable</value>
+<value code="1">Enable</value>
+</values>
+</param>
+<param humanName="Vertical v-speed" name="SOAR_VSPEED" documentation="Rate of climb to trigger themalling speed" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Distance to thermal center" name="SOAR_DIST_AHEAD" documentation="Initial guess of the distance to the thermal center" user="Advanced">
+<field name="Range">0 100</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Minimum thermalling time" name="SOAR_MIN_THML_S" documentation="Minimum number of seconds to spend thermalling" user="Advanced">
+<field name="Range">0 32768</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Minimum cruising time" name="SOAR_MIN_CRSE_S" documentation="Minimum number of seconds to spend cruising" user="Advanced">
+<field name="Range">0 32768</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Cl factor" name="SOAR_POLAR_K" documentation="Cl factor 2*m*g/(rho*S)" user="Advanced">
+<field name="Range">0 0.5</field>
+<field name="Units">m.m/s/s</field>
+<field name="UnitText">square meter per square second</field>
+</param>
+<param humanName="Maximum soaring altitude, relative to the home location" name="SOAR_ALT_MAX" documentation="Don't thermal any higher than this." user="Advanced">
+<field name="Range">0 1000.0</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Minimum soaring altitude, relative to the home location" name="SOAR_ALT_MIN" documentation="Don't get any lower than this." user="Advanced">
+<field name="Range">0 1000.0</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Maximum power altitude, relative to the home location" name="SOAR_ALT_CUTOFF" documentation="Cut off throttle at this alt." user="Advanced">
+<field name="Range">0 1000.0</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="(Optional) RC channel that toggles the soaring controller on and off" name="SOAR_ENABLE_CH" documentation="Toggles the soaring controller on and off. This parameter has any effect only if SOAR_ENABLE is set to 1 and this parameter is set to a valid non-zero channel number. When set, soaring will be activated when RC input to the specified channel is greater than or equal to 1700." user="Advanced">
+<field name="Range">0 16</field>
+</param>
+</parameters>
+<parameters name="SR0_">
+<param humanName="Raw sensor stream rate" name="SR0_RAW_SENS" documentation="Raw sensor stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extended status stream rate to ground station" name="SR0_EXT_STAT" documentation="Extended status stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="RC Channel stream rate to ground station" name="SR0_RC_CHAN" documentation="RC Channel stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Raw Control stream rate to ground station" name="SR0_RAW_CTRL" documentation="Raw Control stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Position stream rate to ground station" name="SR0_POSITION" documentation="Position stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extra data type 1 stream rate to ground station" name="SR0_EXTRA1" documentation="Extra data type 1 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extra data type 2 stream rate to ground station" name="SR0_EXTRA2" documentation="Extra data type 2 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extra data type 3 stream rate to ground station" name="SR0_EXTRA3" documentation="Extra data type 3 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Parameter stream rate to ground station" name="SR0_PARAMS" documentation="Parameter stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="ADSB stream rate to ground station" name="SR0_ADSB" documentation="ADSB stream rate to ground station" user="Advanced">
+<field name="Range">0 50</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+</parameters>
+<parameters name="SR1_">
+<param humanName="Raw sensor stream rate" name="SR1_RAW_SENS" documentation="Raw sensor stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extended status stream rate to ground station" name="SR1_EXT_STAT" documentation="Extended status stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="RC Channel stream rate to ground station" name="SR1_RC_CHAN" documentation="RC Channel stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Raw Control stream rate to ground station" name="SR1_RAW_CTRL" documentation="Raw Control stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Position stream rate to ground station" name="SR1_POSITION" documentation="Position stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extra data type 1 stream rate to ground station" name="SR1_EXTRA1" documentation="Extra data type 1 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extra data type 2 stream rate to ground station" name="SR1_EXTRA2" documentation="Extra data type 2 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extra data type 3 stream rate to ground station" name="SR1_EXTRA3" documentation="Extra data type 3 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Parameter stream rate to ground station" name="SR1_PARAMS" documentation="Parameter stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="ADSB stream rate to ground station" name="SR1_ADSB" documentation="ADSB stream rate to ground station" user="Advanced">
+<field name="Range">0 50</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+</parameters>
+<parameters name="SR2_">
+<param humanName="Raw sensor stream rate" name="SR2_RAW_SENS" documentation="Raw sensor stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extended status stream rate to ground station" name="SR2_EXT_STAT" documentation="Extended status stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="RC Channel stream rate to ground station" name="SR2_RC_CHAN" documentation="RC Channel stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Raw Control stream rate to ground station" name="SR2_RAW_CTRL" documentation="Raw Control stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Position stream rate to ground station" name="SR2_POSITION" documentation="Position stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extra data type 1 stream rate to ground station" name="SR2_EXTRA1" documentation="Extra data type 1 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extra data type 2 stream rate to ground station" name="SR2_EXTRA2" documentation="Extra data type 2 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extra data type 3 stream rate to ground station" name="SR2_EXTRA3" documentation="Extra data type 3 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Parameter stream rate to ground station" name="SR2_PARAMS" documentation="Parameter stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="ADSB stream rate to ground station" name="SR2_ADSB" documentation="ADSB stream rate to ground station" user="Advanced">
+<field name="Range">0 50</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+</parameters>
+<parameters name="SR3_">
+<param humanName="Raw sensor stream rate" name="SR3_RAW_SENS" documentation="Raw sensor stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extended status stream rate to ground station" name="SR3_EXT_STAT" documentation="Extended status stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="RC Channel stream rate to ground station" name="SR3_RC_CHAN" documentation="RC Channel stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Raw Control stream rate to ground station" name="SR3_RAW_CTRL" documentation="Raw Control stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Position stream rate to ground station" name="SR3_POSITION" documentation="Position stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extra data type 1 stream rate to ground station" name="SR3_EXTRA1" documentation="Extra data type 1 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extra data type 2 stream rate to ground station" name="SR3_EXTRA2" documentation="Extra data type 2 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extra data type 3 stream rate to ground station" name="SR3_EXTRA3" documentation="Extra data type 3 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Parameter stream rate to ground station" name="SR3_PARAMS" documentation="Parameter stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="ADSB stream rate to ground station" name="SR3_ADSB" documentation="ADSB stream rate to ground station" user="Advanced">
+<field name="Range">0 50</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+</parameters>
+<parameters name="STAT">
+<param humanName="Boot Count" name="STAT_BOOTCNT" documentation="Number of times board has been booted" user="Standard">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="Total FlightTime" name="STAT_FLTTIME" documentation="Total FlightTime (seconds)" user="Standard">
+<field name="ReadOnly">True</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Total RunTime" name="STAT_RUNTIME" documentation="Total time autopilot has run" user="Standard">
+<field name="ReadOnly">True</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Statistics Reset Time" name="STAT_RESET" documentation="Seconds since January 1st 2016 (Unix epoch+1451606400) since statistics reset (set to 0 to reset statistics)" user="Standard">
+<field name="ReadOnly">True</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+</parameters>
+<parameters name="STEER2SRV_">
+<param humanName="Steering Time Constant" name="STEER2SRV_TCONST" documentation="This controls the time constant in seconds from demanded to achieved steering angle. A value of 0.75 is a good default and will work with nearly all rovers. Ground steering in aircraft needs a bit smaller time constant, and a value of 0.5 is recommended for best ground handling in fixed wing aircraft. A value of 0.75 means that the controller will try to correct any deviation between the desired and actual steering angle in 0.75 seconds. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the vehicle can achieve." user="Advanced">
+<field name="Range">0.4 1.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Steering turning gain" name="STEER2SRV_P" documentation="The proportional gain for steering. This should be approximately equal to the diameter of the turning circle of the vehicle at low speed and maximum steering angle" user="User">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Integrator Gain" name="STEER2SRV_I" documentation="This is the gain from the integral of steering angle. Increasing this gain causes the controller to trim out steady offsets due to an out of trim vehicle." user="User">
+<field name="Range">0 1.0</field>
+<field name="Increment">0.05</field>
+</param>
+<param humanName="Damping Gain" name="STEER2SRV_D" documentation="This adjusts the damping of the steering control loop. This gain helps to reduce steering jitter with vibration. It should be increased in 0.01 increments as too high a value can lead to a high frequency steering oscillation that could overstress the vehicle." user="User">
+<field name="Range">0 0.1</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Integrator limit" name="STEER2SRV_IMAX" documentation="This limits the number of degrees of steering in centi-degrees over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 centi-degrees, so the default value represents a 1/3rd of the total control throw which is adequate unless the vehicle is severely out of trim." user="Advanced">
+<field name="Range">0 4500</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Minimum speed" name="STEER2SRV_MINSPD" documentation="This is the minimum assumed ground speed in meters/second for steering. Having a minimum speed prevents oscillations when the vehicle first starts moving. The vehicle can still drive slower than this limit, but the steering calculations will be done based on this minimum speed." user="User">
+<field name="Range">0 5</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Steering feed forward" name="STEER2SRV_FF" documentation="The feed forward gain for steering this is the ratio of the achieved turn rate to applied steering. A value of 1 means that the vehicle would yaw at a rate of 45 degrees per second with full steering deflection at 1m/s ground speed." user="User">
+<field name="Range">0.0 10.0</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Derating speed" name="STEER2SRV_DRTSPD" documentation="Speed after that the maximum degree of steering will start to derate. Set this speed to a maximum speed that a plane can do controlled turn at maximum angle of steering wheel without rolling to wing. If 0 then no derating is used." user="Advanced">
+<field name="Range">0.0 30.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Derating factor" name="STEER2SRV_DRTFCT" documentation='Degrees of steering wheel to derate at each additional m/s of speed above "Derating speed". Should be set so that at higher speeds the plane does not roll to the wing in turns.' user="Advanced">
+<field name="Range">0.0 50.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">deg/m/s</field>
+<field name="UnitText">degrees per meter per second</field>
+</param>
+<param humanName="Minimum angle of wheel" name="STEER2SRV_DRTMIN" documentation="The angle that limits smallest angle of steering wheel at maximum speed. Even if it should derate below, it will stop derating at this angle." user="Advanced">
+<field name="Range">0.0 4500.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+</parameters>
+<parameters name="TECS_">
+<param humanName="Maximum Climb Rate (metres/sec)" name="TECS_CLMB_MAX" documentation="Maximum demanded climb rate. Do not set higher than the climb speed at THR_MAX at TRIM_ARSPD_CM when the battery is at low voltage. Reduce value if airspeed cannot be maintained on ascent. Increase value if throttle does not increase significantly to ascend." user="Standard">
+<field name="Range">0.1 20.0</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Minimum Sink Rate (metres/sec)" name="TECS_SINK_MIN" documentation="Minimum sink rate when at THR_MIN and TRIM_ARSPD_CM." user="Standard">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Controller time constant (sec)" name="TECS_TIME_CONST" documentation="Time constant of the TECS control algorithm. Small values make faster altitude corrections but can cause overshoot and aggressive behavior." user="Advanced">
+<field name="Range">3.0 10.0</field>
+<field name="Increment">0.2</field>
+</param>
+<param humanName="Controller throttle damping" name="TECS_THR_DAMP" documentation="Damping gain for throttle demand loop. Slows the throttle response to correct for speed and height oscillations." user="Advanced">
+<field name="Range">0.1 1.0</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Controller integrator" name="TECS_INTEG_GAIN" documentation="Integrator gain to trim out long-term speed and height errors." user="Advanced">
+<field name="Range">0.0 0.5</field>
+<field name="Increment">0.02</field>
+</param>
+<param humanName="Vertical Acceleration Limit (metres/sec^2)" name="TECS_VERT_ACC" documentation="Maximum vertical acceleration used to correct speed or height errors." user="Advanced">
+<field name="Range">1.0 10.0</field>
+<field name="Increment">0.5</field>
+</param>
+<param humanName="Height complementary filter frequency (radians/sec)" name="TECS_HGT_OMEGA" documentation="This is the cross-over frequency of the complementary filter used to fuse vertical acceleration and baro alt to obtain an estimate of height rate and height." user="Advanced">
+<field name="Range">1.0 5.0</field>
+<field name="Increment">0.05</field>
+</param>
+<param humanName="Speed complementary filter frequency (radians/sec)" name="TECS_SPD_OMEGA" documentation="This is the cross-over frequency of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain a lower noise and lag estimate of airspeed." user="Advanced">
+<field name="Range">0.5 2.0</field>
+<field name="Increment">0.05</field>
+</param>
+<param humanName="Bank angle compensation gain" name="TECS_RLL2THR" documentation="Gain from bank angle to throttle to compensate for loss of airspeed from drag in turns. Set to approximately 10x the sink rate in m/s caused by a 45-degree turn. High efficiency models may need less while less efficient aircraft may need more. Should be tuned in an automatic mission with waypoints and turns greater than 90 degrees. Tune with PTCH2SV_RLL and KFF_RDDRMIX to achieve constant airspeed, constant altitude turns." user="Advanced">
+<field name="Range">5.0 30.0</field>
+<field name="Increment">1.0</field>
+</param>
+<param humanName="Weighting applied to speed control" name="TECS_SPDWEIGHT" documentation="Mixing of pitch and throttle correction for height and airspeed errors. Pitch controls altitude and throttle controls airspeed if set to 0. Pitch controls airspeed and throttle controls altitude if set to 2 (good for gliders). Blended if set to 1." user="Advanced">
+<field name="Range">0.0 2.0</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Controller pitch damping" name="TECS_PTCH_DAMP" documentation="Damping gain for pitch control from TECS control.  Increasing may correct for oscillations in speed and height, but too much may cause additional oscillation and degraded control." user="Advanced">
+<field name="Range">0.1 1.0</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Maximum Descent Rate (metres/sec)" name="TECS_SINK_MAX" documentation="Maximum demanded descent rate. Do not set higher than the vertical speed the aircraft can maintain at THR_MIN, TECS_PITCH_MIN, and ARSPD_FBW_MAX." user="User">
+<field name="Range">0.0 20.0</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Airspeed during landing approach (m/s)" name="TECS_LAND_ARSPD" documentation="When performing an autonomus landing, this value is used as the goal airspeed during approach.  Note that this parameter is not useful if your platform does not have an airspeed sensor (use TECS_LAND_THR instead).  If negative then this value is not used during landing." user="User">
+<field name="Range">-1 127</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Cruise throttle during landing approach (percentage)" name="TECS_LAND_THR" documentation="Use this parameter instead of LAND_ARSPD if your platform does not have an airspeed sensor.  It is the cruise throttle during landing approach.  If this value is negative then it is disabled and TECS_LAND_ARSPD is used instead." user="User">
+<field name="Range">-1 100</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Weighting applied to speed control during landing." name="TECS_LAND_SPDWGT" documentation="Same as SPDWEIGHT parameter, with the exception that this parameter is applied during landing flight stages.  A value closer to 2 will result in the plane ignoring height error during landing and our experience has been that the plane will therefore keep the nose up -- sometimes good for a glider landing (with the side effect that you will likely glide a ways past the landing point).  A value closer to 0 results in the plane ignoring speed error -- use caution when lowering the value below 1 -- ignoring speed could result in a stall. Values between 0 and 2 are valid values for a fixed landing weight. When using -1 the weight will be scaled during the landing. At the start of the landing approach it starts with TECS_SPDWEIGHT and scales down to 0 by the time you reach the land point. Example: Halfway down the landing approach you'll effectively have a weight of TECS_SPDWEIGHT/2." user="Advanced">
+<field name="Range">-1.0 2.0</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Maximum pitch in auto flight" name="TECS_PITCH_MAX" documentation="Overrides LIM_PITCH_MAX in automatic throttle modes to reduce climb rates. Uses LIM_PITCH_MAX if set to 0. For proper TECS tuning, set to the angle that the aircraft can climb at TRIM_ARSPD_CM and THR_MAX." user="Advanced">
+<field name="Range">0 45</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Minimum pitch in auto flight" name="TECS_PITCH_MIN" documentation="Overrides LIM_PITCH_MIN in automatic throttle modes to reduce descent rates. Uses LIM_PITCH_MIN if set to 0. For proper TECS tuning, set to the angle that the aircraft can descend at without overspeeding." user="Advanced">
+<field name="Range">-45 0</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Sink rate for final landing stage" name="TECS_LAND_SINK" documentation="The sink rate in meters/second for the final stage of landing." user="Advanced">
+<field name="Range">0.0 2.0</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Land controller time constant (sec)" name="TECS_LAND_TCONST" documentation="This is the time constant of the TECS control algorithm when in final landing stage of flight. It should be smaller than TECS_TIME_CONST to allow for faster flare" user="Advanced">
+<field name="Range">1.0 5.0</field>
+<field name="Increment">0.2</field>
+</param>
+<param humanName="Controller sink rate to pitch gain during flare" name="TECS_LAND_DAMP" documentation="This is the sink rate gain for the pitch demand loop when in final landing stage of flight. It should be larger than TECS_PTCH_DAMP to allow for better sink rate control during flare." user="Advanced">
+<field name="Range">0.1 1.0</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Maximum pitch during final stage of landing" name="TECS_LAND_PMAX" documentation="This limits the pitch used during the final stage of automatic landing. During the final landing stage most planes need to keep their pitch small to avoid stalling. A maximum of 10 degrees is usually good. A value of zero means to use the normal pitch limits." user="Advanced">
+<field name="Range">-5 40</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Sink rate max for landing approach stage" name="TECS_APPR_SMAX" documentation="The sink rate max for the landing approach stage of landing. This will need to be large for steep landing approaches especially when using reverse thrust. If 0, then use TECS_SINK_MAX." user="Advanced">
+<field name="Range">0.0 20.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Land sink rate change" name="TECS_LAND_SRC" documentation="When zero, the flare sink rate (TECS_LAND_SINK) is a fixed sink demand. With this enabled the flare sinkrate will increase/decrease the flare sink demand as you get further beyond the LAND waypoint. Has no effect before the waypoint. This value is added to TECS_LAND_SINK proportional to distance traveled after wp. With an increasing sink rate you can still land in a given distance if you're traveling too fast and cruise passed the land point. A positive value will force the plane to land sooner proportional to distance passed land point. A negative number will tell the plane to slowly climb allowing for a pitched-up stall landing. Recommend 0.2 as initial value." user="Advanced">
+<field name="Range">-2.0 2.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s/m</field>
+<field name="UnitText">meters per second per meter</field>
+</param>
+<param humanName="Controller throttle damping when landing" name="TECS_LAND_TDAMP" documentation="This is the damping gain for the throttle demand loop during and auto-landing. Same as TECS_THR_DAMP but only in effect during an auto-land. Increase to add damping to correct for oscillations in speed and height. When set to 0 landing throttle damp is controlled by TECS_THR_DAMP." user="Advanced">
+<field name="Range">0.1 1.0</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Controller integrator during landing" name="TECS_LAND_IGAIN" documentation="This is the integrator gain on the control loop during landing. When set to 0 then TECS_INTEG_GAIN is used. Increase to increase the rate at which speed and height offsets are trimmed out. Typically values lower than TECS_INTEG_GAIN work best" user="Advanced">
+<field name="Range">0.0 0.5</field>
+<field name="Increment">0.02</field>
+</param>
+<param humanName="Controller integrator during takeoff" name="TECS_TKOFF_IGAIN" documentation="This is the integrator gain on the control loop during takeoff. When set to 0 then TECS_INTEG_GAIN is used. Increase to increase the rate at which speed and height offsets are trimmed out. Typically values higher than TECS_INTEG_GAIN work best" user="Advanced">
+<field name="Range">0.0 0.5</field>
+<field name="Increment">0.02</field>
+</param>
+<param humanName="Pitch damping gain when landing" name="TECS_LAND_PDAMP" documentation="This is the damping gain for the pitch demand loop during landing. Increase to add damping  to correct for oscillations in speed and height. If set to 0 then TECS_PTCH_DAMP will be used instead." user="Advanced">
+<field name="Range">0.1 1.0</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Enable the use of synthetic airspeed" name="TECS_SYNAIRSPEED" documentation="This enable the use of synthetic airspeed for aircraft that don't have a real airspeed sensor. This is useful for development testing where the user is aware of the considerable limitations of the synthetic airspeed system, such as very poor estimates when a wind estimate is not accurate. Do not enable this option unless you fully understand the limitations of a synthetic airspeed estimate." user="Advanced">
+<values>
+<value code="0">Disable</value>
+<value code="1">Enable</value>
+</values>
+</param>
+</parameters>
+<parameters name="TERRAIN_">
+<param humanName="Terrain data enable" name="TERRAIN_ENABLE" documentation="enable terrain data. This enables the vehicle storing a database of terrain data on the SD card. The terrain data is requested from the ground station as needed, and stored for later use on the SD card. To be useful the ground station must support TERRAIN_REQUEST messages and have access to a terrain database, such as the SRTM database." user="Advanced">
+<values>
+<value code="0">Disable</value>
+<value code="1">Enable</value>
+</values>
+</param>
+<param humanName="Terrain grid spacing" name="TERRAIN_SPACING" documentation="Distance between terrain grid points in meters. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station. If your GCS is using the worldwide SRTM database then a resolution of 100 meters is appropriate. Some parts of the world may have higher resolution data available, such as 30 meter data available in the SRTM database in the USA. The grid spacing also controls how much data is kept in memory during flight. A larger grid spacing will allow for a larger amount of data in memory. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2.7 kilometers by 3.2 kilometers. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be demand loaded as needed." user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+</parameters>
+<parameters name="TUNE_">
+<param humanName="Transmitter tuning parameter or set of parameters" name="TUNE_PARAM" documentation="This sets which parameter or set of parameters will be tuned. Values greater than 100 indicate a set of parameters rather than a single parameter. Parameters less than 50 are for QuadPlane vertical lift motors only." user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RateRollPI</value>
+<value code="2">RateRollP</value>
+<value code="3">RateRollI</value>
+<value code="4">RateRollD</value>
+<value code="5">RatePitchPI</value>
+<value code="6">RatePitchP</value>
+<value code="7">RatePitchI</value>
+<value code="8">RatePitchD</value>
+<value code="9">RateYawPI</value>
+<value code="10">RateYawP</value>
+<value code="11">RateYawI</value>
+<value code="12">RateYawD</value>
+<value code="13">AngleRollP</value>
+<value code="14">AnglePitchP</value>
+<value code="15">AngleYawP</value>
+<value code="16">PosXYP</value>
+<value code="17">PosZP</value>
+<value code="18">VelXYP</value>
+<value code="19">VelXYI</value>
+<value code="20">VelZP</value>
+<value code="21">AccelZP</value>
+<value code="22">AccelZI</value>
+<value code="23">AccelZD</value>
+<value code="50">FixedWingRollP</value>
+<value code="51">FixedWingRollI</value>
+<value code="52">FixedWingRollD</value>
+<value code="53">FixedWingRollFF</value>
+<value code="54">FixedWingPitchP</value>
+<value code="55">FixedWingPitchI</value>
+<value code="56">FixedWingPitchD</value>
+<value code="57">FixedWingPitchFF</value>
+<value code="101">Set_RateRollPitch</value>
+<value code="102">Set_RateRoll</value>
+<value code="103">Set_RatePitch</value>
+<value code="104">Set_RateYaw</value>
+<value code="105">Set_AngleRollPitch</value>
+<value code="106">Set_VelXY</value>
+<value code="107">Set_AccelZ</value>
+</values>
+</param>
+<param humanName="Transmitter tuning channel" name="TUNE_CHAN" documentation="This sets the channel for transmitter tuning. This should be connected to a knob or slider on your transmitter. It needs to be setup to use the PWM range given by TUNE_CHAN_MIN to TUNE_CHAN_MAX" user="Standard">
+<values>
+<value code="0">Disable</value>
+<value code="5">Chan5</value>
+<value code="6">Chan6</value>
+<value code="7">Chan7</value>
+<value code="8">Chan8</value>
+<value code="9">Chan9</value>
+<value code="10">Chan10</value>
+<value code="11">Chan11</value>
+<value code="12">Chan12</value>
+<value code="13">Chan13</value>
+<value code="14">Chan14</value>
+<value code="15">Chan15</value>
+<value code="16">Chan16</value>
+</values>
+</param>
+<param humanName="Transmitter tuning channel minimum pwm" name="TUNE_CHAN_MIN" documentation="This sets the PWM lower limit for the tuning channel" user="Standard">
+<field name="Range">900 2100</field>
+</param>
+<param humanName="Transmitter tuning channel maximum pwm" name="TUNE_CHAN_MAX" documentation="This sets the PWM upper limit for the tuning channel" user="Standard">
+<field name="Range">900 2100</field>
+</param>
+<param humanName="Transmitter tuning selector channel" name="TUNE_SELECTOR" documentation="This sets the channel for the transmitter tuning selector switch. This should be a 2 position switch, preferably spring loaded. A PWM above 1700 means high, below 1300 means low. If no selector is set then you won't be able to switch between parameters during flight or re-center the tuning knob" user="Standard">
+<values>
+<value code="0">Disable</value>
+<value code="1">Chan1</value>
+<value code="2">Chan3</value>
+<value code="3">Chan3</value>
+<value code="4">Chan4</value>
+<value code="5">Chan5</value>
+<value code="6">Chan6</value>
+<value code="7">Chan7</value>
+<value code="8">Chan8</value>
+<value code="9">Chan9</value>
+<value code="10">Chan10</value>
+<value code="11">Chan11</value>
+<value code="12">Chan12</value>
+<value code="13">Chan13</value>
+<value code="14">Chan14</value>
+<value code="15">Chan15</value>
+<value code="16">Chan16</value>
+</values>
+</param>
+<param humanName="Transmitter tuning range" name="TUNE_RANGE" documentation="This sets the range over which tuning will change a parameter. A value of 2 means the tuning parameter will go from 0.5 times the start value to 2x the start value over the range of the tuning channel" user="Standard">
+</param>
+<param humanName="Revert on mode change" name="TUNE_MODE_REVERT" documentation="This controls whether tuning values will revert on a flight mode change." user="Standard">
+<values>
+<value code="0">Disable</value>
+<value code="1">Enable</value>
+</values>
+</param>
+<param humanName="Controller error threshold" name="TUNE_ERR_THRESH" documentation="This sets the controller error threshold above which an alarm will sound and a message will be sent to the GCS to warn of controller instability" user="Standard">
+<field name="Range">0 1</field>
+</param>
+</parameters>
+<parameters name="YAW2SRV_">
+<param humanName="Sideslip control gain" name="YAW2SRV_SLIP" documentation="Gain from lateral acceleration to demanded yaw rate for aircraft with enough fuselage area to detect lateral acceleration and sideslips. Do not enable for flying wings and gliders. Actively coordinates flight more than just yaw damping. Set after YAW2SRV_DAMP and YAW2SRV_INT are tuned." user="Advanced">
+<field name="Range">0 4</field>
+<field name="Increment">0.25</field>
+</param>
+<param humanName="Sideslip control integrator" name="YAW2SRV_INT" documentation="Integral gain from lateral acceleration error. Effectively trims rudder to eliminate long-term sideslip." user="Advanced">
+<field name="Range">0 2</field>
+<field name="Increment">0.25</field>
+</param>
+<param humanName="Yaw damping" name="YAW2SRV_DAMP" documentation="Gain from yaw rate to rudder. Most effective at yaw damping and should be tuned after KFF_RDDRMIX. Also disables YAW2SRV_INT if set to 0." user="Advanced">
+<field name="Range">0 2</field>
+<field name="Increment">0.25</field>
+</param>
+<param humanName="Yaw coordination gain" name="YAW2SRV_RLL" documentation="Gain to the yaw rate required to keep it consistent with the turn rate in a coordinated turn. Corrects for yaw tendencies after the turn is established. Increase yaw into the turn by raising. Increase yaw out of the turn by decreasing. Values outside of 0.9-1.1 range indicate airspeed calibration problems." user="Advanced">
+<field name="Range">0.8 1.2</field>
+<field name="Increment">0.05</field>
+</param>
+<param humanName="Integrator limit" name="YAW2SRV_IMAX" documentation="Limit of yaw integrator gain in centi-degrees of servo travel. Servos are assumed to have +/- 4500 centi-degrees of travel, so a value of 1500 allows trim of up to 1/3 of servo travel range." user="Advanced">
+<field name="Range">0 4500</field>
+<field name="Increment">1</field>
+</param>
+</parameters>
+</libraries></paramfile>
diff --git a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.3.xml b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.3.xml
deleted file mode 100644
index 6926bdbffca5ed9346809fa278d85e2b31531d9d..0000000000000000000000000000000000000000
--- a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.3.xml
+++ /dev/null
@@ -1,5032 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-        <!-- Dynamically generated list of documented parameters (generated by param_parse.py) -->    
-        <paramfile>
-        <vehicles>
-        <parameters name="ArduPlane">
-<param humanName="Eeprom format version number" name="ArduPlane:FORMAT_VERSION" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
-</param>
-<param humanName="Software Type" name="ArduPlane:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
-</param>
-<param humanName="MAVLink system ID of this vehicle" name="ArduPlane:SYSID_THISMAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="Ground station MAVLink system ID" name="ArduPlane:SYSID_MYGCS" documentation="The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match." user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="CLI Enable" name="ArduPlane:CLI_ENABLED" documentation="This enables/disables the checking for three carriage returns on telemetry links on startup to enter the diagnostics command line interface" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Autotune level" name="ArduPlane:AUTOTUNE_LEVEL" documentation="Level of agressiveness for autotune. When autotune is run a lower AUTOTUNE_LEVEL will result in a 'softer' tune, with less agressive gains. For most users a level of 6 is recommended." user="Standard">
-<field name="Range">1 10</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Telemetry startup delay " name="ArduPlane:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Standard">
-<field name="Range">0 10</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Rudder Mix" name="ArduPlane:KFF_RDDRMIX" documentation="The amount of rudder mix to apply during aileron movement 0 = 0 %, 1 = 100%" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Throttle to Pitch Mix" name="ArduPlane:KFF_THR2PTCH" documentation="Throttle to pitch feed-forward gain." user="Advanced">
-<field name="Range">0 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Low throttle pitch down trim " name="ArduPlane:STAB_PITCH_DOWN" documentation="This controls the amount of down pitch to add in FBWA and AUTOTUNE modes when at low throttle. No down trim is added when throttle is above TRIM_THROTTLE. Below TRIM_THROTTLE downtrim is added in proportion to the amount the throttle is below TRIM_THROTTLE. At zero throttle the full downpitch specified in this parameter is added. This parameter is meant to help keep airspeed up when flying in FBWA mode with low throttle, such as when on a landing approach, without relying on an airspeed sensor. A value of 2 degrees is good for many planes, although a higher value may be needed for high drag aircraft." user="Advanced">
-<field name="Range">0 15</field>
-<field name="Increment">0.1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Glide slope minimum" name="ArduPlane:GLIDE_SLOPE_MIN" documentation="This controls the minimum altitude change for a waypoint before a glide slope will be used instead of an immediate altitude change. The default value is 15 meters, which helps to smooth out waypoint missions where small altitude changes happen near waypoints. If you don't want glide slopes to be used in missions then you can set this to zero, which will disable glide slope calculations. Otherwise you can set it to a minimum number of meters of altitude error to the destination waypoint before a glide slope will be used to change altitude." user="Advanced">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Glide slope threshold" name="ArduPlane:GLIDE_SLOPE_THR" documentation="This controls the height above the glide slope the plane may be before rebuilding a glide slope. This is useful for smoothing out an autotakeoff" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Stick Mixing" name="ArduPlane:STICK_MIXING" documentation='When enabled, this adds user stick input to the control surfaces in auto modes, allowing the user to have some degree of flight control without changing modes.  There are two types of stick mixing available. If you set STICK_MIXING to 1 then it will use "fly by wire" mixing, which controls the roll and pitch in the same way that the FBWA mode does. This is the safest option if you usually fly ArduPlane in FBWA or FBWB mode. If you set STICK_MIXING to 2 then it will enable direct mixing mode, which is what the STABILIZE mode uses. That will allow for much more extreme maneuvers while in AUTO mode.' user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">FBWMixing</value>
-<value code="2">DirectMixing</value>
-</values>
-</param>
-<param humanName="Skip gyro calibration" name="ArduPlane:SKIP_GYRO_CAL" documentation="When enabled this tells the APM to skip the normal gyroscope calibration at startup, and instead use the saved gyro calibration from the last flight. You should only enable this if you are careful to check that your aircraft has good attitude control before flying, as some boards may have significantly different gyro calibration between boots, especially if the temperature changes a lot. If gyro calibration is skipped then APM relies on using the gyro drift detection code to get the right gyro calibration in the few minutes after it boots. This option is mostly useful where the requirement to hold the plane still while it is booting is a significant problem." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Use FBWA steering in AUTO" name="ArduPlane:AUTO_FBW_STEER" documentation="When enabled this option gives FBWA navigation and steering in AUTO mode. This can be used to allow manual stabilised piloting with waypoint logic for triggering payloads. With this enabled the pilot has the same control over the plane as in FBWA mode, and the normal AUTO navigation is completely disabled. This option is not recommended for normal use." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Takeoff throttle min speed" name="ArduPlane:TKOFF_THR_MINSPD" documentation="Minimum GPS ground speed in m/s used by the speed check that un-suppresses throttle in auto-takeoff. This can be be used for catapult launches where you want the motor to engage only after the plane leaves the catapult, but it is preferable to use the TKOFF_THR_MINACC and TKOFF_THR_DELAY parameters for catapult launches due to the errors associated with GPS measurements. For hand launches with a pusher prop it is strongly advised that this parameter be set to a value no less than 4 m/s to provide additional protection against premature motor start. Note that the GPS velocity will lag the real velocity by about 0.5 seconds. The ground speed check is delayed by the TKOFF_THR_DELAY parameter." user="User">
-<field name="Range">0 30</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Takeoff throttle min acceleration" name="ArduPlane:TKOFF_THR_MINACC" documentation="Minimum forward acceleration in m/s/s before arming the ground speed check in auto-takeoff. This is meant to be used for hand launches. Setting this value to 0 disables the acceleration test which means the ground speed check will always be armed which could allow GPS velocity jumps to start the engine. For hand launches and bungee launches this should be set to around 15." user="User">
-<field name="Range">0 30</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Takeoff throttle delay" name="ArduPlane:TKOFF_THR_DELAY" documentation="This parameter sets the time delay (in 1/10ths of a second) that the ground speed check is delayed after the forward acceleration check controlled by TKOFF_THR_MINACC has passed. For hand launches with pusher propellers it is essential that this is set to a value of no less than 2 (0.2 seconds) to ensure that the aircraft is safely clear of the throwers arm before the motor can start. For bungee launches a larger value can be used (such as 30) to give time for the bungee to release from the aircraft before the motor is started." user="User">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">0.1 seconds</field>
-</param>
-<param humanName="Takeoff tail dragger elevator" name="ArduPlane:TKOFF_TDRAG_ELEV" documentation="This parameter sets the amount of elevator to apply during the initial stage of a takeoff. It is used to hold the tail wheel of a taildragger on the ground during the initial takeoff stage to give maximum steering. This option should be conbined with the TKOFF_TDRAG_SPD1 option and the GROUND_STEER_ALT option along with tuning of the ground steering controller. A value of zero means to bypass the initial &quot;tail hold&quot; stage of takeoff. Set to zero for hand and catapult launch. For tail-draggers you should normally set this to 100, meaning full up elevator during the initial stage of takeoff. For most tricycle undercarriage aircraft a value of zero will work well, but for some tricycle aircraft a small negative value (say around -20 to -30) will apply down elevator which will hold the nose wheel firmly on the ground during initial acceleration. Only use a negative value if you find that the nosewheel doesn't grip well during takeoff. Too much down elevator on a tricycle undercarriage may cause instability in steering as the plane pivots around the nosewheel. Add down elevator 10 percent at a time." user="User">
-<field name="Range">-100 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Takeoff tail dragger speed1" name="ArduPlane:TKOFF_TDRAG_SPD1" documentation='This parameter sets the airspeed at which to stop holding the tail down and transition to rudder control of steering on the ground. When TKOFF_TDRAG_SPD1 is reached the pitch of the aircraft will be held level until TKOFF_ROTATE_SPD is reached, at which point the takeoff pitch specified in the mission will be used to "rotate" the pitch for takeoff climb. Set TKOFF_TDRAG_SPD1 to zero to go straight to rotation. This should be set to zero for hand launch and catapult launch. It should also be set to zero for tricycle undercarriages. For tail dragger aircraft it should be set just below the stall speed.' user="User">
-<field name="Range">0 30</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Takeoff rotate speed" name="ArduPlane:TKOFF_ROTATE_SPD" documentation='This parameter sets the airspeed at which the aircraft will "rotate", setting climb pitch specified in the mission. If TKOFF_ROTATE_SPD is zero then the climb pitch will be used as soon as takeoff is started. For hand launch and catapult launches a TKOFF_ROTATE_SPD of zero should be set. For all ground launches TKOFF_ROTATE_SPD should be set above the stall speed, usually by about 10 to 30 percent' user="User">
-<field name="Range">0 30</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Takeoff throttle slew rate" name="ArduPlane:TKOFF_THR_SLEW" documentation="This parameter sets the slew rate for the throttle during auto takeoff. When this is zero the THR_SLEWRATE parameter is used during takeoff. For rolling takeoffs it can be a good idea to set a lower slewrate for takeoff to give a slower acceleration which can improve ground steering control. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on takeoff. Values below 20 are not recommended as they may cause the plane to try to climb out with too little throttle." user="User">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">percent</field>
-</param>
-<param humanName="Takeoff flap percentage" name="ArduPlane:TKOFF_FLAP_PCNT" documentation="The amount of flaps (as a percentage) to apply in automatic takeoff" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="FBWA taildragger channel" name="ArduPlane:FBWA_TDRAG_CHAN" documentation="This is a RC input channel which when it goes above 1700 enables FBWA taildragger takeoff mode. It should be assigned to a momentary switch. Once this feature is enabled it will stay enabled until the aircraft goes above TKOFF_TDRAG_SPD1 airspeed, changes mode, or the pitch goes above the initial pitch when this is engaged or goes below 0 pitch. When enabled the elevator will be forced to TKOFF_TDRAG_ELEV. This option allows for easier takeoffs on taildraggers in FBWA mode, and also makes it easier to test auto-takeoff steering handling in FBWA. Setting it to 0 disables this option." user="Standard">
-</param>
-<param humanName="Level flight roll limit" name="ArduPlane:LEVEL_ROLL_LIMIT" documentation="This controls the maximum bank angle in degrees during flight modes where level flight is desired, such as in the final stages of landing, and during auto takeoff. This should be a small angle (such as 5 degrees) to prevent a wing hitting the runway during takeoff or landing. Setting this to zero will completely disable heading hold on auto takeoff and final landing approach." user="User">
-<field name="Range">0 45</field>
-<field name="Increment">1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Landing Pitch" name="ArduPlane:LAND_PITCH_CD" documentation="Used in autoland to give the minimum pitch in the final stage of landing (after the flare). This parameter can be used to ensure that the final landing attitude is appropriate for the type of undercarriage on the aircraft. Note that it is a minimum pitch only - the landing code will control pitch above this value to try to achieve the configured landing sink rate." user="Advanced">
-<field name="Units">centi-Degrees</field>
-</param>
-<param humanName="Landing flare altitude" name="ArduPlane:LAND_FLARE_ALT" documentation="Altitude in autoland at which to lock heading and flare to the LAND_PITCH_CD pitch. Note that this option is secondary to LAND_FLARE_SEC. For a good landing it preferable that the flare is triggered by LAND_FLARE_SEC. " user="Advanced">
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Landing flare time" name="ArduPlane:LAND_FLARE_SEC" documentation="Vertical time before landing point at which to lock heading and flare with the motor stopped. This is vertical time, and is calculated based solely on the current height above the ground and the current descent rate.  Set to 0 if you only wish to flare based on altitude (see LAND_FLARE_ALT)." user="Advanced">
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Landing disarm delay" name="ArduPlane:LAND_DISARMDELAY" documentation="After a landing has completed using a LAND waypoint, automatically disarm after this many seconds have passed. Use 0 to not disarm." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Navigation controller selection" name="ArduPlane:NAV_CONTROLLER" documentation="Which navigation controller to enable. Currently the only navigation controller available is L1. From time to time other experimental conrtrollers will be added which are selected using this parameter." user="Standard">
-<values>
-<value code="0">Default</value>
-<value code="1">L1Controller</value>
-</values>
-</param>
-<param humanName="GPS to Baro Mix" name="ArduPlane:ALT_MIX" documentation="The percent of mixing between GPS altitude and baro altitude. 0 = 100% gps, 1 = 100% baro. It is highly recommend that you not change this from the default of 1, as GPS altitude is notoriously unreliable. The only time I would recommend changing this is if you have a high altitude enabled GPS, and you are dropping a plane from a high altitude baloon many kilometers off the ground." user="Advanced">
-<field name="Range">0 1</field>
-<field name="Increment">0.1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Altitude control algorithm" name="ArduPlane:ALT_CTRL_ALG" documentation="This sets what algorithm will be used for altitude control. The default is zero, which selects the most appropriate algorithm for your airframe. Currently the default is to use TECS (total energy control system). From time to time we will add other experimental altitude control algorithms which will be seleted using this parameter." user="Advanced">
-<values>
-<value code="0">Automatic</value>
-</values>
-</param>
-<param humanName="Altitude offset" name="ArduPlane:ALT_OFFSET" documentation="This is added to the target altitude in automatic flight. It can be used to add a global altitude offset to a mission" user="Advanced">
-<field name="Range">-32767 32767</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Waypoint Radius" name="ArduPlane:WP_RADIUS" documentation='Defines the maximum distance from a waypoint that when crossed indicates the waypoint may be complete. To avoid the aircraft looping around the waypoint in case it misses by more than the WP_RADIUS an additional check is made to see if the aircraft has crossed a "finish line" passing through the waypoint and perpendicular to the flight path from the previous waypoint. If that finish line is crossed then the waypoint is considered complete. Note that the navigation controller may decide to turn later than WP_RADIUS before a waypoint, based on how sharp the turn is and the speed of the aircraft. It is safe to set WP_RADIUS much larger than the usual turn radius of your aircaft and the navigation controller will work out when to turn. If you set WP_RADIUS too small then you will tend to overshoot the turns.' user="Standard">
-<field name="Range">1 32767</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Waypoint Maximum Radius" name="ArduPlane:WP_MAX_RADIUS" documentation='Sets the maximum distance to a waypoint for the waypoint to be considered complete. This overrides the "cross the finish line" logic that is normally used to consider a waypoint complete. For normal AUTO behaviour this parameter should be set to zero. Using a non-zero value is only recommended when it is critical that the aircraft does approach within the given radius, and should loop around until it has done so. This can cause the aircraft to loop forever if its turn radius is greater than the maximum radius set.' user="Standard">
-<field name="Range">0 32767</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Waypoint Loiter Radius" name="ArduPlane:WP_LOITER_RAD" documentation="Defines the distance from the waypoint center, the plane will maintain during a loiter. If you set this value to a negative number then the default loiter direction will be counter-clockwise instead of clockwise." user="Standard">
-<field name="Range">-32767 32767</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Action on geofence breach" name="ArduPlane:FENCE_ACTION" documentation="What to do on fence breach. If this is set to 0 then no action is taken, and geofencing is disabled. If this is set to 1 then the plane will enter GUIDED mode, with the target waypoint as the fence return point. If this is set to 2 then the fence breach is reported to the ground station, but no other action is taken. If set to 3 then the plane enters guided mode but the pilot retains manual throttle control." user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">GuidedMode</value>
-<value code="2">ReportOnly</value>
-<value code="3">GuidedModeThrPass</value>
-</values>
-</param>
-<param humanName="Fence Total" name="ArduPlane:FENCE_TOTAL" documentation="Number of geofence points currently loaded" user="Advanced">
-</param>
-<param humanName="Fence Channel" name="ArduPlane:FENCE_CHANNEL" documentation="RC Channel to use to enable geofence. PWM input above 1750 enables the geofence" user="Standard">
-</param>
-<param humanName="Fence Minimum Altitude" name="ArduPlane:FENCE_MINALT" documentation="Minimum altitude allowed before geofence triggers" user="Standard">
-<field name="Range">0 32767</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Fence Maximum Altitude" name="ArduPlane:FENCE_MAXALT" documentation="Maximum altitude allowed before geofence triggers" user="Standard">
-<field name="Range">0 32767</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Fence Return Altitude" name="ArduPlane:FENCE_RETALT" documentation="Altitude the aircraft will transit to when a fence breach occurs.  If FENCE_RETALT is &lt;= 0 then the midpoint between FENCE_MAXALT and FENCE_MINALT is used, unless FENCE_MAXALT &lt; FENCE_MINALT.  If FENCE_MAXALT &lt; FENCE_MINALT AND FENCE_RETALT is &lt;= 0 then ALT_HOLD_RTL is the altitude used on a fence breach." user="Standard">
-<field name="Range">0 32767</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Fence automatic enable" name="ArduPlane:FENCE_AUTOENABLE" documentation="When set to 1, gefence automatically enables after an auto takeoff and automatically disables at the beginning of an auto landing.  When on the ground before takeoff the fence is disabled.  When set to 2, the fence autoenables after an auto takeoff, but only disables the fence floor during landing. It is highly recommended to not use this option for line of sight flying and use a fence enable channel instead." user="Standard">
-<values>
-<value code="0">NoAutoEnable</value>
-<value code="1">AutoEnable</value>
-<value code="2">AutoEnableDisableFloorOnly</value>
-</values>
-</param>
-<param humanName="Fence Return to Rally" name="ArduPlane:FENCE_RET_RALLY" documentation="When set to 1: on fence breach the plane will return to the nearest rally point rather than the fence return point.  If no rally points have been defined the plane will return to the home point.  " user="Standard">
-<values>
-<value code="0">FenceReturnPoint</value>
-<value code="1">NearestRallyPoint</value>
-</values>
-</param>
-<param humanName="Enable stall prevention" name="ArduPlane:STALL_PREVENTION" documentation="This controls the use of stall prevention techniques, including roll limits at low speed and raising the minimum airspeed in turns. The limits are based on the aerodynamic load factor of a banked turn. This option relies on the correct ARSPD_FBW_MIN value being set correctly. Note that if you don't have an airspeed sensor then stall prevention will use an airspeed estimate based on the ground speed plus a wind estimate taken from the response of the autopilot banked turns. That synthetic airspeed estimate may be inaccurate, so you should not assume that stall prevention with no airspeed sensor will be effective." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Minimum Airspeed" name="ArduPlane:ARSPD_FBW_MIN" documentation="This is the minimum airspeed you want to fly at in modes where the autopilot controls the airspeed. This should be set to a value around 20% higher than the level flight stall speed for the airframe. This value is also used in the STALL_PREVENTION code." user="Standard">
-<field name="Range">5 100</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Maximum Airspeed" name="ArduPlane:ARSPD_FBW_MAX" documentation="This is the maximum airspeed that you want to allow for your airframe in auto-throttle modes. You should ensure that this value is sufficiently above the ARSPD_FBW_MIN value to allow for a sufficient flight envelope to accurately control altitude using airspeed. A value at least 50% above ARSPD_FBW_MIN is recommended." user="Standard">
-<field name="Range">5 100</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Fly By Wire elevator reverse" name="ArduPlane:FBWB_ELEV_REV" documentation="Reverse sense of elevator in FBWB and CRUISE modes. When set to 0 up elevator (pulling back on the stick) means to lower altitude. When set to 1, up elevator means to raise altitude." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Use terrain following" name="ArduPlane:TERRAIN_FOLLOW" documentation="This enables terrain following for CRUISE mode, FBWB mode, RTL and for rally points. To use this option you also need to set TERRAIN_ENABLE to 1, which enables terrain data fetching from the GCS, and you need to have a GCS that supports sending terrain data to the aircraft. When terrain following is enabled then CRUISE and FBWB mode will hold height above terrain rather than height above home. In RTL the return to launch altitude will be considered to be a height above the terrain. Rally point altitudes will be taken as height above the terrain. This option does not affect mission items, which have a per-waypoint flag for whether they are height above home or height above the terrain. To use terrain following missions you need a ground station which can set the waypoint type to be a terrain height waypoint when creating the mission." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Terrain lookahead" name="ArduPlane:TERRAIN_LOOKAHD" documentation="This controls how far ahead the terrain following code looks to ensure it stays above upcoming terrain. A value of zero means no lookahead, so the controller will track only the terrain directly below the aircraft. The lookahead will never extend beyond the next waypoint when in AUTO mode." user="Standard">
-<field name="Range">0 10000</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Fly By Wire B altitude change rate" name="ArduPlane:FBWB_CLIMB_RATE" documentation="This sets the rate in m/s at which FBWB and CRUISE modes will change its target altitude for full elevator deflection. Note that the actual climb rate of the aircraft can be lower than this, depending on your airspeed and throttle control settings. If you have this parameter set to the default value of 2.0, then holding the elevator at maximum deflection for 10 seconds would change the target altitude by 20 meters." user="Standard">
-<field name="Range">1-10</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Minimum Throttle" name="ArduPlane:THR_MIN" documentation="The minimum throttle setting (as a percentage) which the autopilot will apply. For the final stage of an automatic landing this is always zero." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Maximum Throttle" name="ArduPlane:THR_MAX" documentation="The maximum throttle setting (as a percentage) which the autopilot will apply." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Maximum Throttle for takeoff" name="ArduPlane:TKOFF_THR_MAX" documentation="The maximum throttle setting during automatic takeoff. If this is zero then THR_MAX is used for takeoff as well." user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Throttle slew rate" name="ArduPlane:THR_SLEWRATE" documentation="maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second." user="Standard">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Flap slew rate" name="ArduPlane:FLAP_SLEWRATE" documentation="maximum percentage change in flap output per second. A setting of 25 means to not change the flap by more than 25% of the full flap range in one second. A value of 0 means no rate limiting." user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Throttle suppress manual passthru" name="ArduPlane:THR_SUPP_MAN" documentation="When throttle is supressed in auto mode it is normally forced to zero. If you enable this option, then while suppressed it will be manual throttle. This is useful on petrol engines to hold the idle throttle manually while waiting for takeoff" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Throttle passthru in stabilize" name="ArduPlane:THR_PASS_STAB" documentation="If this is set then when in STABILIZE, FBWA or ACRO modes the throttle is a direct passthru from the transmitter. This means the THR_MIN and THR_MAX settings are not used in these modes. This is useful for petrol engines where you setup a throttle cut switch that suppresses the throttle below the normal minimum." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Throttle Failsafe Enable" name="ArduPlane:THR_FAILSAFE" documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Throttle Failsafe Value" name="ArduPlane:THR_FS_VALUE" documentation="The PWM level on channel 3 below which throttle sailsafe triggers" user="Standard">
-<field name="Range">925 1100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Throttle cruise percentage" name="ArduPlane:TRIM_THROTTLE" documentation="The target percentage of throttle to apply for normal flight" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Throttle nudge enable" name="ArduPlane:THROTTLE_NUDGE" documentation="When enabled, this uses the throttle input in auto-throttle modes to 'nudge' the throttle or airspeed to higher or lower values. When you have an airspeed sensor the nudge affects the target airspeed, so that throttle inputs above 50% will increase the target airspeed from TRIM_ARSPD_CM up to a maximum of ARSPD_FBW_MAX. When no airspeed sensor is enabled the throttle nudge will push up the target throttle for throttle inputs above 50%." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Short failsafe action" name="ArduPlane:FS_SHORT_ACTN" documentation="The action to take on a short (FS_SHORT_TIMEOUT) failsafe event. A short failsafe even can be triggered either by loss of RC control (see THR_FS_VALUE) or by loss of GCS control (see FS_GCS_ENABL). A short failsafe event in stabilization and manual modes will cause an change to CIRCLE mode if FS_SHORT_ACTN is 0 or 1, and a change to FBWA mode if FS_SHORT_ACTN is 2. In all other modes (including AUTO and GUIDED mode) a short failsafe event will cause no mode change is FS_SHORT_ACTN is set to 0, will cause a change to CIRCLE mode if set to 1 and will change to FBWA mode if set to 2. Please see the documentation for FS_LONG_ACTN for the behaviour after FS_LONG_TIMEOUT seconds of failsafe." user="Standard">
-<values>
-<value code="0">Continue</value>
-<value code="1">Circle/ReturnToLaunch</value>
-<value code="2">Glide</value>
-</values>
-</param>
-<param humanName="Short failsafe timeout" name="ArduPlane:FS_SHORT_TIMEOUT" documentation="The time in seconds that a failsafe condition has to persist before a short failsafe event will occor. This defaults to 1.5 seconds" user="Standard">
-<field name="Range">1 100</field>
-<field name="Increment">0.5</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Long failsafe action" name="ArduPlane:FS_LONG_ACTN" documentation="The action to take on a long (FS_LONG_TIMEOUT seconds) failsafe event. If the aircraft was in a stabilization or manual mode when failsafe started and a long failsafe occurs then it will change to RTL mode if FS_LONG_ACTN is 0 or 1, and will change to FBWA if FS_LONG_ACTN is set to 2. If the aircraft was in an auto mode (such as AUTO or GUIDED) when the failsafe started then it will continue in the auto mode if FS_LONG_ACTN is set to 0, will change to RTL mode if FS_LONG_ACTN is set to 1 and will change to FBWA mode if FS_LONG_ACTN is set to 2. " user="Standard">
-<values>
-<value code="0">Continue</value>
-<value code="1">ReturnToLaunch</value>
-<value code="2">Glide</value>
-</values>
-</param>
-<param humanName="Long failsafe timeout" name="ArduPlane:FS_LONG_TIMEOUT" documentation="The time in seconds that a failsafe condition has to persist before a long failsafe event will occor. This defaults to 5 seconds" user="Standard">
-<field name="Range">1 300</field>
-<field name="Increment">0.5</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Failsafe battery voltage" name="ArduPlane:FS_BATT_VOLTAGE" documentation="Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe. If the battery voltage drops below this voltage continuously for 10 seconds then the plane will switch to RTL mode" user="Standard">
-<field name="Increment">0.1</field>
-<field name="Units">Volts</field>
-</param>
-<param humanName="Failsafe battery milliAmpHours" name="ArduPlane:FS_BATT_MAH" documentation="Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe. If the battery remaining drops below this level then the plane will switch to RTL mode immediately" user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
-</param>
-<param humanName="GCS failsafe enable" name="ArduPlane:FS_GCS_ENABL" documentation="Enable ground control station telemetry failsafe. Failsafe will trigger after FS_LONG_TIMEOUT seconds of no MAVLink heartbeat messages. There are two possible enabled settings. Seeing FS_GCS_ENABL to 1 means that GCS failsafe will be triggered when the aircraft has not received a MAVLink HEARTBEAT message. Setting FS_GCS_ENABL to 2 means that GCS failsafe will be triggerded on either a loss of HEARTBEAT messages, or a RADIO_STATUS message from a MAVLink enabled 3DR radio indicating that the ground station is not receiving status updates from the aircraft, which is indicated by the RADIO_STATUS.remrssi field being zero (this may happen if you have a one way link due to asymmetric noise on the ground station and aircraft radios). WARNING: Enabling this option opens up the possibility of your plane going into failsafe mode and running the motor on the ground it it loses contact with your ground station. If this option is enabled on an electric plane then you should enable ARMING_REQUIRED. " user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Heartbeat</value>
-<value code="2">HeartbeatAndREMRSSI</value>
-</values>
-</param>
-<param humanName="Flightmode channel" name="ArduPlane:FLTMODE_CH" documentation="RC Channel to use for flight mode control" user="Advanced">
-</param>
-<param humanName="FlightMode1" name="ArduPlane:FLTMODE1" documentation="Flight mode for switch position 1 (910 to 1230 and above 2049)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="FlightMode2" name="ArduPlane:FLTMODE2" documentation="Flight mode for switch position 2 (1231 to 1360)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="FlightMode3" name="ArduPlane:FLTMODE3" documentation="Flight mode for switch position 3 (1361 to 1490)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="FlightMode4" name="ArduPlane:FLTMODE4" documentation="Flight mode for switch position 4 (1491 to 1620)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="FlightMode5" name="ArduPlane:FLTMODE5" documentation="Flight mode for switch position 5 (1621 to 1749)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="FlightMode6" name="ArduPlane:FLTMODE6" documentation="Flight mode for switch position 6 (1750 to 2049)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Initial flight mode" name="ArduPlane:INITIAL_MODE" documentation="This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver." user="Advanced">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Maximum Bank Angle" name="ArduPlane:LIM_ROLL_CD" documentation="The maximum commanded bank angle in either direction" user="Standard">
-<field name="Range">0 9000</field>
-<field name="Increment">1</field>
-<field name="Units">centi-Degrees</field>
-</param>
-<param humanName="Maximum Pitch Angle" name="ArduPlane:LIM_PITCH_MAX" documentation="The maximum commanded pitch up angle" user="Standard">
-<field name="Range">0 9000</field>
-<field name="Increment">1</field>
-<field name="Units">centi-Degrees</field>
-</param>
-<param humanName="Minimum Pitch Angle" name="ArduPlane:LIM_PITCH_MIN" documentation="The minimum commanded pitch down angle" user="Standard">
-<field name="Range">-9000 0</field>
-<field name="Increment">1</field>
-<field name="Units">centi-Degrees</field>
-</param>
-<param humanName="ACRO mode roll rate" name="ArduPlane:ACRO_ROLL_RATE" documentation="The maximum roll rate at full stick deflection in ACRO mode" user="Standard">
-<field name="Range">10 500</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="ACRO mode pitch rate" name="ArduPlane:ACRO_PITCH_RATE" documentation="The maximum pitch rate at full stick deflection in ACRO mode" user="Standard">
-<field name="Range">10 500</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="ACRO mode attitude locking" name="ArduPlane:ACRO_LOCKING" documentation="Enable attitude locking when sticks are released" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Ground steer altitude" name="ArduPlane:GROUND_STEER_ALT" documentation="Altitude at which to use the ground steering controller on the rudder. If non-zero then the STEER2SRV controller will be used to control the rudder for altitudes within this limit of the home altitude." user="Standard">
-<field name="Range">-100 100</field>
-<field name="Increment">0.1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Ground steer rate" name="ArduPlane:GROUND_STEER_DPS" documentation="Ground steering rate in degrees per second for full rudder stick deflection" user="Advanced">
-<field name="Range">10 360</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Automatic trim adjustment" name="ArduPlane:TRIM_AUTO" documentation="Set RC trim PWM levels to current levels when switching away from manual mode. When this option is enabled and you change from MANUAL to any other mode then the APM will take the current position of the control sticks as the trim values for aileron, elevator and rudder. It will use those to set RC1_TRIM, RC2_TRIM and RC4_TRIM. This option is disabled by default as if a pilot is not aware of this option and changes from MANUAL to another mode while control inputs are not centered then the trim could be changed to a dangerously bad value. You can enable this option to assist with trimming your plane, by enabling it before takeoff then switching briefly to MANUAL in flight, and seeing how the plane reacts. You can then switch back to FBWA, trim the surfaces then again test MANUAL mode. Each time you switch from MANUAL the APM will take your control inputs as the new trim. After you have good trim on your aircraft you can disable TRIM_AUTO for future flights." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Elevon mixing" name="ArduPlane:ELEVON_MIXING" documentation="This enables an older form of elevon mixing which is now deprecated. Please see the ELEVON_OUTPUT option for setting up elevons. The ELEVON_MIXING option should be set to 0 for elevon planes except for backwards compatibilty with older setups." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Elevon reverse" name="ArduPlane:ELEVON_REVERSE" documentation="Reverse elevon mixing" user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Elevon reverse" name="ArduPlane:ELEVON_CH1_REV" documentation="Reverse elevon channel 1" user="User">
-<values>
-<value code="-1">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Elevon reverse" name="ArduPlane:ELEVON_CH2_REV" documentation="Reverse elevon channel 2" user="User">
-<values>
-<value code="-1">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="VTail output" name="ArduPlane:VTAIL_OUTPUT" documentation="Enable VTail output in software. If enabled then the APM will provide software VTail mixing on the elevator and rudder channels. There are 4 different mixing modes available, which refer to the 4 ways the elevator can be mapped to the two VTail servos. Note that you must not use VTail output mixing with hardware pass-through of RC values, such as with channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to something other than 8 before you enable VTAIL_OUTPUT. Please also see the MIXING_GAIN parameter for the output gain of the mixer." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">UpUp</value>
-<value code="2">UpDown</value>
-<value code="3">DownUp</value>
-<value code="4">DownDown</value>
-</values>
-</param>
-<param humanName="Elevon output" name="ArduPlane:ELEVON_OUTPUT" documentation="Enable software elevon output mixer. If enabled then the APM will provide software elevon mixing on the aileron and elevator channels. There are 4 different mixing modes available, which refer to the 4 ways the elevator can be mapped to the two elevon servos. Note that you must not use elevon output mixing with hardware pass-through of RC values, such as with channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to something other than 8 before you enable ELEVON_OUTPUT. Please also see the MIXING_GAIN parameter for the output gain of the mixer." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">UpUp</value>
-<value code="2">UpDown</value>
-<value code="3">DownUp</value>
-<value code="4">DownDown</value>
-</values>
-</param>
-<param humanName="Mixing Gain" name="ArduPlane:MIXING_GAIN" documentation="The gain for the Vtail and elevon output mixers. The default is 0.5, which ensures that the mixer doesn't saturate, allowing both input channels to go to extremes while retaining control over the output. Hardware mixers often have a 1.0 gain, which gives more servo throw, but can saturate. If you don't have enough throw on your servos with VTAIL_OUTPUT or ELEVON_OUTPUT enabled then you can raise the gain using MIXING_GAIN. The mixer allows outputs in the range 900 to 2100 microseconds." user="User">
-<field name="Range">0.5 1.2</field>
-</param>
-<param humanName="Rudder only aircraft" name="ArduPlane:RUDDER_ONLY" documentation="Enable rudder only mode. The rudder will control attitude in attitude controlled modes (such as FBWA). You should setup your transmitter to send roll stick inputs to the RCMAP_YAW channel (normally channel 4). The rudder servo should be attached to the RCMAP_YAW channel as well. Note that automatic ground steering will be disabled for rudder only aircraft. You should also set KFF_RDDRMIX to 1.0. You will also need to setup the YAW2SRV_DAMP yaw damping appropriately for your aircraft. A value of 0.5 for YAW2SRV_DAMP is a good starting point." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Num Resets" name="ArduPlane:SYS_NUM_RESETS" documentation="Number of APM board resets" user="Advanced">
-</param>
-<param humanName="Log bitmask" name="ArduPlane:LOG_BITMASK" documentation="Bitmap of what log types to enable in dataflash. This values is made up of the sum of each of the log types you want to be saved on dataflash. On a PX4 or Pixhawk the large storage size of a microSD card means it is usually best just to enable all log types by setting this to 65535. On APM2 the smaller 4 MByte dataflash means you need to be more selective in your logging or you may run out of log space while flying (in which case it will wrap and overwrite the start of the log). The individual bits are ATTITUDE_FAST=1, ATTITUDE_MEDIUM=2, GPS=4, PerformanceMonitoring=8, ControlTuning=16, NavigationTuning=32, Mode=64, IMU=128, Commands=256, Battery=512, Compass=1024, TECS=2048, Camera=4096, RCandServo=8192, Sonar=16384, Arming=32768, LogWhenDisarmed=65536, FullLogsArmedOnly=65535, FullLogsWhenDisarmed=131071" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="5190">APM2-Default</value>
-<value code="65535">PX4/Pixhawk-Default</value>
-</values>
-</param>
-<param humanName="Reset Switch Channel" name="ArduPlane:RST_SWITCH_CH" documentation="RC channel to use to reset to last flight mode&#9;after geofence takeover." user="Advanced">
-</param>
-<param humanName="Reset Mission Channel" name="ArduPlane:RST_MISSION_CH" documentation="RC channel to use to reset the mission to the first waypoint. When this channel goes above 1750 the mission is reset. Set RST_MISSION_CH to 0 to disable." user="Advanced">
-</param>
-<param humanName="Target airspeed" name="ArduPlane:TRIM_ARSPD_CM" documentation="Airspeed in cm/s to aim for when airspeed is enabled in auto mode. This is a calibrated (apparent) airspeed." user="User">
-<field name="Units">cm/s</field>
-</param>
-<param humanName="speed used for speed scaling calculations" name="ArduPlane:SCALING_SPEED" documentation="Airspeed in m/s to use when calculating surface speed scaling. Note that changing this value will affect all PID values" user="Advanced">
-<field name="Units">m/s</field>
-</param>
-<param humanName="Minimum ground speed" name="ArduPlane:MIN_GNDSPD_CM" documentation="Minimum ground speed in cm/s when under airspeed control" user="Advanced">
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Pitch angle offset" name="ArduPlane:TRIM_PITCH_CD" documentation="offset to add to pitch - used for in-flight pitch trimming. It is recommended that instead of using this parameter you level your plane correctly on the ground for good flight attitude." user="Advanced">
-<field name="Units">centi-Degrees</field>
-</param>
-<param humanName="RTL altitude" name="ArduPlane:ALT_HOLD_RTL" documentation="Return to launch target altitude. This is the altitude the plane will aim for and loiter at when returning home. If this is negative (usually -1) then the plane will use the current altitude at the time of entering RTL. Note that when transiting to a Rally Point the alitude of the Rally Point is used instead of ALT_HOLD_RTL." user="User">
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Minimum altitude for FBWB mode" name="ArduPlane:ALT_HOLD_FBWCM" documentation="This is the minimum altitude in centimeters that FBWB and CRUISE modes will allow. If you attempt to descend below this altitude then the plane will level off. A value of zero means no limit." user="User">
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Enable Compass" name="ArduPlane:MAG_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Flap input channel" name="ArduPlane:FLAP_IN_CHANNEL" documentation="An RC input channel to use for flaps control. If this is set to a RC channel number then that channel will be used for manual flaps control. When enabled, the percentage of flaps is taken as the percentage travel from the TRIM value of the channel to the MIN value of the channel. A value above the TRIM values will give inverse flaps (spoilers). This option needs to be enabled in conjunction with a FUNCTION setting on an output channel to one of the flap functions. When a FLAP_IN_CHANNEL is combined with auto-flaps the higher of the two flap percentages is taken. You must also enable a FLAPERON_OUTPUT flaperon mixer setting if using flaperons." user="User">
-</param>
-<param humanName="Flaperon output" name="ArduPlane:FLAPERON_OUTPUT" documentation="Enable flaperon output in software. If enabled then the APM will provide software flaperon mixing on the FLAPERON1 and FLAPERON2 output channels specified using the FUNCTION on two auxillary channels. There are 4 different mixing modes available, which refer to the 4 ways the flap and aileron outputs can be mapped to the two flaperon servos. Note that you must not use flaperon output mixing with hardware pass-through of RC values, such as with channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to something other than 8 before you enable FLAPERON_OUTPUT. Please also see the MIXING_GAIN parameter for the output gain of the mixer. FLAPERON_OUTPUT cannot be combined with ELEVON_OUTPUT or ELEVON_MIXING." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">UpUp</value>
-<value code="2">UpDown</value>
-<value code="3">DownUp</value>
-<value code="4">DownDown</value>
-</values>
-</param>
-<param humanName="Flap 1 percentage" name="ArduPlane:FLAP_1_PERCNT" documentation="The percentage change in flap position when FLAP_1_SPEED is reached. Use zero to disable flaps" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Flap 1 speed" name="ArduPlane:FLAP_1_SPEED" documentation="The speed in meters per second at which to engage FLAP_1_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Flap 2 percentage" name="ArduPlane:FLAP_2_PERCNT" documentation="The percentage change in flap position when FLAP_2_SPEED is reached. Use zero to disable flaps" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Flap 2 speed" name="ArduPlane:FLAP_2_SPEED" documentation="The speed in meters per second at which to engage FLAP_2_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Landing flap percentage" name="ArduPlane:LAND_FLAP_PERCNT" documentation="The amount of flaps (as a percentage) to apply in the landing approach and flare of an automatic landing" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="PX4IO override channel" name="ArduPlane:OVERRIDE_CHAN" documentation="If set to a non-zero value then this is an RC input channel number to use for testing manual control in case the main FMU microcontroller on a PX4 or Pixhawk fails. When this RC input channel goes above 1750 the FMU will stop sending servo controls to the PX4IO board, which will trigger the PX4IO board to start using its failsafe override behaviour, which should give you manual control of the aircraft. That allows you to test for correct manual behaviour without actually crashing the FMU. This parameter is normally only set to a non-zero value for ground testing purposes. When the override channel is used it also forces the PX4 safety switch into an armed state. This allows it to be used as a way to re-arm a plane after an in-flight reboot. Use in that way is considered a developer option, for people testing unstable developer code. Note that you may set OVERRIDE_CHAN to the same channel as FLTMODE_CH to get PX4IO based override when in flight mode 6. Note that when override is triggered the 6 auxillary output channels on Pixhawk will no longer be updated, so all the flight controls you need must be assigned to the first 8 channels." user="Advanced">
-</param>
-<param humanName="Receiver RSSI sensing pin" name="ArduPlane:RSSI_PIN" documentation="This selects an analog pin for the receiver RSSI voltage. It assumes the voltage is 5V for max rssi, 0V for minimum" user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 0">APM2 A0</value>
-<value code=" 1">APM2 A1</value>
-<value code=" 13">APM2 A13</value>
-<value code=" 103">Pixhawk SBUS</value>
-</values>
-</param>
-<param humanName="Receiver RSSI voltage range" name="ArduPlane:RSSI_RANGE" documentation="Receiver RSSI voltage range" user="Standard">
-<field name="Values">3.3:3.3V, 5.0:5V</field>
-<field name="Units">Volt</field>
-</param>
-<param humanName="Inverted flight channel" name="ArduPlane:INVERTEDFLT_CH" documentation="A RC input channel number to enable inverted flight. If this is non-zero then the APM will monitor the correcponding RC input channel and will enable inverted flight when the channel goes above 1750." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Channel1</value>
-<value code="2">Channel2</value>
-<value code="3">Channel3</value>
-<value code="4">Channel4</value>
-<value code="5">Channel5</value>
-<value code="6">Channel6</value>
-<value code="7">Channel7</value>
-<value code="8">Channel8</value>
-</values>
-</param>
-<param humanName="HIL mode enable" name="ArduPlane:HIL_MODE" documentation="This enables and disables hardware in the loop mode. If HIL_MODE is 1 then on the next reboot all sensors are replaced with HIL sensors which come from the GCS." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="HIL Servos enable" name="ArduPlane:HIL_SERVOS" documentation="This controls whether real servo controls are used in HIL mode. If you enable this then the APM will control the real servos in HIL mode. If disabled it will report servo values, but will not output to the real servos. Be careful that your motor and propeller are not connected if you enable this option." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Limit of error in HIL attitude before reset" name="ArduPlane:HIL_ERR_LIMIT" documentation="This controls the maximum error in degrees on any axis before HIL will reset the DCM attitude to match the HIL_STATE attitude. This limit will prevent poor timing on HIL from causing a major attitude error. If the value is zero then no limit applies." user="Advanced">
-<field name="Range">0 90</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="RTL auto land" name="ArduPlane:RTL_AUTOLAND" documentation="Automatically begin landing sequence after arriving at RTL location. This requires the addition of a DO_LAND_START mission item, which acts as a marker for the start of a landing sequence. The closest landing sequence will be chosen to the current location. " user="Standard">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable - go HOME then land</value>
-<value code="2">Enable - go directly to landing sequence</value>
-</values>
-</param>
-<param humanName="RC Trims auto set at start." name="ArduPlane:RC_TRIM_AT_START" documentation="Automatically set roll/pitch trim from Tx at ground start. This makes the assumption that the RC transmitter has not been altered since trims were last captured." user="Standard">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-<param humanName="Enable rangefinder for landing" name="ArduPlane:RNGFND_LANDING" documentation="This enables the use of a rangefinder for automatic landing. The rangefinder will be used both on the landing approach and for final flare" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-</parameters>
-<parameters name="ArduCopter">
-<param humanName="Eeprom format version number" name="ArduCopter:SYSID_SW_MREV" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
-</param>
-<param humanName="Software Type" name="ArduCopter:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
-<values>
-<value code="0">ArduPlane</value>
-<value code="4">AntennaTracker</value>
-<value code="10">Copter</value>
-<value code="20">Rover</value>
-</values>
-</param>
-<param humanName="MAVLink system ID of this vehicle" name="ArduCopter:SYSID_THISMAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="My ground station number" name="ArduCopter:SYSID_MYGCS" documentation="Allows restricting radio overrides to only come from my ground station" user="Advanced">
-<values>
-<value code="255">Mission Planner and DroidPlanner</value>
-<value code=" 252"> AP Planner 2</value>
-</values>
-</param>
-<param humanName="CLI Enable" name="ArduCopter:CLI_ENABLED" documentation="This enables/disables the checking for three carriage returns on telemetry links on startup to enter the diagnostics command line interface" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Throttle filter cutoff" name="ArduCopter:PILOT_THR_FILT" documentation="Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable" user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">.5</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Pilot takeoff altitude" name="ArduCopter:PILOT_TKOFF_ALT" documentation="Altitude that altitude control modes will climb to when a takeoff is triggered with the throttle stick." user="Standard">
-<field name="Range">0.0 1000.0</field>
-<field name="Increment">10</field>
-<field name="Units">Centimeters</field>
-</param>
-<param humanName="Throttle stick behavior" name="ArduCopter:PILOT_THR_BHV" documentation="Bits for: Feedback starts from mid stick" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">FeedbackFromMid</value>
-</values>
-</param>
-<param humanName="Telemetry startup delay" name="ArduCopter:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="RTL Altitude" name="ArduCopter:RTL_ALT" documentation="The minimum altitude the model will move to before Returning to Launch.  Set to zero to return at current altitude." user="Standard">
-<field name="Range">0 8000</field>
-<field name="Increment">1</field>
-<field name="Units">Centimeters</field>
-</param>
-<param humanName="Rangefinder gain" name="ArduCopter:RNGFND_GAIN" documentation="Used to adjust the speed with which the target altitude is changed when objects are sensed below the copter" user="Standard">
-<field name="Range">0.01 2.0</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Battery Failsafe Enable" name="ArduCopter:FS_BATT_ENABLE" documentation="Controls whether failsafe will be invoked when battery voltage or current runs low" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Land</value>
-<value code="2">RTL</value>
-</values>
-</param>
-<param humanName="Failsafe battery voltage" name="ArduCopter:FS_BATT_VOLTAGE" documentation="Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe. If the battery voltage drops below this voltage then the copter will RTL" user="Standard">
-<field name="Increment">0.1</field>
-<field name="Units">Volts</field>
-</param>
-<param humanName="Failsafe battery milliAmpHours" name="ArduCopter:FS_BATT_MAH" documentation="Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe. If the battery remaining drops below this level then the copter will RTL" user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
-</param>
-<param humanName="Ground Station Failsafe Enable" name="ArduCopter:FS_GCS_ENABLE" documentation="Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. NB. The GCS Failsafe is only active when RC_OVERRIDE is being used to control the vehicle." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled always RTL</value>
-<value code="2">Enabled Continue with Mission in Auto Mode</value>
-</values>
-</param>
-<param humanName="GPS Hdop Good" name="ArduCopter:GPS_HDOP_GOOD" documentation="GPS Hdop value at or below this value represent a good position.  Used for pre-arm checks" user="Advanced">
-<field name="Range">100 900</field>
-</param>
-<param humanName="Compass enable/disable" name="ArduCopter:MAG_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Super Simple Mode" name="ArduCopter:SUPER_SIMPLE" documentation="Bitmask to enable Super Simple mode for some flight modes. Setting this to Disabled(0) will disable Super Simple Mode" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Mode1</value>
-<value code="2">Mode2</value>
-<value code="3">Mode1+2</value>
-<value code="4">Mode3</value>
-<value code="5">Mode1+3</value>
-<value code="6">Mode2+3</value>
-<value code="7">Mode1+2+3</value>
-<value code="8">Mode4</value>
-<value code="9">Mode1+4</value>
-<value code="10">Mode2+4</value>
-<value code="11">Mode1+2+4</value>
-<value code="12">Mode3+4</value>
-<value code="13">Mode1+3+4</value>
-<value code="14">Mode2+3+4</value>
-<value code="15">Mode1+2+3+4</value>
-<value code="16">Mode5</value>
-<value code="17">Mode1+5</value>
-<value code="18">Mode2+5</value>
-<value code="19">Mode1+2+5</value>
-<value code="20">Mode3+5</value>
-<value code="21">Mode1+3+5</value>
-<value code="22">Mode2+3+5</value>
-<value code="23">Mode1+2+3+5</value>
-<value code="24">Mode4+5</value>
-<value code="25">Mode1+4+5</value>
-<value code="26">Mode2+4+5</value>
-<value code="27">Mode1+2+4+5</value>
-<value code="28">Mode3+4+5</value>
-<value code="29">Mode1+3+4+5</value>
-<value code="30">Mode2+3+4+5</value>
-<value code="31">Mode1+2+3+4+5</value>
-<value code="32">Mode6</value>
-<value code="33">Mode1+6</value>
-<value code="34">Mode2+6</value>
-<value code="35">Mode1+2+6</value>
-<value code="36">Mode3+6</value>
-<value code="37">Mode1+3+6</value>
-<value code="38">Mode2+3+6</value>
-<value code="39">Mode1+2+3+6</value>
-<value code="40">Mode4+6</value>
-<value code="41">Mode1+4+6</value>
-<value code="42">Mode2+4+6</value>
-<value code="43">Mode1+2+4+6</value>
-<value code="44">Mode3+4+6</value>
-<value code="45">Mode1+3+4+6</value>
-<value code="46">Mode2+3+4+6</value>
-<value code="47">Mode1+2+3+4+6</value>
-<value code="48">Mode5+6</value>
-<value code="49">Mode1+5+6</value>
-<value code="50">Mode2+5+6</value>
-<value code="51">Mode1+2+5+6</value>
-<value code="52">Mode3+5+6</value>
-<value code="53">Mode1+3+5+6</value>
-<value code="54">Mode2+3+5+6</value>
-<value code="55">Mode1+2+3+5+6</value>
-<value code="56">Mode4+5+6</value>
-<value code="57">Mode1+4+5+6</value>
-<value code="58">Mode2+4+5+6</value>
-<value code="59">Mode1+2+4+5+6</value>
-<value code="60">Mode3+4+5+6</value>
-<value code="61">Mode1+3+4+5+6</value>
-<value code="62">Mode2+3+4+5+6</value>
-<value code="63">Mode1+2+3+4+5+6</value>
-</values>
-</param>
-<param humanName="RTL Final Altitude" name="ArduCopter:RTL_ALT_FINAL" documentation="This is the altitude the vehicle will move to as the final stage of Returning to Launch or after completing a mission.  Set to zero to land." user="Standard">
-<field name="Range">-1 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Centimeters</field>
-</param>
-<param humanName="Receiver RSSI sensing pin" name="ArduCopter:RSSI_PIN" documentation="This selects an analog pin for the receiver RSSI voltage. It assumes the voltage is RSSI_RANGE for max rssi, 0V for minimum" user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 0">APM2 A0</value>
-<value code=" 1">APM2 A1</value>
-<value code=" 2">APM2 A2</value>
-<value code=" 13">APM2 A13</value>
-<value code=" 103">Pixhawk SBUS</value>
-</values>
-</param>
-<param humanName="Receiver RSSI voltage range" name="ArduCopter:RSSI_RANGE" documentation="Receiver RSSI voltage range" user="Standard">
-<field name="Values">3.3:3.3V, 5:5V</field>
-<field name="Units">Volt</field>
-</param>
-<param humanName="Yaw behaviour during missions" name="ArduCopter:WP_YAW_BEHAVIOR" documentation="Determines how the autopilot controls the yaw during missions and RTL" user="Standard">
-<values>
-<value code="0">Never change yaw</value>
-<value code=" 1">Face next waypoint</value>
-<value code=" 2">Face next waypoint except RTL</value>
-<value code=" 3">Face along GPS course</value>
-</values>
-</param>
-<param humanName="RTL loiter time" name="ArduCopter:RTL_LOIT_TIME" documentation="Time (in milliseconds) to loiter above home before begining final descent" user="Standard">
-<field name="Range">0 60000</field>
-<field name="Increment">1000</field>
-<field name="Units">ms</field>
-</param>
-<param humanName="Land speed" name="ArduCopter:LAND_SPEED" documentation="The descent speed for the final stage of landing in cm/s" user="Standard">
-<field name="Range">30 200</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Pilot maximum vertical speed" name="ArduCopter:PILOT_VELZ_MAX" documentation="The maximum vertical velocity the pilot may request in cm/s" user="Standard">
-<field name="Range">50 500</field>
-<field name="Increment">10</field>
-<field name="Units">Centimeters/Second</field>
-</param>
-<param humanName="Pilot vertical acceleration" name="ArduCopter:PILOT_ACCEL_Z" documentation="The vertical acceleration used when pilot is controlling the altitude" user="Standard">
-<field name="Range">50 500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Throttle Minimum" name="ArduCopter:THR_MIN" documentation="The minimum throttle that will be sent to the motors to keep them spinning" user="Standard">
-<field name="Range">0 300</field>
-<field name="Increment">1</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Throttle Failsafe Enable" name="ArduCopter:FS_THR_ENABLE" documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled always RTL</value>
-<value code="2">Enabled Continue with Mission in Auto Mode</value>
-<value code="3">Enabled always LAND</value>
-</values>
-</param>
-<param humanName="Throttle Failsafe Value" name="ArduCopter:FS_THR_VALUE" documentation="The PWM level on channel 3 below which throttle sailsafe triggers" user="Standard">
-<field name="Range">925 1100</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Throttle Mid Position" name="ArduCopter:THR_MID" documentation="The throttle output (0 ~ 1000) when throttle stick is in mid position.  Used to scale the manual throttle so that the mid throttle stick position is close to the throttle required to hover" user="Standard">
-<field name="Range">300 700</field>
-<field name="Increment">1</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Throttle deadzone" name="ArduCopter:THR_DZ" documentation="The deadzone above and below mid throttle.  Used in AltHold, Loiter, PosHold flight modes" user="Standard">
-<field name="Range">0 300</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Flight Mode 1" name="ArduCopter:FLTMODE1" documentation="Flight mode when Channel 5 pwm is &lt;= 1230" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-</values>
-</param>
-<param humanName="Flight Mode 2" name="ArduCopter:FLTMODE2" documentation="Flight mode when Channel 5 pwm is &gt;1230, &lt;= 1360" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-</values>
-</param>
-<param humanName="Flight Mode 3" name="ArduCopter:FLTMODE3" documentation="Flight mode when Channel 5 pwm is &gt;1360, &lt;= 1490" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-</values>
-</param>
-<param humanName="Flight Mode 4" name="ArduCopter:FLTMODE4" documentation="Flight mode when Channel 5 pwm is &gt;1490, &lt;= 1620" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-</values>
-</param>
-<param humanName="Flight Mode 5" name="ArduCopter:FLTMODE5" documentation="Flight mode when Channel 5 pwm is &gt;1620, &lt;= 1749" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-</values>
-</param>
-<param humanName="Flight Mode 6" name="ArduCopter:FLTMODE6" documentation="Flight mode when Channel 5 pwm is &gt;=1750" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-</values>
-</param>
-<param humanName="Simple mode bitmask" name="ArduCopter:SIMPLE" documentation="Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode)" user="Advanced">
-</param>
-<param humanName="Log bitmask" name="ArduCopter:LOG_BITMASK" documentation="4 byte bitmap of log types to enable" user="Standard">
-<values>
-<value code="830">Default</value>
-<value code="894">Default+RCIN</value>
-<value code="958">Default+IMU</value>
-<value code="1854">Default+Motors</value>
-<value code="-6146">NearlyAll-AC315</value>
-<value code="45054">NearlyAll</value>
-<value code="131070">All+DisarmedLogging</value>
-<value code="131071">All+FastATT</value>
-<value code="262142">All+MotBatt</value>
-<value code="393214">All+FastIMU</value>
-<value code="0">Disabled</value>
-</values>
-</param>
-<param humanName="ESC Calibration" name="ArduCopter:ESC" documentation="Controls whether ArduCopter will enter ESC calibration on the next restart.  Do not adjust this parameter manually." user="Advanced">
-<values>
-<value code="0">Normal Start-up</value>
-<value code=" 1">Start-up in ESC Calibration mode if throttle high</value>
-<value code=" 2">Start-up in ESC Calibration mode regardless of throttle</value>
-</values>
-</param>
-<param humanName="Channel 6 Tuning" name="ArduCopter:TUNE" documentation="Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Stab Roll/Pitch kP</value>
-<value code="4">Rate Roll/Pitch kP</value>
-<value code="5">Rate Roll/Pitch kI</value>
-<value code="21">Rate Roll/Pitch kD</value>
-<value code="3">Stab Yaw kP</value>
-<value code="6">Rate Yaw kP</value>
-<value code="26">Rate Yaw kD</value>
-<value code="14">Altitude Hold kP</value>
-<value code="7">Throttle Rate kP</value>
-<value code="34">Throttle Accel kP</value>
-<value code="35">Throttle Accel kI</value>
-<value code="36">Throttle Accel kD</value>
-<value code="42">Loiter Speed</value>
-<value code="12">Loiter Pos kP</value>
-<value code="22">Velocity XY kP</value>
-<value code="28">Velocity XY kI</value>
-<value code="10">WP Speed</value>
-<value code="25">Acro RollPitch kP</value>
-<value code="40">Acro Yaw kP</value>
-<value code="13">Heli Ext Gyro</value>
-<value code="17">OF Loiter kP</value>
-<value code="18">OF Loiter kI</value>
-<value code="19">OF Loiter kD</value>
-<value code="38">Declination</value>
-<value code="39">Circle Rate</value>
-<value code="41">RangeFinder Gain</value>
-<value code="46">Rate Pitch kP</value>
-<value code="47">Rate Pitch kI</value>
-<value code="48">Rate Pitch kD</value>
-<value code="49">Rate Roll kP</value>
-<value code="50">Rate Roll kI</value>
-<value code="51">Rate Roll kD</value>
-<value code="52">Rate Pitch FF</value>
-<value code="53">Rate Roll FF</value>
-<value code="54">Rate Yaw FF</value>
-</values>
-</param>
-<param humanName="Tuning minimum" name="ArduCopter:TUNE_LOW" documentation="The minimum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob" user="Standard">
-<field name="Range">0 32767</field>
-</param>
-<param humanName="Tuning maximum" name="ArduCopter:TUNE_HIGH" documentation="The maximum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob" user="Standard">
-<field name="Range">0 32767</field>
-</param>
-<param humanName="Frame Orientation (+, X or V)" name="ArduCopter:FRAME" documentation="Controls motor mixing for multicopters.  Not used for Tri or Traditional Helicopters." user="Standard">
-<values>
-<value code="0">Plus</value>
-<value code=" 1">X</value>
-<value code=" 2">V</value>
-<value code=" 3">H</value>
-<value code=" 4">V-Tail</value>
-<value code=" 5">A-Tail</value>
-<value code=" 10">Y6B (New)</value>
-</values>
-</param>
-<param humanName="Channel 7 option" name="ArduCopter:CH7_OPT" documentation="Select which function if performed when CH7 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 12">ResetToArmedYaw</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-</values>
-</param>
-<param humanName="Channel 8 option" name="ArduCopter:CH8_OPT" documentation="Select which function if performed when CH8 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 12">ResetToArmedYaw</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-</values>
-</param>
-<param humanName="Channel 9 option" name="ArduCopter:CH9_OPT" documentation="Select which function if performed when CH9 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 12">ResetToArmedYaw</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-</values>
-</param>
-<param humanName="Channel 10 option" name="ArduCopter:CH10_OPT" documentation="Select which function if performed when CH10 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 12">ResetToArmedYaw</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-</values>
-</param>
-<param humanName="Channel 11 option" name="ArduCopter:CH11_OPT" documentation="Select which function if performed when CH11 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 12">ResetToArmedYaw</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-</values>
-</param>
-<param humanName="Channel 12 option" name="ArduCopter:CH12_OPT" documentation="Select which function if performed when CH12 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 12">ResetToArmedYaw</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-</values>
-</param>
-<param humanName="Arming check" name="ArduCopter:ARMING_CHECK" documentation="Allows enabling or disabling of pre-arming checks of receiver, accelerometer, barometer, compass and GPS" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-<value code=" -3">Skip Baro</value>
-<value code=" -5">Skip Compass</value>
-<value code=" -9">Skip GPS</value>
-<value code=" -17">Skip INS</value>
-<value code=" -33">Skip Params/Sonar</value>
-<value code=" -65">Skip RC</value>
-<value code=" 127">Skip Voltage</value>
-</values>
-</param>
-<param humanName="RC Feel Roll/Pitch" name="ArduCopter:RC_FEEL_RP" documentation="RC feel for roll/pitch which controls vehicle response to user input with 0 being extremely soft and 100 being crisp" user="Standard">
-<field name="Range">0 100</field>
-<values>
-<value code="0">Very Soft</value>
-<value code=" 25">Soft</value>
-<value code=" 50">Medium</value>
-<value code=" 75">Crisp</value>
-<value code=" 100">Very Crisp</value>
-</values>
-<field name="Increment">1</field>
-</param>
-<param humanName="PosHold braking rate" name="ArduCopter:PHLD_BRAKE_RATE" documentation="PosHold flight mode's rotation rate during braking in deg/sec" user="Advanced">
-<field name="Range">4 12</field>
-<field name="Units">deg/sec</field>
-</param>
-<param humanName="PosHold braking angle max" name="ArduCopter:PHLD_BRAKE_ANGLE" documentation="PosHold flight mode's max lean angle during braking in centi-degrees" user="Advanced">
-<field name="Range">2000 4500</field>
-<field name="Units">Centi-degrees</field>
-</param>
-<param humanName="Land repositioning" name="ArduCopter:LAND_REPOSITION" documentation="Enables user input during LAND mode, the landing phase of RTL, and auto mode landings." user="Advanced">
-<values>
-<value code="0">No repositioning</value>
-<value code=" 1">Repositioning</value>
-</values>
-</param>
-<param humanName="EKF check compass and velocity variance threshold" name="ArduCopter:EKF_CHECK_THRESH" documentation="Allows setting the maximum acceptable compass and velocity variance (0 to disable check)" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 0.6">Strict</value>
-<value code=" 0.8">Default</value>
-<value code=" 1.0">Relaxed</value>
-</values>
-</param>
-<param humanName="Heli Stabilize Throttle Collective Minimum" name="ArduCopter:H_STAB_COL_MIN" documentation="Helicopter's minimum collective position while pilot directly controls collective in stabilize mode" user="Standard">
-<field name="Range">0 500</field>
-<field name="Increment">1</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Stabilize Throttle Maximum" name="ArduCopter:H_STAB_COL_MAX" documentation="Helicopter's maximum collective position while pilot directly controls collective in stabilize mode" user="Standard">
-<field name="Range">500 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="ESC Update Speed" name="ArduCopter:RC_SPEED" documentation="This is the speed in Hertz that your ESCs will receive updates" user="Advanced">
-<field name="Range">50 490</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Acro Roll and Pitch P gain" name="ArduCopter:ACRO_RP_P" documentation="Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode.  Higher values mean faster rate of rotation." user="Standard">
-<field name="Range">1 10</field>
-</param>
-<param humanName="Acro Yaw P gain" name="ArduCopter:ACRO_YAW_P" documentation="Converts pilot yaw input into a desired rate of rotation in ACRO, Stabilize and SPORT modes.  Higher values mean faster rate of rotation." user="Standard">
-<field name="Range">1 10</field>
-</param>
-<param humanName="Acro Balance Roll" name="ArduCopter:ACRO_BAL_ROLL" documentation="rate at which roll angle returns to level in acro mode.  A higher value causes the vehicle to return to level faster." user="Advanced">
-<field name="Range">0 3</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Acro Balance Pitch" name="ArduCopter:ACRO_BAL_PITCH" documentation="rate at which pitch angle returns to level in acro mode.  A higher value causes the vehicle to return to level faster." user="Advanced">
-<field name="Range">0 3</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Acro Trainer" name="ArduCopter:ACRO_TRAINER" documentation="Type of trainer used in acro mode" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Leveling</value>
-<value code="2">Leveling and Limited</value>
-</values>
-</param>
-<param humanName="Acro Expo" name="ArduCopter:ACRO_EXPO" documentation="Acro roll/pitch Expo to allow faster rotation when stick at edges" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="0.1">Very Low</value>
-<value code="0.2">Low</value>
-<value code="0.3">Medium</value>
-<value code="0.4">High</value>
-<value code="0.5">Very High</value>
-</values>
-</param>
-<param humanName="Roll axis rate controller P gain" name="ArduCopter:RATE_RLL_P" documentation="Roll axis rate controller P gain.  Converts the difference between desired roll rate and actual roll rate into a motor speed output" user="Standard">
-<field name="Range">0.08 0.30</field>
-<field name="Increment">0.005</field>
-</param>
-<param humanName="Roll axis rate controller I gain" name="ArduCopter:RATE_RLL_I" documentation="Roll axis rate controller I gain.  Corrects long-term difference in desired roll rate vs actual roll rate" user="Standard">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Roll axis rate controller I gain maximum" name="ArduCopter:RATE_RLL_IMAX" documentation="Roll axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 4500</field>
-<field name="Increment">10</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Pitch axis rate controller P gain" name="ArduCopter:RATE_PIT_P" documentation="Pitch axis rate controller P gain.  Converts the difference between desired pitch rate and actual pitch rate into a motor speed output" user="Standard">
-<field name="Range">0.08 0.30</field>
-<field name="Increment">0.005</field>
-</param>
-<param humanName="Pitch axis rate controller I gain" name="ArduCopter:RATE_PIT_I" documentation="Pitch axis rate controller I gain.  Corrects long-term difference in desired pitch rate vs actual pitch rate" user="Standard">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Pitch axis rate controller I gain maximum" name="ArduCopter:RATE_PIT_IMAX" documentation="Pitch axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 4500</field>
-<field name="Increment">10</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Yaw axis rate controller P gain" name="ArduCopter:RATE_YAW_P" documentation="Yaw axis rate controller P gain.  Converts the difference between desired yaw rate and actual yaw rate into a motor speed output" user="Standard">
-<field name="Range">0.150 0.50</field>
-<field name="Increment">0.005</field>
-</param>
-<param humanName="Yaw axis rate controller I gain" name="ArduCopter:RATE_YAW_I" documentation="Yaw axis rate controller I gain.  Corrects long-term difference in desired yaw rate vs actual yaw rate" user="Standard">
-<field name="Range">0.010 0.05</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Yaw axis rate controller I gain maximum" name="ArduCopter:RATE_YAW_IMAX" documentation="Yaw axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 4500</field>
-<field name="Increment">10</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Velocity (horizontal) P gain" name="ArduCopter:VEL_XY_P" documentation="Velocity (horizontal) P gain.  Converts the difference between desired velocity to a target acceleration" user="Advanced">
-<field name="Range">0.1 6.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Velocity (horizontal) I gain" name="ArduCopter:VEL_XY_I" documentation="Velocity (horizontal) I gain.  Corrects long-term difference in desired velocity to a target acceleration" user="Advanced">
-<field name="Range">0.02 1.00</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Velocity (horizontal) integrator maximum" name="ArduCopter:VEL_XY_IMAX" documentation="Velocity (horizontal) integrator maximum.  Constrains the target acceleration that the I gain will output" user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Velocity (vertical) P gain" name="ArduCopter:VEL_Z_P" documentation="Velocity (vertical) P gain.  Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller" user="Standard">
-<field name="Range">1.000 8.000</field>
-</param>
-<param humanName="Throttle acceleration controller P gain" name="ArduCopter:ACCEL_Z_P" documentation="Throttle acceleration controller P gain.  Converts the difference between desired vertical acceleration and actual acceleration into a motor output" user="Standard">
-<field name="Range">0.500 1.500</field>
-</param>
-<param humanName="Throttle acceleration controller I gain" name="ArduCopter:ACCEL_Z_I" documentation="Throttle acceleration controller I gain.  Corrects long-term difference in desired vertical acceleration and actual acceleration" user="Standard">
-<field name="Range">0.000 3.000</field>
-</param>
-<param humanName="Throttle acceleration controller I gain maximum" name="ArduCopter:ACCEL_Z_IMAX" documentation="Throttle acceleration controller I gain maximum.  Constrains the maximum pwm that the I term will generate" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Throttle acceleration controller D gain" name="ArduCopter:ACCEL_Z_D" documentation="Throttle acceleration controller D gain.  Compensates for short-term change in desired vertical acceleration vs actual acceleration" user="Standard">
-<field name="Range">0.000 0.400</field>
-</param>
-<param humanName="Roll axis stabilize controller P gain" name="ArduCopter:STB_RLL_P" documentation="Roll axis stabilize (i.e. angle) controller P gain.  Converts the error between the desired roll angle and actual angle to a desired roll rate" user="Standard">
-<field name="Range">3.000 12.000</field>
-</param>
-<param humanName="Pitch axis stabilize controller P gain" name="ArduCopter:STB_PIT_P" documentation="Pitch axis stabilize (i.e. angle) controller P gain.  Converts the error between the desired pitch angle and actual angle to a desired pitch rate" user="Standard">
-<field name="Range">3.000 12.000</field>
-</param>
-<param humanName="Yaw axis stabilize controller P gain" name="ArduCopter:STB_YAW_P" documentation="Yaw axis stabilize (i.e. angle) controller P gain.  Converts the error between the desired yaw angle and actual angle to a desired yaw rate" user="Standard">
-<field name="Range">3.000 6.000</field>
-</param>
-<param humanName="Position (vertical) controller P gain" name="ArduCopter:POS_Z_P" documentation="Position (vertical) controller P gain.  Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller" user="Standard">
-<field name="Range">1.000 3.000</field>
-</param>
-<param humanName="Position (horizonal) controller P gain" name="ArduCopter:POS_XY_P" documentation="Loiter position controller P gain.  Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller" user="Standard">
-<field name="Range">0.500 2.000</field>
-</param>
-<param humanName="Autotune axis bitmask" name="ArduCopter:AUTOTUNE_AXIS_BITMASK" documentation="1-byte bitmap of axes to autotune" user="Standard">
-<values>
-<value code="7">All</value>
-<value code="1">Roll Only</value>
-<value code="2">Pitch Only</value>
-<value code="4">Yaw Only</value>
-<value code="3">Roll and Pitch</value>
-<value code="5">Roll and Yaw</value>
-<value code="6">Pitch and Yaw</value>
-</values>
-</param>
-<param humanName="autotune_aggressiveness" name="ArduCopter:AUTOTUNE_AGGRESSIVENESS" documentation="autotune_aggressiveness. Defines the bounce back used to detect size of the D term." user="Standard">
-<field name="Range">0.05 0.10</field>
-</param>
-</parameters>
-<parameters name="AntennaTracker">
-<param humanName="MAVLink system ID of this vehicle" name="AntennaTracker:SYSID_THISMAV" documentation="Allows setting an individual system id for this vehicle to distinguish it from others on the same network" user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="Ground station MAVLink system ID" name="AntennaTracker:SYSID_MYGCS" documentation="The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match." user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="Target vehicle's MAVLink system ID" name="AntennaTracker:SYSID_TARGET" documentation="The identifier of the vehicle being tracked. This should be zero (to auto detect) or be the same as the SYSID_THISMAV parameter of the vehicle being tracked." user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="Enable Compass" name="AntennaTracker:MAG_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Time for yaw to slew through its full range" name="AntennaTracker:YAW_SLEW_TIME" documentation="This controls how rapidly the tracker will change the servo output for yaw. It is set as the number of seconds to do a full rotation. You can use this parameter to slow the trackers movements, which may help with some types of trackers. A value of zero will allow for unlimited servo movement per update." user="Standard">
-<field name="Range">0 20</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Time for pitch to slew through its full range" name="AntennaTracker:PITCH_SLEW_TIME" documentation="This controls how rapidly the tracker will change the servo output for pitch. It is set as the number of seconds to do a full range of pitch movement. You can use this parameter to slow the trackers movements, which may help with some types of trackers. A value of zero will allow for unlimited servo movement per update." user="Standard">
-<field name="Range">0 20</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Speed at which to rotate in scan mode" name="AntennaTracker:SCAN_SPEED" documentation="This controls how rapidly the tracker will move the servos in SCAN mode" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Minimum time to apply a yaw reversal" name="AntennaTracker:MIN_REVERSE_TIME" documentation="When the tracker detects it has reached the limit of servo movement in yaw it will reverse and try moving to the other extreme of yaw. This parameter controls the minimum time it should reverse for. It is used to cope with trackers that have a significant lag in movement to ensure they do move all the way around." user="Standard">
-<field name="Range">0 20</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Initial Latitude before GPS lock" name="AntennaTracker:START_LATITUDE" documentation="Combined with START_LONGITUDE this parameter allows for an initial position of the tracker to be set. This position will be used until the GPS gets lock. It can also be used to run a stationary tracker with no GPS attached." user="Standard">
-<field name="Range">-90 90</field>
-<field name="Increment">0.000001</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Initial Longitude before GPS lock" name="AntennaTracker:START_LONGITUDE" documentation="Combined with START_LATITUDE this parameter allows for an initial position of the tracker to be set. This position will be used until the GPS gets lock. It can also be used to run a stationary tracker with no GPS attached." user="Standard">
-<field name="Range">-180 180</field>
-<field name="Increment">0.000001</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Delay before first servo movement from trim" name="AntennaTracker:STARTUP_DELAY" documentation="This parameter can be used to force the servos to their trim value for a time on startup. This can help with some servo types" user="Standard">
-<field name="Range">0 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Type of servo system being used" name="AntennaTracker:SERVO_TYPE" documentation="This allows selection of position servos or on/off servos" user="Standard">
-<values>
-<value code="0">Position</value>
-<value code="1">OnOff</value>
-</values>
-</param>
-<param humanName="Yaw rate for on/off servos" name="AntennaTracker:ONOFF_YAW_RATE" documentation="Rate of change of yaw in degrees/second for on/off servos" user="Standard">
-<field name="Range">0 50</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Pitch rate for on/off servos" name="AntennaTracker:ONOFF_PITCH_RATE" documentation="Rate of change of pitch in degrees/second for on/off servos" user="Standard">
-<field name="Range">0 50</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Yaw minimum movement time" name="AntennaTracker:ONOFF_YAW_MINT" documentation="Minimum amount of time in seconds to move in yaw" user="Standard">
-<field name="Range">0 2</field>
-<field name="Increment">0.01</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Pitch minimum movement time" name="AntennaTracker:ONOFF_PITCH_MINT" documentation="Minimim amount of time in seconds to move in pitch" user="Standard">
-<field name="Range">0 2</field>
-<field name="Increment">0.01</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Yaw trim" name="AntennaTracker:YAW_TRIM" documentation="Amount of extra yaw to add when tracking. This allows for small adjustments for an out of trim compass." user="Standard">
-<field name="Range">-10 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Pitch trim" name="AntennaTracker:PITCH_TRIM" documentation="Amount of extra pitch to add when tracking. This allows for small adjustments for a badly calibrated barometer." user="Standard">
-<field name="Range">-10 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Yaw Angle Range" name="AntennaTracker:YAW_RANGE" documentation="Yaw axis total range of motion in degrees" user="Standard">
-<field name="Range">0 360</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Pitch Range" name="AntennaTracker:PITCH_RANGE" documentation="Pitch axis total range of motion in degrees" user="Standard">
-<field name="Range">0 180</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Distance minimum to target" name="AntennaTracker:DISTANCE_MIN" documentation="Tracker will track targets at least this distance away" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Number of loaded mission items" name="AntennaTracker:CMD_TOTAL" documentation="Set to 1 if HOME location has been loaded by the ground station. Do not change this manually." user="Advanced">
-<field name="Range">1 255</field>
-</param>
-</parameters>
-<parameters name="APMrover2">
-<param humanName="Log bitmask" name="APMrover2:LOG_BITMASK" documentation="Two byte bitmap of log types to enable in dataflash" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="3950">Default</value>
-<value code="4078">Default+IMU</value>
-</values>
-</param>
-<param humanName="Reset Switch Channel" name="APMrover2:RST_SWITCH_CH" documentation="RC channel to use to reset to last flight mode&#9;after geofence takeover." user="Advanced">
-</param>
-<param humanName="Initial driving mode" name="APMrover2:INITIAL_MODE" documentation="This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver. Usuallly used in combination with when AUTO_TRIGGER_PIN or AUTO_KICKSTART." user="Advanced">
-<values>
-<value code="0">MANUAL</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">AUTO</value>
-<value code="11">RTL</value>
-<value code="15">GUIDED</value>
-</values>
-</param>
-<param humanName="Receiver RSSI sensing pin" name="APMrover2:RSSI_PIN" documentation="This selects an analog pin for the receiver RSSI voltage. It assumes the voltage is 5V for max rssi, 0V for minimum" user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 0">APM2 A0</value>
-<value code=" 1">APM2 A1</value>
-<value code=" 2">APM2 A2</value>
-<value code=" 13">APM2 A13</value>
-<value code=" 103">Pixhawk SBUS</value>
-</values>
-</param>
-<param humanName="MAVLink system ID of this vehicle" name="APMrover2:SYSID_THIS_MAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="MAVLink ground station ID" name="APMrover2:SYSID_MYGCS" documentation="ID used in MAVLink protocol to identify the controlling ground station" user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="Telemetry startup delay " name="APMrover2:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Standard">
-<field name="Range">0 10</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Skip gyro calibration" name="APMrover2:SKIP_GYRO_CAL" documentation="When enabled this tells the APM to skip the normal gyroscope calibration at startup, and instead use the saved gyro calibration from the last flight. You should only enable this if you are careful to check that your aircraft has good attitude control before flying, as some boards may have significantly different gyro calibration between boots, especially if the temperature changes a lot. If gyro calibration is skipped then APM relies on using the gyro drift detection code to get the right gyro calibration in the few minutes after it boots. This option is mostly useful where the requirement to hold the vehicle still while it is booting is a significant problem." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Magnetometer (compass) enabled" name="APMrover2:MAG_ENABLED" documentation="This should be set to 1 if a compass is installed" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Auto mode trigger pin" name="APMrover2:AUTO_TRIGGER_PIN" documentation="pin number to use to enable the throttle in auto mode. If set to -1 then don't use a trigger, otherwise this is a pin number which if held low in auto mode will enable the motor to run. If the switch is released while in AUTO then the motor will stop again. This can be used in combination with INITIAL_MODE to give a 'press button to start' rover with no receiver." user="standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 0-8">APM TriggerPin</value>
-<value code=" 50-55"> Pixhawk TriggerPin</value>
-</values>
-</param>
-<param humanName="Auto mode trigger kickstart acceleration" name="APMrover2:AUTO_KICKSTART" documentation="X acceleration in meters/second/second to use to trigger the motor start in auto mode. If set to zero then auto throttle starts immediately when the mode switch happens, otherwise the rover waits for the X acceleration to go above this value before it will start the motor" user="standard">
-<field name="Range">0 20</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Target cruise speed in auto modes" name="APMrover2:CRUISE_SPEED" documentation="The target speed in auto missions." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Target speed reduction while turning" name="APMrover2:SPEED_TURN_GAIN" documentation="The percentage to reduce the throttle while turning. If this is 100% then the target speed is not reduced while turning. If this is 50% then the target speed is reduced in proportion to the turn rate, with a reduction of 50% when the steering is maximally deflected." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">percent</field>
-</param>
-<param humanName="Distance to turn to start reducing speed" name="APMrover2:SPEED_TURN_DIST" documentation="The distance to the next turn at which the rover reduces its target speed by the SPEED_TURN_GAIN" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Percentage braking to apply" name="APMrover2:BRAKING_PERCENT" documentation="The maximum reverse throttle braking percentage to apply when cornering" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">percent</field>
-</param>
-<param humanName="Speed error at which to apply braking" name="APMrover2:BRAKING_SPEEDERR" documentation="The amount of overspeed error at which to start applying braking" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Pivot turn angle" name="APMrover2:PIVOT_TURN_ANGLE" documentation="Navigation angle threshold in degrees to switch to pivot steering when SKID_STEER_OUT is 1. This allows you to setup a skid steering rover to turn on the spot in auto mode when the angle it needs to turn it greater than this angle. An angle of zero means to disable pivot turning. Note that you will probably also want to set a low value for WP_RADIUS to get neat turns." user="Standard">
-<field name="Range">0 360</field>
-<field name="Increment">1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Channel 7 option" name="APMrover2:CH7_OPTION" documentation="What to do use channel 7 for" user="Standard">
-<values>
-<value code="0">Nothing</value>
-<value code="1">LearnWaypoint</value>
-</values>
-</param>
-<param humanName="Minimum Throttle" name="APMrover2:THR_MIN" documentation="The minimum throttle setting to which the autopilot will apply. This is mostly useful for rovers with internal combustion motors, to prevent the motor from cutting out in auto mode." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Maximum Throttle" name="APMrover2:THR_MAX" documentation="The maximum throttle setting to which the autopilot will apply. This can be used to prevent overheating a ESC or motor on an electric rover." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Base throttle percentage in auto" name="APMrover2:CRUISE_THROTTLE" documentation="The base throttle percentage to use in auto mode. The CRUISE_SPEED parameter controls the target speed, but the rover starts with the CRUISE_THROTTLE setting as the initial estimate for how much throttle is needed to achieve that speed. It then adjusts the throttle based on how fast the rover is actually going." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Throttle slew rate" name="APMrover2:THR_SLEWRATE" documentation="maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second. A value of zero means no limit. A value of 100 means the throttle can change over its full range in one second. Note that for some NiMH powered rovers setting a lower value like 40 or 50 may be worthwhile as the sudden current demand on the battery of a big rise in throttle may cause a brownout." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Skid steering output" name="APMrover2:SKID_STEER_OUT" documentation="Set this to 1 for skid steering controlled rovers (tank track style). When enabled, servo1 is used for the left track control, servo3 is used for right track control" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">SkidSteeringOutput</value>
-</values>
-</param>
-<param humanName="Skid steering input" name="APMrover2:SKID_STEER_IN" documentation="Set this to 1 for skid steering input rovers (tank track style in RC controller). When enabled, servo1 is used for the left track control, servo3 is used for right track control" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">SkidSteeringInput</value>
-</values>
-</param>
-<param humanName="Failsafe Action" name="APMrover2:FS_ACTION" documentation="What to do on a failsafe event" user="Standard">
-<values>
-<value code="0">Nothing</value>
-<value code="1">RTL</value>
-<value code="2">HOLD</value>
-</values>
-</param>
-<param humanName="Failsafe timeout" name="APMrover2:FS_TIMEOUT" documentation="How long a failsafe event need to happen for before we trigger the failsafe action" user="Standard">
-<field name="Units">seconds</field>
-</param>
-<param humanName="Throttle Failsafe Enable" name="APMrover2:FS_THR_ENABLE" documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel to a low value. This can be used to detect the RC transmitter going out of range. Failsafe will be triggered when the throttle channel goes below the FS_THR_VALUE for FS_TIMEOUT seconds." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Throttle Failsafe Value" name="APMrover2:FS_THR_VALUE" documentation="The PWM level on channel 3 below which throttle sailsafe triggers." user="Standard">
-<field name="Range">925 1100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="GCS failsafe enable" name="APMrover2:FS_GCS_ENABLE" documentation="Enable ground control station telemetry failsafe. When enabled the Rover will execute the FS_ACTION when it fails to receive MAVLink heartbeat packets for FS_TIMEOUT seconds." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Rangefinder trigger distance" name="APMrover2:RNGFND_TRIGGR_CM" documentation="The distance from an obstacle in centimeters at which the rangefinder triggers a turn to avoid the obstacle" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Rangefinder trigger angle" name="APMrover2:RNGFND_TURN_ANGL" documentation="The course deviation in degrees to apply while avoiding an obstacle detected with the rangefinder. A positive number means to turn right, and a negative angle means to turn left." user="Standard">
-<field name="Range">-45 45</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Rangefinder turn time" name="APMrover2:RNGFND_TURN_TIME" documentation="The amount of time in seconds to apply the RNGFND_TURN_ANGL after detecting an obstacle." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Rangefinder debounce count" name="APMrover2:RNGFND_DEBOUNCE" documentation="The number of 50Hz rangefinder hits needed to trigger an obstacle avoidance event. If you get a lot of false sonar events then raise this number, but if you make it too large then it will cause lag in detecting obstacles, which could cause you go hit the obstacle." user="Standard">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Learning channel" name="APMrover2:LEARN_CH" documentation="RC Channel to use for learning waypoints" user="Advanced">
-</param>
-<param humanName="Mode channel" name="APMrover2:MODE_CH" documentation="RC Channel to use for driving mode control" user="Advanced">
-</param>
-<param humanName="Mode1" name="APMrover2:MODE1" documentation="Driving mode for switch position 1 (910 to 1230 and above 2049)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Mode2" name="APMrover2:MODE2" documentation="Driving mode for switch position 2 (1231 to 1360)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Mode3" name="APMrover2:MODE3" documentation="Driving mode for switch position 3 (1361 to 1490)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Mode4" name="APMrover2:MODE4" documentation="Driving mode for switch position 4 (1491 to 1620)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Mode5" name="APMrover2:MODE5" documentation="Driving mode for switch position 5 (1621 to 1749)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Mode6" name="APMrover2:MODE6" documentation="Driving mode for switch position 6 (1750 to 2049)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Waypoint radius" name="APMrover2:WP_RADIUS" documentation="The distance in meters from a waypoint when we consider the waypoint has been reached. This determines when the rover will turn along the next waypoint path." user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Turning maximum G force" name="APMrover2:TURN_MAX_G" documentation="The maximum turning acceleration (in units of gravities) that the rover can handle while remaining stable. The navigation code will keep the lateral acceleration below this level to avoid rolling over or slipping the wheels in turns" user="Standard">
-<field name="Range">0.2 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">gravities</field>
-</param>
-</parameters>
-</vehicles><libraries><parameters name="SERIAL">
-<param humanName="Serial0 baud rate" name="SERIAL0_BAUD" documentation="The baud rate used on the USB console. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Telem1 protocol selection" name="SERIAL1_PROTOCOL" documentation="Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="1">GCS Mavlink</value>
-<value code=" 3">Frsky D-PORT</value>
-<value code=" 4">Frsky S-PORT</value>
-<value code=" 5">GPS</value>
-<value code=" 7">Alexmos Gimbal Serial</value>
-</values>
-</param>
-<param humanName="Telem1 Baud Rate" name="SERIAL1_BAUD" documentation="The baud rate used on the Telem1 port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Telemetry 2 protocol selection" name="SERIAL2_PROTOCOL" documentation="Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="1">GCS Mavlink</value>
-<value code=" 3">Frsky D-PORT</value>
-<value code=" 4">Frsky S-PORT</value>
-<value code=" 5">GPS</value>
-<value code=" 7">Alexmos Gimbal Serial</value>
-</values>
-</param>
-<param humanName="Telemetry 2 Baud Rate" name="SERIAL2_BAUD" documentation="The baud rate of the Telem2 port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Serial 3 (GPS) protocol selection" name="SERIAL3_PROTOCOL" documentation="Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="1">GCS Mavlink</value>
-<value code=" 3">Frsky D-PORT</value>
-<value code=" 4">Frsky S-PORT</value>
-<value code=" 5">GPS</value>
-<value code=" 7">Alexmos Gimbal Serial</value>
-</values>
-</param>
-<param humanName="Serial 3 (GPS) Baud Rate" name="SERIAL3_BAUD" documentation="The baud rate used for the Serial 3 (GPS). The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Serial4 protocol selection" name="SERIAL4_PROTOCOL" documentation="Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="1">GCS Mavlink</value>
-<value code=" 3">Frsky D-PORT</value>
-<value code=" 4">Frsky S-PORT</value>
-<value code=" 5">GPS</value>
-<value code=" 7">Alexmos Gimbal Serial</value>
-</values>
-</param>
-<param humanName="Serial 4 Baud Rate" name="SERIAL4_BAUD" documentation="The baud rate used for Serial4. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-</parameters>
-<parameters name="GND_">
-<param humanName="Absolute Pressure" name="GND_ABS_PRESS" documentation="calibrated ground pressure in Pascals">
-<field name="Units">pascals</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="ground temperature" name="GND_TEMP" documentation="calibrated ground temperature in degrees Celsius">
-<field name="Units">degrees celsius</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="altitude offset" name="GND_ALT_OFFSET" documentation="altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.">
-<field name="Range">-128 127</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-</parameters>
-<parameters name="GPS_">
-<param humanName="GPS type" name="GPS_TYPE" documentation="GPS type">
-<values>
-<value code="0">None</value>
-<value code="1">AUTO</value>
-<value code="2">uBlox</value>
-<value code="3">MTK</value>
-<value code="4">MTK19</value>
-<value code="5">NMEA</value>
-<value code="6">SiRF</value>
-<value code="7">HIL</value>
-<value code="8">SwiftNav</value>
-<value code="9">PX4-UAVCAN</value>
-</values>
-</param>
-<param humanName="2nd GPS type" name="GPS_TYPE2" documentation="GPS type of 2nd GPS">
-<values>
-<value code="0">None</value>
-<value code="1">AUTO</value>
-<value code="2">uBlox</value>
-<value code="3">MTK</value>
-<value code="4">MTK19</value>
-<value code="5">NMEA</value>
-<value code="6">SiRF</value>
-<value code="7">HIL</value>
-<value code="8">SwiftNav</value>
-<value code="9">PX4-UAVCAN</value>
-</values>
-</param>
-<param humanName="Navigation filter setting" name="GPS_NAVFILTER" documentation="Navigation filter engine setting">
-<values>
-<value code="0">Portable</value>
-<value code="2">Stationary</value>
-<value code="3">Pedestrian</value>
-<value code="4">Automotive</value>
-<value code="5">Sea</value>
-<value code="6">Airborne1G</value>
-<value code="7">Airborne2G</value>
-<value code="8">Airborne4G</value>
-</values>
-</param>
-<param humanName="Automatic Switchover Setting" name="GPS_AUTO_SWITCH" documentation="Automatic switchover to GPS reporting best lock" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Minimum Lock Type Accepted for DGPS" name="GPS_DGPS_MIN_LOCK" documentation="Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode." user="Advanced">
-<values>
-<value code="0">Any</value>
-<value code="50">FloatRTK</value>
-<value code="100">IntegerRTK</value>
-</values>
-</param>
-<param humanName="SBAS Mode" name="GPS_SBAS_MODE" documentation="This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code="2">NoChange</value>
-</values>
-</param>
-<param humanName="Minimum elevation" name="GPS_MIN_ELEV" documentation="This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default." user="Advanced">
-<field name="Range">-100 90</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Destination for GPS_INJECT_DATA MAVLink packets" name="GPS_INJECT_TO" documentation="The GGS can send raw serial packets to inject data to multiple GPSes.">
-<field name="Values">0,1: send to specified instance. 127: broadcast</field>
-</param>
-<param humanName="Swift Binary Protocol Logging Mask" name="GPS_SBP_LOGMASK" documentation="Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged" user="Advanced">
-<field name="Values">0x0000 for none, 0xFFFF for all, 0xFF00 for external only.</field>
-</param>
-<param humanName="Raw data logging" name="GPS_RXM_RAW" documentation="Enable logging of RXM raw data from uBlox which includes carrier phase and pseudo range information. This allows for post processing of dataflash logs for more precise positioning. Note that this requires a raw capable uBlox such as the 6P or 6T.">
-<values>
-<value code="0">Disabled</value>
-<value code="1">log at 1MHz</value>
-<value code="5">log at 5MHz.</value>
-</values>
-</param>
-</parameters>
-<parameters name="CAM_">
-<param humanName="Camera shutter (trigger) type" name="CAM_TRIGG_TYPE" documentation="how to trigger the camera to take a picture" user="Standard">
-<values>
-<value code="0">Servo</value>
-<value code="1">Relay</value>
-</values>
-</param>
-<param humanName="Duration that shutter is held open" name="CAM_DURATION" documentation="How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)" user="Standard">
-<field name="Range">0 50</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Servo ON PWM value" name="CAM_SERVO_ON" documentation="PWM value to move servo to when shutter is activated" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo OFF PWM value" name="CAM_SERVO_OFF" documentation="PWM value to move servo to when shutter is deactivated" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Camera trigger distance" name="CAM_TRIGG_DIST" documentation="Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the GPS position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight." user="Standard">
-<field name="Range">0 1000</field>
-<field name="Units">meters</field>
-</param>
-</parameters>
-<parameters name="ARMING_">
-<param humanName="Require Arming Motors " name="ARMING_REQUIRE" documentation="Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately).  If 1, require rudder stick or GCS arming before arming motors and send THR_MIN PWM to throttle channel when disarmed.  If 2, require rudder stick or GCS arming and send 0 PWM to throttle channel when disarmed. See the ARMING_CHECK_* parameters to see what checks are done before arming. Note, if setting this parameter to 0 a reboot is required to arm the plane.  Also note, even with this parameter at 0, if ARMING_CHECK parameter is not also zero the plane may fail to arm throttle at boot due to a pre-arm check failure." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">THR_MIN PWM when disarmed</value>
-<value code="2">0 PWM when disarmed</value>
-</values>
-</param>
-<param humanName="Disable Rudder Arming" name="ARMING_DIS_RUD" documentation="Do not allow arming via the rudder input stick." user="Advanced">
-<values>
-<value code="0">Disabled (Rudder Arming Allowed)</value>
-<value code="1">Enabled(No Rudder Arming)</value>
-</values>
-</param>
-<param humanName="Arm Checks to Peform (bitmask)" name="ARMING_CHECK" documentation="Checks prior to arming motor. This is a bitmask of checks that will be performed befor allowing arming. The default is no checks, allowing arming at any time. You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72. For most users it is recommended that you set this to 1 to enable all checks." user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">All</value>
-<value code="2">Barometer</value>
-<value code="4">Compass</value>
-<value code="8">GPS</value>
-<value code="16">INS</value>
-<value code="32">Parameters</value>
-<value code="64">RC Failsafe</value>
-<value code="128">Board voltage</value>
-<value code="256">Battery Level</value>
-<value code="512">Airspeed</value>
-<value code="1024">LoggingAvailable</value>
-</values>
-</param>
-</parameters>
-<parameters name="RELAY_">
-<param humanName="First Relay Pin" name="RELAY_PIN" documentation="Digital pin number for first relay control. This is the pin used for camera control." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="13">APM2 A9 pin</value>
-<value code="47">APM1 relay</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Second Relay Pin" name="RELAY_PIN2" documentation="Digital pin number for 2nd relay control." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="13">APM2 A9 pin</value>
-<value code="47">APM1 relay</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Third Relay Pin" name="RELAY_PIN3" documentation="Digital pin number for 3rd relay control." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="13">APM2 A9 pin</value>
-<value code="47">APM1 relay</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Fourth Relay Pin" name="RELAY_PIN4" documentation="Digital pin number for 4th relay control." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="13">APM2 A9 pin</value>
-<value code="47">APM1 relay</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Default relay state" name="RELAY_DEFAULT" documentation="The state of the relay on boot. " user="Standard">
-<values>
-<value code="0">Off</value>
-<value code="1">On</value>
-<value code="2">NoChange</value>
-</values>
-</param>
-</parameters>
-<parameters name="RNGFND">
-<param humanName="Rangefinder type" name="RNGFND_TYPE" documentation="What type of rangefinder device that is connected">
-<values>
-<value code="0">None</value>
-<value code="1">Analog</value>
-<value code="2">APM2-MaxbotixI2C</value>
-<value code="3">APM2-PulsedLightI2C</value>
-<value code="4">PX4-I2C</value>
-<value code="5">PX4-PWM</value>
-</values>
-</param>
-<param humanName="Rangefinder pin" name="RNGFND_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port.">
-<values>
-<value code="-1">Not Used</value>
-<value code=" 0">APM2-A0</value>
-<value code=" 1">APM2-A1</value>
-<value code=" 2">APM2-A2</value>
-<value code=" 3">APM2-A3</value>
-<value code=" 4">APM2-A4</value>
-<value code=" 5">APM2-A5</value>
-<value code=" 6">APM2-A6</value>
-<value code=" 7">APM2-A7</value>
-<value code=" 8">APM2-A8</value>
-<value code=" 9">APM2-A9</value>
-<value code=" 11">PX4-airspeed port</value>
-<value code=" 15">Pixhawk-airspeed port</value>
-<value code=" 64">APM1-airspeed port</value>
-</values>
-</param>
-<param humanName="Rangefinder scaling" name="RNGFND_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.">
-<field name="Units">meters/Volt</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="rangefinder offset" name="RNGFND_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars">
-<field name="Units">Volts</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Rangefinder function" name="RNGFND_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.">
-<values>
-<value code="0">Linear</value>
-<value code="1">Inverted</value>
-<value code="2">Hyperbolic</value>
-</values>
-</param>
-<param humanName="Rangefinder minimum distance" name="RNGFND_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read">
-<field name="Units">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder maximum distance" name="RNGFND_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read">
-<field name="Units">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder stop pin" name="RNGFND_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other.">
-<values>
-<value code="-1">Not Used</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Rangefinder settle time" name="RNGFND_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.">
-<field name="Units">milliseconds</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Ratiometric" name="RNGFND_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.">
-<values>
-<value code="0">No</value>
-<value code="1">Yes</value>
-</values>
-</param>
-<param humanName="Powersave range" name="RNGFNDRNGFND_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled">
-<field name="Units">meters</field>
-<field name="Range">0 32767</field>
-</param>
-<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Second Rangefinder type" name="RNGFND2_TYPE" documentation="What type of rangefinder device that is connected">
-<values>
-<value code="0">None</value>
-<value code="1">Analog</value>
-<value code="2">APM2-MaxbotixI2C</value>
-<value code="3">APM2-PulsedLightI2C</value>
-<value code="4">PX4-I2C</value>
-<value code="5">PX4-PWM</value>
-</values>
-</param>
-<param humanName="Rangefinder pin" name="RNGFND2_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port.">
-<values>
-<value code="-1">Not Used</value>
-<value code=" 0">APM2-A0</value>
-<value code=" 1">APM2-A1</value>
-<value code=" 2">APM2-A2</value>
-<value code=" 3">APM2-A3</value>
-<value code=" 4">APM2-A4</value>
-<value code=" 5">APM2-A5</value>
-<value code=" 6">APM2-A6</value>
-<value code=" 7">APM2-A7</value>
-<value code=" 8">APM2-A8</value>
-<value code=" 9">APM2-A9</value>
-<value code=" 11">PX4-airspeed port</value>
-<value code=" 15">Pixhawk-airspeed port</value>
-<value code=" 64">APM1-airspeed port</value>
-</values>
-</param>
-<param humanName="Rangefinder scaling" name="RNGFND2_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.">
-<field name="Units">meters/Volt</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="rangefinder offset" name="RNGFND2_OFFSET" documentation="Offset in volts for zero distance">
-<field name="Units">Volts</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Rangefinder function" name="RNGFND2_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.">
-<values>
-<value code="0">Linear</value>
-<value code="1">Inverted</value>
-<value code="2">Hyperbolic</value>
-</values>
-</param>
-<param humanName="Rangefinder minimum distance" name="RNGFND2_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read">
-<field name="Units">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder maximum distance" name="RNGFND2_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read">
-<field name="Units">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder stop pin" name="RNGFND2_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other.">
-<values>
-<value code="-1">Not Used</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Sonar settle time" name="RNGFND2_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.">
-<field name="Units">milliseconds</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Ratiometric" name="RNGFND2_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.">
-<values>
-<value code="0">No</value>
-<value code="1">Yes</value>
-</values>
-</param>
-<param humanName="Distance (in cm) from the second range finder to the ground" name="RNGFND2_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the second range finder should return when the vehicle is on the ground." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-</parameters>
-<parameters name="TERRAIN_">
-<param humanName="Terrain data enable" name="TERRAIN_ENABLE" documentation="enable terrain data. This enables the vehicle storing a database of terrain data on the SD card. The terrain data is requested from the ground station as needed, and stored for later use on the SD card. To be useful the ground station must support TERRAIN_REQUEST messages and have access to a terrain database, such as the SRTM database.">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-<param humanName="Terrain grid spacing" name="TERRAIN_SPACING" documentation="Distance between terrain grid points in meters. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station. If your GCS is using the worldwide SRTM database then a resolution of 100 meters is appropriate. Some parts of the world may have higher resolution data available, such as 30 meter data available in the SRTM database in the USA. The grid spacing also controls how much data is kept in memory during flight. A larger grid spacing will allow for a larger amount of data in memory. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2.7 kilometers by 3.2 kilometers. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be demand loaded as needed.">
-<field name="Units">meters</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="RC1_">
-<param humanName="RC min PWM" name="RC1_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC1_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC1_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC1_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC1_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="RC2_">
-<param humanName="RC min PWM" name="RC2_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC2_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC2_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC2_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC2_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="RC3_">
-<param humanName="RC min PWM" name="RC3_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC3_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC3_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC3_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC3_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="RC4_">
-<param humanName="RC min PWM" name="RC4_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC4_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC4_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC4_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC4_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="RC5_">
-<param humanName="RC min PWM" name="RC5_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC5_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC5_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC5_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC5_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC5_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC6_">
-<param humanName="RC min PWM" name="RC6_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC6_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC6_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC6_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC6_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC6_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC7_">
-<param humanName="RC min PWM" name="RC7_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC7_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC7_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC7_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC7_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC7_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC8_">
-<param humanName="RC min PWM" name="RC8_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC8_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC8_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC8_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC8_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC8_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC9_">
-<param humanName="RC min PWM" name="RC9_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC9_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC9_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC9_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC9_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC9_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC10_">
-<param humanName="RC min PWM" name="RC10_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC10_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC10_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC10_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC10_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC10_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC11_">
-<param humanName="RC min PWM" name="RC11_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC11_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC11_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC11_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC11_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC11_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC12_">
-<param humanName="RC min PWM" name="RC12_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC12_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC12_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC12_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC12_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC12_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC13_">
-<param humanName="RC min PWM" name="RC13_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC13_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC13_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC13_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC13_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC13_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC14_">
-<param humanName="RC min PWM" name="RC14_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC14_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC14_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC14_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC14_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC14_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-</values>
-</param>
-</parameters>
-<parameters name="RLL2SRV_">
-<param humanName="Roll Time Constant" name="RLL2SRV_TCONST" documentation="This controls the time constant in seconds from demanded to achieved bank angle. A value of 0.5 is a good default and will work with nearly all models. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the aircraft can achieve." user="Advanced">
-<field name="Range">0.4 1.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Proportional Gain" name="RLL2SRV_P" documentation="This is the gain from bank angle to aileron. This gain works the same way as the P term in the old PID (RLL2SRV_P) and can be set to the same value." user="User">
-<field name="Range">0.1 4.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Damping Gain" name="RLL2SRV_D" documentation="This is the gain from roll rate to aileron. This adjusts the damping of the roll control loop. It has the same effect as RLL2SRV_D in the old PID controller but without the spikes in servo demands. This gain helps to reduce rolling in turbulence. It should be increased in 0.01 increments as too high a value can lead to a high frequency roll oscillation that could overstress the airframe." user="User">
-<field name="Range">0 0.1</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Integrator Gain" name="RLL2SRV_I" documentation="This is the gain from the integral of bank angle to aileron. It has the same effect as RLL2SRV_I in the old PID controller. Increasing this gain causes the controller to trim out steady offsets due to an out of trim aircraft." user="User">
-<field name="Range">0 1.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Maximum Roll Rate" name="RLL2SRV_RMAX" documentation="This sets the maximum roll rate that the controller will demand (degrees/sec). Setting it to zero disables the limit. If this value is set too low, then the roll can't keep up with the navigation demands and the plane will start weaving. If it is set too high (or disabled by setting to zero) then ailerons will get large inputs at the start of turns. A limit of 60 degrees/sec is a good default." user="Advanced">
-<field name="Range">0 180</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Integrator limit" name="RLL2SRV_IMAX" documentation="This limits the number of degrees of aileron in centi-degrees over which the integrator will operate. At the default setting of 3000 centi-degrees, the integrator will be limited to +- 30 degrees of servo travel. The maximum servo deflection is +- 45 centi-degrees, so the default value represents a 2/3rd of the total control throw which is adequate unless the aircraft is severely out of trim." user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="PTCH2SRV_">
-<param humanName="Pitch Time Constant" name="PTCH2SRV_TCONST" documentation="This controls the time constant in seconds from demanded to achieved pitch angle. A value of 0.5 is a good default and will work with nearly all models. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the aircraft can achieve." user="Advanced">
-<field name="Range">0.4 1.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Proportional Gain" name="PTCH2SRV_P" documentation="This is the gain from pitch angle to elevator. This gain works the same way as PTCH2SRV_P in the old PID controller and can be set to the same value." user="User">
-<field name="Range">0.1 3.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Damping Gain" name="PTCH2SRV_D" documentation="This is the gain from pitch rate to elevator. This adjusts the damping of the pitch control loop. It has the same effect as PTCH2SRV_D in the old PID controller and can be set to the same value, but without the spikes in servo demands. This gain helps to reduce pitching in turbulence. Some airframes such as flying wings that have poor pitch damping can benefit from increasing this gain term. This should be increased in 0.01 increments as too high a value can lead to a high frequency pitch oscillation that could overstress the airframe." user="User">
-<field name="Range">0 0.1</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Integrator Gain" name="PTCH2SRV_I" documentation="This is the gain applied to the integral of pitch angle. It has the same effect as PTCH2SRV_I in the old PID controller and can be set to the same value. Increasing this gain causes the controller to trim out constant offsets between demanded and measured pitch angle." user="User">
-<field name="Range">0 0.5</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Pitch up max rate" name="PTCH2SRV_RMAX_UP" documentation="This sets the maximum nose up pitch rate that the controller will demand (degrees/sec). Setting it to zero disables the limit." user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Pitch down max rate" name="PTCH2SRV_RMAX_DN" documentation="This sets the maximum nose down pitch rate that the controller will demand (degrees/sec). Setting it to zero disables the limit." user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Roll compensation" name="PTCH2SRV_RLL" documentation="This is the gain term that is applied to the pitch rate offset calculated as required to keep the nose level during turns. The default value is 1 which will work for all models. Advanced users can use it to correct for height variation in turns. If height is lost initially in turns this can be increased in small increments of 0.05 to compensate. If height is gained initially in turns then it can be decreased." user="User">
-<field name="Range">0.7 1.5</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Integrator limit" name="PTCH2SRV_IMAX" documentation="This limits the number of centi-degrees of elevator over which the integrator will operate. At the default setting of 3000 centi-degrees, the integrator will be limited to +- 30 degrees of servo travel. The maximum servo deflection is +- 45 degrees, so the default value represents a 2/3rd of the total control throw which is adequate for most aircraft unless they are severely out of trim or have very limited elevator control effectiveness." user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="YAW2SRV_">
-<param humanName="Sideslip control gain" name="YAW2SRV_SLIP" documentation="This is the gain from measured lateral acceleration to demanded yaw rate. It should be set to zero unless active control of sideslip is desired. This will only work effectively if there is enough fuselage side area to generate a measureable lateral acceleration when the model sideslips. Flying wings and most gliders cannot use this term. This term should only be adjusted after the basic yaw damper gain YAW2SRV_DAMP is tuned and the YAW2SRV_INT integrator gain has been set. Set this gain to zero if only yaw damping is required.">
-<field name="Range">0 4</field>
-<field name="Increment">0.25</field>
-</param>
-<param humanName="Sidelsip control integrator" name="YAW2SRV_INT" documentation="This is the integral gain from lateral acceleration error. This gain should only be non-zero if active control over sideslip is desired. If active control over sideslip is required then this can be set to 1.0 as a first try.">
-<field name="Range">0 2</field>
-<field name="Increment">0.25</field>
-</param>
-<param humanName="Yaw damping" name="YAW2SRV_DAMP" documentation="This is the gain from yaw rate to rudder. It acts as a damper on yaw motion. If a basic yaw damper is required, this gain term can be incremented, whilst leaving the YAW2SRV_SLIP and YAW2SRV_INT gains at zero. Note that unlike with a standard PID controller, if this damping term is zero then the integrator will also be disabled.">
-<field name="Range">0 2</field>
-<field name="Increment">0.25</field>
-</param>
-<param humanName="Yaw coordination gain" name="YAW2SRV_RLL" documentation="This is the gain term that is applied to the yaw rate offset calculated as required to keep the yaw rate consistent with the turn rate for a coordinated turn. The default value is 1 which will work for all models. Advanced users can use it to correct for any tendency to yaw away from or into the turn once the turn is established. Increase to make the model yaw more initially and decrease to make the model yaw less initially. If values greater than 1.1 or less than 0.9 are required then it normally indicates a problem with the airspeed calibration.">
-<field name="Range">0.8 1.2</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Integrator limit" name="YAW2SRV_IMAX" documentation="This limits the number of centi-degrees of rudder over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 degrees, so the default value represents a 1/3rd of the total control throw which is adequate for most aircraft unless they are severely out of trim or have very limited rudder control effectiveness." user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="STEER2SRV_">
-<param humanName="Steering Time Constant" name="STEER2SRV_TCONST" documentation="This controls the time constant in seconds from demanded to achieved steering angle. A value of 0.75 is a good default and will work with nearly all rovers. Ground steering in aircraft needs a bit smaller time constant, and a value of 0.5 is recommended for best ground handling in fixed wing aircraft. A value of 0.75 means that the controller will try to correct any deviation between the desired and actual steering angle in 0.75 seconds. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the vehicle can achieve." user="Advanced">
-<field name="Range">0.4 1.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Steering turning gain" name="STEER2SRV_P" documentation="The proportional gain for steering. This should be approximately equal to the diameter of the turning circle of the vehicle at low speed and maximum steering angle" user="User">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Integrator Gain" name="STEER2SRV_I" documentation="This is the gain from the integral of steering angle. Increasing this gain causes the controller to trim out steady offsets due to an out of trim vehicle." user="User">
-<field name="Range">0 1.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Damping Gain" name="STEER2SRV_D" documentation="This adjusts the damping of the steering control loop. This gain helps to reduce steering jitter with vibration. It should be increased in 0.01 increments as too high a value can lead to a high frequency steering oscillation that could overstress the vehicle." user="User">
-<field name="Range">0 0.1</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Integrator limit" name="STEER2SRV_IMAX" documentation="This limits the number of degrees of steering in centi-degrees over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 centi-degrees, so the default value represents a 1/3rd of the total control throw which is adequate unless the vehicle is severely out of trim." user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Minimum speed" name="STEER2SRV_MINSPD" documentation="This is the minimum assumed ground speed in meters/second for steering. Having a minimum speed prevents oscillations when the vehicle first starts moving. The vehicle can still driver slower than this limit, but the steering calculations will be done based on this minimum speed." user="User">
-<field name="Range">0 5</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-</parameters>
-<parameters name="COMPASS_">
-<param humanName="Compass offsets on the X axis" name="COMPASS_OFS_X" documentation="Offset to be added to the compass x-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Compass offsets on the Y axis" name="COMPASS_OFS_Y" documentation="Offset to be added to the compass y-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Compass offsets on the Z axis" name="COMPASS_OFS_Z" documentation="Offset to be added to the compass z-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Compass declination" name="COMPASS_DEC" documentation="An angle to compensate between the true north and magnetic north" user="Standard">
-<field name="Range">-3.142 3.142</field>
-<field name="Increment">0.01</field>
-<field name="Units">Radians</field>
-</param>
-<param humanName="Learn compass offsets automatically" name="COMPASS_LEARN" documentation="Enable or disable the automatic learning of compass offsets" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Use compass for yaw" name="COMPASS_USE" documentation="Enable or disable the use of the compass (instead of the GPS) for determining heading" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Auto Declination" name="COMPASS_AUTODEC" documentation="Enable or disable the automatic calculation of the declination based on gps location" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Motor interference compensation type" name="COMPASS_MOTCT" documentation="Set motor interference compensation type to disabled, throttle or current.  Do not change manually.">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Use Throttle</value>
-<value code="2">Use Current</value>
-</values>
-<field name="Increment">1</field>
-</param>
-<param humanName="Motor interference compensation for body frame X axis" name="COMPASS_MOT_X" documentation="Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation for body frame Y axis" name="COMPASS_MOT_Y" documentation="Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation for body frame Z axis" name="COMPASS_MOT_Z" documentation="Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Compass orientation" name="COMPASS_ORIENT" documentation="The orientation of the compass relative to the autopilot board. This will default to the right value for each board type, but can be changed if you have an external compass. See the documentation for your external compass for the right value. The correct orientation should give the X axis forward, the Y axis to the right and the Z axis down. So if your aircraft is pointing west it should show a positive value for the Y axis, and a value close to zero for the X axis. On a PX4 or Pixhawk with an external compass the correct value is zero if the compass is correctly oriented. NOTE: This orientation is combined with any AHRS_ORIENTATION setting.">
-<values>
-<value code="0">None</value>
-<value code="1">Yaw45</value>
-<value code="2">Yaw90</value>
-<value code="3">Yaw135</value>
-<value code="4">Yaw180</value>
-<value code="5">Yaw225</value>
-<value code="6">Yaw270</value>
-<value code="7">Yaw315</value>
-<value code="8">Roll180</value>
-<value code="9">Roll180Yaw45</value>
-<value code="10">Roll180Yaw90</value>
-<value code="11">Roll180Yaw135</value>
-<value code="12">Pitch180</value>
-<value code="13">Roll180Yaw225</value>
-<value code="14">Roll180Yaw270</value>
-<value code="15">Roll180Yaw315</value>
-<value code="16">Roll90</value>
-<value code="17">Roll90Yaw45</value>
-<value code="18">Roll90Yaw90</value>
-<value code="19">Roll90Yaw135</value>
-<value code="20">Roll270</value>
-<value code="21">Roll270Yaw45</value>
-<value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw136</value>
-<value code="24">Pitch90</value>
-<value code="25">Pitch270</value>
-<value code="26">Pitch180Yaw90</value>
-<value code="27">Pitch180Yaw270</value>
-<value code="28">Roll90Pitch90</value>
-<value code="29">Roll180Pitch90</value>
-<value code="30">Roll270Pitch90</value>
-<value code="31">Roll90Pitch180</value>
-<value code="32">Roll270Pitch180</value>
-<value code="33">Roll90Pitch270</value>
-<value code="34">Roll180Pitch270</value>
-<value code="35">Roll270Pitch270</value>
-<value code="36">Roll90Pitch180Yaw90</value>
-<value code="37">Roll90Yaw270</value>
-<value code="38">Yaw293Pitch68Roll90</value>
-</values>
-</param>
-<param humanName="Compass is attached via an external cable" name="COMPASS_EXTERNAL" documentation="Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk, but must be set correctly on an APM2. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option" user="Advanced">
-<values>
-<value code="0">Internal</value>
-<value code="1">External</value>
-</values>
-</param>
-<param humanName="Compass2 offsets on the X axis" name="COMPASS_OFS2_X" documentation="Offset to be added to compass2's x-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Compass2 offsets on the Y axis" name="COMPASS_OFS2_Y" documentation="Offset to be added to compass2's y-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Compass2 offsets on the Z axis" name="COMPASS_OFS2_Z" documentation="Offset to be added to compass2's z-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Motor interference compensation to compass2 for body frame X axis" name="COMPASS_MOT2_X" documentation="Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation to compass2 for body frame Y axis" name="COMPASS_MOT2_Y" documentation="Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation to compass2 for body frame Z axis" name="COMPASS_MOT2_Z" documentation="Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Choose primary compass" name="COMPASS_PRIMARY" documentation="If more than one compass is available this selects which compass is the primary. Normally 0=External, 1=Internal. If no External compass is attached this parameter is ignored" user="Advanced">
-<values>
-<value code="0">FirstCompass</value>
-<value code="1">SecondCompass</value>
-</values>
-</param>
-<param humanName="Compass3 offsets on the X axis" name="COMPASS_OFS3_X" documentation="Offset to be added to compass3's x-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Compass3 offsets on the Y axis" name="COMPASS_OFS3_Y" documentation="Offset to be added to compass3's y-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Compass3 offsets on the Z axis" name="COMPASS_OFS3_Z" documentation="Offset to be added to compass3's z-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Motor interference compensation to compass3 for body frame X axis" name="COMPASS_MOT3_X" documentation="Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation to compass3 for body frame Y axis" name="COMPASS_MOT3_Y" documentation="Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation to compass3 for body frame Z axis" name="COMPASS_MOT3_Z" documentation="Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Compass device id" name="COMPASS_DEV_ID" documentation="Compass device id.  Automatically detected, do not set manually" user="Advanced">
-</param>
-<param humanName="Compass2 device id" name="COMPASS_DEV_ID2" documentation="Second compass's device id.  Automatically detected, do not set manually" user="Advanced">
-</param>
-<param humanName="Compass3 device id" name="COMPASS_DEV_ID3" documentation="Third compass's device id.  Automatically detected, do not set manually" user="Advanced">
-</param>
-<param humanName="Compass2 used for yaw" name="COMPASS_USE2" documentation="Enable or disable the second compass for determining heading." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Compass2 orientation" name="COMPASS_ORIENT2" documentation="The orientation of the second compass relative to the frame (if external) or autopilot board (if internal).">
-<values>
-<value code="0">None</value>
-<value code="1">Yaw45</value>
-<value code="2">Yaw90</value>
-<value code="3">Yaw135</value>
-<value code="4">Yaw180</value>
-<value code="5">Yaw225</value>
-<value code="6">Yaw270</value>
-<value code="7">Yaw315</value>
-<value code="8">Roll180</value>
-<value code="9">Roll180Yaw45</value>
-<value code="10">Roll180Yaw90</value>
-<value code="11">Roll180Yaw135</value>
-<value code="12">Pitch180</value>
-<value code="13">Roll180Yaw225</value>
-<value code="14">Roll180Yaw270</value>
-<value code="15">Roll180Yaw315</value>
-<value code="16">Roll90</value>
-<value code="17">Roll90Yaw45</value>
-<value code="18">Roll90Yaw90</value>
-<value code="19">Roll90Yaw135</value>
-<value code="20">Roll270</value>
-<value code="21">Roll270Yaw45</value>
-<value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw136</value>
-<value code="24">Pitch90</value>
-<value code="25">Pitch270</value>
-<value code="26">Pitch180Yaw90</value>
-<value code="27">Pitch180Yaw270</value>
-<value code="28">Roll90Pitch90</value>
-<value code="29">Roll180Pitch90</value>
-<value code="30">Roll270Pitch90</value>
-<value code="31">Roll90Pitch180</value>
-<value code="32">Roll270Pitch180</value>
-<value code="33">Roll90Pitch270</value>
-<value code="34">Roll180Pitch270</value>
-<value code="35">Roll270Pitch270</value>
-<value code="36">Roll90Pitch180Yaw90</value>
-<value code="37">Roll90Yaw270</value>
-<value code="38">Yaw293Pitch68Roll90</value>
-</values>
-</param>
-<param humanName="Compass2 is attached via an external cable" name="COMPASS_EXTERN2" documentation="Configure second compass so it is attached externally. This is auto-detected on PX4 and Pixhawk." user="Advanced">
-<values>
-<value code="0">Internal</value>
-<value code="1">External</value>
-</values>
-</param>
-<param humanName="Compass3 used for yaw" name="COMPASS_USE3" documentation="Enable or disable the third compass for determining heading." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Compass3 orientation" name="COMPASS_ORIENT3" documentation="The orientation of the third compass relative to the frame (if external) or autopilot board (if internal).">
-<values>
-<value code="0">None</value>
-<value code="1">Yaw45</value>
-<value code="2">Yaw90</value>
-<value code="3">Yaw135</value>
-<value code="4">Yaw180</value>
-<value code="5">Yaw225</value>
-<value code="6">Yaw270</value>
-<value code="7">Yaw315</value>
-<value code="8">Roll180</value>
-<value code="9">Roll180Yaw45</value>
-<value code="10">Roll180Yaw90</value>
-<value code="11">Roll180Yaw135</value>
-<value code="12">Pitch180</value>
-<value code="13">Roll180Yaw225</value>
-<value code="14">Roll180Yaw270</value>
-<value code="15">Roll180Yaw315</value>
-<value code="16">Roll90</value>
-<value code="17">Roll90Yaw45</value>
-<value code="18">Roll90Yaw90</value>
-<value code="19">Roll90Yaw135</value>
-<value code="20">Roll270</value>
-<value code="21">Roll270Yaw45</value>
-<value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw136</value>
-<value code="24">Pitch90</value>
-<value code="25">Pitch270</value>
-<value code="26">Pitch180Yaw90</value>
-<value code="27">Pitch180Yaw270</value>
-<value code="28">Roll90Pitch90</value>
-<value code="29">Roll180Pitch90</value>
-<value code="30">Roll270Pitch90</value>
-<value code="31">Roll90Pitch180</value>
-<value code="32">Roll270Pitch180</value>
-<value code="33">Roll90Pitch270</value>
-<value code="34">Roll180Pitch270</value>
-<value code="35">Roll270Pitch270</value>
-<value code="36">Roll90Pitch180Yaw90</value>
-<value code="37">Roll90Yaw270</value>
-<value code="38">Yaw293Pitch68Roll90</value>
-</values>
-</param>
-<param humanName="Compass3 is attached via an external cable" name="COMPASS_EXTERN3" documentation="Configure third compass so it is attached externally. This is auto-detected on PX4 and Pixhawk." user="Advanced">
-<values>
-<value code="0">Internal</value>
-<value code="1">External</value>
-</values>
-</param>
-</parameters>
-<parameters name="SCHED_">
-<param humanName="Scheduler debug level" name="SCHED_DEBUG" documentation='Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.' user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="2">ShowSlips</value>
-<value code="3">ShowOverruns</value>
-</values>
-</param>
-</parameters>
-<parameters name="RCMAP_">
-<param humanName="Roll channel" name="RCMAP_ROLL" documentation="Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter." user="Advanced">
-<field name="Range">1 8</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Pitch channel" name="RCMAP_PITCH" documentation="Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter." user="Advanced">
-<field name="Range">1 8</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Throttle channel" name="RCMAP_THROTTLE" documentation="Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Warning APM 2.X: Changing the throttle channel could produce unexpected fail-safe results if connection between receiver and on-board PPM Encoder is lost. Disabling on-board PPM Encoder is recommended." user="Advanced">
-<field name="Range">1 8</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Yaw channel" name="RCMAP_YAW" documentation="Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter." user="Advanced">
-<field name="Range">1 8</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="INS_">
-<param humanName="IMU Product ID" name="INS_PRODUCT_ID" documentation="Which type of IMU is installed (read-only). " user="Advanced">
-<values>
-<value code="0">Unknown</value>
-<value code="1">APM1-1280</value>
-<value code="2">APM1-2560</value>
-<value code="88">APM2</value>
-<value code="3">SITL</value>
-<value code="4">PX4v1</value>
-<value code="5">PX4v2</value>
-<value code="256">Flymaple</value>
-<value code="257">Linux</value>
-</values>
-</param>
-<param humanName="Gyro offsets of X axis" name="INS_GYROFFS_X" documentation="Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro offsets of Y axis" name="INS_GYROFFS_Y" documentation="Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro offsets of Z axis" name="INS_GYROFFS_Z" documentation="Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro2 offsets of X axis" name="INS_GYR2OFFS_X" documentation="Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro2 offsets of Y axis" name="INS_GYR2OFFS_Y" documentation="Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro2 offsets of Z axis" name="INS_GYR2OFFS_Z" documentation="Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro3 offsets of X axis" name="INS_GYR3OFFS_X" documentation="Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro3 offsets of Y axis" name="INS_GYR3OFFS_Y" documentation="Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro3 offsets of Z axis" name="INS_GYR3OFFS_Z" documentation="Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Accelerometer scaling of X axis" name="INS_ACCSCAL_X" documentation="Accelerometer scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer scaling of Y axis" name="INS_ACCSCAL_Y" documentation="Accelerometer scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer scaling of Z axis" name="INS_ACCSCAL_Z" documentation="Accelerometer scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer offsets of X axis" name="INS_ACCOFFS_X" documentation="Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-300 300</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer offsets of Y axis" name="INS_ACCOFFS_Y" documentation="Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-300 300</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer offsets of Z axis" name="INS_ACCOFFS_Z" documentation="Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-300 300</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer2 scaling of X axis" name="INS_ACC2SCAL_X" documentation="Accelerometer2 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer2 scaling of Y axis" name="INS_ACC2SCAL_Y" documentation="Accelerometer2 scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer2 scaling of Z axis" name="INS_ACC2SCAL_Z" documentation="Accelerometer2 scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer2 offsets of X axis" name="INS_ACC2OFFS_X" documentation="Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-300 300</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer2 offsets of Y axis" name="INS_ACC2OFFS_Y" documentation="Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-300 300</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer2 offsets of Z axis" name="INS_ACC2OFFS_Z" documentation="Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-300 300</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer3 scaling of X axis" name="INS_ACC3SCAL_X" documentation="Accelerometer3 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer3 scaling of Y axis" name="INS_ACC3SCAL_Y" documentation="Accelerometer3 scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer3 scaling of Z axis" name="INS_ACC3SCAL_Z" documentation="Accelerometer3 scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer3 offsets of X axis" name="INS_ACC3OFFS_X" documentation="Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-300 300</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer3 offsets of Y axis" name="INS_ACC3OFFS_Y" documentation="Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-300 300</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer3 offsets of Z axis" name="INS_ACC3OFFS_Z" documentation="Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-300 300</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Gyro filter cutoff frequency" name="INS_GYRO_FILTER" documentation="Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)" user="Advanced">
-<field name="Range">0 127</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Accel filter cutoff frequency" name="INS_ACCEL_FILTER" documentation="Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)" user="Advanced">
-<field name="Range">0 127</field>
-<field name="Units">Hz</field>
-</param>
-</parameters>
-<parameters name="AHRS_">
-<param humanName="AHRS GPS gain" name="AHRS_GPS_GAIN" documentation="This controls how how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.">
-<field name="Range">0.0 1.0</field>
-<field name="Increment">.01</field>
-</param>
-<param humanName="AHRS use GPS for navigation" name="AHRS_GPS_USE" documentation="This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Yaw P" name="AHRS_YAW_P" documentation="This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.">
-<field name="Range">0.1 0.4</field>
-<field name="Increment">.01</field>
-</param>
-<param humanName="AHRS RP_P" name="AHRS_RP_P" documentation="This controls how fast the accelerometers correct the attitude">
-<field name="Range">0.1 0.4</field>
-<field name="Increment">.01</field>
-</param>
-<param humanName="Maximum wind" name="AHRS_WIND_MAX" documentation="This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is.">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="AHRS Trim Roll" name="AHRS_TRIM_X" documentation="Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right." user="User">
-<field name="Range">-0.1745 +0.1745</field>
-<field name="Increment">0.01</field>
-<field name="Units">Radians</field>
-</param>
-<param humanName="AHRS Trim Pitch" name="AHRS_TRIM_Y" documentation="Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back." user="User">
-<field name="Range">-0.1745 +0.1745</field>
-<field name="Increment">0.01</field>
-<field name="Units">Radians</field>
-</param>
-<param humanName="AHRS Trim Yaw" name="AHRS_TRIM_Z" documentation="Not Used" user="Advanced">
-<field name="Range">-0.1745 +0.1745</field>
-<field name="Increment">0.01</field>
-<field name="Units">Radians</field>
-</param>
-<param humanName="Board Orientation" name="AHRS_ORIENTATION" documentation="Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle." user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Yaw45</value>
-<value code="2">Yaw90</value>
-<value code="3">Yaw135</value>
-<value code="4">Yaw180</value>
-<value code="5">Yaw225</value>
-<value code="6">Yaw270</value>
-<value code="7">Yaw315</value>
-<value code="8">Roll180</value>
-<value code="9">Roll180Yaw45</value>
-<value code="10">Roll180Yaw90</value>
-<value code="11">Roll180Yaw135</value>
-<value code="12">Pitch180</value>
-<value code="13">Roll180Yaw225</value>
-<value code="14">Roll180Yaw270</value>
-<value code="15">Roll180Yaw315</value>
-<value code="16">Roll90</value>
-<value code="17">Roll90Yaw45</value>
-<value code="18">Roll90Yaw90</value>
-<value code="19">Roll90Yaw135</value>
-<value code="20">Roll270</value>
-<value code="21">Roll270Yaw45</value>
-<value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw136</value>
-<value code="24">Pitch90</value>
-<value code="25">Pitch270</value>
-<value code="26">Pitch180Yaw90</value>
-<value code="27">Pitch180Yaw270</value>
-<value code="28">Roll90Pitch90</value>
-<value code="29">Roll180Pitch90</value>
-<value code="30">Roll270Pitch90</value>
-<value code="31">Roll90Pitch180</value>
-<value code="32">Roll270Pitch180</value>
-<value code="33">Roll90Pitch270</value>
-<value code="34">Roll180Pitch270</value>
-<value code="35">Roll270Pitch270</value>
-<value code="36">Roll90Pitch180Yaw90</value>
-<value code="37">Roll90Yaw270</value>
-</values>
-</param>
-<param humanName="AHRS Velocity Complmentary Filter Beta Coefficient" name="AHRS_COMP_BETA" documentation="This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less." user="Advanced">
-<field name="Range">0.001 0.5</field>
-<field name="Increment">.01</field>
-</param>
-<param humanName="AHRS GPS Minimum satellites" name="AHRS_GPS_MINSATS" documentation="Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers." user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Use NavEKF Kalman filter for attitude and position estimation" name="AHRS_EKF_USE" documentation="This controls whether the NavEKF Kalman filter is used for attitude and position estimation and whether fallback to the DCM algorithm is allowed" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code=" 2">Enabled - No Fallback</value>
-</values>
-</param>
-</parameters>
-<parameters name="ARSPD_">
-<param humanName="Airspeed enable" name="ARSPD_ENABLE" documentation="enable airspeed sensor">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-<param humanName="Airspeed use" name="ARSPD_USE" documentation="use airspeed for flight control">
-<values>
-<value code="1">Use</value>
-<value code="0">Don't Use</value>
-</values>
-</param>
-<param humanName="Airspeed offset" name="ARSPD_OFFSET" documentation="Airspeed calibration offset">
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Airspeed ratio" name="ARSPD_RATIO" documentation="Airspeed calibration ratio">
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Airspeed pin" name="ARSPD_PIN" documentation="The analog pin number that the airspeed sensor is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated airspeed port on the end of the board. Set to 11 on PX4 for the analog airspeed port. Set to 15 on the Pixhawk for the analog airspeed port. Set to 65 on the PX4 or Pixhawk for an EagleTree or MEAS I2C airspeed sensor." user="Advanced">
-</param>
-<param humanName="Automatic airspeed ratio calibration" name="ARSPD_AUTOCAL" documentation="If this is enabled then the APM will automatically adjust the ARSPD_RATIO during flight, based upon an estimation filter using ground speed and true airspeed. The automatic calibration will save the new ratio to EEPROM every 2 minutes if it changes by more than 5%. This option should be enabled for a calibration flight then disabled again when calibration is complete. Leaving it enabled all the time is not recommended." user="Advanced">
-</param>
-<param humanName="Control pitot tube order" name="ARSPD_TUBE_ORDER" documentation="This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the top connector on the sensor needs to be the dynamic pressure. If set to 1 then the bottom connector needs to be the dynamic pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft it receiving excessive pressure on the static port, which would otherwise be seen as a positive airspeed." user="Advanced">
-</param>
-<param humanName="Skip airspeed calibration on startup" name="ARSPD_SKIP_CAL" documentation="This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot." user="Advanced">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-</parameters>
-<parameters name="NAVL1_">
-<param humanName="L1 control period" name="NAVL1_PERIOD" documentation="Period in seconds of L1 tracking loop. This parameter is the primary control for agressiveness of turns in auto mode. This needs to be larger for less responsive airframes. The default of 20 is quite conservative, but for most RC aircraft will lead to reasonable flight. For smaller more agile aircraft a value closer to 15 is appropriate, or even as low as 10 for some very agile aircraft. When tuning, change this value in small increments, as a value that is much too small (say 5 or 10 below the right value) can lead to very radical turns, and a risk of stalling.">
-<field name="Range">1-60</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="L1 control damping ratio" name="NAVL1_DAMPING" documentation="Damping ratio for L1 control. Increase this in increments of 0.05 if you are getting overshoot in path tracking. You should not need a value below 0.7 or above 0.85.">
-<field name="Range">0.6-1.0</field>
-<field name="Increment">0.05</field>
-</param>
-</parameters>
-<parameters name="TECS_">
-<param humanName="Maximum Climb Rate (metres/sec)" name="TECS_CLMB_MAX" documentation="This is the best climb rate that the aircraft can achieve with the throttle set to THR_MAX and the airspeed set to the default value. For electric aircraft make sure this number can be achieved towards the end of flight when the battery voltage has reduced. The setting of this parameter can be checked by commanding a positive altitude change of 100m in loiter, RTL or guided mode. If the throttle required to climb is close to THR_MAX and the aircraft is maintaining airspeed, then this parameter is set correctly. If the airspeed starts to reduce, then the parameter is set to high, and if the throttle demand require to climb and maintain speed is noticeably less than THR_MAX, then either CLMB_MAX should be increased or THR_MAX reduced." user="User">
-<field name="Range">0.1 20.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Minimum Sink Rate (metres/sec)" name="TECS_SINK_MIN" documentation="This is the sink rate of the aircraft with the throttle set to THR_MIN and the same airspeed as used to measure CLMB_MAX." user="User">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Controller time constant (sec)" name="TECS_TIME_CONST" documentation="This is the time constant of the TECS control algorithm. Smaller values make it faster to respond, large values make it slower to respond." user="Advanced">
-<field name="Range">3.0 10.0</field>
-<field name="Increment">0.2</field>
-</param>
-<param humanName="Controller throttle damping" name="TECS_THR_DAMP" documentation="This is the damping gain for the throttle demand loop. Increase to add damping  to correct for oscillations in speed and height." user="Advanced">
-<field name="Range">0.1 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Controller integrator" name="TECS_INTEG_GAIN" documentation="This is the integrator gain on the control loop. Increase to increase the rate at which speed and height offsets are trimmed out" user="Advanced">
-<field name="Range">0.0 0.5</field>
-<field name="Increment">0.02</field>
-</param>
-<param humanName="Vertical Acceleration Limit (metres/sec^2)" name="TECS_VERT_ACC" documentation="This is the maximum vertical acceleration either up or down that the  controller will use to correct speed or height errors." user="Advanced">
-<field name="Range">1.0 10.0</field>
-<field name="Increment">0.5</field>
-</param>
-<param humanName="Height complementary filter frequency (radians/sec)" name="TECS_HGT_OMEGA" documentation="This is the cross-over frequency of the complementary filter used to fuse vertical acceleration and baro alt to obtain an estimate of height rate and height." user="Advanced">
-<field name="Range">1.0 5.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Speed complementary filter frequency (radians/sec)" name="TECS_SPD_OMEGA" documentation="This is the cross-over frequency of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain a lower noise and lag estimate of airspeed." user="Advanced">
-<field name="Range">0.5 2.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Bank angle compensation gain" name="TECS_RLL2THR" documentation="Increasing this gain turn increases the amount of throttle that will be used to compensate for the additional drag created by turning. Ideally this should be set to approximately 10 x the extra sink rate in m/s created by a 45 degree bank turn. Increase this gain if the aircraft initially loses energy in turns and reduce if the aircraft initially gains energy in turns. Efficient high aspect-ratio aircraft (eg powered sailplanes) can use a lower value, whereas inefficient low aspect-ratio models (eg delta wings) can use a higher value." user="Advanced">
-<field name="Range">5.0 30.0</field>
-<field name="Increment">1.0</field>
-</param>
-<param humanName="Weighting applied to speed control" name="TECS_SPDWEIGHT" documentation="This parameter adjusts the amount of weighting that the pitch control applies to speed vs height errors. Setting it to 0.0 will cause the pitch control to control height and ignore speed errors. This will normally improve height accuracy but give larger airspeed errors. Setting it to 2.0 will cause the pitch control loop to control speed and ignore height errors. This will normally reduce airsped errors, but give larger height errors.&#9;A value of 1.0 gives a balanced response and is the default." user="Advanced">
-<field name="Range">0.0 2.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Controller pitch damping" name="TECS_PTCH_DAMP" documentation="This is the damping gain for the pitch demand loop. Increase to add damping  to correct for oscillations in speed and height." user="Advanced">
-<field name="Range">0.1 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Maximum Descent Rate (metres/sec)" name="TECS_SINK_MAX" documentation="This sets the maximum descent rate that the controller will use.  If this value is too large, the aircraft will reach the pitch angle limit first and be unable to achieve the descent rate. This should be set to a value that can be achieved at the lower pitch angle limit." user="User">
-<field name="Range">0.0 20.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Airspeed during landing approach (m/s)" name="TECS_LAND_ARSPD" documentation="When performing an autonomus landing, this value is used as the goal airspeed during approach.  Note that this parameter is not useful if your platform does not have an airspeed sensor (use TECS_LAND_THR instead).  If negative then this value is not used during landing." user="User">
-<field name="Range">-1 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Cruise throttle during landing approach (percentage)" name="TECS_LAND_THR" documentation="Use this parameter instead of LAND_ASPD if your platform does not have an airspeed sensor.  It is the cruise throttle during landing approach.  If it is negative if TECS_LAND_ASPD is in use then this value is not used during landing." user="User">
-<field name="Range">-1 to 100</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Weighting applied to speed control during landing." name="TECS_LAND_SPDWGT" documentation="Same as SPDWEIGHT parameter, with the exception that this parameter is applied during landing flight stages.  A value closer to 2 will result in the plane ignoring height error during landing and our experience has been that the plane will therefore keep the nose up -- sometimes good for a glider landing (with the side effect that you will likely glide a ways past the landing point).  A value closer to 0 results in the plane ignoring speed error -- use caution when lowering the value below 1 -- ignoring speed could result in a stall." user="Advanced">
-<field name="Range">0.0 2.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Maximum pitch in auto flight" name="TECS_PITCH_MAX" documentation="This controls maximum pitch up in automatic throttle modes. If this is set to zero then LIM_PITCH_MAX is used instead. The purpose of this parameter is to allow the use of a smaller pitch range when in automatic flight than what is used in FBWA mode." user="Advanced">
-<field name="Range">0 45</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Minimum pitch in auto flight" name="TECS_PITCH_MIN" documentation="This controls minimum pitch in automatic throttle modes. If this is set to zero then LIM_PITCH_MIN is used instead. The purpose of this parameter is to allow the use of a smaller pitch range when in automatic flight than what is used in FBWA mode. Note that TECS_PITCH_MIN should be a negative number." user="Advanced">
-<field name="Range">-45 0</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Sink rate for final landing stage" name="TECS_LAND_SINK" documentation="The sink rate in meters/second for the final stage of landing." user="Advanced">
-<field name="Range">0.0 2.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Land controller time constant (sec)" name="TECS_LAND_TCONST" documentation="This is the time constant of the TECS control algorithm when in final landing stage of flight. It should be smaller than TECS_TIME_CONST to allow for faster flare" user="Advanced">
-<field name="Range">1.0 5.0</field>
-<field name="Increment">0.2</field>
-</param>
-<param humanName="Controller sink rate to pitch gain during flare" name="TECS_LAND_DAMP" documentation="This is the sink rate gain for the pitch demand loop when in final landing stage of flight. It should be larger than TECS_PTCH_DAMP to allow for better sink rate control during flare." user="Advanced">
-<field name="Range">0.1 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Maximum pitch during final stage of landing" name="TECS_LAND_PMAX" documentation="This limits the pitch used during the final stage of automatic landing. During the final landing stage most planes need to keep their pitch small to avoid stalling. A maximum of 10 degrees is usually good. A value of zero means to use the normal pitch limits." user="Advanced">
-<field name="Range">0 40</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="MNT">
-<param humanName="Mount default operating mode" name="MNT_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
-<values>
-<value code="0">Retracted</value>
-<value code="1">Neutral</value>
-<value code="2">MavLink Targeting</value>
-<value code="3">RC Targeting</value>
-<value code="4">GPS Point</value>
-</values>
-</param>
-<param humanName="Mount roll angle when in retracted position" name="MNT_RETRACT_X" documentation="Mount roll angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount tilt/pitch angle when in retracted position" name="MNT_RETRACT_Y" documentation="Mount tilt/pitch angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount yaw/pan angle when in retracted position" name="MNT_RETRACT_Z" documentation="Mount yaw/pan angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount roll angle when in neutral position" name="MNT_NEUTRAL_X" documentation="Mount roll angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount tilt/pitch angle when in neutral position" name="MNT_NEUTRAL_Y" documentation="Mount tilt/pitch angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount pan/yaw angle when in neutral position" name="MNT_NEUTRAL_Z" documentation="Mount pan/yaw angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Stabilize mount's roll angle" name="MNT_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stabilize mount's pitch/tilt angle" name="MNT_STAB_TILT" documentation="enable tilt/pitch stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stabilize mount pan/yaw angle" name="MNT_STAB_PAN" documentation="enable pan/yaw stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="roll RC input channel" name="MNT_RC_IN_ROLL" documentation="0 for none, any other for the RC channel to be used to control roll movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-</values>
-</param>
-<param humanName="Minimum roll angle" name="MNT_ANGMIN_ROL" documentation="Minimum physical roll angular position of mount." user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Maximum roll angle" name="MNT_ANGMAX_ROL" documentation="Maximum physical roll angular position of the mount" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="tilt (pitch) RC input channel" name="MNT_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-</values>
-</param>
-<param humanName="Minimum tilt angle" name="MNT_ANGMIN_TIL" documentation="Minimum physical tilt (pitch) angular position of mount." user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Maximum tilt angle" name="MNT_ANGMAX_TIL" documentation="Maximum physical tilt (pitch) angular position of the mount" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="pan (yaw) RC input channel" name="MNT_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-</values>
-</param>
-<param humanName="Minimum pan angle" name="MNT_ANGMIN_PAN" documentation="Minimum physical pan (yaw) angular position of mount." user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Maximum pan angle" name="MNT_ANGMAX_PAN" documentation="Maximum physical pan (yaw) angular position of the mount" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="mount joystick speed" name="MNT_JSTICK_SPD" documentation="0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Roll stabilization lead time" name="MNT_LEAD_RLL" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="Pitch stabilization lead time" name="MNT_LEAD_PTCH" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="Mount Type" name="MNT_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
-<values>
-<value code="0">None</value>
-<value code=" 1">Servo</value>
-<value code=" 2">MAVLink</value>
-<value code=" 3">Alexmos Serial</value>
-<value code=" 4">SToRM32</value>
-</values>
-</param>
-<param humanName="MAVLink Mount's roll angle offsets" name="MNT_OFF_JNT_X" documentation="MAVLink Mount's roll angle offsets" user="Advanced">
-<field name="Range">0 0.5</field>
-<field name="Units">radians</field>
-</param>
-<param humanName="MAVLink Mount's pitch angle offsets" name="MNT_OFF_JNT_Y" documentation="MAVLink Mount's pitch angle offsets" user="Advanced">
-<field name="Range">0 0.5</field>
-<field name="Units">radians</field>
-</param>
-<param humanName="MAVLink Mount's yaw angle offsets" name="MNT_OFF_JNT_Z" documentation="MAVLink Mount's yaw angle offsets" user="Advanced">
-<field name="Range">0 0.5</field>
-<field name="Units">radians</field>
-</param>
-<param humanName="MAVLink Mount's roll velocity offsets" name="MNT_OFF_ACC_X" documentation="MAVLink Mount's roll velocity offsets" user="Advanced">
-<field name="Range">0 2</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="MAVLink Mount's pitch velocity offsets" name="MNT_OFF_ACC_Y" documentation="MAVLink Mount's pitch velocity offsets" user="Advanced">
-<field name="Range">0 2</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="MAVLink Mount's yaw velocity offsets" name="MNT_OFF_ACC_Z" documentation="MAVLink Mount's yaw velocity offsets" user="Advanced">
-<field name="Range">0 2</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="MAVLink Mount's roll gyro offsets" name="MNT_OFF_GYRO_X" documentation="MAVLink Mount's roll gyro offsets" user="Advanced">
-<field name="Range">0 0.5</field>
-<field name="Units">radians/sec</field>
-</param>
-<param humanName="MAVLink Mount's pitch gyro offsets" name="MNT_OFF_GYRO_Y" documentation="MAVLink Mount's pitch gyro offsets" user="Advanced">
-<field name="Range">0 0.5</field>
-<field name="Units">radians/sec</field>
-</param>
-<param humanName="MAVLink Mount's yaw gyro offsets" name="MNT_OFF_GYRO_Z" documentation="MAVLink Mount's yaw gyro offsets" user="Advanced">
-<field name="Range">0 0.5</field>
-<field name="Units">radians/sec</field>
-</param>
-<param humanName="MAVLink Mount's rate gain" name="MNT_K_RATE" documentation="MAVLink Mount's rate gain" user="Advanced">
-<field name="Range">0 10</field>
-</param>
-<param humanName="Mount default operating mode" name="MNT2_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
-<values>
-<value code="0">Retracted</value>
-<value code="1">Neutral</value>
-<value code="2">MavLink Targeting</value>
-<value code="3">RC Targeting</value>
-<value code="4">GPS Point</value>
-</values>
-</param>
-<param humanName="Mount2 roll angle when in retracted position" name="MNT2_RETRACT_X" documentation="Mount2 roll angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount2 tilt/pitch angle when in retracted position" name="MNT2_RETRACT_Y" documentation="Mount2 tilt/pitch angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount2 yaw/pan angle when in retracted position" name="MNT2_RETRACT_Z" documentation="Mount2 yaw/pan angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount2 roll angle when in neutral position" name="MNT2_NEUTRAL_X" documentation="Mount2 roll angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount2 tilt/pitch angle when in neutral position" name="MNT2_NEUTRAL_Y" documentation="Mount2 tilt/pitch angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount2 pan/yaw angle when in neutral position" name="MNT2_NEUTRAL_Z" documentation="Mount2 pan/yaw angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Stabilize Mount2's roll angle" name="MNT2_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stabilize Mount2's pitch/tilt angle" name="MNT2_STAB_TILT" documentation="enable tilt/pitch stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stabilize mount2 pan/yaw angle" name="MNT2_STAB_PAN" documentation="enable pan/yaw stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Mount2's roll RC input channel" name="MNT2_RC_IN_ROLL" documentation="0 for none, any other for the RC channel to be used to control roll movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-</values>
-</param>
-<param humanName="Mount2's minimum roll angle" name="MNT2_ANGMIN_ROL" documentation="Mount2's minimum physical roll angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's maximum roll angle" name="MNT2_ANGMAX_ROL" documentation="Mount2's maximum physical roll angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's tilt (pitch) RC input channel" name="MNT2_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-</values>
-</param>
-<param humanName="Mount2's minimum tilt angle" name="MNT2_ANGMIN_TIL" documentation="Mount2's minimum physical tilt (pitch) angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's maximum tilt angle" name="MNT2_ANGMAX_TIL" documentation="Mount2's maximum physical tilt (pitch) angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's pan (yaw) RC input channel" name="MNT2_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-</values>
-</param>
-<param humanName="Mount2's minimum pan angle" name="MNT2_ANGMIN_PAN" documentation="Mount2's minimum physical pan (yaw) angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's maximum pan angle" name="MNT2_ANGMAX_PAN" documentation="MOunt2's maximum physical pan (yaw) angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's Roll stabilization lead time" name="MNT2_LEAD_RLL" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="Mount2's Pitch stabilization lead time" name="MNT2_LEAD_PTCH" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="Mount2 Type" name="MNT2_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
-<values>
-<value code="0">None</value>
-<value code=" 1">Servo</value>
-<value code=" 2">MAVLink</value>
-<value code=" 3">Alexmos Serial</value>
-<value code=" 4">SToRM32</value>
-</values>
-</param>
-</parameters>
-<parameters name="BATT_">
-<param humanName="Battery monitoring" name="BATT_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="3">Analog Voltage Only</value>
-<value code="4">Analog Voltage and Current</value>
-<value code="5">SMBus</value>
-</values>
-</param>
-<param humanName="Battery Voltage sensing pin" name="BATT_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100. On the Pixhawk powered from the PM connector it should be set to 2." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 0">A0</value>
-<value code=" 1">A1</value>
-<value code=" 2">Pixhawk</value>
-<value code=" 13">A13</value>
-<value code=" 100">PX4</value>
-</values>
-</param>
-<param humanName="Battery Current sensing pin" name="BATT_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 1">A1</value>
-<value code=" 2">A2</value>
-<value code=" 3">Pixhawk</value>
-<value code=" 12">A12</value>
-<value code=" 101">PX4</value>
-</values>
-</param>
-<param humanName="Voltage Multiplier" name="BATT_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1." user="Advanced">
-</param>
-<param humanName="Amps per volt" name="BATT_AMP_PERVOLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
-<field name="Units">Amps/Volt</field>
-</param>
-<param humanName="AMP offset" name="BATT_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
-<field name="Units">Volts</field>
-</param>
-<param humanName="Battery capacity" name="BATT_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
-</param>
-<param humanName="Battery monitoring" name="BATT_2_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="3">Analog Voltage Only</value>
-<value code="4">Analog Voltage and Current</value>
-<value code="5">SMBus</value>
-</values>
-</param>
-<param humanName="Battery Voltage sensing pin" name="BATT_2_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100. On the Pixhawk powered from the PM connector it should be set to 2." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 0">A0</value>
-<value code=" 1">A1</value>
-<value code=" 2">Pixhawk</value>
-<value code=" 13">A13</value>
-<value code=" 100">PX4</value>
-</values>
-</param>
-<param humanName="Battery Current sensing pin" name="BATT_2_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 1">A1</value>
-<value code=" 2">A2</value>
-<value code=" 3">Pixhawk</value>
-<value code=" 12">A12</value>
-<value code=" 101">PX4</value>
-</values>
-</param>
-<param humanName="Voltage Multiplier" name="BATT_2_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1." user="Advanced">
-</param>
-<param humanName="Amps per volt" name="BATT_2_AMP_PERVOL" documentation="Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
-<field name="Units">Amps/Volt</field>
-</param>
-<param humanName="AMP offset" name="BATT_2_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
-<field name="Units">Volts</field>
-</param>
-<param humanName="Battery capacity" name="BATT_2_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
-</param>
-</parameters>
-<parameters name="BRD_">
-<param humanName="PWM Count" name="BRD_PWM_COUNT" documentation="Number of auxillary PWMs to enable. On PX4v1 only 0 or 2 is valid. On Pixhawk 0, 2, 4 or 6 is valid.">
-<values>
-<value code="0">No PWMs</value>
-<value code="2">Two PWMs</value>
-<value code="4">Four PWMs</value>
-<value code="6">Six PWMs</value>
-</values>
-</param>
-<param humanName="Serial 1 flow control" name="BRD_SER1_RTSCTS" documentation="Enable flow control on serial 1 (telemetry 1) on Pixhawk. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled.">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code="2">Auto</value>
-</values>
-</param>
-<param humanName="Serial 2 flow control" name="BRD_SER2_RTSCTS" documentation="Enable flow control on serial 2 (telemetry 2) on Pixhawk and PX4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code="2">Auto</value>
-</values>
-</param>
-<param humanName=" Enable use of safety arming switch" name="BRD_SAFETYENABLE" documentation="Disabling this option will disable the use of the safety switch on PX4 for arming. Use of the safety switch is highly recommended, so you should leave this option set to 1 except in unusual circumstances.">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName=" Enable use of SBUS output" name="BRD_SBUS_OUT" documentation="Enabling this option on a Pixhawk enables SBUS servo output from the SBUS output connector">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-</parameters>
-<parameters name="AFS_">
-<param humanName="Manual Pin" name="AFS_MAN_PIN" documentation="This sets a digital output pin to set high when in manual mode" user="Advanced">
-</param>
-<param humanName="Heartbeat Pin" name="AFS_HB_PIN" documentation="This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination." user="Advanced">
-</param>
-<param humanName="Comms Waypoint" name="AFS_WP_COMMS" documentation="Waypoint number to navigate to on comms loss" user="Advanced">
-</param>
-<param humanName="GPS Loss Waypoint" name="AFS_GPS_LOSS" documentation="Waypoint number to navigate to on GPS lock loss" user="Advanced">
-</param>
-<param humanName="Force Terminate" name="AFS_TERMINATE" documentation="Can be set in flight to force termination of the heartbeat signal" user="Advanced">
-</param>
-<param humanName="Terminate action" name="AFS_TERM_ACTION" documentation="This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup APM to handle it here. If set to 0 (which is the default) then no extra action is taken. If set to the magic value 42 then the plane will deliberately crash itself by setting maximum throws on all surfaces, and zero throttle" user="Advanced">
-</param>
-<param humanName="Terminate Pin" name="AFS_TERM_PIN" documentation="This sets a digital output pin to set high on flight termination" user="Advanced">
-</param>
-<param humanName="AMSL limit" name="AFS_AMSL_LIMIT" documentation="This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit." user="Advanced">
-<field name="Units">meters</field>
-</param>
-<param humanName="Error margin for GPS based AMSL limit" name="AFS_AMSL_ERR_GPS" documentation="This sets margin for error in GPS derived altitude limit. This error margin is only used if the barometer has failed. If the barometer fails then the GPS will be used to enforce the AMSL_LIMIT, but this margin will be subtracted from the AMSL_LIMIT first, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached. OBC users should set this to comply with their D2 safety case. A value of -1 will mean that barometer failure will lead to immediate termination." user="Advanced">
-<field name="Units">meters</field>
-</param>
-<param humanName="QNH pressure" name="AFS_QNH_PRESSURE" documentation="This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit. A value of zero disables the altitude limit." user="Advanced">
-<field name="Units">millibar</field>
-</param>
-<param humanName="Enable Advanced Failsafe" name="AFS_ENABLE" documentation="This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect" user="Advanced">
-</param>
-<param humanName="RC failure time" name="AFS_RC_FAIL_MS" documentation="This is the time in milliseconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be 1500. Use 0 to disable." user="Advanced">
-</param>
-<param humanName="Maximum number of GPS loss events" name="AFS_MAX_GPS_LOSS" documentation="Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events." user="Advanced">
-</param>
-<param humanName="Maximum number of comms loss events" name="AFS_MAX_COM_LOSS" documentation="Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events." user="Advanced">
-</param>
-</parameters>
-<parameters name="EKF_">
-<param humanName="GPS horizontal velocity measurement noise scaler" name="EKF_VELNE_NOISE" documentation="This is the scaler that is applied to the speed accuracy reported by the receiver to estimate the horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then a speed acuracy of 1 is assumed. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.05 5.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="GPS vertical velocity measurement noise scaler" name="EKF_VELD_NOISE" documentation="This is the scaler that is applied to the speed accuracy reported by the receiver to estimate the vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then a speed acuracy of 1 is assumed. Increasing it reduces the weighting on this measurement." user="Advanced">
-<field name="Range">0.05 5.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="GPS horizontal position measurement noise (m)" name="EKF_POSNE_NOISE" documentation="This is the RMS value of noise in the GPS horizontal position measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Altitude measurement noise (m)" name="EKF_ALT_NOISE" documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Magnetometer measurement noise (Gauss)" name="EKF_MAG_NOISE" documentation="This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Equivalent airspeed measurement noise (m/s)" name="EKF_EAS_NOISE" documentation="This is the RMS value of noise in equivalent airspeed measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.5 5.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Wind velocity process noise (m/s^2)" name="EKF_WIND_PNOISE" documentation="This noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier." user="Advanced">
-<field name="Range">0.01 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Height rate to wind procss noise scaler" name="EKF_WIND_PSCALE" documentation="Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind speed estimation noiser." user="Advanced">
-<field name="Range">0.0 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Rate gyro noise (rad/s)" name="EKF_GYRO_PNOISE" documentation="This noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more." user="Advanced">
-<field name="Range">0.001 0.05</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Accelerometer noise (m/s^2)" name="EKF_ACC_PNOISE" documentation="This noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more." user="Advanced">
-<field name="Range">0.05 1.0</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Rate gyro bias process noise (rad/s)" name="EKF_GBIAS_PNOISE" documentation="This noise controls the growth of gyro bias state error estimates. Increasing it makes rate gyro bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.0000001 0.00001</field>
-</param>
-<param humanName="Accelerometer bias process noise (m/s^2)" name="EKF_ABIAS_PNOISE" documentation="This noise controls the growth of the vertical acelerometer bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.00001 0.001</field>
-</param>
-<param humanName="Earth magnetic field process noise (gauss/s)" name="EKF_MAGE_PNOISE" documentation="This noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.0001 0.01</field>
-</param>
-<param humanName="Body magnetic field process noise (gauss/s)" name="EKF_MAGB_PNOISE" documentation="This noise controls the growth of body magnetic field state error estimates. Increasing it makes compass offset estimation faster and noisier." user="Advanced">
-<field name="Range">0.0001 0.01</field>
-</param>
-<param humanName="GPS velocity measurement delay (msec)" name="EKF_VEL_DELAY" documentation="This is the number of msec that the GPS velocity measurements lag behind the inertial measurements." user="Advanced">
-<field name="Range">0 500</field>
-<field name="Increment">10</field>
-</param>
-<param humanName="GPS position measurement delay (msec)" name="EKF_POS_DELAY" documentation="This is the number of msec that the GPS position measurements lag behind the inertial measurements." user="Advanced">
-<field name="Range">0 500</field>
-<field name="Increment">10</field>
-</param>
-<param humanName="GPS mode control" name="EKF_GPS_TYPE" documentation="This parameter controls use of GPS measurements : 0 = use 3D velocity &amp; 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = use no GPS (optical flow will be used if available)" user="Advanced">
-<field name="Range">0 3</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="GPS velocity measurement gate size" name="EKF_VEL_GATE" documentation="This parameter sets the number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="GPS position measurement gate size" name="EKF_POS_GATE" documentation="This parameter sets the number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Height measurement gate size" name="EKF_HGT_GATE" documentation="This parameter sets the number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Magnetometer measurement gate size" name="EKF_MAG_GATE" documentation="This parameter sets the number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Airspeed measurement gate size" name="EKF_EAS_GATE" documentation="This parameter sets the number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Magnetometer calibration mode" name="EKF_MAG_CAL" documentation="EKF_MAG_CAL = 0 enables calibration based on flying speed and altitude and is the default setting for Plane users. EKF_MAG_CAL = 1 enables calibration based on manoeuvre level and is the default setting for Copter and Rover users. EKF_MAG_CAL = 2 prevents magnetometer calibration regardless of flight condition and is recommended if in-flight magnetometer calibration is unreliable." user="Advanced">
-<values>
-<value code="0">Speed and Height</value>
-<value code="1">Acceleration</value>
-<value code="2">Never</value>
-<value code="3">Always</value>
-</values>
-<field name="Increment">1</field>
-</param>
-<param humanName="GPS glitch accel gate size (cm/s^2)" name="EKF_GLITCH_ACCEL" documentation="This parameter controls the maximum amount of difference in horizontal acceleration between the value predicted by the filter and the value measured by the GPS before the GPS position data is rejected. If this value is set too low, then valid GPS data will be regularly discarded, and the position accuracy will degrade. If this parameter is set too high, then large GPS glitches will cause large rapid changes in position." user="Advanced">
-<field name="Range">100 500</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="GPS glitch radius gate size (m)" name="EKF_GLITCH_RAD" documentation="This parameter controls the maximum amount of difference in horizontal position (in m) between the value predicted by the filter and the value measured by the GPS before the long term glitch protection logic is activated and an offset is applied to the GPS measurement to compensate. Position steps smaller than this value will be temporarily ignored, but will then be accepted and the filter will move to the new position. Position steps larger than this value will be ignored initially, but the filter will then apply an offset to the GPS position measurement." user="Advanced">
-<field name="Range">10 50</field>
-<field name="Increment">5</field>
-</param>
-<param humanName="Terrain Gradient % RMS" name="EKF_GND_GRADIENT" documentation="This parameter sets the RMS terrain gradient percentage assumed by the terrain height estimation. Terrain height can be estimated using optical flow and/or range finder sensor data if fitted. Smaller values cause the terrain height estimate to be slower to respond to changes in measurement. Larger values casue the terrain height estimate to be faster to respond, but also more noisy. Generally this value can be reduced if operating over very flat terrain and increased if operating over uneven terrain." user="advanced">
-<field name="Range">1 - 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Optical flow measurement noise (rad/s)" name="EKF_FLOW_NOISE" documentation="This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements." user="advanced">
-<field name="Range">0.05 - 1.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Optical Flow measurement gate size" name="EKF_FLOW_GATE" documentation="This parameter sets the number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="advanced">
-<field name="Range">1 - 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Optical Flow measurement delay (msec)" name="EKF_FLOW_DELAY" documentation="This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="advanced">
-<field name="Range">0 - 500</field>
-<field name="Increment">10</field>
-</param>
-<param humanName="Range finder measurement gate size" name="EKF_RNG_GATE" documentation="This parameter sets the number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="advanced">
-<field name="Range">1 - 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Maximum valid optical flow rate" name="EKF_MAX_FLOW" documentation="This parameter sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter" user="advanced">
-<field name="Range">1.0 - 4.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Fallback strictness" name="EKF_FALLBACK" documentation="This parameter controls the conditions necessary to trigger a fallback to DCM and INAV. A value of 1 will cause fallbacks to occur on loss of GPS and other conditions. A value of 0 will trust the EKF more." user="Advanced">
-<values>
-<value code="0">Trust EKF more</value>
-<value code=" 1">Trust DCM more</value>
-</values>
-</param>
-<param humanName="Primary height source" name="EKF_ALT_SOURCE" documentation="This parameter controls which height sensor is used by the EKF during optical flow navigation (when EKF_GPS_TYPE = 3). A value of will 0 cause it to always use baro altitude. A value of 1 will casue it to use range finder if available." user="Advanced">
-<values>
-<value code="0">Use Baro</value>
-<value code=" 1">Use Range Finder</value>
-</values>
-</param>
-</parameters>
-<parameters name="FLOW">
-<param humanName="Optical flow enable/disable" name="FLOWENABLE" documentation="Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="X axis optical flow scale factor correction" name="FLOWFXSCALER" documentation="This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor." user="Standard">
-<field name="Range">-200 +200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Y axis optical flow scale factor correction" name="FLOWFYSCALER" documentation="This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor." user="Standard">
-<field name="Range">-200 +200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Flow sensor yaw alignment" name="FLOWORIENT_YAW" documentation="Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle." user="Standard">
-<field name="Range">-18000 +18000</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="MIS_">
-<param humanName="Total mission commands" name="MIS_TOTAL" documentation="The number of mission mission items that has been loaded by the ground station. Do not change this manually." user="Advanced">
-<field name="Range">0 32766</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Mission Restart when entering Auto mode" name="MIS_RESTART" documentation="Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)">
-<values>
-<value code="0">Resume Mission</value>
-<value code=" 1">Restart Mission</value>
-</values>
-</param>
-</parameters>
-<parameters name="RALLY_">
-<param humanName="Rally Total" name="RALLY_TOTAL" documentation="Number of rally points currently loaded" user="Advanced">
-</param>
-<param humanName="Rally Limit" name="RALLY_LIMIT_KM" documentation="Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used." user="Advanced">
-<field name="Increment">0.1</field>
-<field name="Units">kilometers</field>
-</param>
-</parameters>
-<parameters name="HS1_">
-<param humanName="RC min PWM" name="HS1_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="HS1_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="HS1_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="HS1_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="HS1_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="HS2_">
-<param humanName="RC min PWM" name="HS2_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="HS2_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="HS2_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="HS2_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="HS2_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="HS3_">
-<param humanName="RC min PWM" name="HS3_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="HS3_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="HS3_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="HS3_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="HS3_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="HS4_">
-<param humanName="RC min PWM" name="HS4_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="HS4_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="HS4_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="HS4_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="HS4_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="EPM_">
-<param humanName="EPM Enable/Disable" name="EPM_ENABLE" documentation="EPM enable/disable" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="EPM Grab PWM" name="EPM_GRAB" documentation="PWM value sent to EPM to initiate grabbing the cargo" user="Advanced">
-<field name="Range">1000 2000</field>
-</param>
-<param humanName="EPM Release PWM" name="EPM_RELEASE" documentation="PWM value sent to EPM to release the cargo" user="Advanced">
-<field name="Range">1000 2000</field>
-</param>
-<param humanName="EPM Neutral PWM" name="EPM_NEUTRAL" documentation="PWM value sent to EPM when not grabbing or releasing" user="Advanced">
-<field name="Range">1000 2000</field>
-</param>
-<param humanName="EPM Regrab interval" name="EPM_REGRAB" documentation="Time in seconds that gripper will regrab the cargo to ensure grip has not weakend" user="Advanced">
-<values>
-<value code="0">Never</value>
-<value code=" 15">every 15 seconds</value>
-<value code=" 30">every 30 seconds</value>
-<value code=" 60">once per minute</value>
-</values>
-</param>
-</parameters>
-<parameters name="CHUTE_">
-<param humanName="Parachute release enabled or disabled" name="CHUTE_ENABLED" documentation="Parachute release enabled or disabled" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Parachute release mechanism type (relay or servo)" name="CHUTE_TYPE" documentation="Parachute release mechanism type (relay or servo)" user="Standard">
-<values>
-<value code="0">First Relay</value>
-<value code="1">Second Relay</value>
-<value code="2">Third Relay</value>
-<value code="3">Fourth Relay</value>
-<value code="10">Servo</value>
-</values>
-</param>
-<param humanName="Parachute Servo ON PWM value" name="CHUTE_SERVO_ON" documentation="Parachute Servo PWM value when parachute is released" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo OFF PWM value" name="CHUTE_SERVO_OFF" documentation="Parachute Servo PWM value when parachute is not released" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Parachute min altitude in meters above home" name="CHUTE_ALT_MIN" documentation="Parachute min altitude above home.  Parachute will not be released below this altitude.  0 to disable alt check." user="Standard">
-<field name="Range">0 32000</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-</parameters>
-<parameters name="LGR_">
-<param humanName="Landing Gear Servo Retracted PWM Value" name="LGR_SERVO_RTRACT" documentation="Servo PWM value when landing gear is retracted" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Landing Gear Servo Deployed PWM Value" name="LGR_SERVO_DEPLOY" documentation="Servo PWM value when landing gear is deployed" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="WPNAV_">
-<param humanName="Waypoint Horizontal Speed Target" name="WPNAV_SPEED" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission" user="Standard">
-<field name="Range">0 2000</field>
-<field name="Increment">50</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Waypoint Radius" name="WPNAV_RADIUS" documentation="Defines the distance from a waypoint, that when crossed indicates the wp has been hit." user="Standard">
-<field name="Range">100 1000</field>
-<field name="Increment">1</field>
-<field name="Units">cm</field>
-</param>
-<param humanName="Waypoint Climb Speed Target" name="WPNAV_SPEED_UP" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">50</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Waypoint Descent Speed Target" name="WPNAV_SPEED_DN" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission" user="Standard">
-<field name="Range">0 500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Loiter Horizontal Maximum Speed" name="WPNAV_LOIT_SPEED" documentation="Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode" user="Standard">
-<field name="Range">0 2000</field>
-<field name="Increment">50</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Waypoint Acceleration " name="WPNAV_ACCEL" documentation="Defines the horizontal acceleration in cm/s/s used during missions" user="Standard">
-<field name="Range">50 500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Waypoint Vertical Acceleration" name="WPNAV_ACCEL_Z" documentation="Defines the vertical acceleration in cm/s/s used during missions" user="Standard">
-<field name="Range">50 500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Loiter maximum jerk" name="WPNAV_LOIT_JERK" documentation="Loiter maximum jerk in cm/s/s/s" user="Advanced">
-<field name="Range">500 2000</field>
-<field name="Increment">1</field>
-<field name="Units">cm/s/s/s</field>
-</param>
-<param humanName="Loiter maximum acceleration" name="WPNAV_LOIT_MAXA" documentation="Loiter maximum acceleration in cm/s/s.  Higher values cause the copter to accelerate and stop more quickly." user="Advanced">
-<field name="Range">100 981</field>
-<field name="Increment">1</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Loiter minimum acceleration" name="WPNAV_LOIT_MINA" documentation="Loiter minimum acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered, but cause a larger jerk when the copter stops." user="Advanced">
-<field name="Range">100 981</field>
-<field name="Increment">1</field>
-<field name="Units">cm/s/s</field>
-</param>
-</parameters>
-<parameters name="CIRCLE_">
-<param humanName="Circle Radius" name="CIRCLE_RADIUS" documentation="Defines the radius of the circle the vehicle will fly when in Circle flight mode" user="Standard">
-<field name="Range">0 10000</field>
-<field name="Increment">100</field>
-<field name="Units">cm</field>
-</param>
-<param humanName="Circle rate" name="CIRCLE_RATE" documentation="Circle mode's turn rate in deg/sec.  Positive to turn clockwise, negative for counter clockwise" user="Standard">
-<field name="Range">-90 90</field>
-<field name="Increment">1</field>
-<field name="Units">deg/s</field>
-</param>
-</parameters>
-<parameters name="POSCON_">
-<param humanName="XY Acceleration filter cutoff frequency" name="POSCON__ACC_XY_FILT" documentation="Lower values will slow the response of the navigation controller and reduce twitchiness" user="Advanced">
-<field name="Range">0.5 5</field>
-<field name="Increment">0.1</field>
-<field name="Units">Hz</field>
-</param>
-</parameters>
-<parameters name="SPRAY_">
-<param humanName="Sprayer enable/disable" name="SPRAY_ENABLE" documentation="Allows you to enable (1) or disable (0) the sprayer" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Pump speed" name="SPRAY_PUMP_RATE" documentation="Desired pump speed when travelling 1m/s expressed as a percentage" user="Standard">
-<field name="Range">0 100</field>
-<field name="Units">percentage</field>
-</param>
-<param humanName="Spinner rotation speed" name="SPRAY_SPINNER" documentation="Spinner's rotation speed in PWM (a higher rate will disperse the spray over a wider area horizontally)" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Units">ms</field>
-</param>
-<param humanName="Speed minimum" name="SPRAY_SPEED_MIN" documentation="Speed minimum at which we will begin spraying" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Pump speed minimum" name="SPRAY_PUMP_MIN" documentation="Minimum pump speed expressed as a percentage" user="Standard">
-<field name="Range">0 100</field>
-<field name="Units">percentage</field>
-</param>
-</parameters>
-<parameters name="FENCE_">
-<param humanName="Fence enable/disable" name="FENCE_ENABLE" documentation="Allows you to enable (1) or disable (0) the fence functionality" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Fence Type" name="FENCE_TYPE" documentation="Enabled fence types held as bitmask" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Altitude</value>
-<value code="2">Circle</value>
-<value code="3">Altitude and Circle</value>
-</values>
-</param>
-<param humanName="Fence Action" name="FENCE_ACTION" documentation="What action should be taken when fence is breached" user="Standard">
-<values>
-<value code="0">Report Only</value>
-<value code="1">RTL or Land</value>
-</values>
-</param>
-<param humanName="Fence Maximum Altitude" name="FENCE_ALT_MAX" documentation="Maximum altitude allowed before geofence triggers" user="Standard">
-<field name="Range">10 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Circular Fence Radius" name="FENCE_RADIUS" documentation="Circle fence radius which when breached will cause an RTL" user="Standard">
-<field name="Range">30 10000</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Fence Margin" name="FENCE_MARGIN" documentation="Distance that autopilot's should maintain from the fence to avoid a breach" user="Standard">
-<field name="Range">1 10</field>
-<field name="Units">Meters</field>
-</param>
-</parameters>
-<parameters name="H_">
-<param humanName="Servo 1 Position" name="H_SV1_POS" documentation="Angular location of swash servo #1" user="Standard">
-<field name="Range">-180 180</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Servo 2 Position" name="H_SV2_POS" documentation="Angular location of swash servo #2" user="Standard">
-<field name="Range">-180 180</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Servo 3 Position" name="H_SV3_POS" documentation="Angular location of swash servo #3" user="Standard">
-<field name="Range">-180 180</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Swash Roll Angle Max" name="H_ROL_MAX" documentation="Maximum roll angle of the swash plate" user="Advanced">
-<field name="Range">0 18000</field>
-<field name="Increment">100</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Swash Pitch Angle Max" name="H_PIT_MAX" documentation="Maximum pitch angle of the swash plate" user="Advanced">
-<field name="Range">0 18000</field>
-<field name="Increment">100</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Collective Pitch Minimum" name="H_COL_MIN" documentation="Lowest possible servo position for the swashplate" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Increment">1</field>
-<field name="Units">PWM</field>
-</param>
-<param humanName="Collective Pitch Maximum" name="H_COL_MAX" documentation="Highest possible servo position for the swashplate" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Increment">1</field>
-<field name="Units">PWM</field>
-</param>
-<param humanName="Collective Pitch Mid-Point" name="H_COL_MID" documentation="Swash servo position corresponding to zero collective pitch (or zero lift for Assymetrical blades)" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Increment">1</field>
-<field name="Units">PWM</field>
-</param>
-<param humanName="Tail Type" name="H_TAIL_TYPE" documentation="Tail type selection.  Simpler yaw controller used if external gyro is selected" user="Standard">
-<values>
-<value code="0">Servo only</value>
-<value code="1">Servo with ExtGyro</value>
-<value code="2">DirectDrive VarPitch</value>
-<value code="3">DirectDrive FixedPitch</value>
-</values>
-</param>
-<param humanName="Swash Type" name="H_SWASH_TYPE" documentation="Swash Type Setting - either 3-servo CCPM or H1 Mechanical Mixing" user="Standard">
-<values>
-<value code="0">3-Servo CCPM</value>
-<value code=" 1">H1 Mechanical Mixing</value>
-</values>
-</param>
-<param humanName="External Gyro Gain" name="H_GYR_GAIN" documentation="PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">PWM</field>
-</param>
-<param humanName="Manual Servo Mode" name="H_SV_MAN" documentation="Pass radio inputs directly to servos for set-up. Do not set this manually!" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Swashplate Phase Angle Compensation" name="H_PHANG" documentation="Phase angle correction for rotor head.  If pitching the swash forward induces a roll, this can be correct the problem" user="Advanced">
-<field name="Range">-90 90</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Collective-Yaw Mixing" name="H_COLYAW" documentation="Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.">
-<field name="Range">-10 10</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="External Motor Governor Setpoint" name="H_GOV_SETPOINT" documentation="PWM passed to the external motor governor when external governor is enabled" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">10</field>
-<field name="Units">PWM</field>
-</param>
-<param humanName="Rotor Speed Control Mode" name="H_RSC_MODE" documentation="Controls the source of the desired rotor speed, either ch8 or RSC_SETPOINT" user="Standard">
-<values>
-<value code="0">None</value>
-<value code=" 1">Ch8 Input</value>
-<value code=" 2">SetPoint</value>
-</values>
-</param>
-<param humanName="Flybar Mode Selector" name="H_FLYBAR_MODE" documentation="Flybar present or not.  Affects attitude controller used during ACRO flight mode" user="Standard">
-<field name="Range">0:NoFlybar 1:Flybar</field>
-</param>
-<param humanName="Landing Collective Minimum" name="H_LAND_COL_MIN" documentation="Minimum collective position while landed or landing" user="Standard">
-<field name="Range">0 500</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RSC Ramp Time" name="H_RSC_RAMP_TIME" documentation="Time in seconds for the output to the main rotor's ESC to reach full speed" user="Standard">
-<field name="Range">0 60</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="RSC Runup Time" name="H_RSC_RUNUP_TIME" documentation="Time in seconds for the main rotor to reach full speed.  Must be longer than RSC_RAMP_TIME" user="Standard">
-<field name="Range">0 60</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="Direct Drive VarPitch Tail ESC speed" name="H_TAIL_SPEED" documentation="Direct Drive VarPitch Tail ESC speed.  Only used when TailType is DirectDrive VarPitch" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">PWM</field>
-</param>
-</parameters>
-<parameters name="SS1_">
-<param humanName="RC min PWM" name="SS1_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="SS1_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="SS1_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="SS1_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="SS1_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="SS2_">
-<param humanName="RC min PWM" name="SS2_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="SS2_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="SS2_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="SS2_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="SS2_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="SS3_">
-<param humanName="RC min PWM" name="SS3_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="SS3_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="SS3_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="SS3_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="SS3_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="SS4_">
-<param humanName="RC min PWM" name="SS4_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="SS4_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="SS4_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="SS4_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="SS4_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="MOT_">
-<param humanName="Motors always spin when armed" name="MOT_SPIN_ARMED" documentation="Controls whether motors always spin when armed (must be below THR_MIN)" user="Standard">
-<values>
-<value code="0">Do Not Spin</value>
-<value code="70">VerySlow</value>
-<value code="100">Slow</value>
-<value code="130">Medium</value>
-<value code="150">Fast</value>
-</values>
-</param>
-<param humanName="Reverse roll feedback " name="MOT_REV_ROLL" documentation="Ensure the feedback is negative">
-<values>
-<value code="-1">Opposite direction</value>
-<value code="1">Same direction</value>
-</values>
-</param>
-<param humanName="Reverse pitch feedback " name="MOT_REV_PITCH" documentation="Ensure the feedback is negative">
-<values>
-<value code="-1">Opposite direction</value>
-<value code="1">Same direction</value>
-</values>
-</param>
-<param humanName="Reverse yaw feedback " name="MOT_REV_YAW" documentation="Ensure the feedback is negative">
-<values>
-<value code="-1">Opposite direction</value>
-<value code="1">Same direction</value>
-</values>
-</param>
-<param humanName="Servo speed " name="MOT_SV_SPEED" documentation="Servo update speed in hz">
-<field name="Values">50, 125, 250</field>
-</param>
-</parameters>
-</libraries></paramfile>
diff --git a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.5.xml b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.5.xml
deleted file mode 100644
index d4be737df247455b94e0f07f4d1fdf14bc0d57e4..0000000000000000000000000000000000000000
--- a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.5.xml
+++ /dev/null
@@ -1,6156 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-        <!-- Dynamically generated list of documented parameters (generated by param_parse.py) -->    
-        <paramfile>
-        <vehicles>
-        <parameters name="ArduPlane">
-<param humanName="Eeprom format version number" name="ArduPlane:FORMAT_VERSION" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
-</param>
-<param humanName="Software Type" name="ArduPlane:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="MAVLink system ID of this vehicle" name="ArduPlane:SYSID_THISMAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="Ground station MAVLink system ID" name="ArduPlane:SYSID_MYGCS" documentation="The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match." user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="CLI Enable" name="ArduPlane:CLI_ENABLED" documentation="This enables/disables the checking for three carriage returns on telemetry links on startup to enter the diagnostics command line interface" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Autotune level" name="ArduPlane:AUTOTUNE_LEVEL" documentation="Level of aggressiveness for autotune. When autotune is run a lower AUTOTUNE_LEVEL will result in a 'softer' tune, with less agressive gains. For most users a level of 6 is recommended." user="Standard">
-<field name="Range">1 10</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Telemetry startup delay " name="ArduPlane:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Standard">
-<field name="Range">0 10</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="GCS PID tuning mask" name="ArduPlane:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
-<field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
-<values>
-<value code="0">None</value>
-<value code="1">Roll</value>
-<value code="2">Pitch</value>
-<value code="4">Yaw</value>
-</values>
-</param>
-<param humanName="Rudder Mix" name="ArduPlane:KFF_RDDRMIX" documentation="The amount of rudder mix to apply during aileron movement 0 = 0 %, 1 = 100%" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Throttle to Pitch Mix" name="ArduPlane:KFF_THR2PTCH" documentation="Throttle to pitch feed-forward gain." user="Advanced">
-<field name="Range">0 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Low throttle pitch down trim " name="ArduPlane:STAB_PITCH_DOWN" documentation="This controls the amount of down pitch to add in FBWA and AUTOTUNE modes when at low throttle. No down trim is added when throttle is above TRIM_THROTTLE. Below TRIM_THROTTLE downtrim is added in proportion to the amount the throttle is below TRIM_THROTTLE. At zero throttle the full downpitch specified in this parameter is added. This parameter is meant to help keep airspeed up when flying in FBWA mode with low throttle, such as when on a landing approach, without relying on an airspeed sensor. A value of 2 degrees is good for many planes, although a higher value may be needed for high drag aircraft." user="Advanced">
-<field name="Range">0 15</field>
-<field name="Increment">0.1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Glide slope minimum" name="ArduPlane:GLIDE_SLOPE_MIN" documentation="This controls the minimum altitude change for a waypoint before a glide slope will be used instead of an immediate altitude change. The default value is 15 meters, which helps to smooth out waypoint missions where small altitude changes happen near waypoints. If you don't want glide slopes to be used in missions then you can set this to zero, which will disable glide slope calculations. Otherwise you can set it to a minimum number of meters of altitude error to the destination waypoint before a glide slope will be used to change altitude." user="Advanced">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Glide slope threshold" name="ArduPlane:GLIDE_SLOPE_THR" documentation="This controls the height above the glide slope the plane may be before rebuilding a glide slope. This is useful for smoothing out an autotakeoff" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Stick Mixing" name="ArduPlane:STICK_MIXING" documentation='When enabled, this adds user stick input to the control surfaces in auto modes, allowing the user to have some degree of flight control without changing modes.  There are two types of stick mixing available. If you set STICK_MIXING to 1 then it will use "fly by wire" mixing, which controls the roll and pitch in the same way that the FBWA mode does. This is the safest option if you usually fly ArduPlane in FBWA or FBWB mode. If you set STICK_MIXING to 2 then it will enable direct mixing mode, which is what the STABILIZE mode uses. That will allow for much more extreme maneuvers while in AUTO mode.' user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">FBWMixing</value>
-<value code="2">DirectMixing</value>
-</values>
-</param>
-<param humanName="Use FBWA steering in AUTO" name="ArduPlane:AUTO_FBW_STEER" documentation="When enabled this option gives FBWA navigation and steering in AUTO mode. This can be used to allow manual stabilised piloting with waypoint logic for triggering payloads. With this enabled the pilot has the same control over the plane as in FBWA mode, and the normal AUTO navigation is completely disabled. This option is not recommended for normal use." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Takeoff throttle min speed" name="ArduPlane:TKOFF_THR_MINSPD" documentation="Minimum GPS ground speed in m/s used by the speed check that un-suppresses throttle in auto-takeoff. This can be be used for catapult launches where you want the motor to engage only after the plane leaves the catapult, but it is preferable to use the TKOFF_THR_MINACC and TKOFF_THR_DELAY parameters for catapult launches due to the errors associated with GPS measurements. For hand launches with a pusher prop it is strongly advised that this parameter be set to a value no less than 4 m/s to provide additional protection against premature motor start. Note that the GPS velocity will lag the real velocity by about 0.5 seconds. The ground speed check is delayed by the TKOFF_THR_DELAY parameter." user="User">
-<field name="Range">0 30</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Takeoff throttle min acceleration" name="ArduPlane:TKOFF_THR_MINACC" documentation="Minimum forward acceleration in m/s/s before arming the ground speed check in auto-takeoff. This is meant to be used for hand launches. Setting this value to 0 disables the acceleration test which means the ground speed check will always be armed which could allow GPS velocity jumps to start the engine. For hand launches and bungee launches this should be set to around 15." user="User">
-<field name="Range">0 30</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Takeoff throttle delay" name="ArduPlane:TKOFF_THR_DELAY" documentation="This parameter sets the time delay (in 1/10ths of a second) that the ground speed check is delayed after the forward acceleration check controlled by TKOFF_THR_MINACC has passed. For hand launches with pusher propellers it is essential that this is set to a value of no less than 2 (0.2 seconds) to ensure that the aircraft is safely clear of the throwers arm before the motor can start. For bungee launches a larger value can be used (such as 30) to give time for the bungee to release from the aircraft before the motor is started." user="User">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">0.1 seconds</field>
-</param>
-<param humanName="Takeoff tail dragger elevator" name="ArduPlane:TKOFF_TDRAG_ELEV" documentation="This parameter sets the amount of elevator to apply during the initial stage of a takeoff. It is used to hold the tail wheel of a taildragger on the ground during the initial takeoff stage to give maximum steering. This option should be combined with the TKOFF_TDRAG_SPD1 option and the GROUND_STEER_ALT option along with tuning of the ground steering controller. A value of zero means to bypass the initial &quot;tail hold&quot; stage of takeoff. Set to zero for hand and catapult launch. For tail-draggers you should normally set this to 100, meaning full up elevator during the initial stage of takeoff. For most tricycle undercarriage aircraft a value of zero will work well, but for some tricycle aircraft a small negative value (say around -20 to -30) will apply down elevator which will hold the nose wheel firmly on the ground during initial acceleration. Only use a negative value if you find that the nosewheel doesn't grip well during takeoff. Too much down elevator on a tricycle undercarriage may cause instability in steering as the plane pivots around the nosewheel. Add down elevator 10 percent at a time." user="User">
-<field name="Range">-100 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Takeoff tail dragger speed1" name="ArduPlane:TKOFF_TDRAG_SPD1" documentation='This parameter sets the airspeed at which to stop holding the tail down and transition to rudder control of steering on the ground. When TKOFF_TDRAG_SPD1 is reached the pitch of the aircraft will be held level until TKOFF_ROTATE_SPD is reached, at which point the takeoff pitch specified in the mission will be used to "rotate" the pitch for takeoff climb. Set TKOFF_TDRAG_SPD1 to zero to go straight to rotation. This should be set to zero for hand launch and catapult launch. It should also be set to zero for tricycle undercarriages unless you are using the method above to genetly hold the nose wheel down. For tail dragger aircraft it should be set just below the stall speed.' user="User">
-<field name="Range">0 30</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Takeoff rotate speed" name="ArduPlane:TKOFF_ROTATE_SPD" documentation='This parameter sets the airspeed at which the aircraft will "rotate", setting climb pitch specified in the mission. If TKOFF_ROTATE_SPD is zero then the climb pitch will be used as soon as takeoff is started. For hand launch and catapult launches a TKOFF_ROTATE_SPD of zero should be set. For all ground launches TKOFF_ROTATE_SPD should be set above the stall speed, usually by about 10 to 30 percent' user="User">
-<field name="Range">0 30</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Takeoff throttle slew rate" name="ArduPlane:TKOFF_THR_SLEW" documentation="This parameter sets the slew rate for the throttle during auto takeoff. When this is zero the THR_SLEWRATE parameter is used during takeoff. For rolling takeoffs it can be a good idea to set a lower slewrate for takeoff to give a slower acceleration which can improve ground steering control. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on takeoff. Values below 20 are not recommended as they may cause the plane to try to climb out with too little throttle." user="User">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">percent</field>
-</param>
-<param humanName="Landing throttle slew rate" name="ArduPlane:LAND_THR_SLEW" documentation="This parameter sets the slew rate for the throttle during auto landing. When this is zero the THR_SLEWRATE parameter is used during landing. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on landing. Values below 50 are not recommended as it may cause a stall when airspeed is low and you can not throttle up fast enough." user="User">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">percent</field>
-</param>
-<param humanName="Takeoff flap percentage" name="ArduPlane:TKOFF_FLAP_PCNT" documentation="The amount of flaps (as a percentage) to apply in automatic takeoff" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="FBWA taildragger channel" name="ArduPlane:FBWA_TDRAG_CHAN" documentation="This is a RC input channel which when it goes above 1700 enables FBWA taildragger takeoff mode. It should be assigned to a momentary switch. Once this feature is enabled it will stay enabled until the aircraft goes above TKOFF_TDRAG_SPD1 airspeed, changes mode, or the pitch goes above the initial pitch when this is engaged or goes below 0 pitch. When enabled the elevator will be forced to TKOFF_TDRAG_ELEV. This option allows for easier takeoffs on taildraggers in FBWA mode, and also makes it easier to test auto-takeoff steering handling in FBWA. Setting it to 0 disables this option." user="Standard">
-</param>
-<param humanName="Level flight roll limit" name="ArduPlane:LEVEL_ROLL_LIMIT" documentation="This controls the maximum bank angle in degrees during flight modes where level flight is desired, such as in the final stages of landing, and during auto takeoff. This should be a small angle (such as 5 degrees) to prevent a wing hitting the runway during takeoff or landing. Setting this to zero will completely disable heading hold on auto takeoff and final landing approach." user="User">
-<field name="Range">0 45</field>
-<field name="Increment">1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Landing Pitch" name="ArduPlane:LAND_PITCH_CD" documentation="Used in autoland to give the minimum pitch in the final stage of landing (after the flare). This parameter can be used to ensure that the final landing attitude is appropriate for the type of undercarriage on the aircraft. Note that it is a minimum pitch only - the landing code will control pitch above this value to try to achieve the configured landing sink rate." user="Advanced">
-<field name="Units">centi-Degrees</field>
-</param>
-<param humanName="Landing flare altitude" name="ArduPlane:LAND_FLARE_ALT" documentation="Altitude in autoland at which to lock heading and flare to the LAND_PITCH_CD pitch. Note that this option is secondary to LAND_FLARE_SEC. For a good landing it preferable that the flare is triggered by LAND_FLARE_SEC. " user="Advanced">
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Landing flare time" name="ArduPlane:LAND_FLARE_SEC" documentation="Vertical time before landing point at which to lock heading and flare with the motor stopped. This is vertical time, and is calculated based solely on the current height above the ground and the current descent rate.  Set to 0 if you only wish to flare based on altitude (see LAND_FLARE_ALT)." user="Advanced">
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Landing pre-flare altitude" name="ArduPlane:LAND_PF_ALT" documentation="Altitude to trigger pre-flare flight stage where LAND_PF_ARSPD controls airspeed. The pre-flare flight stage trigger works just like LAND_FLARE_ALT but higher. Disabled when LAND_PF_ARSPD is 0." user="Advanced">
-<field name="Range">0 30</field>
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Landing pre-flare time" name="ArduPlane:LAND_PF_SEC" documentation="Vertical time to ground to trigger pre-flare flight stage where LAND_PF_ARSPD controls airspeed. This pre-flare flight stage trigger works just like LAND_FLARE_SEC but earlier. Disabled when LAND_PF_ARSPD is 0." user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Landing pre-flare airspeed" name="ArduPlane:LAND_PF_ARSPD" documentation="Desired airspeed during pre-flare flight stage. This is useful to reduce airspeed just before the flare. Use 0 to disable." user="Advanced">
-<field name="Range">0 30</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Bitmask for when to allow negative reverse thrust" name="ArduPlane:USE_REV_THRUST" documentation="Typically THR_MIN will be clipped to zero unless reverse thrust is available. Since you may not want negative thrust available at all times this bitmask allows THR_MIN to go below 0 while executing certain auto-mission commands." user="Advanced">
-<field name="Bitmask">0:AUTO_ALWAYS,1:AUTO_LAND,2:AUTO_LOITER_TO_ALT,3:AUTO_LOITER_ALL,4:AUTO_WAYPOINTS,5:LOITER,6:RTL,7:CIRCLE,8:CRUISE,9:FBWB,10:GUIDED</field>
-<values>
-<value code="0">Disabled</value>
-<value code="1">AlwaysAllowedInAuto</value>
-<value code="2">Auto_LandApproach</value>
-<value code="4">Auto_LoiterToAlt</value>
-<value code="8">Auto_Loiter</value>
-<value code="16">Auto_Waypoint</value>
-<value code="32">Loiter</value>
-<value code="64">RTL</value>
-<value code="128">Circle</value>
-<value code="256">Cruise</value>
-<value code="512">FBWB</value>
-<value code="1024">Guided</value>
-</values>
-</param>
-<param humanName="Landing disarm delay" name="ArduPlane:LAND_DISARMDELAY" documentation="After a landing has completed using a LAND waypoint, automatically disarm after this many seconds have passed. Use 0 to not disarm." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Set servos to neutral after landing" name="ArduPlane:LAND_THEN_NEUTRL" documentation="When enabled, after an autoland and auto-disarm via LAND_DISARMDELAY happens then set all servos to neutral. This is helpful when an aircraft has a rough landing upside down or a crazy angle causing the servos to strain." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Servos to Neutral</value>
-<value code=" 2">Servos to Zero PWM</value>
-</values>
-</param>
-<param humanName="Landing abort using throttle" name="ArduPlane:LAND_ABORT_THR" documentation="Allow a landing abort to trigger with a throttle &gt; 95%" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="Navigation controller selection" name="ArduPlane:NAV_CONTROLLER" documentation="Which navigation controller to enable. Currently the only navigation controller available is L1. From time to time other experimental controllers will be added which are selected using this parameter." user="Standard">
-<values>
-<value code="0">Default</value>
-<value code="1">L1Controller</value>
-</values>
-</param>
-<param humanName="GPS to Baro Mix" name="ArduPlane:ALT_MIX" documentation="The percent of mixing between GPS altitude and baro altitude. 0 = 100% gps, 1 = 100% baro. It is highly recommend that you not change this from the default of 1, as GPS altitude is notoriously unreliable. The only time I would recommend changing this is if you have a high altitude enabled GPS, and you are dropping a plane from a high altitude balloon many kilometers off the ground." user="Advanced">
-<field name="Range">0 1</field>
-<field name="Increment">0.1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Altitude control algorithm" name="ArduPlane:ALT_CTRL_ALG" documentation="This sets what algorithm will be used for altitude control. The default is zero, which selects the most appropriate algorithm for your airframe. Currently the default is to use TECS (total energy control system). From time to time we will add other experimental altitude control algorithms which will be selected using this parameter." user="Advanced">
-<values>
-<value code="0">Automatic</value>
-</values>
-</param>
-<param humanName="Altitude offset" name="ArduPlane:ALT_OFFSET" documentation="This is added to the target altitude in automatic flight. It can be used to add a global altitude offset to a mission" user="Advanced">
-<field name="Range">-32767 32767</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Waypoint Radius" name="ArduPlane:WP_RADIUS" documentation='Defines the maximum distance from a waypoint that when crossed indicates the waypoint may be complete. To avoid the aircraft looping around the waypoint in case it misses by more than the WP_RADIUS an additional check is made to see if the aircraft has crossed a "finish line" passing through the waypoint and perpendicular to the flight path from the previous waypoint. If that finish line is crossed then the waypoint is considered complete. Note that the navigation controller may decide to turn later than WP_RADIUS before a waypoint, based on how sharp the turn is and the speed of the aircraft. It is safe to set WP_RADIUS much larger than the usual turn radius of your aircraft and the navigation controller will work out when to turn. If you set WP_RADIUS too small then you will tend to overshoot the turns.' user="Standard">
-<field name="Range">1 32767</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Waypoint Maximum Radius" name="ArduPlane:WP_MAX_RADIUS" documentation='Sets the maximum distance to a waypoint for the waypoint to be considered complete. This overrides the "cross the finish line" logic that is normally used to consider a waypoint complete. For normal AUTO behaviour this parameter should be set to zero. Using a non-zero value is only recommended when it is critical that the aircraft does approach within the given radius, and should loop around until it has done so. This can cause the aircraft to loop forever if its turn radius is greater than the maximum radius set.' user="Standard">
-<field name="Range">0 32767</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Waypoint Loiter Radius" name="ArduPlane:WP_LOITER_RAD" documentation="Defines the distance from the waypoint center, the plane will maintain during a loiter. If you set this value to a negative number then the default loiter direction will be counter-clockwise instead of clockwise." user="Standard">
-<field name="Range">-32767 32767</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="RTL loiter radius" name="ArduPlane:RTL_RADIUS" documentation="Defines the radius of the loiter circle when in RTL mode. If this is zero then WP_LOITER_RAD is used. If the radius is negative then a counter-clockwise is used. If positive then a clockwise loiter is used." user="Standard">
-<field name="Range">-32767 32767</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Action on geofence breach" name="ArduPlane:FENCE_ACTION" documentation="What to do on fence breach. If this is set to 0 then no action is taken, and geofencing is disabled. If this is set to 1 then the plane will enter GUIDED mode, with the target waypoint as the fence return point. If this is set to 2 then the fence breach is reported to the ground station, but no other action is taken. If set to 3 then the plane enters guided mode but the pilot retains manual throttle control." user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">GuidedMode</value>
-<value code="2">ReportOnly</value>
-<value code="3">GuidedModeThrPass</value>
-</values>
-</param>
-<param humanName="Fence Total" name="ArduPlane:FENCE_TOTAL" documentation="Number of geofence points currently loaded" user="Advanced">
-</param>
-<param humanName="Fence Channel" name="ArduPlane:FENCE_CHANNEL" documentation="RC Channel to use to enable geofence. PWM input above 1750 enables the geofence" user="Standard">
-</param>
-<param humanName="Fence Minimum Altitude" name="ArduPlane:FENCE_MINALT" documentation="Minimum altitude allowed before geofence triggers" user="Standard">
-<field name="Range">0 32767</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Fence Maximum Altitude" name="ArduPlane:FENCE_MAXALT" documentation="Maximum altitude allowed before geofence triggers" user="Standard">
-<field name="Range">0 32767</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Fence Return Altitude" name="ArduPlane:FENCE_RETALT" documentation="Altitude the aircraft will transit to when a fence breach occurs.  If FENCE_RETALT is &lt;= 0 then the midpoint between FENCE_MAXALT and FENCE_MINALT is used, unless FENCE_MAXALT &lt; FENCE_MINALT.  If FENCE_MAXALT &lt; FENCE_MINALT AND FENCE_RETALT is &lt;= 0 then ALT_HOLD_RTL is the altitude used on a fence breach." user="Standard">
-<field name="Range">0 32767</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Fence automatic enable" name="ArduPlane:FENCE_AUTOENABLE" documentation="When set to 1, geofence automatically enables after an auto takeoff and automatically disables at the beginning of an auto landing.  When on the ground before takeoff the fence is disabled.  When set to 2, the fence autoenables after an auto takeoff, but only disables the fence floor during landing. It is highly recommended to not use this option for line of sight flying and use a fence enable channel instead." user="Standard">
-<values>
-<value code="0">NoAutoEnable</value>
-<value code="1">AutoEnable</value>
-<value code="2">AutoEnableDisableFloorOnly</value>
-</values>
-</param>
-<param humanName="Fence Return to Rally" name="ArduPlane:FENCE_RET_RALLY" documentation="When set to 1: on fence breach the plane will return to the nearest rally point rather than the fence return point.  If no rally points have been defined the plane will return to the home point.  " user="Standard">
-<values>
-<value code="0">FenceReturnPoint</value>
-<value code="1">NearestRallyPoint</value>
-</values>
-</param>
-<param humanName="Enable stall prevention" name="ArduPlane:STALL_PREVENTION" documentation="This controls the use of stall prevention techniques, including roll limits at low speed and raising the minimum airspeed in turns. The limits are based on the aerodynamic load factor of a banked turn. This option relies on the correct ARSPD_FBW_MIN value being set correctly. Note that if you don't have an airspeed sensor then stall prevention will use an airspeed estimate based on the ground speed plus a wind estimate taken from the response of the autopilot banked turns. That synthetic airspeed estimate may be inaccurate, so you should not assume that stall prevention with no airspeed sensor will be effective." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Minimum Airspeed" name="ArduPlane:ARSPD_FBW_MIN" documentation="This is the minimum airspeed you want to fly at in modes where the autopilot controls the airspeed. This should be set to a value around 20% higher than the level flight stall speed for the airframe. This value is also used in the STALL_PREVENTION code." user="Standard">
-<field name="Range">5 100</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Maximum Airspeed" name="ArduPlane:ARSPD_FBW_MAX" documentation="This is the maximum airspeed that you want to allow for your airframe in auto-throttle modes. You should ensure that this value is sufficiently above the ARSPD_FBW_MIN value to allow for a sufficient flight envelope to accurately control altitude using airspeed. A value at least 50% above ARSPD_FBW_MIN is recommended." user="Standard">
-<field name="Range">5 100</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Fly By Wire elevator reverse" name="ArduPlane:FBWB_ELEV_REV" documentation="Reverse sense of elevator in FBWB and CRUISE modes. When set to 0 up elevator (pulling back on the stick) means to lower altitude. When set to 1, up elevator means to raise altitude." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Use terrain following" name="ArduPlane:TERRAIN_FOLLOW" documentation="This enables terrain following for CRUISE mode, FBWB mode, RTL and for rally points. To use this option you also need to set TERRAIN_ENABLE to 1, which enables terrain data fetching from the GCS, and you need to have a GCS that supports sending terrain data to the aircraft. When terrain following is enabled then CRUISE and FBWB mode will hold height above terrain rather than height above home. In RTL the return to launch altitude will be considered to be a height above the terrain. Rally point altitudes will be taken as height above the terrain. This option does not affect mission items, which have a per-waypoint flag for whether they are height above home or height above the terrain. To use terrain following missions you need a ground station which can set the waypoint type to be a terrain height waypoint when creating the mission." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Terrain lookahead" name="ArduPlane:TERRAIN_LOOKAHD" documentation="This controls how far ahead the terrain following code looks to ensure it stays above upcoming terrain. A value of zero means no lookahead, so the controller will track only the terrain directly below the aircraft. The lookahead will never extend beyond the next waypoint when in AUTO mode." user="Standard">
-<field name="Range">0 10000</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Fly By Wire B altitude change rate" name="ArduPlane:FBWB_CLIMB_RATE" documentation="This sets the rate in m/s at which FBWB and CRUISE modes will change its target altitude for full elevator deflection. Note that the actual climb rate of the aircraft can be lower than this, depending on your airspeed and throttle control settings. If you have this parameter set to the default value of 2.0, then holding the elevator at maximum deflection for 10 seconds would change the target altitude by 20 meters." user="Standard">
-<field name="Range">1 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Minimum Throttle" name="ArduPlane:THR_MIN" documentation="The minimum throttle setting (as a percentage) which the autopilot will apply. For the final stage of an automatic landing this is always zero. If your ESC supports reverse, use a negative value to configure for reverse thrust." user="Standard">
-<field name="Range">-100 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Maximum Throttle" name="ArduPlane:THR_MAX" documentation="The maximum throttle setting (as a percentage) which the autopilot will apply." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Maximum Throttle for takeoff" name="ArduPlane:TKOFF_THR_MAX" documentation="The maximum throttle setting during automatic takeoff. If this is zero then THR_MAX is used for takeoff as well." user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Throttle slew rate" name="ArduPlane:THR_SLEWRATE" documentation="maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second." user="Standard">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Flap slew rate" name="ArduPlane:FLAP_SLEWRATE" documentation="maximum percentage change in flap output per second. A setting of 25 means to not change the flap by more than 25% of the full flap range in one second. A value of 0 means no rate limiting." user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Throttle suppress manual passthru" name="ArduPlane:THR_SUPP_MAN" documentation="When throttle is suppressed in auto mode it is normally forced to zero. If you enable this option, then while suppressed it will be manual throttle. This is useful on petrol engines to hold the idle throttle manually while waiting for takeoff" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Throttle passthru in stabilize" name="ArduPlane:THR_PASS_STAB" documentation="If this is set then when in STABILIZE, FBWA or ACRO modes the throttle is a direct passthru from the transmitter. This means the THR_MIN and THR_MAX settings are not used in these modes. This is useful for petrol engines where you setup a throttle cut switch that suppresses the throttle below the normal minimum." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Throttle Failsafe Enable" name="ArduPlane:THR_FAILSAFE" documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Throttle Failsafe Value" name="ArduPlane:THR_FS_VALUE" documentation="The PWM level on channel 3 below which throttle failsafe triggers" user="Standard">
-<field name="Range">925 1100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Throttle cruise percentage" name="ArduPlane:TRIM_THROTTLE" documentation="The target percentage of throttle to apply for normal flight" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Throttle nudge enable" name="ArduPlane:THROTTLE_NUDGE" documentation="When enabled, this uses the throttle input in auto-throttle modes to 'nudge' the throttle or airspeed to higher or lower values. When you have an airspeed sensor the nudge affects the target airspeed, so that throttle inputs above 50% will increase the target airspeed from TRIM_ARSPD_CM up to a maximum of ARSPD_FBW_MAX. When no airspeed sensor is enabled the throttle nudge will push up the target throttle for throttle inputs above 50%." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Short failsafe action" name="ArduPlane:FS_SHORT_ACTN" documentation="The action to take on a short (FS_SHORT_TIMEOUT) failsafe event. A short failsafe even can be triggered either by loss of RC control (see THR_FS_VALUE) or by loss of GCS control (see FS_GCS_ENABL). If in CIRCLE or RTL mode this parameter is ignored. A short failsafe event in stabilization and manual modes will cause an change to CIRCLE mode if FS_SHORT_ACTN is 0 or 1, and a change to FBWA mode if FS_SHORT_ACTN is 2. In all other modes (AUTO, GUIDED and LOITER) a short failsafe event will cause no mode change is FS_SHORT_ACTN is set to 0, will cause a change to CIRCLE mode if set to 1 and will change to FBWA mode if set to 2. Please see the documentation for FS_LONG_ACTN for the behaviour after FS_LONG_TIMEOUT seconds of failsafe." user="Standard">
-<values>
-<value code="0">CIRCLE/no change(if already in AUTO|GUIDED|LOITER)</value>
-<value code="1">CIRCLE</value>
-<value code="2">FBWA</value>
-</values>
-</param>
-<param humanName="Short failsafe timeout" name="ArduPlane:FS_SHORT_TIMEOUT" documentation="The time in seconds that a failsafe condition has to persist before a short failsafe event will occur. This defaults to 1.5 seconds" user="Standard">
-<field name="Range">1 100</field>
-<field name="Increment">0.5</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Long failsafe action" name="ArduPlane:FS_LONG_ACTN" documentation="The action to take on a long (FS_LONG_TIMEOUT seconds) failsafe event. If the aircraft was in a stabilization or manual mode when failsafe started and a long failsafe occurs then it will change to RTL mode if FS_LONG_ACTN is 0 or 1, and will change to FBWA if FS_LONG_ACTN is set to 2. If the aircraft was in an auto mode (such as AUTO or GUIDED) when the failsafe started then it will continue in the auto mode if FS_LONG_ACTN is set to 0, will change to RTL mode if FS_LONG_ACTN is set to 1 and will change to FBWA mode if FS_LONG_ACTN is set to 2. If FS_LONG_ACTION is set to 3, the parachute will be deployed (make sure the chute is configured and enabled). " user="Standard">
-<values>
-<value code="0">Continue</value>
-<value code="1">ReturnToLaunch</value>
-<value code="2">Glide</value>
-<value code="3">Deploy Parachute</value>
-</values>
-</param>
-<param humanName="Long failsafe timeout" name="ArduPlane:FS_LONG_TIMEOUT" documentation="The time in seconds that a failsafe condition has to persist before a long failsafe event will occur. This defaults to 5 seconds." user="Standard">
-<field name="Range">1 300</field>
-<field name="Increment">0.5</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Failsafe battery voltage" name="ArduPlane:FS_BATT_VOLTAGE" documentation="Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe. If the battery voltage drops below this voltage continuously for 10 seconds then the plane will switch to RTL mode." user="Standard">
-<field name="Increment">0.1</field>
-<field name="Units">Volts</field>
-</param>
-<param humanName="Failsafe battery milliAmpHours" name="ArduPlane:FS_BATT_MAH" documentation="Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe. If the battery remaining drops below this level then the plane will switch to RTL mode immediately." user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
-</param>
-<param humanName="GCS failsafe enable" name="ArduPlane:FS_GCS_ENABL" documentation="Enable ground control station telemetry failsafe. Failsafe will trigger after FS_LONG_TIMEOUT seconds of no MAVLink heartbeat messages. There are two possible enabled settings. Seeing FS_GCS_ENABL to 1 means that GCS failsafe will be triggered when the aircraft has not received a MAVLink HEARTBEAT message. Setting FS_GCS_ENABL to 2 means that GCS failsafe will be triggered on either a loss of HEARTBEAT messages, or a RADIO_STATUS message from a MAVLink enabled 3DR radio indicating that the ground station is not receiving status updates from the aircraft, which is indicated by the RADIO_STATUS.remrssi field being zero (this may happen if you have a one way link due to asymmetric noise on the ground station and aircraft radios).Setting FS_GCS_ENABL to 3 means that GCS failsafe will be triggered by Heartbeat(like option one), but only in AUTO mode. WARNING: Enabling this option opens up the possibility of your plane going into failsafe mode and running the motor on the ground it it loses contact with your ground station. If this option is enabled on an electric plane then you should enable ARMING_REQUIRED." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Heartbeat</value>
-<value code="2">HeartbeatAndREMRSSI</value>
-<value code="3">HeartbeatAndAUTO</value>
-</values>
-</param>
-<param humanName="Flightmode channel" name="ArduPlane:FLTMODE_CH" documentation="RC Channel to use for flight mode control" user="Advanced">
-</param>
-<param humanName="FlightMode1" name="ArduPlane:FLTMODE1" documentation="Flight mode for switch position 1 (910 to 1230 and above 2049)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="FlightMode2" name="ArduPlane:FLTMODE2" documentation="Flight mode for switch position 2 (1231 to 1360)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="FlightMode3" name="ArduPlane:FLTMODE3" documentation="Flight mode for switch position 3 (1361 to 1490)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="FlightMode4" name="ArduPlane:FLTMODE4" documentation="Flight mode for switch position 4 (1491 to 1620)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="FlightMode5" name="ArduPlane:FLTMODE5" documentation="Flight mode for switch position 5 (1621 to 1749)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="FlightMode6" name="ArduPlane:FLTMODE6" documentation="Flight mode for switch position 6 (1750 to 2049)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Initial flight mode" name="ArduPlane:INITIAL_MODE" documentation="This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver." user="Advanced">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Maximum Bank Angle" name="ArduPlane:LIM_ROLL_CD" documentation="The maximum commanded bank angle in either direction" user="Standard">
-<field name="Range">0 9000</field>
-<field name="Increment">1</field>
-<field name="Units">centi-Degrees</field>
-</param>
-<param humanName="Maximum Pitch Angle" name="ArduPlane:LIM_PITCH_MAX" documentation="The maximum commanded pitch up angle" user="Standard">
-<field name="Range">0 9000</field>
-<field name="Increment">1</field>
-<field name="Units">centi-Degrees</field>
-</param>
-<param humanName="Minimum Pitch Angle" name="ArduPlane:LIM_PITCH_MIN" documentation="The minimum commanded pitch down angle" user="Standard">
-<field name="Range">-9000 0</field>
-<field name="Increment">1</field>
-<field name="Units">centi-Degrees</field>
-</param>
-<param humanName="ACRO mode roll rate" name="ArduPlane:ACRO_ROLL_RATE" documentation="The maximum roll rate at full stick deflection in ACRO mode" user="Standard">
-<field name="Range">10 500</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="ACRO mode pitch rate" name="ArduPlane:ACRO_PITCH_RATE" documentation="The maximum pitch rate at full stick deflection in ACRO mode" user="Standard">
-<field name="Range">10 500</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="ACRO mode attitude locking" name="ArduPlane:ACRO_LOCKING" documentation="Enable attitude locking when sticks are released" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Ground steer altitude" name="ArduPlane:GROUND_STEER_ALT" documentation="Altitude at which to use the ground steering controller on the rudder. If non-zero then the STEER2SRV controller will be used to control the rudder for altitudes within this limit of the home altitude." user="Standard">
-<field name="Range">-100 100</field>
-<field name="Increment">0.1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Ground steer rate" name="ArduPlane:GROUND_STEER_DPS" documentation="Ground steering rate in degrees per second for full rudder stick deflection" user="Advanced">
-<field name="Range">10 360</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Automatic trim adjustment" name="ArduPlane:TRIM_AUTO" documentation="Set RC trim PWM levels to current levels when switching away from manual mode. When this option is enabled and you change from MANUAL to any other mode then the APM will take the current position of the control sticks as the trim values for aileron, elevator and rudder. It will use those to set RC1_TRIM, RC2_TRIM and RC4_TRIM. This option is disabled by default as if a pilot is not aware of this option and changes from MANUAL to another mode while control inputs are not centered then the trim could be changed to a dangerously bad value. You can enable this option to assist with trimming your plane, by enabling it before takeoff then switching briefly to MANUAL in flight, and seeing how the plane reacts. You can then switch back to FBWA, trim the surfaces then again test MANUAL mode. Each time you switch from MANUAL the APM will take your control inputs as the new trim. After you have good trim on your aircraft you can disable TRIM_AUTO for future flights." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Elevon mixing" name="ArduPlane:ELEVON_MIXING" documentation="This enables an older form of elevon mixing which is now deprecated. Please see the ELEVON_OUTPUT option for setting up elevons. The ELEVON_MIXING option should be set to 0 for elevon planes except for backwards compatibility with older setups." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Elevon reverse" name="ArduPlane:ELEVON_REVERSE" documentation="Reverse elevon mixing" user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Elevon reverse" name="ArduPlane:ELEVON_CH1_REV" documentation="Reverse elevon channel 1" user="User">
-<values>
-<value code="-1">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Elevon reverse" name="ArduPlane:ELEVON_CH2_REV" documentation="Reverse elevon channel 2" user="User">
-<values>
-<value code="-1">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="VTail output" name="ArduPlane:VTAIL_OUTPUT" documentation="Enable VTail output in software. If enabled then the APM will provide software VTail mixing on the elevator and rudder channels. There are 4 different mixing modes available, which refer to the 4 ways the elevator can be mapped to the two VTail servos. Note that you must not use VTail output mixing with hardware pass-through of RC values, such as with channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to something other than 8 before you enable VTAIL_OUTPUT. Please also see the MIXING_GAIN parameter for the output gain of the mixer." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">UpUp</value>
-<value code="2">UpDown</value>
-<value code="3">DownUp</value>
-<value code="4">DownDown</value>
-</values>
-</param>
-<param humanName="Elevon output" name="ArduPlane:ELEVON_OUTPUT" documentation="Enable software elevon output mixer. If enabled then the APM will provide software elevon mixing on the aileron and elevator channels. There are 4 different mixing modes available, which refer to the 4 ways the elevator can be mapped to the two elevon servos. Note that you must not use elevon output mixing with hardware pass-through of RC values, such as with channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to something other than 8 before you enable ELEVON_OUTPUT. Please also see the MIXING_GAIN parameter for the output gain of the mixer." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">UpUp</value>
-<value code="2">UpDown</value>
-<value code="3">DownUp</value>
-<value code="4">DownDown</value>
-</values>
-</param>
-<param humanName="Mixing Gain" name="ArduPlane:MIXING_GAIN" documentation="The gain for the Vtail and elevon output mixers. The default is 0.5, which ensures that the mixer doesn't saturate, allowing both input channels to go to extremes while retaining control over the output. Hardware mixers often have a 1.0 gain, which gives more servo throw, but can saturate. If you don't have enough throw on your servos with VTAIL_OUTPUT or ELEVON_OUTPUT enabled then you can raise the gain using MIXING_GAIN. The mixer allows outputs in the range 900 to 2100 microseconds." user="User">
-<field name="Range">0.5 1.2</field>
-</param>
-<param humanName="Rudder only aircraft" name="ArduPlane:RUDDER_ONLY" documentation="Enable rudder only mode. The rudder will control attitude in attitude controlled modes (such as FBWA). You should setup your transmitter to send roll stick inputs to the RCMAP_YAW channel (normally channel 4). The rudder servo should be attached to the RCMAP_YAW channel as well. Note that automatic ground steering will be disabled for rudder only aircraft. You should also set KFF_RDDRMIX to 1.0. You will also need to setup the YAW2SRV_DAMP yaw damping appropriately for your aircraft. A value of 0.5 for YAW2SRV_DAMP is a good starting point." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Num Resets" name="ArduPlane:SYS_NUM_RESETS" documentation="Number of APM board resets" user="Advanced">
-</param>
-<param humanName="Log bitmask" name="ArduPlane:LOG_BITMASK" documentation="Bitmap of what log types to enable in dataflash. This values is made up of the sum of each of the log types you want to be saved on dataflash. On a PX4 or Pixhawk the large storage size of a microSD card means it is usually best just to enable all log types by setting this to 65535. On APM2 the smaller 4 MByte dataflash means you need to be more selective in your logging or you may run out of log space while flying (in which case it will wrap and overwrite the start of the log). The individual bits are ATTITUDE_FAST=1, ATTITUDE_MEDIUM=2, GPS=4, PerformanceMonitoring=8, ControlTuning=16, NavigationTuning=32, Mode=64, IMU=128, Commands=256, Battery=512, Compass=1024, TECS=2048, Camera=4096, RCandServo=8192, Sonar=16384, Arming=32768, LogWhenDisarmed=65536, FullLogsArmedOnly=65535, FullLogsWhenDisarmed=131071" user="Advanced">
-<field name="Bitmask">0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:MODE,7:IMU,8:CMD,9:CURRENT,10:COMPASS,11:TECS,12:CAMERA,13:RC,14:SONAR,15:ARM/DISARM,16:WHEN_DISARMED,19:IMU_RAW</field>
-<values>
-<value code="0">Disabled</value>
-<value code="5190">APM2-Default</value>
-<value code="65535">PX4/Pixhawk-Default</value>
-</values>
-</param>
-<param humanName="Reset Switch Channel" name="ArduPlane:RST_SWITCH_CH" documentation="RC channel to use to reset to last flight mode&#9;after geofence takeover." user="Advanced">
-</param>
-<param humanName="Reset Mission Channel" name="ArduPlane:RST_MISSION_CH" documentation="RC channel to use to reset the mission to the first waypoint. When this channel goes above 1750 the mission is reset. Set RST_MISSION_CH to 0 to disable." user="Advanced">
-</param>
-<param humanName="Target airspeed" name="ArduPlane:TRIM_ARSPD_CM" documentation="Airspeed in cm/s to aim for when airspeed is enabled in auto mode. This is a calibrated (apparent) airspeed." user="User">
-<field name="Units">cm/s</field>
-</param>
-<param humanName="speed used for speed scaling calculations" name="ArduPlane:SCALING_SPEED" documentation="Airspeed in m/s to use when calculating surface speed scaling. Note that changing this value will affect all PID values" user="Advanced">
-<field name="Units">m/s</field>
-</param>
-<param humanName="Minimum ground speed" name="ArduPlane:MIN_GNDSPD_CM" documentation="Minimum ground speed in cm/s when under airspeed control" user="Advanced">
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Pitch angle offset" name="ArduPlane:TRIM_PITCH_CD" documentation="offset to add to pitch - used for in-flight pitch trimming. It is recommended that instead of using this parameter you level your plane correctly on the ground for good flight attitude." user="Advanced">
-<field name="Units">centi-Degrees</field>
-</param>
-<param humanName="RTL altitude" name="ArduPlane:ALT_HOLD_RTL" documentation="Return to launch target altitude. This is the relative altitude the plane will aim for and loiter at when returning home. If this is negative (usually -1) then the plane will use the current altitude at the time of entering RTL. Note that when transiting to a Rally Point the altitude of the Rally Point is used instead of ALT_HOLD_RTL." user="User">
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Minimum altitude for FBWB mode" name="ArduPlane:ALT_HOLD_FBWCM" documentation="This is the minimum altitude in centimeters that FBWB and CRUISE modes will allow. If you attempt to descend below this altitude then the plane will level off. A value of zero means no limit." user="User">
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Enable Compass" name="ArduPlane:MAG_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Flap input channel" name="ArduPlane:FLAP_IN_CHANNEL" documentation="An RC input channel to use for flaps control. If this is set to a RC channel number then that channel will be used for manual flaps control. When enabled, the percentage of flaps is taken as the percentage travel from the TRIM value of the channel to the MIN value of the channel. A value above the TRIM values will give inverse flaps (spoilers). This option needs to be enabled in conjunction with a FUNCTION setting on an output channel to one of the flap functions. When a FLAP_IN_CHANNEL is combined with auto-flaps the higher of the two flap percentages is taken. You must also enable a FLAPERON_OUTPUT flaperon mixer setting if using flaperons." user="User">
-</param>
-<param humanName="Flaperon output" name="ArduPlane:FLAPERON_OUTPUT" documentation="Enable flaperon output in software. If enabled then the APM will provide software flaperon mixing on the FLAPERON1 and FLAPERON2 output channels specified using the FUNCTION on two auxiliary channels. There are 4 different mixing modes available, which refer to the 4 ways the flap and aileron outputs can be mapped to the two flaperon servos. Note that you must not use flaperon output mixing with hardware pass-through of RC values, such as with channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to something other than 8 before you enable FLAPERON_OUTPUT. Please also see the MIXING_GAIN parameter for the output gain of the mixer. FLAPERON_OUTPUT cannot be combined with ELEVON_OUTPUT or ELEVON_MIXING." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">UpUp</value>
-<value code="2">UpDown</value>
-<value code="3">DownUp</value>
-<value code="4">DownDown</value>
-</values>
-</param>
-<param humanName="Flap 1 percentage" name="ArduPlane:FLAP_1_PERCNT" documentation="The percentage change in flap position when FLAP_1_SPEED is reached. Use zero to disable flaps" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Flap 1 speed" name="ArduPlane:FLAP_1_SPEED" documentation="The speed in meters per second at which to engage FLAP_1_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Flap 2 percentage" name="ArduPlane:FLAP_2_PERCNT" documentation="The percentage change in flap position when FLAP_2_SPEED is reached. Use zero to disable flaps" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Flap 2 speed" name="ArduPlane:FLAP_2_SPEED" documentation="The speed in meters per second at which to engage FLAP_2_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Landing flap percentage" name="ArduPlane:LAND_FLAP_PERCNT" documentation="The amount of flaps (as a percentage) to apply in the landing approach and flare of an automatic landing" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="PX4IO override channel" name="ArduPlane:OVERRIDE_CHAN" documentation="If set to a non-zero value then this is an RC input channel number to use for giving PX4IO manual control in case the main FMU microcontroller on a PX4 or Pixhawk fails. When this RC input channel goes above 1750 the FMU microcontroller will no longer be involved in controlling the servos and instead the PX4IO microcontroller will directly control the servos. Note that PX4IO manual control will be automatically activated if the FMU crashes for any reason. This parameter allows you to test for correct manual behaviour without actually crashing the FMU. This parameter is can be set to a non-zero value either for ground testing purposes or for giving the effect of an external override control board. Please also see the docs on OVERRIDE_SAFETY. Note that you may set OVERRIDE_CHAN to the same channel as FLTMODE_CH to get PX4IO based override when in flight mode 6. Note that when override is triggered due to a FMU crash the 6 auxiliary output channels on Pixhawk will no longer be updated, so all the flight controls you need must be assigned to the first 8 channels." user="Advanced">
-</param>
-<param humanName="PX4IO override safety switch" name="ArduPlane:OVERRIDE_SAFETY" documentation="This controls whether the safety switch is turned off when you activate override with OVERRIDE_CHAN. When set to 1 the safety switch is de-activated (activating the servos) then a PX4IO override is triggered. In that case the safety remains de-activated after override is disabled. If OVERRIDE_SAFETTY is set to 0 then the safety switch state does not change. Note that regardless of the value of this parameter the servos will be active while override is active." user="Advanced">
-</param>
-<param humanName="Inverted flight channel" name="ArduPlane:INVERTEDFLT_CH" documentation="A RC input channel number to enable inverted flight. If this is non-zero then the APM will monitor the corresponding RC input channel and will enable inverted flight when the channel goes above 1750." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Channel1</value>
-<value code="2">Channel2</value>
-<value code="3">Channel3</value>
-<value code="4">Channel4</value>
-<value code="5">Channel5</value>
-<value code="6">Channel6</value>
-<value code="7">Channel7</value>
-<value code="8">Channel8</value>
-</values>
-</param>
-<param humanName="HIL mode enable" name="ArduPlane:HIL_MODE" documentation="This enables and disables hardware in the loop mode. If HIL_MODE is 1 then on the next reboot all sensors are replaced with HIL sensors which come from the GCS." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="HIL Servos enable" name="ArduPlane:HIL_SERVOS" documentation="This controls whether real servo controls are used in HIL mode. If you enable this then the APM will control the real servos in HIL mode. If disabled it will report servo values, but will not output to the real servos. Be careful that your motor and propeller are not connected if you enable this option." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Limit of error in HIL attitude before reset" name="ArduPlane:HIL_ERR_LIMIT" documentation="This controls the maximum error in degrees on any axis before HIL will reset the DCM attitude to match the HIL_STATE attitude. This limit will prevent poor timing on HIL from causing a major attitude error. If the value is zero then no limit applies." user="Advanced">
-<field name="Range">0 90</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="RTL auto land" name="ArduPlane:RTL_AUTOLAND" documentation="Automatically begin landing sequence after arriving at RTL location. This requires the addition of a DO_LAND_START mission item, which acts as a marker for the start of a landing sequence. The closest landing sequence will be chosen to the current location. " user="Standard">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable - go HOME then land</value>
-<value code="2">Enable - go directly to landing sequence</value>
-</values>
-</param>
-<param humanName="RC Trims auto set at start." name="ArduPlane:RC_TRIM_AT_START" documentation="Automatically set roll/pitch trim from Tx at ground start. This makes the assumption that the RC transmitter has not been altered since trims were last captured." user="Standard">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-<param humanName="Crash Deceleration Threshold" name="ArduPlane:CRASH_ACC_THRESH" documentation="X-Axis deceleration threshold to notify the crash detector that there was a possible impact which helps disarm the motor quickly after a crash. This value should be much higher than normal negative x-axis forces during normal flight, check flight log files to determine the average IMU.x values for your aircraft and motor type. Higher value means less sensative (triggers on higher impact). For electric planes that don't vibrate much during fight a value of 25 is good (that's about 2.5G). For petrol/nitro planes you'll want a higher value. Set to 0 to disable the collision detector." user="Advanced">
-<field name="Values">10 127</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Crash Detection" name="ArduPlane:CRASH_DETECT" documentation="Automatically detect a crash during AUTO flight and perform the bitmask selected action(s). Disarm will turn off motor for saftey and to help against burning out ESC and motor. Setting the mode to manual will help save the servos from burning out by overexerting if the aircraft crashed in an odd orientation such as upsidedown." user="Advanced">
-<field name="Bitmask">0:Disarm</field>
-<values>
-<value code="0">Disabled</value>
-<value code="1">Disarm</value>
-</values>
-</param>
-<param humanName="Parachute release channel" name="ArduPlane:CHUTE_CHAN" documentation="If set to a non-zero value then this is an RC input channel number to use for manually releasing the parachute. When this channel goes above 1700 the parachute will be released" user="Advanced">
-</param>
-<param humanName="Enable rangefinder for landing" name="ArduPlane:RNGFND_LANDING" documentation="This enables the use of a rangefinder for automatic landing. The rangefinder will be used both on the landing approach and for final flare" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-</parameters>
-<parameters name="ArduCopter">
-<param humanName="Eeprom format version number" name="ArduCopter:SYSID_SW_MREV" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="Software Type" name="ArduCopter:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
-<field name="ReadOnly">True</field>
-<values>
-<value code="0">ArduPlane</value>
-<value code="4">AntennaTracker</value>
-<value code="10">Copter</value>
-<value code="20">Rover</value>
-</values>
-</param>
-<param humanName="MAVLink system ID of this vehicle" name="ArduCopter:SYSID_THISMAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="My ground station number" name="ArduCopter:SYSID_MYGCS" documentation="Allows restricting radio overrides to only come from my ground station" user="Advanced">
-<values>
-<value code="255">Mission Planner and DroidPlanner</value>
-<value code=" 252"> AP Planner 2</value>
-</values>
-</param>
-<param humanName="CLI Enable" name="ArduCopter:CLI_ENABLED" documentation="This enables/disables the checking for three carriage returns on telemetry links on startup to enter the diagnostics command line interface" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Throttle filter cutoff" name="ArduCopter:PILOT_THR_FILT" documentation="Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable" user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">.5</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Pilot takeoff altitude" name="ArduCopter:PILOT_TKOFF_ALT" documentation="Altitude that altitude control modes will climb to when a takeoff is triggered with the throttle stick." user="Standard">
-<field name="Range">0.0 1000.0</field>
-<field name="Increment">10</field>
-<field name="Units">Centimeters</field>
-</param>
-<param humanName="Takeoff trigger deadzone" name="ArduCopter:PILOT_TKOFF_DZ" documentation="Offset from mid stick at which takeoff is triggered" user="Standard">
-<field name="Range">0.0 500.0</field>
-<field name="Increment">10</field>
-</param>
-<param humanName="Throttle stick behavior" name="ArduCopter:PILOT_THR_BHV" documentation="Bitmask containing various throttle stick options. Add up the values for options that you want." user="Standard">
-<field name="Bitmask">0:Feedback from mid stick,1:High throttle cancels landing</field>
-<values>
-<value code="0">None</value>
-<value code="1">Feedback from mid stick</value>
-<value code="2">High throttle cancels landing</value>
-</values>
-</param>
-<param humanName="Telemetry startup delay" name="ArduCopter:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="GCS PID tuning mask" name="ArduCopter:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
-<field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
-<values>
-<value code="0">None</value>
-<value code="1">Roll</value>
-<value code="2">Pitch</value>
-<value code="4">Yaw</value>
-</values>
-</param>
-<param humanName="RTL Altitude" name="ArduCopter:RTL_ALT" documentation="The minimum relative altitude the model will move to before Returning to Launch.  Set to zero to return at current altitude." user="Standard">
-<field name="Range">0 8000</field>
-<field name="Increment">1</field>
-<field name="Units">Centimeters</field>
-</param>
-<param humanName="RTL cone slope" name="ArduCopter:RTL_CONE_SLOPE" documentation="Defines a cone above home which determines maximum climb" user="Standard">
-<field name="Range">0.5 10.0</field>
-<values>
-<value code="0">Disabled</value>
-<value code="1">Shallow</value>
-<value code="3">Steep</value>
-</values>
-<field name="Increment">.1</field>
-</param>
-<param humanName="RTL speed" name="ArduCopter:RTL_SPEED" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain horizontally while flying home. If this is set to zero, WPNAV_SPEED will be used instead." user="Standard">
-<field name="Range">0 2000</field>
-<field name="Increment">50</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Rangefinder gain" name="ArduCopter:RNGFND_GAIN" documentation="Used to adjust the speed with which the target altitude is changed when objects are sensed below the copter" user="Standard">
-<field name="Range">0.01 2.0</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Battery Failsafe Enable" name="ArduCopter:FS_BATT_ENABLE" documentation="Controls whether failsafe will be invoked when battery voltage or current runs low" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Land</value>
-<value code="2">RTL</value>
-</values>
-</param>
-<param humanName="Failsafe battery voltage" name="ArduCopter:FS_BATT_VOLTAGE" documentation="Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe. If the battery voltage drops below this voltage then the copter will RTL" user="Standard">
-<field name="Increment">0.1</field>
-<field name="Units">Volts</field>
-</param>
-<param humanName="Failsafe battery milliAmpHours" name="ArduCopter:FS_BATT_MAH" documentation="Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe. If the battery remaining drops below this level then the copter will RTL" user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
-</param>
-<param humanName="Ground Station Failsafe Enable" name="ArduCopter:FS_GCS_ENABLE" documentation="Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. NB. The GCS Failsafe is only active when RC_OVERRIDE is being used to control the vehicle." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled always RTL</value>
-<value code="2">Enabled Continue with Mission in Auto Mode</value>
-</values>
-</param>
-<param humanName="GPS Hdop Good" name="ArduCopter:GPS_HDOP_GOOD" documentation="GPS Hdop value at or below this value represent a good position.  Used for pre-arm checks" user="Advanced">
-<field name="Range">100 900</field>
-</param>
-<param humanName="Compass enable/disable" name="ArduCopter:MAG_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Super Simple Mode" name="ArduCopter:SUPER_SIMPLE" documentation="Bitmask to enable Super Simple mode for some flight modes. Setting this to Disabled(0) will disable Super Simple Mode" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Mode1</value>
-<value code="2">Mode2</value>
-<value code="3">Mode1+2</value>
-<value code="4">Mode3</value>
-<value code="5">Mode1+3</value>
-<value code="6">Mode2+3</value>
-<value code="7">Mode1+2+3</value>
-<value code="8">Mode4</value>
-<value code="9">Mode1+4</value>
-<value code="10">Mode2+4</value>
-<value code="11">Mode1+2+4</value>
-<value code="12">Mode3+4</value>
-<value code="13">Mode1+3+4</value>
-<value code="14">Mode2+3+4</value>
-<value code="15">Mode1+2+3+4</value>
-<value code="16">Mode5</value>
-<value code="17">Mode1+5</value>
-<value code="18">Mode2+5</value>
-<value code="19">Mode1+2+5</value>
-<value code="20">Mode3+5</value>
-<value code="21">Mode1+3+5</value>
-<value code="22">Mode2+3+5</value>
-<value code="23">Mode1+2+3+5</value>
-<value code="24">Mode4+5</value>
-<value code="25">Mode1+4+5</value>
-<value code="26">Mode2+4+5</value>
-<value code="27">Mode1+2+4+5</value>
-<value code="28">Mode3+4+5</value>
-<value code="29">Mode1+3+4+5</value>
-<value code="30">Mode2+3+4+5</value>
-<value code="31">Mode1+2+3+4+5</value>
-<value code="32">Mode6</value>
-<value code="33">Mode1+6</value>
-<value code="34">Mode2+6</value>
-<value code="35">Mode1+2+6</value>
-<value code="36">Mode3+6</value>
-<value code="37">Mode1+3+6</value>
-<value code="38">Mode2+3+6</value>
-<value code="39">Mode1+2+3+6</value>
-<value code="40">Mode4+6</value>
-<value code="41">Mode1+4+6</value>
-<value code="42">Mode2+4+6</value>
-<value code="43">Mode1+2+4+6</value>
-<value code="44">Mode3+4+6</value>
-<value code="45">Mode1+3+4+6</value>
-<value code="46">Mode2+3+4+6</value>
-<value code="47">Mode1+2+3+4+6</value>
-<value code="48">Mode5+6</value>
-<value code="49">Mode1+5+6</value>
-<value code="50">Mode2+5+6</value>
-<value code="51">Mode1+2+5+6</value>
-<value code="52">Mode3+5+6</value>
-<value code="53">Mode1+3+5+6</value>
-<value code="54">Mode2+3+5+6</value>
-<value code="55">Mode1+2+3+5+6</value>
-<value code="56">Mode4+5+6</value>
-<value code="57">Mode1+4+5+6</value>
-<value code="58">Mode2+4+5+6</value>
-<value code="59">Mode1+2+4+5+6</value>
-<value code="60">Mode3+4+5+6</value>
-<value code="61">Mode1+3+4+5+6</value>
-<value code="62">Mode2+3+4+5+6</value>
-<value code="63">Mode1+2+3+4+5+6</value>
-</values>
-</param>
-<param humanName="RTL Final Altitude" name="ArduCopter:RTL_ALT_FINAL" documentation="This is the altitude the vehicle will move to as the final stage of Returning to Launch or after completing a mission.  Set to zero to land." user="Standard">
-<field name="Range">-1 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Centimeters</field>
-</param>
-<param humanName="RTL minimum climb" name="ArduCopter:RTL_CLIMB_MIN" documentation="The vehicle will climb this many cm during the initial climb portion of the RTL" user="Standard">
-<field name="Range">0 3000</field>
-<field name="Increment">10</field>
-<field name="Units">Centimeters</field>
-</param>
-<param humanName="Yaw behaviour during missions" name="ArduCopter:WP_YAW_BEHAVIOR" documentation="Determines how the autopilot controls the yaw during missions and RTL" user="Standard">
-<values>
-<value code="0">Never change yaw</value>
-<value code=" 1">Face next waypoint</value>
-<value code=" 2">Face next waypoint except RTL</value>
-<value code=" 3">Face along GPS course</value>
-</values>
-</param>
-<param humanName="RTL loiter time" name="ArduCopter:RTL_LOIT_TIME" documentation="Time (in milliseconds) to loiter above home before beginning final descent" user="Standard">
-<field name="Range">0 60000</field>
-<field name="Increment">1000</field>
-<field name="Units">ms</field>
-</param>
-<param humanName="Land speed" name="ArduCopter:LAND_SPEED" documentation="The descent speed for the final stage of landing in cm/s" user="Standard">
-<field name="Range">30 200</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Pilot maximum vertical speed" name="ArduCopter:PILOT_VELZ_MAX" documentation="The maximum vertical velocity the pilot may request in cm/s" user="Standard">
-<field name="Range">50 500</field>
-<field name="Increment">10</field>
-<field name="Units">Centimeters/Second</field>
-</param>
-<param humanName="Pilot vertical acceleration" name="ArduCopter:PILOT_ACCEL_Z" documentation="The vertical acceleration used when pilot is controlling the altitude" user="Standard">
-<field name="Range">50 500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Throttle Minimum" name="ArduCopter:THR_MIN" documentation="The minimum throttle that will be sent to the motors to keep them spinning" user="Standard">
-<field name="Range">0 300</field>
-<field name="Increment">1</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Throttle Failsafe Enable" name="ArduCopter:FS_THR_ENABLE" documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled always RTL</value>
-<value code="2">Enabled Continue with Mission in Auto Mode</value>
-<value code="3">Enabled always LAND</value>
-</values>
-</param>
-<param humanName="Throttle Failsafe Value" name="ArduCopter:FS_THR_VALUE" documentation="The PWM level on channel 3 below which throttle sailsafe triggers" user="Standard">
-<field name="Range">925 1100</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Throttle Mid Position" name="ArduCopter:THR_MID" documentation="The throttle output (0 ~ 1000) when throttle stick is in mid position.  Used to scale the manual throttle so that the mid throttle stick position is close to the throttle required to hover" user="Standard">
-<field name="Range">300 700</field>
-<field name="Increment">10</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Throttle deadzone" name="ArduCopter:THR_DZ" documentation="The deadzone above and below mid throttle.  Used in AltHold, Loiter, PosHold flight modes" user="Standard">
-<field name="Range">0 300</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Flight Mode 1" name="ArduCopter:FLTMODE1" documentation="Flight mode when Channel 5 pwm is &lt;= 1230" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-<value code="18">Throw</value>
-</values>
-</param>
-<param humanName="Flight Mode 2" name="ArduCopter:FLTMODE2" documentation="Flight mode when Channel 5 pwm is &gt;1230, &lt;= 1360" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-<value code="18">Throw</value>
-</values>
-</param>
-<param humanName="Flight Mode 3" name="ArduCopter:FLTMODE3" documentation="Flight mode when Channel 5 pwm is &gt;1360, &lt;= 1490" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-<value code="18">Throw</value>
-</values>
-</param>
-<param humanName="Flight Mode 4" name="ArduCopter:FLTMODE4" documentation="Flight mode when Channel 5 pwm is &gt;1490, &lt;= 1620" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-<value code="18">Throw</value>
-</values>
-</param>
-<param humanName="Flight Mode 5" name="ArduCopter:FLTMODE5" documentation="Flight mode when Channel 5 pwm is &gt;1620, &lt;= 1749" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-<value code="18">Throw</value>
-</values>
-</param>
-<param humanName="Flight Mode 6" name="ArduCopter:FLTMODE6" documentation="Flight mode when Channel 5 pwm is &gt;=1750" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-<value code="18">Throw</value>
-</values>
-</param>
-<param humanName="Simple mode bitmask" name="ArduCopter:SIMPLE" documentation="Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode)" user="Advanced">
-</param>
-<param humanName="Log bitmask" name="ArduCopter:LOG_BITMASK" documentation="4 byte bitmap of log types to enable" user="Standard">
-<field name="Bitmask">0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,16:WHEN_DISARMED,17:MOTBATT,18:IMU_FAST,19:IMU_RAW</field>
-<values>
-<value code="830">Default</value>
-<value code="894">Default+RCIN</value>
-<value code="958">Default+IMU</value>
-<value code="1854">Default+Motors</value>
-<value code="-6146">NearlyAll-AC315</value>
-<value code="45054">NearlyAll</value>
-<value code="131070">All+DisarmedLogging</value>
-<value code="131071">All+FastATT</value>
-<value code="262142">All+MotBatt</value>
-<value code="393214">All+FastIMU</value>
-<value code="397310">All+FastIMU+PID</value>
-<value code="655358">All+FullIMU</value>
-<value code="0">Disabled</value>
-</values>
-</param>
-<param humanName="ESC Calibration" name="ArduCopter:ESC_CALIBRATION" documentation="Controls whether ArduCopter will enter ESC calibration on the next restart.  Do not adjust this parameter manually." user="Advanced">
-<values>
-<value code="0">Normal Start-up</value>
-<value code=" 1">Start-up in ESC Calibration mode if throttle high</value>
-<value code=" 2">Start-up in ESC Calibration mode regardless of throttle</value>
-<value code=" 9">Disabled</value>
-</values>
-</param>
-<param humanName="Channel 6 Tuning" name="ArduCopter:TUNE" documentation="Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Stab Roll/Pitch kP</value>
-<value code="4">Rate Roll/Pitch kP</value>
-<value code="5">Rate Roll/Pitch kI</value>
-<value code="21">Rate Roll/Pitch kD</value>
-<value code="3">Stab Yaw kP</value>
-<value code="6">Rate Yaw kP</value>
-<value code="26">Rate Yaw kD</value>
-<value code="14">Altitude Hold kP</value>
-<value code="7">Throttle Rate kP</value>
-<value code="34">Throttle Accel kP</value>
-<value code="35">Throttle Accel kI</value>
-<value code="36">Throttle Accel kD</value>
-<value code="42">Loiter Speed</value>
-<value code="12">Loiter Pos kP</value>
-<value code="22">Velocity XY kP</value>
-<value code="28">Velocity XY kI</value>
-<value code="10">WP Speed</value>
-<value code="25">Acro RollPitch kP</value>
-<value code="40">Acro Yaw kP</value>
-<value code="13">Heli Ext Gyro</value>
-<value code="17">OF Loiter kP</value>
-<value code="18">OF Loiter kI</value>
-<value code="19">OF Loiter kD</value>
-<value code="38">Declination</value>
-<value code="39">Circle Rate</value>
-<value code="41">RangeFinder Gain</value>
-<value code="46">Rate Pitch kP</value>
-<value code="47">Rate Pitch kI</value>
-<value code="48">Rate Pitch kD</value>
-<value code="49">Rate Roll kP</value>
-<value code="50">Rate Roll kI</value>
-<value code="51">Rate Roll kD</value>
-<value code="52">Rate Pitch FF</value>
-<value code="53">Rate Roll FF</value>
-<value code="54">Rate Yaw FF</value>
-</values>
-</param>
-<param humanName="Tuning minimum" name="ArduCopter:TUNE_LOW" documentation="The minimum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob" user="Standard">
-<field name="Range">0 32767</field>
-</param>
-<param humanName="Tuning maximum" name="ArduCopter:TUNE_HIGH" documentation="The maximum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob" user="Standard">
-<field name="Range">0 32767</field>
-</param>
-<param humanName="Frame Orientation (+, X or V)" name="ArduCopter:FRAME" documentation="Controls motor mixing for multicopters.  Not used for Tri or Traditional Helicopters." user="Standard">
-<values>
-<value code="0">Plus</value>
-<value code=" 1">X</value>
-<value code=" 2">V</value>
-<value code=" 3">H</value>
-<value code=" 4">V-Tail</value>
-<value code=" 5">A-Tail</value>
-<value code=" 10">Y6B (New)</value>
-</values>
-</param>
-<param humanName="Channel 7 option" name="ArduCopter:CH7_OPT" documentation="Select which function if performed when CH7 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 12">ResetToArmedYaw</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 34">Relay2 On/Off</value>
-<value code=" 35">Relay3 On/Off</value>
-<value code=" 36">Relay4 On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-<value code=" 37">Throw</value>
-</values>
-</param>
-<param humanName="Channel 8 option" name="ArduCopter:CH8_OPT" documentation="Select which function if performed when CH8 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 12">ResetToArmedYaw</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 34">Relay2 On/Off</value>
-<value code=" 35">Relay3 On/Off</value>
-<value code=" 36">Relay4 On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-<value code=" 37">Throw</value>
-</values>
-</param>
-<param humanName="Channel 9 option" name="ArduCopter:CH9_OPT" documentation="Select which function if performed when CH9 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 12">ResetToArmedYaw</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 34">Relay2 On/Off</value>
-<value code=" 35">Relay3 On/Off</value>
-<value code=" 36">Relay4 On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-<value code=" 37">Throw</value>
-</values>
-</param>
-<param humanName="Channel 10 option" name="ArduCopter:CH10_OPT" documentation="Select which function if performed when CH10 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 12">ResetToArmedYaw</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 34">Relay2 On/Off</value>
-<value code=" 35">Relay3 On/Off</value>
-<value code=" 36">Relay4 On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-<value code=" 37">Throw</value>
-</values>
-</param>
-<param humanName="Channel 11 option" name="ArduCopter:CH11_OPT" documentation="Select which function if performed when CH11 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 12">ResetToArmedYaw</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 34">Relay2 On/Off</value>
-<value code=" 35">Relay3 On/Off</value>
-<value code=" 36">Relay4 On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-<value code=" 37">Throw</value>
-</values>
-</param>
-<param humanName="Channel 12 option" name="ArduCopter:CH12_OPT" documentation="Select which function if performed when CH12 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 12">ResetToArmedYaw</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 34">Relay2 On/Off</value>
-<value code=" 35">Relay3 On/Off</value>
-<value code=" 36">Relay4 On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-<value code=" 37">Throw</value>
-</values>
-</param>
-<param humanName="Arming check" name="ArduCopter:ARMING_CHECK" documentation="Allows enabling or disabling of pre-arming checks of receiver, accelerometer, barometer, compass and GPS" user="Standard">
-<field name="Bitmask">0:All,1:Baro,2:Compass,3:GPS,4:INS,5:Parameters+Sonar,6:RC,7:Voltage</field>
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-<value code=" -3">Skip Baro</value>
-<value code=" -5">Skip Compass</value>
-<value code=" -9">Skip GPS</value>
-<value code=" -17">Skip INS</value>
-<value code=" -33">Skip Params/Sonar</value>
-<value code=" -65">Skip RC</value>
-<value code=" 127">Skip Voltage</value>
-</values>
-</param>
-<param humanName="Disarm delay" name="ArduCopter:DISARM_DELAY" documentation="Delay before automatic disarm in seconds. A value of zero disables auto disarm." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="Angle Max" name="ArduCopter:ANGLE_MAX" documentation="Maximum lean angle in all flight modes" user="Advanced">
-<field name="Range">1000 8000</field>
-<field name="Units">Centi-degrees</field>
-</param>
-<param humanName="RC Feel Roll/Pitch" name="ArduCopter:RC_FEEL_RP" documentation="RC feel for roll/pitch which controls vehicle response to user input with 0 being extremely soft and 100 being crisp" user="Standard">
-<field name="Range">0 100</field>
-<values>
-<value code="0">Very Soft</value>
-<value code=" 25">Soft</value>
-<value code=" 50">Medium</value>
-<value code=" 75">Crisp</value>
-<value code=" 100">Very Crisp</value>
-</values>
-<field name="Increment">10</field>
-</param>
-<param humanName="PosHold braking rate" name="ArduCopter:PHLD_BRAKE_RATE" documentation="PosHold flight mode's rotation rate during braking in deg/sec" user="Advanced">
-<field name="Range">4 12</field>
-<field name="Units">deg/sec</field>
-</param>
-<param humanName="PosHold braking angle max" name="ArduCopter:PHLD_BRAKE_ANGLE" documentation="PosHold flight mode's max lean angle during braking in centi-degrees" user="Advanced">
-<field name="Range">2000 4500</field>
-<field name="Units">Centi-degrees</field>
-</param>
-<param humanName="Land repositioning" name="ArduCopter:LAND_REPOSITION" documentation="Enables user input during LAND mode, the landing phase of RTL, and auto mode landings." user="Advanced">
-<values>
-<value code="0">No repositioning</value>
-<value code=" 1">Repositioning</value>
-</values>
-</param>
-<param humanName="EKF Failsafe Action" name="ArduCopter:FS_EKF_ACTION" documentation="Controls the action that will be taken when an EKF failsafe is invoked" user="Advanced">
-<values>
-<value code="1">Land</value>
-<value code=" 2">AltHold</value>
-<value code=" 3">Land even in Stabilize</value>
-</values>
-</param>
-<param humanName="EKF failsafe variance threshold" name="ArduCopter:FS_EKF_THRESH" documentation="Allows setting the maximum acceptable compass and velocity variance" user="Advanced">
-<field name="Values">0.6:Strict, 0.8:Default, 1.0:Relaxed</field>
-</param>
-<param humanName="Crash check enable" name="ArduCopter:FS_CRASH_CHECK" documentation="This enables automatic crash checking. When enabled the motors will disarm if a crash is detected." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="ESC Update Speed" name="ArduCopter:RC_SPEED" documentation="This is the speed in Hertz that your ESCs will receive updates" user="Advanced">
-<field name="Range">50 490</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Acro Roll and Pitch P gain" name="ArduCopter:ACRO_RP_P" documentation="Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode.  Higher values mean faster rate of rotation." user="Standard">
-<field name="Range">1 10</field>
-</param>
-<param humanName="Acro Yaw P gain" name="ArduCopter:ACRO_YAW_P" documentation="Converts pilot yaw input into a desired rate of rotation in ACRO, Stabilize and SPORT modes.  Higher values mean faster rate of rotation." user="Standard">
-<field name="Range">1 10</field>
-</param>
-<param humanName="Acro Balance Roll" name="ArduCopter:ACRO_BAL_ROLL" documentation="rate at which roll angle returns to level in acro mode.  A higher value causes the vehicle to return to level faster." user="Advanced">
-<field name="Range">0 3</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Acro Balance Pitch" name="ArduCopter:ACRO_BAL_PITCH" documentation="rate at which pitch angle returns to level in acro mode.  A higher value causes the vehicle to return to level faster." user="Advanced">
-<field name="Range">0 3</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Acro Trainer" name="ArduCopter:ACRO_TRAINER" documentation="Type of trainer used in acro mode" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Leveling</value>
-<value code="2">Leveling and Limited</value>
-</values>
-</param>
-<param humanName="Acro Expo" name="ArduCopter:ACRO_EXPO" documentation="Acro roll/pitch Expo to allow faster rotation when stick at edges" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="0.1">Very Low</value>
-<value code="0.2">Low</value>
-<value code="0.3">Medium</value>
-<value code="0.4">High</value>
-<value code="0.5">Very High</value>
-</values>
-</param>
-<param humanName="Roll axis rate controller P gain" name="ArduCopter:RATE_RLL_P" documentation="Roll axis rate controller P gain.  Converts the difference between desired roll rate and actual roll rate into a motor speed output" user="Standard">
-<field name="Range">0.08 0.30</field>
-<field name="Increment">0.005</field>
-</param>
-<param humanName="Roll axis rate controller I gain" name="ArduCopter:RATE_RLL_I" documentation="Roll axis rate controller I gain.  Corrects long-term difference in desired roll rate vs actual roll rate" user="Standard">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Roll axis rate controller I gain maximum" name="ArduCopter:RATE_RLL_IMAX" documentation="Roll axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 4500</field>
-<field name="Increment">10</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Pitch axis rate controller P gain" name="ArduCopter:RATE_PIT_P" documentation="Pitch axis rate controller P gain.  Converts the difference between desired pitch rate and actual pitch rate into a motor speed output" user="Standard">
-<field name="Range">0.08 0.30</field>
-<field name="Increment">0.005</field>
-</param>
-<param humanName="Pitch axis rate controller I gain" name="ArduCopter:RATE_PIT_I" documentation="Pitch axis rate controller I gain.  Corrects long-term difference in desired pitch rate vs actual pitch rate" user="Standard">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Pitch axis rate controller I gain maximum" name="ArduCopter:RATE_PIT_IMAX" documentation="Pitch axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 4500</field>
-<field name="Increment">10</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Yaw axis rate controller P gain" name="ArduCopter:RATE_YAW_P" documentation="Yaw axis rate controller P gain.  Converts the difference between desired yaw rate and actual yaw rate into a motor speed output" user="Standard">
-<field name="Range">0.150 0.50</field>
-<field name="Increment">0.005</field>
-</param>
-<param humanName="Yaw axis rate controller I gain" name="ArduCopter:RATE_YAW_I" documentation="Yaw axis rate controller I gain.  Corrects long-term difference in desired yaw rate vs actual yaw rate" user="Standard">
-<field name="Range">0.010 0.05</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Yaw axis rate controller I gain maximum" name="ArduCopter:RATE_YAW_IMAX" documentation="Yaw axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 4500</field>
-<field name="Increment">10</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Velocity (horizontal) P gain" name="ArduCopter:VEL_XY_P" documentation="Velocity (horizontal) P gain.  Converts the difference between desired velocity to a target acceleration" user="Advanced">
-<field name="Range">0.1 6.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Velocity (horizontal) I gain" name="ArduCopter:VEL_XY_I" documentation="Velocity (horizontal) I gain.  Corrects long-term difference in desired velocity to a target acceleration" user="Advanced">
-<field name="Range">0.02 1.00</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Velocity (horizontal) integrator maximum" name="ArduCopter:VEL_XY_IMAX" documentation="Velocity (horizontal) integrator maximum.  Constrains the target acceleration that the I gain will output" user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Velocity (vertical) P gain" name="ArduCopter:VEL_Z_P" documentation="Velocity (vertical) P gain.  Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller" user="Standard">
-<field name="Range">1.000 8.000</field>
-</param>
-<param humanName="Throttle acceleration controller P gain" name="ArduCopter:ACCEL_Z_P" documentation="Throttle acceleration controller P gain.  Converts the difference between desired vertical acceleration and actual acceleration into a motor output" user="Standard">
-<field name="Range">0.500 1.500</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Throttle acceleration controller I gain" name="ArduCopter:ACCEL_Z_I" documentation="Throttle acceleration controller I gain.  Corrects long-term difference in desired vertical acceleration and actual acceleration" user="Standard">
-<field name="Range">0.000 3.000</field>
-</param>
-<param humanName="Throttle acceleration controller I gain maximum" name="ArduCopter:ACCEL_Z_IMAX" documentation="Throttle acceleration controller I gain maximum.  Constrains the maximum pwm that the I term will generate" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Throttle acceleration controller D gain" name="ArduCopter:ACCEL_Z_D" documentation="Throttle acceleration controller D gain.  Compensates for short-term change in desired vertical acceleration vs actual acceleration" user="Standard">
-<field name="Range">0.000 0.400</field>
-</param>
-<param humanName="Throttle acceleration filter" name="ArduCopter:ACCEL_Z_FILT_HZ" documentation="Filter applied to acceleration to reduce noise.  Lower values reduce noise but add delay." user="Standard">
-<field name="Range">1.000 100.000</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Roll axis stabilize controller P gain" name="ArduCopter:STB_RLL_P" documentation="Roll axis stabilize (i.e. angle) controller P gain.  Converts the error between the desired roll angle and actual angle to a desired roll rate" user="Standard">
-<field name="Range">3.000 12.000</field>
-</param>
-<param humanName="Pitch axis stabilize controller P gain" name="ArduCopter:STB_PIT_P" documentation="Pitch axis stabilize (i.e. angle) controller P gain.  Converts the error between the desired pitch angle and actual angle to a desired pitch rate" user="Standard">
-<field name="Range">3.000 12.000</field>
-</param>
-<param humanName="Yaw axis stabilize controller P gain" name="ArduCopter:STB_YAW_P" documentation="Yaw axis stabilize (i.e. angle) controller P gain.  Converts the error between the desired yaw angle and actual angle to a desired yaw rate" user="Standard">
-<field name="Range">3.000 6.000</field>
-</param>
-<param humanName="Position (vertical) controller P gain" name="ArduCopter:POS_Z_P" documentation="Position (vertical) controller P gain.  Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller" user="Standard">
-<field name="Range">1.000 3.000</field>
-</param>
-<param humanName="Position (horizonal) controller P gain" name="ArduCopter:POS_XY_P" documentation="Loiter position controller P gain.  Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller" user="Standard">
-<field name="Range">0.500 2.000</field>
-</param>
-<param humanName="Autotune axis bitmask" name="ArduCopter:AUTOTUNE_AXES" documentation="1-byte bitmap of axes to autotune" user="Standard">
-<field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
-<values>
-<value code="7">All</value>
-<value code="1">Roll Only</value>
-<value code="2">Pitch Only</value>
-<value code="4">Yaw Only</value>
-<value code="3">Roll and Pitch</value>
-<value code="5">Roll and Yaw</value>
-<value code="6">Pitch and Yaw</value>
-</values>
-</param>
-<param humanName="Autotune aggressiveness" name="ArduCopter:AUTOTUNE_AGGR" documentation="Autotune aggressiveness. Defines the bounce back used to detect size of the D term." user="Standard">
-<field name="Range">0.05 0.10</field>
-</param>
-<param humanName="AutoTune minimum D" name="ArduCopter:AUTOTUNE_MIN_D" documentation="Defines the minimum D gain" user="Standard">
-<field name="Range">0.001 0.006</field>
-</param>
-<param humanName="Start motors before throwing is detected" name="ArduCopter:THROW_MOT_START" documentation="Used by THROW mode. Controls whether motors will run at the speed set by THR_MIN or will be stopped when armed and waiting for the throw." user="Standard">
-<values>
-<value code="0">Stopped</value>
-<value code="1">Running</value>
-</values>
-</param>
-</parameters>
-<parameters name="AntennaTracker">
-<param humanName="Eeprom format version number" name="AntennaTracker:FORMAT_VERSION" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
-</param>
-<param humanName="Software Type" name="AntennaTracker:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
-<field name="ReadOnly">True</field>
-<values>
-<value code="0">ArduPlane</value>
-<value code="4">AntennaTracker</value>
-<value code="10">Copter</value>
-<value code="20">Rover</value>
-</values>
-</param>
-<param humanName="MAVLink system ID of this vehicle" name="AntennaTracker:SYSID_THISMAV" documentation="Allows setting an individual system id for this vehicle to distinguish it from others on the same network" user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="Ground station MAVLink system ID" name="AntennaTracker:SYSID_MYGCS" documentation="The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match." user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="Target vehicle's MAVLink system ID" name="AntennaTracker:SYSID_TARGET" documentation="The identifier of the vehicle being tracked. This should be zero (to auto detect) or be the same as the SYSID_THISMAV parameter of the vehicle being tracked." user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="Enable Compass" name="AntennaTracker:MAG_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Time for yaw to slew through its full range" name="AntennaTracker:YAW_SLEW_TIME" documentation="This controls how rapidly the tracker will change the servo output for yaw. It is set as the number of seconds to do a full rotation. You can use this parameter to slow the trackers movements, which may help with some types of trackers. A value of zero will allow for unlimited servo movement per update." user="Standard">
-<field name="Range">0 20</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Time for pitch to slew through its full range" name="AntennaTracker:PITCH_SLEW_TIME" documentation="This controls how rapidly the tracker will change the servo output for pitch. It is set as the number of seconds to do a full range of pitch movement. You can use this parameter to slow the trackers movements, which may help with some types of trackers. A value of zero will allow for unlimited servo movement per update." user="Standard">
-<field name="Range">0 20</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Speed at which to rotate in scan mode" name="AntennaTracker:SCAN_SPEED" documentation="This controls how rapidly the tracker will move the servos in SCAN mode" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Minimum time to apply a yaw reversal" name="AntennaTracker:MIN_REVERSE_TIME" documentation="When the tracker detects it has reached the limit of servo movement in yaw it will reverse and try moving to the other extreme of yaw. This parameter controls the minimum time it should reverse for. It is used to cope with trackers that have a significant lag in movement to ensure they do move all the way around." user="Standard">
-<field name="Range">0 20</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Initial Latitude before GPS lock" name="AntennaTracker:START_LATITUDE" documentation="Combined with START_LONGITUDE this parameter allows for an initial position of the tracker to be set. This position will be used until the GPS gets lock. It can also be used to run a stationary tracker with no GPS attached." user="Standard">
-<field name="Range">-90 90</field>
-<field name="Increment">0.000001</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Initial Longitude before GPS lock" name="AntennaTracker:START_LONGITUDE" documentation="Combined with START_LATITUDE this parameter allows for an initial position of the tracker to be set. This position will be used until the GPS gets lock. It can also be used to run a stationary tracker with no GPS attached." user="Standard">
-<field name="Range">-180 180</field>
-<field name="Increment">0.000001</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Delay before first servo movement from trim" name="AntennaTracker:STARTUP_DELAY" documentation="This parameter can be used to force the servos to their trim value for a time on startup. This can help with some servo types" user="Standard">
-<field name="Range">0 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Type of servo system being used" name="AntennaTracker:SERVO_TYPE" documentation="This allows selection of position servos or on/off servos" user="Standard">
-<values>
-<value code="0">Position</value>
-<value code="1">OnOff</value>
-<value code="2">ContinuousRotation</value>
-</values>
-</param>
-<param humanName="Yaw rate for on/off servos" name="AntennaTracker:ONOFF_YAW_RATE" documentation="Rate of change of yaw in degrees/second for on/off servos" user="Standard">
-<field name="Range">0 50</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Pitch rate for on/off servos" name="AntennaTracker:ONOFF_PITCH_RATE" documentation="Rate of change of pitch in degrees/second for on/off servos" user="Standard">
-<field name="Range">0 50</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Yaw minimum movement time" name="AntennaTracker:ONOFF_YAW_MINT" documentation="Minimum amount of time in seconds to move in yaw" user="Standard">
-<field name="Range">0 2</field>
-<field name="Increment">0.01</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Pitch minimum movement time" name="AntennaTracker:ONOFF_PITCH_MINT" documentation="Minimim amount of time in seconds to move in pitch" user="Standard">
-<field name="Range">0 2</field>
-<field name="Increment">0.01</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Yaw trim" name="AntennaTracker:YAW_TRIM" documentation="Amount of extra yaw to add when tracking. This allows for small adjustments for an out of trim compass." user="Standard">
-<field name="Range">-10 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Pitch trim" name="AntennaTracker:PITCH_TRIM" documentation="Amount of extra pitch to add when tracking. This allows for small adjustments for a badly calibrated barometer." user="Standard">
-<field name="Range">-10 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Yaw Angle Range" name="AntennaTracker:YAW_RANGE" documentation="Yaw axis total range of motion in degrees" user="Standard">
-<field name="Range">0 360</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Pitch Range" name="AntennaTracker:PITCH_RANGE" documentation="Pitch axis total range of motion in degrees" user="Standard">
-<field name="Range">0 180</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Distance minimum to target" name="AntennaTracker:DISTANCE_MIN" documentation="Tracker will track targets at least this distance away" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Log bitmask" name="AntennaTracker:LOG_BITMASK" documentation="4 byte bitmap of log types to enable" user="Standard">
-<field name="Bitmask">0:ATTITUDE,1:GPS,2:RCIN,3:IMU,4:RCOUT,5:COMPASS</field>
-<values>
-<value code="63">Default</value>
-<value code="0">Disabled</value>
-</values>
-</param>
-<param humanName="Pitch axis controller P gain" name="AntennaTracker:PITCH2SRV_P" documentation="Pitch axis controller P gain.  Converts the difference between desired pitch angle and actual pitch angle into a pitch servo pwm change" user="Standard">
-<field name="Range">0.0 3.0</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Pitch axis controller I gain" name="AntennaTracker:PITCH2SRV_I" documentation="Pitch axis controller I gain.  Corrects long-term difference in desired pitch angle vs actual pitch angle" user="Standard">
-<field name="Range">0.0 3.0</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Pitch axis controller I gain maximum" name="AntennaTracker:PITCH2SRV_IMAX" documentation="Pitch axis controller I gain maximum.  Constrains the maximum pwm change that the I gain will output" user="Standard">
-<field name="Range">0 4000</field>
-<field name="Increment">10</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Pitch axis controller D gain" name="AntennaTracker:PITCH2SRV_D" documentation="Pitch axis controller D gain.  Compensates for short-term change in desired pitch angle vs actual pitch angle" user="Standard">
-<field name="Range">0.001 0.1</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Yaw axis controller P gain" name="AntennaTracker:YAW2SRV_P" documentation="Yaw axis controller P gain.  Converts the difference between desired yaw angle (heading) and actual yaw angle into a yaw servo pwm change" user="Standard">
-<field name="Range">0.0 3.0</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Yaw axis controller I gain" name="AntennaTracker:YAW2SRV_I" documentation="Yaw axis controller I gain.  Corrects long-term difference in desired yaw angle (heading) vs actual yaw angle" user="Standard">
-<field name="Range">0.0 3.0</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Yaw axis controller I gain maximum" name="AntennaTracker:YAW2SRV_IMAX" documentation="Yaw axis controller I gain maximum.  Constrains the maximum pwm change that the I gain will output" user="Standard">
-<field name="Range">0 4000</field>
-<field name="Increment">10</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Yaw axis controller D gain" name="AntennaTracker:YAW2SRV_D" documentation="Yaw axis controller D gain.  Compensates for short-term change in desired yaw angle (heading) vs actual yaw angle" user="Standard">
-<field name="Range">0.001 0.1</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Number of loaded mission items" name="AntennaTracker:CMD_TOTAL" documentation="Set to 1 if HOME location has been loaded by the ground station. Do not change this manually." user="Advanced">
-<field name="Range">1 255</field>
-</param>
-</parameters>
-<parameters name="APMrover2">
-<param humanName="Software Type" name="APMrover2:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="Log bitmask" name="APMrover2:LOG_BITMASK" documentation="Two byte bitmap of log types to enable in dataflash" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="3950">Default</value>
-<value code="4078">Default+IMU</value>
-</values>
-</param>
-<param humanName="Reset Switch Channel" name="APMrover2:RST_SWITCH_CH" documentation="RC channel to use to reset to last flight mode&#9;after geofence takeover." user="Advanced">
-</param>
-<param humanName="Initial driving mode" name="APMrover2:INITIAL_MODE" documentation="This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver. Usually used in combination with when AUTO_TRIGGER_PIN or AUTO_KICKSTART." user="Advanced">
-<values>
-<value code="0">MANUAL</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">AUTO</value>
-<value code="11">RTL</value>
-<value code="15">GUIDED</value>
-</values>
-</param>
-<param humanName="MAVLink system ID of this vehicle" name="APMrover2:SYSID_THIS_MAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="MAVLink ground station ID" name="APMrover2:SYSID_MYGCS" documentation="ID used in MAVLink protocol to identify the controlling ground station" user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="CLI Enable" name="APMrover2:CLI_ENABLED" documentation="This enables/disables the checking for three carriage returns on telemetry links on startup to enter the diagnostics command line interface" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Telemetry startup delay " name="APMrover2:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Standard">
-<field name="Range">0 10</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="GCS PID tuning mask" name="APMrover2:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
-<field name="Bitmask">0:Steering</field>
-<values>
-<value code="0">None</value>
-<value code="1">Steering</value>
-</values>
-</param>
-<param humanName="Magnetometer (compass) enabled" name="APMrover2:MAG_ENABLED" documentation="This should be set to 1 if a compass is installed" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Auto mode trigger pin" name="APMrover2:AUTO_TRIGGER_PIN" documentation="pin number to use to enable the throttle in auto mode. If set to -1 then don't use a trigger, otherwise this is a pin number which if held low in auto mode will enable the motor to run. If the switch is released while in AUTO then the motor will stop again. This can be used in combination with INITIAL_MODE to give a 'press button to start' rover with no receiver." user="standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 0-8">APM TriggerPin</value>
-<value code=" 50-55"> Pixhawk TriggerPin</value>
-</values>
-</param>
-<param humanName="Auto mode trigger kickstart acceleration" name="APMrover2:AUTO_KICKSTART" documentation="X acceleration in meters/second/second to use to trigger the motor start in auto mode. If set to zero then auto throttle starts immediately when the mode switch happens, otherwise the rover waits for the X acceleration to go above this value before it will start the motor" user="standard">
-<field name="Range">0 20</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Target cruise speed in auto modes" name="APMrover2:CRUISE_SPEED" documentation="The target speed in auto missions." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Target speed reduction while turning" name="APMrover2:SPEED_TURN_GAIN" documentation="The percentage to reduce the throttle while turning. If this is 100% then the target speed is not reduced while turning. If this is 50% then the target speed is reduced in proportion to the turn rate, with a reduction of 50% when the steering is maximally deflected." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">percent</field>
-</param>
-<param humanName="Distance to turn to start reducing speed" name="APMrover2:SPEED_TURN_DIST" documentation="The distance to the next turn at which the rover reduces its target speed by the SPEED_TURN_GAIN" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Percentage braking to apply" name="APMrover2:BRAKING_PERCENT" documentation="The maximum reverse throttle braking percentage to apply when cornering" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">percent</field>
-</param>
-<param humanName="Speed error at which to apply braking" name="APMrover2:BRAKING_SPEEDERR" documentation="The amount of overspeed error at which to start applying braking" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Pivot turn angle" name="APMrover2:PIVOT_TURN_ANGLE" documentation="Navigation angle threshold in degrees to switch to pivot steering when SKID_STEER_OUT is 1. This allows you to setup a skid steering rover to turn on the spot in auto mode when the angle it needs to turn it greater than this angle. An angle of zero means to disable pivot turning. Note that you will probably also want to set a low value for WP_RADIUS to get neat turns." user="Standard">
-<field name="Range">0 360</field>
-<field name="Increment">1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Channel 7 option" name="APMrover2:CH7_OPTION" documentation="What to do use channel 7 for" user="Standard">
-<values>
-<value code="0">Nothing</value>
-<value code="1">LearnWaypoint</value>
-</values>
-</param>
-<param humanName="Minimum Throttle" name="APMrover2:THR_MIN" documentation="The minimum throttle setting to which the autopilot will apply. This is mostly useful for rovers with internal combustion motors, to prevent the motor from cutting out in auto mode." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Maximum Throttle" name="APMrover2:THR_MAX" documentation="The maximum throttle setting to which the autopilot will apply. This can be used to prevent overheating a ESC or motor on an electric rover." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Base throttle percentage in auto" name="APMrover2:CRUISE_THROTTLE" documentation="The base throttle percentage to use in auto mode. The CRUISE_SPEED parameter controls the target speed, but the rover starts with the CRUISE_THROTTLE setting as the initial estimate for how much throttle is needed to achieve that speed. It then adjusts the throttle based on how fast the rover is actually going." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Throttle slew rate" name="APMrover2:THR_SLEWRATE" documentation="maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second. A value of zero means no limit. A value of 100 means the throttle can change over its full range in one second. Note that for some NiMH powered rovers setting a lower value like 40 or 50 may be worthwhile as the sudden current demand on the battery of a big rise in throttle may cause a brownout." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Skid steering output" name="APMrover2:SKID_STEER_OUT" documentation="Set this to 1 for skid steering controlled rovers (tank track style). When enabled, servo1 is used for the left track control, servo3 is used for right track control" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">SkidSteeringOutput</value>
-</values>
-</param>
-<param humanName="Skid steering input" name="APMrover2:SKID_STEER_IN" documentation="Set this to 1 for skid steering input rovers (tank track style in RC controller). When enabled, servo1 is used for the left track control, servo3 is used for right track control" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">SkidSteeringInput</value>
-</values>
-</param>
-<param humanName="Failsafe Action" name="APMrover2:FS_ACTION" documentation="What to do on a failsafe event" user="Standard">
-<values>
-<value code="0">Nothing</value>
-<value code="1">RTL</value>
-<value code="2">HOLD</value>
-</values>
-</param>
-<param humanName="Failsafe timeout" name="APMrover2:FS_TIMEOUT" documentation="How long a failsafe event need to happen for before we trigger the failsafe action" user="Standard">
-<field name="Units">seconds</field>
-</param>
-<param humanName="Throttle Failsafe Enable" name="APMrover2:FS_THR_ENABLE" documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel to a low value. This can be used to detect the RC transmitter going out of range. Failsafe will be triggered when the throttle channel goes below the FS_THR_VALUE for FS_TIMEOUT seconds." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Throttle Failsafe Value" name="APMrover2:FS_THR_VALUE" documentation="The PWM level on channel 3 below which throttle failsafe triggers." user="Standard">
-<field name="Range">925 1100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="GCS failsafe enable" name="APMrover2:FS_GCS_ENABLE" documentation="Enable ground control station telemetry failsafe. When enabled the Rover will execute the FS_ACTION when it fails to receive MAVLink heartbeat packets for FS_TIMEOUT seconds." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Rangefinder trigger distance" name="APMrover2:RNGFND_TRIGGR_CM" documentation="The distance from an obstacle in centimeters at which the rangefinder triggers a turn to avoid the obstacle" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Rangefinder trigger angle" name="APMrover2:RNGFND_TURN_ANGL" documentation="The course deviation in degrees to apply while avoiding an obstacle detected with the rangefinder. A positive number means to turn right, and a negative angle means to turn left." user="Standard">
-<field name="Range">-45 45</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Rangefinder turn time" name="APMrover2:RNGFND_TURN_TIME" documentation="The amount of time in seconds to apply the RNGFND_TURN_ANGL after detecting an obstacle." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Rangefinder debounce count" name="APMrover2:RNGFND_DEBOUNCE" documentation="The number of 50Hz rangefinder hits needed to trigger an obstacle avoidance event. If you get a lot of false sonar events then raise this number, but if you make it too large then it will cause lag in detecting obstacles, which could cause you go hit the obstacle." user="Standard">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Learning channel" name="APMrover2:LEARN_CH" documentation="RC Channel to use for learning waypoints" user="Advanced">
-</param>
-<param humanName="Mode channel" name="APMrover2:MODE_CH" documentation="RC Channel to use for driving mode control" user="Advanced">
-</param>
-<param humanName="Mode1" name="APMrover2:MODE1" documentation="Driving mode for switch position 1 (910 to 1230 and above 2049)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Mode2" name="APMrover2:MODE2" documentation="Driving mode for switch position 2 (1231 to 1360)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Mode3" name="APMrover2:MODE3" documentation="Driving mode for switch position 3 (1361 to 1490)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Mode4" name="APMrover2:MODE4" documentation="Driving mode for switch position 4 (1491 to 1620)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Mode5" name="APMrover2:MODE5" documentation="Driving mode for switch position 5 (1621 to 1749)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Mode6" name="APMrover2:MODE6" documentation="Driving mode for switch position 6 (1750 to 2049)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Waypoint radius" name="APMrover2:WP_RADIUS" documentation="The distance in meters from a waypoint when we consider the waypoint has been reached. This determines when the rover will turn along the next waypoint path." user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Turning maximum G force" name="APMrover2:TURN_MAX_G" documentation="The maximum turning acceleration (in units of gravities) that the rover can handle while remaining stable. The navigation code will keep the lateral acceleration below this level to avoid rolling over or slipping the wheels in turns" user="Standard">
-<field name="Range">0.2 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">gravities</field>
-</param>
-</parameters>
-</vehicles><libraries><parameters name="SERIAL">
-<param humanName="Serial0 baud rate" name="SERIAL0_BAUD" documentation="The baud rate used on the USB console. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Telem1 protocol selection" name="SERIAL1_PROTOCOL" documentation="Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="1">GCS Mavlink</value>
-<value code=" 3">Frsky D-PORT</value>
-<value code=" 4">Frsky S-PORT</value>
-<value code=" 5">GPS</value>
-<value code=" 7">Alexmos Gimbal Serial</value>
-<value code=" 8">SToRM32 Gimbal Serial</value>
-<value code=" 9">Lidar</value>
-</values>
-</param>
-<param humanName="Telem1 Baud Rate" name="SERIAL1_BAUD" documentation="The baud rate used on the Telem1 port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Telemetry 2 protocol selection" name="SERIAL2_PROTOCOL" documentation="Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="1">GCS Mavlink</value>
-<value code=" 3">Frsky D-PORT</value>
-<value code=" 4">Frsky S-PORT</value>
-<value code=" 5">GPS</value>
-<value code=" 7">Alexmos Gimbal Serial</value>
-<value code=" 8">SToRM32 Gimbal Serial</value>
-<value code=" 9">Lidar</value>
-</values>
-</param>
-<param humanName="Telemetry 2 Baud Rate" name="SERIAL2_BAUD" documentation="The baud rate of the Telem2 port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Serial 3 (GPS) protocol selection" name="SERIAL3_PROTOCOL" documentation="Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="1">GCS Mavlink</value>
-<value code=" 3">Frsky D-PORT</value>
-<value code=" 4">Frsky S-PORT</value>
-<value code=" 5">GPS</value>
-<value code=" 7">Alexmos Gimbal Serial</value>
-<value code=" 8">SToRM32 Gimbal Serial</value>
-<value code=" 9">Lidar</value>
-</values>
-</param>
-<param humanName="Serial 3 (GPS) Baud Rate" name="SERIAL3_BAUD" documentation="The baud rate used for the Serial 3 (GPS). The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Serial4 protocol selection" name="SERIAL4_PROTOCOL" documentation="Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="1">GCS Mavlink</value>
-<value code=" 3">Frsky D-PORT</value>
-<value code=" 4">Frsky S-PORT</value>
-<value code=" 5">GPS</value>
-<value code=" 7">Alexmos Gimbal Serial</value>
-<value code=" 8">SToRM32 Gimbal Serial</value>
-<value code=" 9">Lidar</value>
-</values>
-</param>
-<param humanName="Serial 4 Baud Rate" name="SERIAL4_BAUD" documentation="The baud rate used for Serial4. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-</parameters>
-<parameters name="GND_">
-<param humanName="Absolute Pressure" name="GND_ABS_PRESS" documentation="calibrated ground pressure in Pascals">
-<field name="ReadOnly">True</field>
-<field name="Volatile">True</field>
-<field name="Increment">1</field>
-<field name="Units">pascals</field>
-</param>
-<param humanName="ground temperature" name="GND_TEMP" documentation="calibrated ground temperature in degrees Celsius">
-<field name="ReadOnly">True</field>
-<field name="Volatile">True</field>
-<field name="Increment">1</field>
-<field name="Units">degrees celsius</field>
-</param>
-<param humanName="altitude offset" name="GND_ALT_OFFSET" documentation="altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.">
-<field name="Units">meters</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Primary barometer" name="GND_PRIMARY" documentation="This selects which barometer will be the primary if multiple barometers are found">
-<values>
-<value code="0">FirstBaro</value>
-<value code="1">2ndBaro</value>
-<value code="2">3rdBaro</value>
-</values>
-</param>
-</parameters>
-<parameters name="GPS_">
-<param humanName="GPS type" name="GPS_TYPE" documentation="GPS type">
-<values>
-<value code="0">None</value>
-<value code="1">AUTO</value>
-<value code="2">uBlox</value>
-<value code="3">MTK</value>
-<value code="4">MTK19</value>
-<value code="5">NMEA</value>
-<value code="6">SiRF</value>
-<value code="7">HIL</value>
-<value code="8">SwiftNav</value>
-<value code="9">PX4-UAVCAN</value>
-<value code="10">SBF</value>
-<value code="11">GSOF</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="2nd GPS type" name="GPS_TYPE2" documentation="GPS type of 2nd GPS">
-<values>
-<value code="0">None</value>
-<value code="1">AUTO</value>
-<value code="2">uBlox</value>
-<value code="3">MTK</value>
-<value code="4">MTK19</value>
-<value code="5">NMEA</value>
-<value code="6">SiRF</value>
-<value code="7">HIL</value>
-<value code="8">SwiftNav</value>
-<value code="9">PX4-UAVCAN</value>
-<value code="10">SBF</value>
-<value code="11">GSOF</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Navigation filter setting" name="GPS_NAVFILTER" documentation="Navigation filter engine setting">
-<values>
-<value code="0">Portable</value>
-<value code="2">Stationary</value>
-<value code="3">Pedestrian</value>
-<value code="4">Automotive</value>
-<value code="5">Sea</value>
-<value code="6">Airborne1G</value>
-<value code="7">Airborne2G</value>
-<value code="8">Airborne4G</value>
-</values>
-</param>
-<param humanName="Automatic Switchover Setting" name="GPS_AUTO_SWITCH" documentation="Automatic switchover to GPS reporting best lock" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Minimum Lock Type Accepted for DGPS" name="GPS_MIN_DGPS" documentation="Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode." user="Advanced">
-<values>
-<value code="0">Any</value>
-<value code="50">FloatRTK</value>
-<value code="100">IntegerRTK</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="SBAS Mode" name="GPS_SBAS_MODE" documentation="This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code="2">NoChange</value>
-</values>
-</param>
-<param humanName="Minimum elevation" name="GPS_MIN_ELEV" documentation="This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default." user="Advanced">
-<field name="Range">-100 90</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Destination for GPS_INJECT_DATA MAVLink packets" name="GPS_INJECT_TO" documentation="The GGS can send raw serial packets to inject data to multiple GPSes.">
-<values>
-<value code="0">send to first GPS</value>
-<value code="1">send to 2nd GPS</value>
-<value code="127">send to all</value>
-</values>
-</param>
-<param humanName="Swift Binary Protocol Logging Mask" name="GPS_SBP_LOGMASK" documentation="Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged" user="Advanced">
-<values>
-<value code="0x0000">None</value>
-<value code=" 0xFFFF">All</value>
-<value code=" 0xFF00">External only</value>
-</values>
-</param>
-<param humanName="Raw data logging" name="GPS_RAW_DATA" documentation="Enable logging of RXM raw data from uBlox which includes carrier phase and pseudo range information. This allows for post processing of dataflash logs for more precise positioning. Note that this requires a raw capable uBlox such as the 6P or 6T.">
-<values>
-<value code="0">Disabled</value>
-<value code="1">log every sample</value>
-<value code="5">log every 5 samples</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="GNSS system configuration" name="GPS_GNSS_MODE" documentation="Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
-<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS</field>
-<values>
-<value code="0">Leave as currently configured</value>
-<value code=" 1">GPS-NoSBAS</value>
-<value code=" 3">GPS+SBAS</value>
-<value code=" 4">Galileo-NoSBAS</value>
-<value code=" 6">Galileo+SBAS</value>
-<value code=" 8">Beidou</value>
-<value code=" 51">GPS+IMES+QZSS+SBAS (Japan Only)</value>
-<value code=" 64">GLONASS</value>
-<value code=" 66">GLONASS+SBAS</value>
-<value code=" 67">GPS+GLONASS+SBAS</value>
-</values>
-</param>
-<param humanName="Save GPS configuration" name="GPS_SAVE_CFG" documentation="Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above." user="Advanced">
-<values>
-<value code="0">Do not save config</value>
-<value code="1">Save config</value>
-<value code="2">Save only when needed</value>
-</values>
-</param>
-<param humanName="GNSS system configuration" name="GPS_GNSS_MODE2" documentation="Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
-<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS</field>
-<values>
-<value code="0">Leave as currently configured</value>
-<value code=" 1">GPS-NoSBAS</value>
-<value code=" 3">GPS+SBAS</value>
-<value code=" 4">Galileo-NoSBAS</value>
-<value code=" 6">Galileo+SBAS</value>
-<value code=" 8">Beidou</value>
-<value code=" 51">GPS+IMES+QZSS+SBAS (Japan Only)</value>
-<value code=" 64">GLONASS</value>
-<value code=" 66">GLONASS+SBAS</value>
-<value code=" 67">GPS+GLONASS+SBAS</value>
-</values>
-</param>
-<param humanName="Automatic GPS configuration" name="GPS_AUTO_CONFIG" documentation="Controls if the autopilot should automatically configure the GPS based on the parameters and default settings" user="Advanced">
-<values>
-<value code="0">Disables automatic configuration</value>
-<value code="1">Enable automatic configuration</value>
-</values>
-</param>
-</parameters>
-<parameters name="CAM_">
-<param humanName="Camera shutter (trigger) type" name="CAM_TRIGG_TYPE" documentation="how to trigger the camera to take a picture" user="Standard">
-<values>
-<value code="0">Servo</value>
-<value code="1">Relay</value>
-</values>
-</param>
-<param humanName="Duration that shutter is held open" name="CAM_DURATION" documentation="How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)" user="Standard">
-<field name="Range">0 50</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Servo ON PWM value" name="CAM_SERVO_ON" documentation="PWM value to move servo to when shutter is activated" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo OFF PWM value" name="CAM_SERVO_OFF" documentation="PWM value to move servo to when shutter is deactivated" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Camera trigger distance" name="CAM_TRIGG_DIST" documentation="Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the GPS position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight." user="Standard">
-<field name="Range">0 1000</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Relay ON value" name="CAM_RELAY_ON" documentation="This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera" user="Standard">
-<values>
-<value code="0">Low</value>
-<value code="1">High</value>
-</values>
-</param>
-<param humanName="Minimum time between photos" name="CAM_MIN_INTERVAL" documentation="Postpone shooting if previous picture was taken less than preset time(ms) ago." user="Standard">
-<field name="Range">0 10000</field>
-<field name="Units">milliseconds</field>
-</param>
-<param humanName="Maximum photo roll angle." name="CAM_MAX_ROLL" documentation="Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll)." user="Standard">
-<field name="Range">0 180</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Camera feedback pin" name="CAM_FEEDBACK_PIN" documentation="pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. See also the CAM_FEEDBACK_POL option" user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 0-8">APM FeedbackPin</value>
-<value code=" 50-55">PixHawk FeedbackPin</value>
-</values>
-</param>
-<param humanName="Camera feedback pin polarity" name="CAM_FEEDBACK_POL" documentation="Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low" user="Standard">
-<values>
-<value code="0">TriggerLow</value>
-<value code="1">TriggerHigh</value>
-</values>
-</param>
-</parameters>
-<parameters name="ARMING_">
-<param humanName="Require Arming Motors " name="ARMING_REQUIRE" documentation="Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately).  If 1, require rudder stick or GCS arming before arming motors and send THR_MIN PWM to throttle channel when disarmed.  If 2, require rudder stick or GCS arming and send 0 PWM to throttle channel when disarmed. See the ARMING_CHECK_* parameters to see what checks are done before arming. Note, if setting this parameter to 0 a reboot is required to arm the plane.  Also note, even with this parameter at 0, if ARMING_CHECK parameter is not also zero the plane may fail to arm throttle at boot due to a pre-arm check failure." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">THR_MIN PWM when disarmed</value>
-<value code="2">0 PWM when disarmed</value>
-</values>
-</param>
-<param humanName="Arm Checks to Peform (bitmask)" name="ARMING_CHECK" documentation="Checks prior to arming motor. This is a bitmask of checks that will be performed befor allowing arming. The default is no checks, allowing arming at any time. You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72. For most users it is recommended that you set this to 1 to enable all checks." user="Standard">
-<field name="Bitmask">0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC,7:Board voltage,8:Battery Level,9:Airspeed,10:Logging Available,11:Hardware safety switch,12:GPS Configuration</field>
-<values>
-<value code="0">None</value>
-<value code="1">All</value>
-<value code="2">Barometer</value>
-<value code="4">Compass</value>
-<value code="8">GPS Lock</value>
-<value code="16">INS(INertial Sensors - accels &amp; gyros)</value>
-<value code="32">Parameters(unused)</value>
-<value code="64">RC Failsafe</value>
-<value code="128">Board voltage</value>
-<value code="256">Battery Level</value>
-<value code="512">Airspeed</value>
-<value code="1024">LoggingAvailable</value>
-<value code="2048">Hardware safety switch</value>
-<value code="4096">GPS configuration</value>
-</values>
-</param>
-<param humanName="Accelerometer error threshold" name="ARMING_ACCTHRESH" documentation="Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal." user="Advanced">
-<field name="Range">0.25 3.0</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Minimum arming voltage on the first battery" name="ARMING_MIN_VOLT" documentation="The minimum voltage on the first battery to arm, 0 disabes the check" user="Standard">
-<field name="Increment">0.1 </field>
-<field name="Units">Volts</field>
-</param>
-<param humanName="Minimum arming voltage on the second battery" name="ARMING_MIN_VOLT2" documentation="The minimum voltage on the first battery to arm, 0 disabes the check" user="Standard">
-<field name="Increment">0.1 </field>
-<field name="Units">Volts</field>
-</param>
-</parameters>
-<parameters name="RELAY_">
-<param humanName="First Relay Pin" name="RELAY_PIN" documentation="Digital pin number for first relay control. This is the pin used for camera control." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="13">APM2 A9 pin</value>
-<value code="47">APM1 relay</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Second Relay Pin" name="RELAY_PIN2" documentation="Digital pin number for 2nd relay control." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="13">APM2 A9 pin</value>
-<value code="47">APM1 relay</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Third Relay Pin" name="RELAY_PIN3" documentation="Digital pin number for 3rd relay control." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="13">APM2 A9 pin</value>
-<value code="47">APM1 relay</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Fourth Relay Pin" name="RELAY_PIN4" documentation="Digital pin number for 4th relay control." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="13">APM2 A9 pin</value>
-<value code="47">APM1 relay</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Default relay state" name="RELAY_DEFAULT" documentation="The state of the relay on boot. " user="Standard">
-<values>
-<value code="0">Off</value>
-<value code="1">On</value>
-<value code="2">NoChange</value>
-</values>
-</param>
-</parameters>
-<parameters name="CHUTE_">
-<param humanName="Parachute release enabled or disabled" name="CHUTE_ENABLED" documentation="Parachute release enabled or disabled" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Parachute release mechanism type (relay or servo)" name="CHUTE_TYPE" documentation="Parachute release mechanism type (relay or servo)" user="Standard">
-<values>
-<value code="0">First Relay</value>
-<value code="1">Second Relay</value>
-<value code="2">Third Relay</value>
-<value code="3">Fourth Relay</value>
-<value code="10">Servo</value>
-</values>
-</param>
-<param humanName="Parachute Servo ON PWM value" name="CHUTE_SERVO_ON" documentation="Parachute Servo PWM value when parachute is released" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo OFF PWM value" name="CHUTE_SERVO_OFF" documentation="Parachute Servo PWM value when parachute is not released" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Parachute min altitude in meters above home" name="CHUTE_ALT_MIN" documentation="Parachute min altitude above home.  Parachute will not be released below this altitude.  0 to disable alt check." user="Standard">
-<field name="Range">0 32000</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-</parameters>
-<parameters name="RNGFND">
-<param humanName="Rangefinder type" name="RNGFND_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Analog</value>
-<value code="2">APM2-MaxbotixI2C</value>
-<value code="3">APM2-PulsedLightI2C</value>
-<value code="4">PX4-I2C</value>
-<value code="5">PX4-PWM</value>
-<value code="6">BBB-PRU</value>
-<value code="7">LightWareI2C</value>
-<value code="8">LightWareSerial</value>
-</values>
-</param>
-<param humanName="Rangefinder pin" name="RNGFND_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
-<values>
-<value code="-1">Not Used</value>
-<value code=" 0">APM2-A0</value>
-<value code=" 1">APM2-A1</value>
-<value code=" 2">APM2-A2</value>
-<value code=" 3">APM2-A3</value>
-<value code=" 4">APM2-A4</value>
-<value code=" 5">APM2-A5</value>
-<value code=" 6">APM2-A6</value>
-<value code=" 7">APM2-A7</value>
-<value code=" 8">APM2-A8</value>
-<value code=" 9">APM2-A9</value>
-<value code=" 11">PX4-airspeed port</value>
-<value code=" 15">Pixhawk-airspeed port</value>
-<value code=" 64">APM1-airspeed port</value>
-</values>
-</param>
-<param humanName="Rangefinder scaling" name="RNGFND_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
-<field name="Increment">0.001</field>
-<field name="Units">meters/Volt</field>
-</param>
-<param humanName="rangefinder offset" name="RNGFND_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
-<field name="Increment">0.001</field>
-<field name="Units">Volts</field>
-</param>
-<param humanName="Rangefinder function" name="RNGFND_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
-<values>
-<value code="0">Linear</value>
-<value code="1">Inverted</value>
-<value code="2">Hyperbolic</value>
-</values>
-</param>
-<param humanName="Rangefinder minimum distance" name="RNGFND_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Rangefinder maximum distance" name="RNGFND_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Rangefinder stop pin" name="RNGFND_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Standard">
-<values>
-<value code="-1">Not Used</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Rangefinder settle time" name="RNGFND_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Standard">
-<field name="Increment">1</field>
-<field name="Units">milliseconds</field>
-</param>
-<param humanName="Ratiometric" name="RNGFND_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
-<values>
-<value code="0">No</value>
-<value code="1">Yes</value>
-</values>
-</param>
-<param humanName="Powersave range" name="RNGFND_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
-<field name="Range">0 32767</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Second Rangefinder type" name="RNGFND2_TYPE" documentation="What type of rangefinder device that is connected" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Analog</value>
-<value code="2">APM2-MaxbotixI2C</value>
-<value code="3">APM2-PulsedLightI2C</value>
-<value code="4">PX4-I2C</value>
-<value code="5">PX4-PWM</value>
-<value code="6">BBB-PRU</value>
-<value code="7">LightWareI2C</value>
-<value code="8">LightWareSerial</value>
-</values>
-</param>
-<param humanName="Rangefinder pin" name="RNGFND2_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Advanced">
-<values>
-<value code="-1">Not Used</value>
-<value code=" 0">APM2-A0</value>
-<value code=" 1">APM2-A1</value>
-<value code=" 2">APM2-A2</value>
-<value code=" 3">APM2-A3</value>
-<value code=" 4">APM2-A4</value>
-<value code=" 5">APM2-A5</value>
-<value code=" 6">APM2-A6</value>
-<value code=" 7">APM2-A7</value>
-<value code=" 8">APM2-A8</value>
-<value code=" 9">APM2-A9</value>
-<value code=" 11">PX4-airspeed port</value>
-<value code=" 15">Pixhawk-airspeed port</value>
-<value code=" 64">APM1-airspeed port</value>
-</values>
-</param>
-<param humanName="Rangefinder scaling" name="RNGFND2_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Advanced">
-<field name="Increment">0.001</field>
-<field name="Units">meters/Volt</field>
-</param>
-<param humanName="rangefinder offset" name="RNGFND2_OFFSET" documentation="Offset in volts for zero distance" user="Advanced">
-<field name="Increment">0.001</field>
-<field name="Units">Volts</field>
-</param>
-<param humanName="Rangefinder function" name="RNGFND2_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Advanced">
-<values>
-<value code="0">Linear</value>
-<value code="1">Inverted</value>
-<value code="2">Hyperbolic</value>
-</values>
-</param>
-<param humanName="Rangefinder minimum distance" name="RNGFND2_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Advanced">
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Rangefinder maximum distance" name="RNGFND2_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Advanced">
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Rangefinder stop pin" name="RNGFND2_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Advanced">
-<values>
-<value code="-1">Not Used</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Sonar settle time" name="RNGFND2_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Advanced">
-<field name="Increment">1</field>
-<field name="Units">milliseconds</field>
-</param>
-<param humanName="Ratiometric" name="RNGFND2_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Advanced">
-<values>
-<value code="0">No</value>
-<value code="1">Yes</value>
-</values>
-</param>
-<param humanName="Distance (in cm) from the second range finder to the ground" name="RNGFND2_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the second range finder should return when the vehicle is on the ground." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Bus address of sensor" name="RNGFND_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Bus address of 2nd rangefinder" name="RNGFND2_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Second Rangefinder type" name="RNGFND3_TYPE" documentation="What type of rangefinder device that is connected">
-<values>
-<value code="0">None</value>
-<value code="1">Analog</value>
-<value code="2">APM2-MaxbotixI2C</value>
-<value code="3">APM2-PulsedLightI2C</value>
-<value code="4">PX4-I2C</value>
-<value code="5">PX4-PWM</value>
-<value code="6">BBB-PRU</value>
-<value code="7">LightWareI2C</value>
-<value code="8">LightWareSerial</value>
-</values>
-</param>
-<param humanName="Rangefinder pin" name="RNGFND3_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port.">
-<values>
-<value code="-1">Not Used</value>
-<value code=" 0">APM2-A0</value>
-<value code=" 1">APM2-A1</value>
-<value code=" 2">APM2-A2</value>
-<value code=" 3">APM2-A3</value>
-<value code=" 4">APM2-A4</value>
-<value code=" 5">APM2-A5</value>
-<value code=" 6">APM2-A6</value>
-<value code=" 7">APM2-A7</value>
-<value code=" 8">APM2-A8</value>
-<value code=" 9">APM2-A9</value>
-<value code=" 11">PX4-airspeed port</value>
-<value code=" 15">Pixhawk-airspeed port</value>
-<value code=" 64">APM1-airspeed port</value>
-</values>
-</param>
-<param humanName="Rangefinder scaling" name="RNGFND3_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.">
-<field name="Units">meters/Volt</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="rangefinder offset" name="RNGFND3_OFFSET" documentation="Offset in volts for zero distance">
-<field name="Units">Volts</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Rangefinder function" name="RNGFND3_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.">
-<values>
-<value code="0">Linear</value>
-<value code="1">Inverted</value>
-<value code="2">Hyperbolic</value>
-</values>
-</param>
-<param humanName="Rangefinder minimum distance" name="RNGFND3_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read">
-<field name="Units">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder maximum distance" name="RNGFND3_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read">
-<field name="Units">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder stop pin" name="RNGFND3_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other.">
-<values>
-<value code="-1">Not Used</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Sonar settle time" name="RNGFND3_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.">
-<field name="Units">milliseconds</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Ratiometric" name="RNGFND3_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.">
-<values>
-<value code="0">No</value>
-<value code="1">Yes</value>
-</values>
-</param>
-<param humanName="Distance (in cm) from the second range finder to the ground" name="RNGFND3_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the second range finder should return when the vehicle is on the ground." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Bus address of 2nd rangefinder" name="RNGFND3_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Second Rangefinder type" name="RNGFND4_TYPE" documentation="What type of rangefinder device that is connected">
-<values>
-<value code="0">None</value>
-<value code="1">Analog</value>
-<value code="2">APM2-MaxbotixI2C</value>
-<value code="3">APM2-PulsedLightI2C</value>
-<value code="4">PX4-I2C</value>
-<value code="5">PX4-PWM</value>
-<value code="6">BBB-PRU</value>
-<value code="7">LightWareI2C</value>
-<value code="8">LightWareSerial</value>
-</values>
-</param>
-<param humanName="Rangefinder pin" name="RNGFND4_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port.">
-<values>
-<value code="-1">Not Used</value>
-<value code=" 0">APM2-A0</value>
-<value code=" 1">APM2-A1</value>
-<value code=" 2">APM2-A2</value>
-<value code=" 3">APM2-A3</value>
-<value code=" 4">APM2-A4</value>
-<value code=" 5">APM2-A5</value>
-<value code=" 6">APM2-A6</value>
-<value code=" 7">APM2-A7</value>
-<value code=" 8">APM2-A8</value>
-<value code=" 9">APM2-A9</value>
-<value code=" 11">PX4-airspeed port</value>
-<value code=" 15">Pixhawk-airspeed port</value>
-<value code=" 64">APM1-airspeed port</value>
-</values>
-</param>
-<param humanName="Rangefinder scaling" name="RNGFND4_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.">
-<field name="Units">meters/Volt</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="rangefinder offset" name="RNGFND4_OFFSET" documentation="Offset in volts for zero distance">
-<field name="Units">Volts</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Rangefinder function" name="RNGFND4_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.">
-<values>
-<value code="0">Linear</value>
-<value code="1">Inverted</value>
-<value code="2">Hyperbolic</value>
-</values>
-</param>
-<param humanName="Rangefinder minimum distance" name="RNGFND4_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read">
-<field name="Units">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder maximum distance" name="RNGFND4_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read">
-<field name="Units">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder stop pin" name="RNGFND4_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other.">
-<values>
-<value code="-1">Not Used</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Sonar settle time" name="RNGFND4_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.">
-<field name="Units">milliseconds</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Ratiometric" name="RNGFND4_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.">
-<values>
-<value code="0">No</value>
-<value code="1">Yes</value>
-</values>
-</param>
-<param humanName="Distance (in cm) from the second range finder to the ground" name="RNGFND4_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the second range finder should return when the vehicle is on the ground." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Bus address of 2nd rangefinder" name="RNGFND4_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="TERRAIN_">
-<param humanName="Terrain data enable" name="TERRAIN_ENABLE" documentation="enable terrain data. This enables the vehicle storing a database of terrain data on the SD card. The terrain data is requested from the ground station as needed, and stored for later use on the SD card. To be useful the ground station must support TERRAIN_REQUEST messages and have access to a terrain database, such as the SRTM database.">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-<param humanName="Terrain grid spacing" name="TERRAIN_SPACING" documentation="Distance between terrain grid points in meters. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station. If your GCS is using the worldwide SRTM database then a resolution of 100 meters is appropriate. Some parts of the world may have higher resolution data available, such as 30 meter data available in the SRTM database in the USA. The grid spacing also controls how much data is kept in memory during flight. A larger grid spacing will allow for a larger amount of data in memory. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2.7 kilometers by 3.2 kilometers. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be demand loaded as needed.">
-<field name="Units">meters</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="ADSB_">
-<param humanName="Enable ADSB" name="ADSB_ENABLE" documentation="Enable ADS-B" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="ADSB based Collision Avoidance Behavior" name="ADSB_BEHAVIOR" documentation="ADSB based Collision Avoidance Behavior selector" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Loiter</value>
-<value code="2">LoiterAndDescend</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC1_">
-<param humanName="RC min PWM" name="RC1_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC1_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC1_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC1_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC1_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="RC2_">
-<param humanName="RC min PWM" name="RC2_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC2_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC2_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC2_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC2_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="RC3_">
-<param humanName="RC min PWM" name="RC3_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC3_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC3_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC3_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC3_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="RC4_">
-<param humanName="RC min PWM" name="RC4_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC4_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC4_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC4_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC4_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="RC5_">
-<param humanName="RC min PWM" name="RC5_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC5_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC5_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC5_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC5_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC5_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC6_">
-<param humanName="RC min PWM" name="RC6_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC6_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC6_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC6_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC6_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC6_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC7_">
-<param humanName="RC min PWM" name="RC7_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC7_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC7_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC7_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC7_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC7_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC8_">
-<param humanName="RC min PWM" name="RC8_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC8_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC8_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC8_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC8_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC8_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC9_">
-<param humanName="RC min PWM" name="RC9_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC9_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC9_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC9_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC9_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC9_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC10_">
-<param humanName="RC min PWM" name="RC10_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC10_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC10_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC10_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC10_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC10_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC11_">
-<param humanName="RC min PWM" name="RC11_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC11_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC11_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC11_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC11_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC11_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC12_">
-<param humanName="RC min PWM" name="RC12_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC12_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC12_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC12_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC12_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC12_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC13_">
-<param humanName="RC min PWM" name="RC13_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC13_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC13_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC13_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC13_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC13_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC14_">
-<param humanName="RC min PWM" name="RC14_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC14_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC14_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC14_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC14_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC14_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-</values>
-</param>
-</parameters>
-<parameters name="RLL2SRV_">
-<param humanName="Roll Time Constant" name="RLL2SRV_TCONST" documentation="This controls the time constant in seconds from demanded to achieved bank angle. A value of 0.5 is a good default and will work with nearly all models. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the aircraft can achieve." user="Advanced">
-<field name="Range">0.4 1.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Proportional Gain" name="RLL2SRV_P" documentation="This is the gain from bank angle error to aileron." user="User">
-<field name="Range">0.1 4.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Damping Gain" name="RLL2SRV_D" documentation="This is the gain from roll rate to aileron. This adjusts the damping of the roll control loop. It has the same effect as RLL2SRV_D in the old PID controller but without the spikes in servo demands. This gain helps to reduce rolling in turbulence. It should be increased in 0.01 increments as too high a value can lead to a high frequency roll oscillation that could overstress the airframe." user="User">
-<field name="Range">0 0.1</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Integrator Gain" name="RLL2SRV_I" documentation="This is the gain from the integral of bank angle to aileron. It has the same effect as RLL2SRV_I in the old PID controller. Increasing this gain causes the controller to trim out steady offsets due to an out of trim aircraft." user="User">
-<field name="Range">0 1.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Maximum Roll Rate" name="RLL2SRV_RMAX" documentation="This sets the maximum roll rate that the controller will demand (degrees/sec). Setting it to zero disables the limit. If this value is set too low, then the roll can't keep up with the navigation demands and the plane will start weaving. If it is set too high (or disabled by setting to zero) then ailerons will get large inputs at the start of turns. A limit of 60 degrees/sec is a good default." user="Advanced">
-<field name="Range">0 180</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Integrator limit" name="RLL2SRV_IMAX" documentation="This limits the number of degrees of aileron in centi-degrees over which the integrator will operate. At the default setting of 3000 centi-degrees, the integrator will be limited to +- 30 degrees of servo travel. The maximum servo deflection is +- 45 centi-degrees, so the default value represents a 2/3rd of the total control throw which is adequate unless the aircraft is severely out of trim." user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Feed forward Gain" name="RLL2SRV_FF" documentation="This is the gain from demanded rate to aileron output. " user="User">
-<field name="Range">0.1 4.0</field>
-<field name="Increment">0.1</field>
-</param>
-</parameters>
-<parameters name="PTCH2SRV_">
-<param humanName="Pitch Time Constant" name="PTCH2SRV_TCONST" documentation="This controls the time constant in seconds from demanded to achieved pitch angle. A value of 0.5 is a good default and will work with nearly all models. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the aircraft can achieve." user="Advanced">
-<field name="Range">0.4 1.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Proportional Gain" name="PTCH2SRV_P" documentation="This is the gain from pitch angle to elevator. This gain works the same way as PTCH2SRV_P in the old PID controller and can be set to the same value." user="User">
-<field name="Range">0.1 3.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Damping Gain" name="PTCH2SRV_D" documentation="This is the gain from pitch rate to elevator. This adjusts the damping of the pitch control loop. It has the same effect as PTCH2SRV_D in the old PID controller and can be set to the same value, but without the spikes in servo demands. This gain helps to reduce pitching in turbulence. Some airframes such as flying wings that have poor pitch damping can benefit from increasing this gain term. This should be increased in 0.01 increments as too high a value can lead to a high frequency pitch oscillation that could overstress the airframe." user="User">
-<field name="Range">0 0.1</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Integrator Gain" name="PTCH2SRV_I" documentation="This is the gain applied to the integral of pitch angle. It has the same effect as PTCH2SRV_I in the old PID controller and can be set to the same value. Increasing this gain causes the controller to trim out constant offsets between demanded and measured pitch angle." user="User">
-<field name="Range">0 0.5</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Pitch up max rate" name="PTCH2SRV_RMAX_UP" documentation="This sets the maximum nose up pitch rate that the controller will demand (degrees/sec). Setting it to zero disables the limit." user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Pitch down max rate" name="PTCH2SRV_RMAX_DN" documentation="This sets the maximum nose down pitch rate that the controller will demand (degrees/sec). Setting it to zero disables the limit." user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Roll compensation" name="PTCH2SRV_RLL" documentation="This is the gain term that is applied to the pitch rate offset calculated as required to keep the nose level during turns. The default value is 1 which will work for all models. Advanced users can use it to correct for height variation in turns. If height is lost initially in turns this can be increased in small increments of 0.05 to compensate. If height is gained initially in turns then it can be decreased." user="User">
-<field name="Range">0.7 1.5</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Integrator limit" name="PTCH2SRV_IMAX" documentation="This limits the number of centi-degrees of elevator over which the integrator will operate. At the default setting of 3000 centi-degrees, the integrator will be limited to +- 30 degrees of servo travel. The maximum servo deflection is +- 45 degrees, so the default value represents a 2/3rd of the total control throw which is adequate for most aircraft unless they are severely out of trim or have very limited elevator control effectiveness." user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Feed forward Gain" name="PTCH2SRV_FF" documentation="This is the gain from demanded rate to elevator output. " user="User">
-<field name="Range">0.1 4.0</field>
-<field name="Increment">0.1</field>
-</param>
-</parameters>
-<parameters name="YAW2SRV_">
-<param humanName="Sideslip control gain" name="YAW2SRV_SLIP" documentation="This is the gain from measured lateral acceleration to demanded yaw rate. It should be set to zero unless active control of sideslip is desired. This will only work effectively if there is enough fuselage side area to generate a measureable lateral acceleration when the model sideslips. Flying wings and most gliders cannot use this term. This term should only be adjusted after the basic yaw damper gain YAW2SRV_DAMP is tuned and the YAW2SRV_INT integrator gain has been set. Set this gain to zero if only yaw damping is required.">
-<field name="Range">0 4</field>
-<field name="Increment">0.25</field>
-</param>
-<param humanName="Sideslip control integrator" name="YAW2SRV_INT" documentation="This is the integral gain from lateral acceleration error. This gain should only be non-zero if active control over sideslip is desired. If active control over sideslip is required then this can be set to 1.0 as a first try.">
-<field name="Range">0 2</field>
-<field name="Increment">0.25</field>
-</param>
-<param humanName="Yaw damping" name="YAW2SRV_DAMP" documentation="This is the gain from yaw rate to rudder. It acts as a damper on yaw motion. If a basic yaw damper is required, this gain term can be incremented, whilst leaving the YAW2SRV_SLIP and YAW2SRV_INT gains at zero. Note that unlike with a standard PID controller, if this damping term is zero then the integrator will also be disabled.">
-<field name="Range">0 2</field>
-<field name="Increment">0.25</field>
-</param>
-<param humanName="Yaw coordination gain" name="YAW2SRV_RLL" documentation="This is the gain term that is applied to the yaw rate offset calculated as required to keep the yaw rate consistent with the turn rate for a coordinated turn. The default value is 1 which will work for all models. Advanced users can use it to correct for any tendency to yaw away from or into the turn once the turn is established. Increase to make the model yaw more initially and decrease to make the model yaw less initially. If values greater than 1.1 or less than 0.9 are required then it normally indicates a problem with the airspeed calibration.">
-<field name="Range">0.8 1.2</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Integrator limit" name="YAW2SRV_IMAX" documentation="This limits the number of centi-degrees of rudder over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 degrees, so the default value represents a 1/3rd of the total control throw which is adequate for most aircraft unless they are severely out of trim or have very limited rudder control effectiveness." user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="STEER2SRV_">
-<param humanName="Steering Time Constant" name="STEER2SRV_TCONST" documentation="This controls the time constant in seconds from demanded to achieved steering angle. A value of 0.75 is a good default and will work with nearly all rovers. Ground steering in aircraft needs a bit smaller time constant, and a value of 0.5 is recommended for best ground handling in fixed wing aircraft. A value of 0.75 means that the controller will try to correct any deviation between the desired and actual steering angle in 0.75 seconds. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the vehicle can achieve." user="Advanced">
-<field name="Range">0.4 1.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Steering turning gain" name="STEER2SRV_P" documentation="The proportional gain for steering. This should be approximately equal to the diameter of the turning circle of the vehicle at low speed and maximum steering angle" user="User">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Integrator Gain" name="STEER2SRV_I" documentation="This is the gain from the integral of steering angle. Increasing this gain causes the controller to trim out steady offsets due to an out of trim vehicle." user="User">
-<field name="Range">0 1.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Damping Gain" name="STEER2SRV_D" documentation="This adjusts the damping of the steering control loop. This gain helps to reduce steering jitter with vibration. It should be increased in 0.01 increments as too high a value can lead to a high frequency steering oscillation that could overstress the vehicle." user="User">
-<field name="Range">0 0.1</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Integrator limit" name="STEER2SRV_IMAX" documentation="This limits the number of degrees of steering in centi-degrees over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 centi-degrees, so the default value represents a 1/3rd of the total control throw which is adequate unless the vehicle is severely out of trim." user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Minimum speed" name="STEER2SRV_MINSPD" documentation="This is the minimum assumed ground speed in meters/second for steering. Having a minimum speed prevents oscillations when the vehicle first starts moving. The vehicle can still drive slower than this limit, but the steering calculations will be done based on this minimum speed." user="User">
-<field name="Range">0 5</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Steering feed forward" name="STEER2SRV_FF" documentation="The feed forward gain for steering this is the ratio of the achieved turn rate to applied steering. A value of 1 means that the vehicle would yaw at a rate of 45 degrees per second with full steering deflection at 1m/s ground speed." user="User">
-<field name="Range">0.0 10.0</field>
-<field name="Increment">0.1</field>
-</param>
-</parameters>
-<parameters name="COMPASS_">
-<param humanName="Compass offsets in milligauss on the X axis" name="COMPASS_OFS_X" documentation="Offset to be added to the compass x-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Compass offsets in milligauss on the Y axis" name="COMPASS_OFS_Y" documentation="Offset to be added to the compass y-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Compass offsets in milligauss on the Z axis" name="COMPASS_OFS_Z" documentation="Offset to be added to the compass z-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Compass declination" name="COMPASS_DEC" documentation="An angle to compensate between the true north and magnetic north" user="Standard">
-<field name="Range">-3.142 3.142</field>
-<field name="Increment">0.01</field>
-<field name="Units">Radians</field>
-</param>
-<param humanName="Learn compass offsets automatically" name="COMPASS_LEARN" documentation="Enable or disable the automatic learning of compass offsets" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Use compass for yaw" name="COMPASS_USE" documentation="Enable or disable the use of the compass (instead of the GPS) for determining heading" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Auto Declination" name="COMPASS_AUTODEC" documentation="Enable or disable the automatic calculation of the declination based on gps location" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Motor interference compensation type" name="COMPASS_MOTCT" documentation="Set motor interference compensation type to disabled, throttle or current.  Do not change manually." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Use Throttle</value>
-<value code="2">Use Current</value>
-</values>
-</param>
-<param humanName="Motor interference compensation for body frame X axis" name="COMPASS_MOT_X" documentation="Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation for body frame Y axis" name="COMPASS_MOT_Y" documentation="Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation for body frame Z axis" name="COMPASS_MOT_Z" documentation="Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Compass orientation" name="COMPASS_ORIENT" documentation="The orientation of the compass relative to the autopilot board. This will default to the right value for each board type, but can be changed if you have an external compass. See the documentation for your external compass for the right value. The correct orientation should give the X axis forward, the Y axis to the right and the Z axis down. So if your aircraft is pointing west it should show a positive value for the Y axis, and a value close to zero for the X axis. On a PX4 or Pixhawk with an external compass the correct value is zero if the compass is correctly oriented. NOTE: This orientation is combined with any AHRS_ORIENTATION setting." user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Yaw45</value>
-<value code="2">Yaw90</value>
-<value code="3">Yaw135</value>
-<value code="4">Yaw180</value>
-<value code="5">Yaw225</value>
-<value code="6">Yaw270</value>
-<value code="7">Yaw315</value>
-<value code="8">Roll180</value>
-<value code="9">Roll180Yaw45</value>
-<value code="10">Roll180Yaw90</value>
-<value code="11">Roll180Yaw135</value>
-<value code="12">Pitch180</value>
-<value code="13">Roll180Yaw225</value>
-<value code="14">Roll180Yaw270</value>
-<value code="15">Roll180Yaw315</value>
-<value code="16">Roll90</value>
-<value code="17">Roll90Yaw45</value>
-<value code="18">Roll90Yaw90</value>
-<value code="19">Roll90Yaw135</value>
-<value code="20">Roll270</value>
-<value code="21">Roll270Yaw45</value>
-<value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw136</value>
-<value code="24">Pitch90</value>
-<value code="25">Pitch270</value>
-<value code="26">Pitch180Yaw90</value>
-<value code="27">Pitch180Yaw270</value>
-<value code="28">Roll90Pitch90</value>
-<value code="29">Roll180Pitch90</value>
-<value code="30">Roll270Pitch90</value>
-<value code="31">Roll90Pitch180</value>
-<value code="32">Roll270Pitch180</value>
-<value code="33">Roll90Pitch270</value>
-<value code="34">Roll180Pitch270</value>
-<value code="35">Roll270Pitch270</value>
-<value code="36">Roll90Pitch180Yaw90</value>
-<value code="37">Roll90Yaw270</value>
-<value code="38">Yaw293Pitch68Roll90</value>
-</values>
-</param>
-<param humanName="Compass is attached via an external cable" name="COMPASS_EXTERNAL" documentation="Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk, but must be set correctly on an APM2. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option" user="Advanced">
-<values>
-<value code="0">Internal</value>
-<value code="1">External</value>
-</values>
-</param>
-<param humanName="Compass2 offsets in milligauss on the X axis" name="COMPASS_OFS2_X" documentation="Offset to be added to compass2's x-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Compass2 offsets in milligauss on the Y axis" name="COMPASS_OFS2_Y" documentation="Offset to be added to compass2's y-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Compass2 offsets in milligauss on the Z axis" name="COMPASS_OFS2_Z" documentation="Offset to be added to compass2's z-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Motor interference compensation to compass2 for body frame X axis" name="COMPASS_MOT2_X" documentation="Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation to compass2 for body frame Y axis" name="COMPASS_MOT2_Y" documentation="Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation to compass2 for body frame Z axis" name="COMPASS_MOT2_Z" documentation="Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Choose primary compass" name="COMPASS_PRIMARY" documentation="If more than one compass is available this selects which compass is the primary. Normally 0=External, 1=Internal. If no External compass is attached this parameter is ignored" user="Advanced">
-<values>
-<value code="0">FirstCompass</value>
-<value code="1">SecondCompass</value>
-<value code="2">ThirdCompass</value>
-</values>
-</param>
-<param humanName="Compass3 offsets in milligauss on the X axis" name="COMPASS_OFS3_X" documentation="Offset to be added to compass3's x-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Compass3 offsets in milligauss on the Y axis" name="COMPASS_OFS3_Y" documentation="Offset to be added to compass3's y-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Compass3 offsets in milligauss on the Z axis" name="COMPASS_OFS3_Z" documentation="Offset to be added to compass3's z-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Motor interference compensation to compass3 for body frame X axis" name="COMPASS_MOT3_X" documentation="Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation to compass3 for body frame Y axis" name="COMPASS_MOT3_Y" documentation="Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation to compass3 for body frame Z axis" name="COMPASS_MOT3_Z" documentation="Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Compass device id" name="COMPASS_DEV_ID" documentation="Compass device id.  Automatically detected, do not set manually">
-</param>
-<param humanName="Compass2 device id" name="COMPASS_DEV_ID2" documentation="Second compass's device id.  Automatically detected, do not set manually">
-</param>
-<param humanName="Compass3 device id" name="COMPASS_DEV_ID3" documentation="Third compass's device id.  Automatically detected, do not set manually">
-</param>
-<param humanName="Compass2 used for yaw" name="COMPASS_USE2" documentation="Enable or disable the second compass for determining heading." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Compass2 orientation" name="COMPASS_ORIENT2" documentation="The orientation of the second compass relative to the frame (if external) or autopilot board (if internal)." user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Yaw45</value>
-<value code="2">Yaw90</value>
-<value code="3">Yaw135</value>
-<value code="4">Yaw180</value>
-<value code="5">Yaw225</value>
-<value code="6">Yaw270</value>
-<value code="7">Yaw315</value>
-<value code="8">Roll180</value>
-<value code="9">Roll180Yaw45</value>
-<value code="10">Roll180Yaw90</value>
-<value code="11">Roll180Yaw135</value>
-<value code="12">Pitch180</value>
-<value code="13">Roll180Yaw225</value>
-<value code="14">Roll180Yaw270</value>
-<value code="15">Roll180Yaw315</value>
-<value code="16">Roll90</value>
-<value code="17">Roll90Yaw45</value>
-<value code="18">Roll90Yaw90</value>
-<value code="19">Roll90Yaw135</value>
-<value code="20">Roll270</value>
-<value code="21">Roll270Yaw45</value>
-<value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw136</value>
-<value code="24">Pitch90</value>
-<value code="25">Pitch270</value>
-<value code="26">Pitch180Yaw90</value>
-<value code="27">Pitch180Yaw270</value>
-<value code="28">Roll90Pitch90</value>
-<value code="29">Roll180Pitch90</value>
-<value code="30">Roll270Pitch90</value>
-<value code="31">Roll90Pitch180</value>
-<value code="32">Roll270Pitch180</value>
-<value code="33">Roll90Pitch270</value>
-<value code="34">Roll180Pitch270</value>
-<value code="35">Roll270Pitch270</value>
-<value code="36">Roll90Pitch180Yaw90</value>
-<value code="37">Roll90Yaw270</value>
-<value code="38">Yaw293Pitch68Roll90</value>
-</values>
-</param>
-<param humanName="Compass2 is attached via an external cable" name="COMPASS_EXTERN2" documentation="Configure second compass so it is attached externally. This is auto-detected on PX4 and Pixhawk." user="Advanced">
-<values>
-<value code="0">Internal</value>
-<value code="1">External</value>
-</values>
-</param>
-<param humanName="Compass3 used for yaw" name="COMPASS_USE3" documentation="Enable or disable the third compass for determining heading." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Compass3 orientation" name="COMPASS_ORIENT3" documentation="The orientation of the third compass relative to the frame (if external) or autopilot board (if internal)." user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Yaw45</value>
-<value code="2">Yaw90</value>
-<value code="3">Yaw135</value>
-<value code="4">Yaw180</value>
-<value code="5">Yaw225</value>
-<value code="6">Yaw270</value>
-<value code="7">Yaw315</value>
-<value code="8">Roll180</value>
-<value code="9">Roll180Yaw45</value>
-<value code="10">Roll180Yaw90</value>
-<value code="11">Roll180Yaw135</value>
-<value code="12">Pitch180</value>
-<value code="13">Roll180Yaw225</value>
-<value code="14">Roll180Yaw270</value>
-<value code="15">Roll180Yaw315</value>
-<value code="16">Roll90</value>
-<value code="17">Roll90Yaw45</value>
-<value code="18">Roll90Yaw90</value>
-<value code="19">Roll90Yaw135</value>
-<value code="20">Roll270</value>
-<value code="21">Roll270Yaw45</value>
-<value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw136</value>
-<value code="24">Pitch90</value>
-<value code="25">Pitch270</value>
-<value code="26">Pitch180Yaw90</value>
-<value code="27">Pitch180Yaw270</value>
-<value code="28">Roll90Pitch90</value>
-<value code="29">Roll180Pitch90</value>
-<value code="30">Roll270Pitch90</value>
-<value code="31">Roll90Pitch180</value>
-<value code="32">Roll270Pitch180</value>
-<value code="33">Roll90Pitch270</value>
-<value code="34">Roll180Pitch270</value>
-<value code="35">Roll270Pitch270</value>
-<value code="36">Roll90Pitch180Yaw90</value>
-<value code="37">Roll90Yaw270</value>
-<value code="38">Yaw293Pitch68Roll90</value>
-</values>
-</param>
-<param humanName="Compass3 is attached via an external cable" name="COMPASS_EXTERN3" documentation="Configure third compass so it is attached externally. This is auto-detected on PX4 and Pixhawk." user="Advanced">
-<values>
-<value code="0">Internal</value>
-<value code="1">External</value>
-</values>
-</param>
-<param humanName="Compass soft-iron diagonal X component" name="COMPASS_DIA_X" documentation="DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass soft-iron diagonal Y component" name="COMPASS_DIA_Y" documentation="DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass soft-iron diagonal Z component" name="COMPASS_DIA_Z" documentation="DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass soft-iron off-diagonal X component" name="COMPASS_ODI_X" documentation="ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass soft-iron off-diagonal Y component" name="COMPASS_ODI_Y" documentation="ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass soft-iron off-diagonal Z component" name="COMPASS_ODI_Z" documentation="ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass2 soft-iron diagonal X component" name="COMPASS_DIA2_X" documentation="DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass2 soft-iron diagonal Y component" name="COMPASS_DIA2_Y" documentation="DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass2 soft-iron diagonal Z component" name="COMPASS_DIA2_Z" documentation="DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass2 soft-iron off-diagonal X component" name="COMPASS_ODI2_X" documentation="ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass2 soft-iron off-diagonal Y component" name="COMPASS_ODI2_Y" documentation="ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass2 soft-iron off-diagonal Z component" name="COMPASS_ODI2_Z" documentation="ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass3 soft-iron diagonal X component" name="COMPASS_DIA3_X" documentation="DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass3 soft-iron diagonal Y component" name="COMPASS_DIA3_Y" documentation="DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass3 soft-iron diagonal Z component" name="COMPASS_DIA3_Z" documentation="DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass3 soft-iron off-diagonal X component" name="COMPASS_ODI3_X" documentation="ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass3 soft-iron off-diagonal Y component" name="COMPASS_ODI3_Y" documentation="ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass3 soft-iron off-diagonal Z component" name="COMPASS_ODI3_Z" documentation="ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass calibration fitness" name="COMPASS_CAL_FIT" documentation="This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value." user="Advanced">
-<field name="Range">4 20</field>
-<field name="Increment">0.1</field>
-</param>
-</parameters>
-<parameters name="SCHED_">
-<param humanName="Scheduler debug level" name="SCHED_DEBUG" documentation='Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.' user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="2">ShowSlips</value>
-<value code="3">ShowOverruns</value>
-</values>
-</param>
-<param humanName="Scheduling main loop rate" name="SCHED_LOOP_RATE" documentation="This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart" user="Advanced">
-<values>
-<value code="50">50Hz</value>
-<value code="100">100Hz</value>
-<value code="200">200Hz</value>
-<value code="250">250Hz</value>
-<value code="300">300Hz</value>
-<value code="400">400Hz</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-</parameters>
-<parameters name="RCMAP_">
-<param humanName="Roll channel" name="RCMAP_ROLL" documentation="Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect." user="Advanced">
-<field name="Range">1 8</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Pitch channel" name="RCMAP_PITCH" documentation="Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect." user="Advanced">
-<field name="Range">1 8</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Throttle channel" name="RCMAP_THROTTLE" documentation="Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Warning APM 2.X: Changing the throttle channel could produce unexpected fail-safe results if connection between receiver and on-board PPM Encoder is lost. Disabling on-board PPM Encoder is recommended.  Reboot is required for changes to take effect." user="Advanced">
-<field name="Range">1 8</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Yaw channel" name="RCMAP_YAW" documentation="Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect." user="Advanced">
-<field name="Range">1 8</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-</parameters>
-<parameters name="INS_">
-<param humanName="IMU Product ID" name="INS_PRODUCT_ID" documentation="Which type of IMU is installed (read-only)." user="Advanced">
-<values>
-<value code="0">Unknown</value>
-<value code="1">APM1-1280</value>
-<value code="2">APM1-2560</value>
-<value code="88">APM2</value>
-<value code="3">SITL</value>
-<value code="4">PX4v1</value>
-<value code="5">PX4v2</value>
-<value code="256">Flymaple</value>
-<value code="257">Linux</value>
-</values>
-</param>
-<param humanName="Gyro offsets of X axis" name="INS_GYROFFS_X" documentation="Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro offsets of Y axis" name="INS_GYROFFS_Y" documentation="Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro offsets of Z axis" name="INS_GYROFFS_Z" documentation="Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro2 offsets of X axis" name="INS_GYR2OFFS_X" documentation="Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro2 offsets of Y axis" name="INS_GYR2OFFS_Y" documentation="Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro2 offsets of Z axis" name="INS_GYR2OFFS_Z" documentation="Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro3 offsets of X axis" name="INS_GYR3OFFS_X" documentation="Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro3 offsets of Y axis" name="INS_GYR3OFFS_Y" documentation="Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro3 offsets of Z axis" name="INS_GYR3OFFS_Z" documentation="Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Accelerometer scaling of X axis" name="INS_ACCSCAL_X" documentation="Accelerometer scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer scaling of Y axis" name="INS_ACCSCAL_Y" documentation="Accelerometer scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer scaling of Z axis" name="INS_ACCSCAL_Z" documentation="Accelerometer scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer offsets of X axis" name="INS_ACCOFFS_X" documentation="Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer offsets of Y axis" name="INS_ACCOFFS_Y" documentation="Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer offsets of Z axis" name="INS_ACCOFFS_Z" documentation="Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer2 scaling of X axis" name="INS_ACC2SCAL_X" documentation="Accelerometer2 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer2 scaling of Y axis" name="INS_ACC2SCAL_Y" documentation="Accelerometer2 scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer2 scaling of Z axis" name="INS_ACC2SCAL_Z" documentation="Accelerometer2 scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer2 offsets of X axis" name="INS_ACC2OFFS_X" documentation="Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer2 offsets of Y axis" name="INS_ACC2OFFS_Y" documentation="Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer2 offsets of Z axis" name="INS_ACC2OFFS_Z" documentation="Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer3 scaling of X axis" name="INS_ACC3SCAL_X" documentation="Accelerometer3 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer3 scaling of Y axis" name="INS_ACC3SCAL_Y" documentation="Accelerometer3 scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer3 scaling of Z axis" name="INS_ACC3SCAL_Z" documentation="Accelerometer3 scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer3 offsets of X axis" name="INS_ACC3OFFS_X" documentation="Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer3 offsets of Y axis" name="INS_ACC3OFFS_Y" documentation="Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer3 offsets of Z axis" name="INS_ACC3OFFS_Z" documentation="Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Gyro filter cutoff frequency" name="INS_GYRO_FILTER" documentation="Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)" user="Advanced">
-<field name="Range">0 127</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Accel filter cutoff frequency" name="INS_ACCEL_FILTER" documentation="Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)" user="Advanced">
-<field name="Range">0 127</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Use first IMU for attitude, velocity and position estimates" name="INS_USE" documentation="Use first IMU for attitude, velocity and position estimates" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Use second IMU for attitude, velocity and position estimates" name="INS_USE2" documentation="Use second IMU for attitude, velocity and position estimates" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Use third IMU for attitude, velocity and position estimates" name="INS_USE3" documentation="Use third IMU for attitude, velocity and position estimates" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stillness threshold for detecting if we are moving" name="INS_STILL_THRESH" documentation="Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5" user="Advanced">
-<field name="Range">0.05 50</field>
-</param>
-<param humanName="Gyro Calibration scheme" name="INS_GYR_CAL" documentation="Conrols when automatic gyro calibration is performed" user="Advanced">
-<values>
-<value code="0">Never</value>
-<value code=" 1">Start-up only</value>
-</values>
-</param>
-<param humanName="Accel cal trim option" name="INS_TRIM_OPTION" documentation="Specifies how the accel cal routine determines the trims" user="Advanced">
-<values>
-<value code="0">Don't adjust the trims</value>
-<value code="1">Assume first orientation was level</value>
-<value code="2">Assume ACC_BODYFIX is perfectly aligned to the vehicle</value>
-</values>
-</param>
-<param humanName="Body-fixed accelerometer" name="INS_ACC_BODYFIX" documentation="The body-fixed accelerometer to be used for trim calculation" user="Advanced">
-<values>
-<value code="1">IMU 1</value>
-<value code="2">IMU 2</value>
-<value code="3">IMU 3</value>
-</values>
-</param>
-</parameters>
-<parameters name="AHRS_">
-<param humanName="AHRS GPS gain" name="AHRS_GPS_GAIN" documentation="This controls how how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.">
-<field name="Range">0.0 1.0</field>
-<field name="Increment">.01</field>
-</param>
-<param humanName="AHRS use GPS for navigation" name="AHRS_GPS_USE" documentation="This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Yaw P" name="AHRS_YAW_P" documentation="This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.">
-<field name="Range">0.1 0.4</field>
-<field name="Increment">.01</field>
-</param>
-<param humanName="AHRS RP_P" name="AHRS_RP_P" documentation="This controls how fast the accelerometers correct the attitude">
-<field name="Range">0.1 0.4</field>
-<field name="Increment">.01</field>
-</param>
-<param humanName="Maximum wind" name="AHRS_WIND_MAX" documentation="This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is.">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="AHRS Trim Roll" name="AHRS_TRIM_X" documentation="Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right." user="User">
-<field name="Range">-0.1745 +0.1745</field>
-<field name="Increment">0.01</field>
-<field name="Units">Radians</field>
-</param>
-<param humanName="AHRS Trim Pitch" name="AHRS_TRIM_Y" documentation="Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back." user="User">
-<field name="Range">-0.1745 +0.1745</field>
-<field name="Increment">0.01</field>
-<field name="Units">Radians</field>
-</param>
-<param humanName="AHRS Trim Yaw" name="AHRS_TRIM_Z" documentation="Not Used" user="Advanced">
-<field name="Range">-0.1745 +0.1745</field>
-<field name="Increment">0.01</field>
-<field name="Units">Radians</field>
-</param>
-<param humanName="Board Orientation" name="AHRS_ORIENTATION" documentation="Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle." user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Yaw45</value>
-<value code="2">Yaw90</value>
-<value code="3">Yaw135</value>
-<value code="4">Yaw180</value>
-<value code="5">Yaw225</value>
-<value code="6">Yaw270</value>
-<value code="7">Yaw315</value>
-<value code="8">Roll180</value>
-<value code="9">Roll180Yaw45</value>
-<value code="10">Roll180Yaw90</value>
-<value code="11">Roll180Yaw135</value>
-<value code="12">Pitch180</value>
-<value code="13">Roll180Yaw225</value>
-<value code="14">Roll180Yaw270</value>
-<value code="15">Roll180Yaw315</value>
-<value code="16">Roll90</value>
-<value code="17">Roll90Yaw45</value>
-<value code="18">Roll90Yaw90</value>
-<value code="19">Roll90Yaw135</value>
-<value code="20">Roll270</value>
-<value code="21">Roll270Yaw45</value>
-<value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw136</value>
-<value code="24">Pitch90</value>
-<value code="25">Pitch270</value>
-<value code="26">Pitch180Yaw90</value>
-<value code="27">Pitch180Yaw270</value>
-<value code="28">Roll90Pitch90</value>
-<value code="29">Roll180Pitch90</value>
-<value code="30">Roll270Pitch90</value>
-<value code="31">Roll90Pitch180</value>
-<value code="32">Roll270Pitch180</value>
-<value code="33">Roll90Pitch270</value>
-<value code="34">Roll180Pitch270</value>
-<value code="35">Roll270Pitch270</value>
-<value code="36">Roll90Pitch180Yaw90</value>
-<value code="37">Roll90Yaw270</value>
-</values>
-</param>
-<param humanName="AHRS Velocity Complementary Filter Beta Coefficient" name="AHRS_COMP_BETA" documentation="This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less." user="Advanced">
-<field name="Range">0.001 0.5</field>
-<field name="Increment">.01</field>
-</param>
-<param humanName="AHRS GPS Minimum satellites" name="AHRS_GPS_MINSATS" documentation="Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers." user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Use NavEKF Kalman filter for attitude and position estimation" name="AHRS_EKF_TYPE" documentation='This controls whether the NavEKF Kalman filter is used for attitude and position estimation and whether fallback to the DCM algorithm is allowed. Note that on copters "disabled" is not available, and will be the same as "enabled - no fallback"' user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code="2">Enable EKF2</value>
-</values>
-</param>
-</parameters>
-<parameters name="ARSPD_">
-<param humanName="Airspeed enable" name="ARSPD_ENABLE" documentation="enable airspeed sensor">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-<param humanName="Airspeed use" name="ARSPD_USE" documentation="use airspeed for flight control">
-<values>
-<value code="1">Use</value>
-<value code="0">Don't Use</value>
-</values>
-</param>
-<param humanName="Airspeed offset" name="ARSPD_OFFSET" documentation="Airspeed calibration offset">
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Airspeed ratio" name="ARSPD_RATIO" documentation="Airspeed calibration ratio">
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Airspeed pin" name="ARSPD_PIN" documentation="The analog pin number that the airspeed sensor is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated airspeed port on the end of the board. Set to 11 on PX4 for the analog airspeed port. Set to 15 on the Pixhawk for the analog airspeed port. Set to 65 on the PX4 or Pixhawk for an EagleTree or MEAS I2C airspeed sensor." user="Advanced">
-</param>
-<param humanName="Automatic airspeed ratio calibration" name="ARSPD_AUTOCAL" documentation="If this is enabled then the APM will automatically adjust the ARSPD_RATIO during flight, based upon an estimation filter using ground speed and true airspeed. The automatic calibration will save the new ratio to EEPROM every 2 minutes if it changes by more than 5%. This option should be enabled for a calibration flight then disabled again when calibration is complete. Leaving it enabled all the time is not recommended." user="Advanced">
-</param>
-<param humanName="Control pitot tube order" name="ARSPD_TUBE_ORDER" documentation="This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the top connector on the sensor needs to be the dynamic pressure. If set to 1 then the bottom connector needs to be the dynamic pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft it receiving excessive pressure on the static port, which would otherwise be seen as a positive airspeed." user="Advanced">
-</param>
-<param humanName="Skip airspeed calibration on startup" name="ARSPD_SKIP_CAL" documentation="This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot." user="Advanced">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-</parameters>
-<parameters name="NAVL1_">
-<param humanName="L1 control period" name="NAVL1_PERIOD" documentation="Period in seconds of L1 tracking loop. This parameter is the primary control for agressiveness of turns in auto mode. This needs to be larger for less responsive airframes. The default of 20 is quite conservative, but for most RC aircraft will lead to reasonable flight. For smaller more agile aircraft a value closer to 15 is appropriate, or even as low as 10 for some very agile aircraft. When tuning, change this value in small increments, as a value that is much too small (say 5 or 10 below the right value) can lead to very radical turns, and a risk of stalling.">
-<field name="Range">1 60</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="L1 control damping ratio" name="NAVL1_DAMPING" documentation="Damping ratio for L1 control. Increase this in increments of 0.05 if you are getting overshoot in path tracking. You should not need a value below 0.7 or above 0.85.">
-<field name="Range">0.6 1.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="L1 control crosstrack integrator gain" name="NAVL1_XTRACK_I" documentation="Crosstrack error integrator gain. This gain is applied to the crosstrack error to ensure it converges to zero. Set to zero to disable. Smaller values converge slower, higher values will cause crosstrack error oscillation.">
-<field name="Range">0 0.1</field>
-<field name="Increment">0.01</field>
-</param>
-</parameters>
-<parameters name="TECS_">
-<param humanName="Maximum Climb Rate (metres/sec)" name="TECS_CLMB_MAX" documentation="This is the best climb rate that the aircraft can achieve with the throttle set to THR_MAX and the airspeed set to the default value. For electric aircraft make sure this number can be achieved towards the end of flight when the battery voltage has reduced. The setting of this parameter can be checked by commanding a positive altitude change of 100m in loiter, RTL or guided mode. If the throttle required to climb is close to THR_MAX and the aircraft is maintaining airspeed, then this parameter is set correctly. If the airspeed starts to reduce, then the parameter is set to high, and if the throttle demand require to climb and maintain speed is noticeably less than THR_MAX, then either CLMB_MAX should be increased or THR_MAX reduced." user="User">
-<field name="Range">0.1 20.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Minimum Sink Rate (metres/sec)" name="TECS_SINK_MIN" documentation="This is the sink rate of the aircraft with the throttle set to THR_MIN and the same airspeed as used to measure CLMB_MAX." user="User">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Controller time constant (sec)" name="TECS_TIME_CONST" documentation="This is the time constant of the TECS control algorithm. Smaller values make it faster to respond, large values make it slower to respond." user="Advanced">
-<field name="Range">3.0 10.0</field>
-<field name="Increment">0.2</field>
-</param>
-<param humanName="Controller throttle damping" name="TECS_THR_DAMP" documentation="This is the damping gain for the throttle demand loop. Increase to add damping  to correct for oscillations in speed and height." user="Advanced">
-<field name="Range">0.1 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Controller integrator" name="TECS_INTEG_GAIN" documentation="This is the integrator gain on the control loop. Increase to increase the rate at which speed and height offsets are trimmed out" user="Advanced">
-<field name="Range">0.0 0.5</field>
-<field name="Increment">0.02</field>
-</param>
-<param humanName="Vertical Acceleration Limit (metres/sec^2)" name="TECS_VERT_ACC" documentation="This is the maximum vertical acceleration either up or down that the  controller will use to correct speed or height errors." user="Advanced">
-<field name="Range">1.0 10.0</field>
-<field name="Increment">0.5</field>
-</param>
-<param humanName="Height complementary filter frequency (radians/sec)" name="TECS_HGT_OMEGA" documentation="This is the cross-over frequency of the complementary filter used to fuse vertical acceleration and baro alt to obtain an estimate of height rate and height." user="Advanced">
-<field name="Range">1.0 5.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Speed complementary filter frequency (radians/sec)" name="TECS_SPD_OMEGA" documentation="This is the cross-over frequency of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain a lower noise and lag estimate of airspeed." user="Advanced">
-<field name="Range">0.5 2.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Bank angle compensation gain" name="TECS_RLL2THR" documentation="Increasing this gain turn increases the amount of throttle that will be used to compensate for the additional drag created by turning. Ideally this should be set to approximately 10 x the extra sink rate in m/s created by a 45 degree bank turn. Increase this gain if the aircraft initially loses energy in turns and reduce if the aircraft initially gains energy in turns. Efficient high aspect-ratio aircraft (eg powered sailplanes) can use a lower value, whereas inefficient low aspect-ratio models (eg delta wings) can use a higher value." user="Advanced">
-<field name="Range">5.0 30.0</field>
-<field name="Increment">1.0</field>
-</param>
-<param humanName="Weighting applied to speed control" name="TECS_SPDWEIGHT" documentation="This parameter adjusts the amount of weighting that the pitch control applies to speed vs height errors. Setting it to 0.0 will cause the pitch control to control height and ignore speed errors. This will normally improve height accuracy but give larger airspeed errors. Setting it to 2.0 will cause the pitch control loop to control speed and ignore height errors. This will normally reduce airsped errors, but give larger height errors.&#9;A value of 1.0 gives a balanced response and is the default." user="Advanced">
-<field name="Range">0.0 2.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Controller pitch damping" name="TECS_PTCH_DAMP" documentation="This is the damping gain for the pitch demand loop. Increase to add damping  to correct for oscillations in speed and height." user="Advanced">
-<field name="Range">0.1 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Maximum Descent Rate (metres/sec)" name="TECS_SINK_MAX" documentation="This sets the maximum descent rate that the controller will use.  If this value is too large, the aircraft will reach the pitch angle limit first and be unable to achieve the descent rate. This should be set to a value that can be achieved at the lower pitch angle limit." user="User">
-<field name="Range">0.0 20.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Airspeed during landing approach (m/s)" name="TECS_LAND_ARSPD" documentation="When performing an autonomus landing, this value is used as the goal airspeed during approach.  Note that this parameter is not useful if your platform does not have an airspeed sensor (use TECS_LAND_THR instead).  If negative then this value is not used during landing." user="User">
-<field name="Range">-1 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Cruise throttle during landing approach (percentage)" name="TECS_LAND_THR" documentation="Use this parameter instead of LAND_ARSPD if your platform does not have an airspeed sensor.  It is the cruise throttle during landing approach.  If this value is negative then it is disabled and TECS_LAND_ARSPD is used instead." user="User">
-<field name="Range">-1 100</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Weighting applied to speed control during landing." name="TECS_LAND_SPDWGT" documentation="Same as SPDWEIGHT parameter, with the exception that this parameter is applied during landing flight stages.  A value closer to 2 will result in the plane ignoring height error during landing and our experience has been that the plane will therefore keep the nose up -- sometimes good for a glider landing (with the side effect that you will likely glide a ways past the landing point).  A value closer to 0 results in the plane ignoring speed error -- use caution when lowering the value below 1 -- ignoring speed could result in a stall. Values between 0 and 2 are valid values for a fixed landing weight. When using -1 the weight will be scaled during the landing. At the start of the landing approach it starts with TECS_SPDWEIGHT and scales down to 0 by the time you reach the land point. Example: Halfway down the landing approach you'll effectively have a weight of TECS_SPDWEIGHT/2." user="Advanced">
-<field name="Range">-1.0 2.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Maximum pitch in auto flight" name="TECS_PITCH_MAX" documentation="This controls maximum pitch up in automatic throttle modes. If this is set to zero then LIM_PITCH_MAX is used instead. The purpose of this parameter is to allow the use of a smaller pitch range when in automatic flight than what is used in FBWA mode." user="Advanced">
-<field name="Range">0 45</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Minimum pitch in auto flight" name="TECS_PITCH_MIN" documentation="This controls minimum pitch in automatic throttle modes. If this is set to zero then LIM_PITCH_MIN is used instead. The purpose of this parameter is to allow the use of a smaller pitch range when in automatic flight than what is used in FBWA mode. Note that TECS_PITCH_MIN should be a negative number." user="Advanced">
-<field name="Range">-45 0</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Sink rate for final landing stage" name="TECS_LAND_SINK" documentation="The sink rate in meters/second for the final stage of landing." user="Advanced">
-<field name="Range">0.0 2.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Land controller time constant (sec)" name="TECS_LAND_TCONST" documentation="This is the time constant of the TECS control algorithm when in final landing stage of flight. It should be smaller than TECS_TIME_CONST to allow for faster flare" user="Advanced">
-<field name="Range">1.0 5.0</field>
-<field name="Increment">0.2</field>
-</param>
-<param humanName="Controller sink rate to pitch gain during flare" name="TECS_LAND_DAMP" documentation="This is the sink rate gain for the pitch demand loop when in final landing stage of flight. It should be larger than TECS_PTCH_DAMP to allow for better sink rate control during flare." user="Advanced">
-<field name="Range">0.1 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Maximum pitch during final stage of landing" name="TECS_LAND_PMAX" documentation="This limits the pitch used during the final stage of automatic landing. During the final landing stage most planes need to keep their pitch small to avoid stalling. A maximum of 10 degrees is usually good. A value of zero means to use the normal pitch limits." user="Advanced">
-<field name="Range">-5 40</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Sink rate max for landing approach stage" name="TECS_APPR_SMAX" documentation="The sink rate max for the landing approach stage of landing. This will need to be large for steep landing approaches especially when using reverse thrust. If 0, then use TECS_SINK_MAX." user="Advanced">
-<field name="Range">0.0 20.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Land sink rate change" name="TECS_LAND_SRC" documentation="When zero, the flare sink rate (TECS_LAND_SINK) is a fixed sink demand. With this enabled the flare sinkrate will increase/decrease the flare sink demand as you get further beyond the LAND waypoint. Has no effect before the waypoint. This value is added to TECS_LAND_SINK proportional to distance traveled after wp. With an increasing sink rate you can still land in a given distance if you're traveling too fast and cruise passed the land point. A positive value will force the plane to land sooner proportional to distance passed land point. A negative number will tell the plane to slowly climb allowing for a pitched-up stall landing. Recommend 0.2 as initial value." user="Advanced">
-<field name="Range">-2.0 2.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s/m</field>
-</param>
-<param humanName="Controller throttle damping when landing" name="TECS_LAND_TDAMP" documentation="This is the damping gain for the throttle demand loop during and auto-landing. Same as TECS_THR_DAMP but only in effect during an auto-land. Increase to add damping to correct for oscillations in speed and height. When set to 0 landing throttle damp is controlled by TECS_THR_DAMP." user="Advanced">
-<field name="Range">0.1 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Controller integrator during landing" name="TECS_LAND_IGAIN" documentation="This is the integrator gain on the control loop during landing. When set to 0 then TECS_INTEG_GAIN is used. Increase to increase the rate at which speed and height offsets are trimmed out. Typically values lower than TECS_INTEG_GAIN work best" user="Advanced">
-<field name="Range">0.0 0.5</field>
-<field name="Increment">0.02</field>
-</param>
-<param humanName="Controller integrator during takeoff" name="TECS_TKOFF_IGAIN" documentation="This is the integrator gain on the control loop during takeoff. When set to 0 then TECS_INTEG_GAIN is used. Increase to increase the rate at which speed and height offsets are trimmed out. Typically values higher than TECS_INTEG_GAIN work best" user="Advanced">
-<field name="Range">0.0 0.5</field>
-<field name="Increment">0.02</field>
-</param>
-<param name="TECS_LAND_PDAMP" documentation="This is the damping gain for the pitch demand loop. Increase to add damping  to correct for oscillations in speed and height. If set to 0 then TECS_PTCH_DAMP will be used instead." user="Advanced">
-<field name="Range">0.1 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-</parameters>
-<parameters name="MNT">
-<param humanName="Mount default operating mode" name="MNT_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
-<values>
-<value code="0">Retracted</value>
-<value code="1">Neutral</value>
-<value code="2">MavLink Targeting</value>
-<value code="3">RC Targeting</value>
-<value code="4">GPS Point</value>
-</values>
-</param>
-<param humanName="Mount roll angle when in retracted position" name="MNT_RETRACT_X" documentation="Mount roll angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount tilt/pitch angle when in retracted position" name="MNT_RETRACT_Y" documentation="Mount tilt/pitch angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount yaw/pan angle when in retracted position" name="MNT_RETRACT_Z" documentation="Mount yaw/pan angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount roll angle when in neutral position" name="MNT_NEUTRAL_X" documentation="Mount roll angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount tilt/pitch angle when in neutral position" name="MNT_NEUTRAL_Y" documentation="Mount tilt/pitch angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount pan/yaw angle when in neutral position" name="MNT_NEUTRAL_Z" documentation="Mount pan/yaw angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Stabilize mount's roll angle" name="MNT_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stabilize mount's pitch/tilt angle" name="MNT_STAB_TILT" documentation="enable tilt/pitch stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stabilize mount pan/yaw angle" name="MNT_STAB_PAN" documentation="enable pan/yaw stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="roll RC input channel" name="MNT_RC_IN_ROLL" documentation="0 for none, any other for the RC channel to be used to control roll movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
-</values>
-</param>
-<param humanName="Minimum roll angle" name="MNT_ANGMIN_ROL" documentation="Minimum physical roll angular position of mount." user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Maximum roll angle" name="MNT_ANGMAX_ROL" documentation="Maximum physical roll angular position of the mount" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="tilt (pitch) RC input channel" name="MNT_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
-</values>
-</param>
-<param humanName="Minimum tilt angle" name="MNT_ANGMIN_TIL" documentation="Minimum physical tilt (pitch) angular position of mount." user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Maximum tilt angle" name="MNT_ANGMAX_TIL" documentation="Maximum physical tilt (pitch) angular position of the mount" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="pan (yaw) RC input channel" name="MNT_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
-</values>
-</param>
-<param humanName="Minimum pan angle" name="MNT_ANGMIN_PAN" documentation="Minimum physical pan (yaw) angular position of mount." user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Maximum pan angle" name="MNT_ANGMAX_PAN" documentation="Maximum physical pan (yaw) angular position of the mount" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="mount joystick speed" name="MNT_JSTICK_SPD" documentation="0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Roll stabilization lead time" name="MNT_LEAD_RLL" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="Pitch stabilization lead time" name="MNT_LEAD_PTCH" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="Mount Type" name="MNT_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
-<values>
-<value code="0">None</value>
-<value code=" 1">Servo</value>
-<value code=" 2">3DR Solo</value>
-<value code=" 3">Alexmos Serial</value>
-<value code=" 4">SToRM32 MAVLink</value>
-<value code=" 5">SToRM32 Serial</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Mount default operating mode" name="MNT2_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
-<values>
-<value code="0">Retracted</value>
-<value code="1">Neutral</value>
-<value code="2">MavLink Targeting</value>
-<value code="3">RC Targeting</value>
-<value code="4">GPS Point</value>
-</values>
-</param>
-<param humanName="Mount2 roll angle when in retracted position" name="MNT2_RETRACT_X" documentation="Mount2 roll angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount2 tilt/pitch angle when in retracted position" name="MNT2_RETRACT_Y" documentation="Mount2 tilt/pitch angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount2 yaw/pan angle when in retracted position" name="MNT2_RETRACT_Z" documentation="Mount2 yaw/pan angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount2 roll angle when in neutral position" name="MNT2_NEUTRAL_X" documentation="Mount2 roll angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount2 tilt/pitch angle when in neutral position" name="MNT2_NEUTRAL_Y" documentation="Mount2 tilt/pitch angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount2 pan/yaw angle when in neutral position" name="MNT2_NEUTRAL_Z" documentation="Mount2 pan/yaw angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Stabilize Mount2's roll angle" name="MNT2_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stabilize Mount2's pitch/tilt angle" name="MNT2_STAB_TILT" documentation="enable tilt/pitch stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stabilize mount2 pan/yaw angle" name="MNT2_STAB_PAN" documentation="enable pan/yaw stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Mount2's roll RC input channel" name="MNT2_RC_IN_ROLL" documentation="0 for none, any other for the RC channel to be used to control roll movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
-</values>
-</param>
-<param humanName="Mount2's minimum roll angle" name="MNT2_ANGMIN_ROL" documentation="Mount2's minimum physical roll angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's maximum roll angle" name="MNT2_ANGMAX_ROL" documentation="Mount2's maximum physical roll angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's tilt (pitch) RC input channel" name="MNT2_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
-</values>
-</param>
-<param humanName="Mount2's minimum tilt angle" name="MNT2_ANGMIN_TIL" documentation="Mount2's minimum physical tilt (pitch) angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's maximum tilt angle" name="MNT2_ANGMAX_TIL" documentation="Mount2's maximum physical tilt (pitch) angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's pan (yaw) RC input channel" name="MNT2_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
-</values>
-</param>
-<param humanName="Mount2's minimum pan angle" name="MNT2_ANGMIN_PAN" documentation="Mount2's minimum physical pan (yaw) angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's maximum pan angle" name="MNT2_ANGMAX_PAN" documentation="MOunt2's maximum physical pan (yaw) angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's Roll stabilization lead time" name="MNT2_LEAD_RLL" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="Mount2's Pitch stabilization lead time" name="MNT2_LEAD_PTCH" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="Mount2 Type" name="MNT2_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
-<values>
-<value code="0">None</value>
-<value code=" 1">Servo</value>
-<value code=" 2">3DR Solo</value>
-<value code=" 3">Alexmos Serial</value>
-<value code=" 4">SToRM32 MAVLink</value>
-<value code=" 5">SToRM32 Serial</value>
-</values>
-</param>
-</parameters>
-<parameters name="LOG">
-<param humanName="DataFlash Backend Storage type" name="LOG_BACKEND_TYPE" documentation="0 for None, 1 for File, 2 for dataflash mavlink, 3 for both file and dataflash" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">File</value>
-<value code="2">MAVLink</value>
-<value code="3">BothFileAndMAVLink</value>
-</values>
-</param>
-<param humanName="Maximum DataFlash File Backend buffer size (in kilobytes)" name="LOG_FILE_BUFSIZE" documentation='The DataFlash_File backend uses a buffer to store data before writing to the block device.  Raising this value may reduce "gaps" in your SD card logging.  This buffer size may be reduced depending on available memory.  PixHawk requires at least 4 kilobytes.  Maximum value available here is 64 kilobytes.' user="Standard">
-</param>
-</parameters>
-<parameters name="BATT">
-<param humanName="Battery monitoring" name="BATT_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="3">Analog Voltage Only</value>
-<value code="4">Analog Voltage and Current</value>
-<value code="5">SMBus</value>
-<value code="6">Bebop</value>
-</values>
-</param>
-<param humanName="Battery Voltage sensing pin" name="BATT_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100. On the Pixhawk powered from the PM connector it should be set to 2." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 0">A0</value>
-<value code=" 1">A1</value>
-<value code=" 2">Pixhawk</value>
-<value code=" 13">A13</value>
-<value code=" 100">PX4</value>
-</values>
-</param>
-<param humanName="Battery Current sensing pin" name="BATT_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 1">A1</value>
-<value code=" 2">A2</value>
-<value code=" 3">Pixhawk</value>
-<value code=" 12">A12</value>
-<value code=" 101">PX4</value>
-</values>
-</param>
-<param humanName="Voltage Multiplier" name="BATT_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1." user="Advanced">
-</param>
-<param humanName="Amps per volt" name="BATT_AMP_PERVOLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
-<field name="Units">Amps/Volt</field>
-</param>
-<param humanName="AMP offset" name="BATT_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
-<field name="Units">Volts</field>
-</param>
-<param humanName="Battery capacity" name="BATT_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
-</param>
-<param humanName="Maximum allowed power (Watts)" name="BATT_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
-<field name="Increment">1</field>
-<field name="Units">Watts</field>
-</param>
-<param humanName="Battery monitoring" name="BATT2_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="3">Analog Voltage Only</value>
-<value code="4">Analog Voltage and Current</value>
-<value code="5">SMBus</value>
-<value code="6">Bebop</value>
-</values>
-</param>
-<param humanName="Battery Voltage sensing pin" name="BATT2_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100. On the Pixhawk powered from the PM connector it should be set to 2." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 0">A0</value>
-<value code=" 1">A1</value>
-<value code=" 2">Pixhawk</value>
-<value code=" 13">A13</value>
-<value code=" 100">PX4</value>
-</values>
-</param>
-<param humanName="Battery Current sensing pin" name="BATT2_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 1">A1</value>
-<value code=" 2">A2</value>
-<value code=" 3">Pixhawk</value>
-<value code=" 12">A12</value>
-<value code=" 101">PX4</value>
-</values>
-</param>
-<param humanName="Voltage Multiplier" name="BATT2_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1." user="Advanced">
-</param>
-<param humanName="Amps per volt" name="BATT2_AMP_PERVOL" documentation="Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
-<field name="Units">Amps/Volt</field>
-</param>
-<param humanName="AMP offset" name="BATT2_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
-<field name="Units">Volts</field>
-</param>
-<param humanName="Battery capacity" name="BATT2_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
-</param>
-<param humanName="Maximum allowed current" name="BATT2_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
-<field name="Increment">1</field>
-<field name="Units">Amps</field>
-</param>
-</parameters>
-<parameters name="BRD_">
-<param humanName="PWM Count" name="BRD_PWM_COUNT" documentation="Number of auxillary PWMs to enable. On PX4v1 only 0 or 2 is valid. On Pixhawk 0, 2, 4 or 6 is valid.">
-<values>
-<value code="0">No PWMs</value>
-<value code="2">Two PWMs</value>
-<value code="4">Four PWMs</value>
-<value code="6">Six PWMs</value>
-</values>
-</param>
-<param humanName="Serial 1 flow control" name="BRD_SER1_RTSCTS" documentation="Enable flow control on serial 1 (telemetry 1) on Pixhawk. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled.">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code="2">Auto</value>
-</values>
-</param>
-<param humanName="Serial 2 flow control" name="BRD_SER2_RTSCTS" documentation="Enable flow control on serial 2 (telemetry 2) on Pixhawk and PX4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code="2">Auto</value>
-</values>
-</param>
-<param humanName=" Enable use of safety arming switch" name="BRD_SAFETYENABLE" documentation="Disabling this option will disable the use of the safety switch on PX4 for arming. Use of the safety switch is highly recommended, so you should leave this option set to 1 except in unusual circumstances.">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName=" SBUS output rate" name="BRD_SBUS_OUT" documentation="This sets the SBUS output frame rate in Hz">
-<values>
-<value code="0">Disabled</value>
-<value code="1">50Hz</value>
-<value code="2">75Hz</value>
-<value code="3">100Hz</value>
-<value code="4">150Hz</value>
-<value code="5">200Hz</value>
-<value code="6">250Hz</value>
-<value code="7">300Hz</value>
-</values>
-</param>
-<param humanName="User-defined serial number" name="BRD_SERIAL_NUM" documentation="User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot" user="Standard">
-<field name="Range">-32767 32768</field>
-</param>
-<param humanName=" Enable use of UAVCAN devices" name="BRD_CAN_ENABLE" documentation="Enabling this option on a Pixhawk enables UAVCAN devices. Note that this uses about 25k of memory">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-</parameters>
-<parameters name="AFS_">
-<param humanName="Manual Pin" name="AFS_MAN_PIN" documentation="This sets a digital output pin to set high when in manual mode" user="Advanced">
-</param>
-<param humanName="Heartbeat Pin" name="AFS_HB_PIN" documentation="This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination." user="Advanced">
-</param>
-<param humanName="Comms Waypoint" name="AFS_WP_COMMS" documentation="Waypoint number to navigate to on comms loss" user="Advanced">
-</param>
-<param humanName="GPS Loss Waypoint" name="AFS_GPS_LOSS" documentation="Waypoint number to navigate to on GPS lock loss" user="Advanced">
-</param>
-<param humanName="Force Terminate" name="AFS_TERMINATE" documentation="Can be set in flight to force termination of the heartbeat signal" user="Advanced">
-</param>
-<param humanName="Terminate action" name="AFS_TERM_ACTION" documentation="This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup APM to handle it here. If set to 0 (which is the default) then no extra action is taken. If set to the magic value 42 then the plane will deliberately crash itself by setting maximum throws on all surfaces, and zero throttle" user="Advanced">
-</param>
-<param humanName="Terminate Pin" name="AFS_TERM_PIN" documentation="This sets a digital output pin to set high on flight termination" user="Advanced">
-</param>
-<param humanName="AMSL limit" name="AFS_AMSL_LIMIT" documentation="This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit." user="Advanced">
-<field name="Units">meters</field>
-</param>
-<param humanName="Error margin for GPS based AMSL limit" name="AFS_AMSL_ERR_GPS" documentation="This sets margin for error in GPS derived altitude limit. This error margin is only used if the barometer has failed. If the barometer fails then the GPS will be used to enforce the AMSL_LIMIT, but this margin will be subtracted from the AMSL_LIMIT first, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached. OBC users should set this to comply with their D2 safety case. A value of -1 will mean that barometer failure will lead to immediate termination." user="Advanced">
-<field name="Units">meters</field>
-</param>
-<param humanName="QNH pressure" name="AFS_QNH_PRESSURE" documentation="This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit. A value of zero disables the altitude limit." user="Advanced">
-<field name="Units">millibar</field>
-</param>
-<param humanName="Enable Advanced Failsafe" name="AFS_ENABLE" documentation="This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect" user="Advanced">
-</param>
-<param humanName="RC failure time" name="AFS_RC_FAIL_MS" documentation="This is the time in milliseconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be 1500. Use 0 to disable." user="Advanced">
-</param>
-<param humanName="Maximum number of GPS loss events" name="AFS_MAX_GPS_LOSS" documentation="Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events." user="Advanced">
-</param>
-<param humanName="Maximum number of comms loss events" name="AFS_MAX_COM_LOSS" documentation="Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events." user="Advanced">
-</param>
-</parameters>
-<parameters name="FLOW">
-<param humanName="Optical flow enable/disable" name="FLOW_ENABLE" documentation="Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="X axis optical flow scale factor correction" name="FLOW_FXSCALER" documentation="This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor." user="Standard">
-<field name="Range">-200 +200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Y axis optical flow scale factor correction" name="FLOW_FYSCALER" documentation="This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor." user="Standard">
-<field name="Range">-200 +200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Flow sensor yaw alignment" name="FLOW_ORIENT_YAW" documentation="Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle." user="Standard">
-<field name="Range">-18000 +18000</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="MIS_">
-<param humanName="Total mission commands" name="MIS_TOTAL" documentation="The number of mission mission items that has been loaded by the ground station. Do not change this manually." user="Advanced">
-<field name="Range">0 32766</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Mission Restart when entering Auto mode" name="MIS_RESTART" documentation="Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)">
-<values>
-<value code="0">Resume Mission</value>
-<value code=" 1">Restart Mission</value>
-</values>
-</param>
-</parameters>
-<parameters name="RALLY_">
-<param humanName="Rally Total" name="RALLY_TOTAL" documentation="Number of rally points currently loaded" user="Advanced">
-</param>
-<param humanName="Rally Limit" name="RALLY_LIMIT_KM" documentation="Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used." user="Advanced">
-<field name="Increment">0.1</field>
-<field name="Units">kilometers</field>
-</param>
-<param humanName="Rally Include Home" name="RALLY_INCL_HOME" documentation="Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL" user="Standard">
-<values>
-<value code="0">DoNotIncludeHome</value>
-<value code="1">IncludeHome</value>
-</values>
-</param>
-</parameters>
-<parameters name="EKF_">
-<param humanName="Enable EKF1" name="EKF_ENABLE" documentation="This enables EKF1 to be disabled when using alternative algorithms. When disabling it, the alternate EKF2 estimator must be enabled by setting EK2_ENABLED = 1 and flight control algorithms must be set to use the alternative estimator by setting AHRS_EKF_TYPE = 2." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="GPS horizontal velocity measurement noise scaler" name="EKF_VELNE_NOISE" documentation="This is the scaler that is applied to the speed accuracy reported by the receiver to estimate the horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then a speed acuracy of 1 is assumed. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.05 5.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="GPS vertical velocity measurement noise scaler" name="EKF_VELD_NOISE" documentation="This is the scaler that is applied to the speed accuracy reported by the receiver to estimate the vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then a speed acuracy of 1 is assumed. Increasing it reduces the weighting on this measurement." user="Advanced">
-<field name="Range">0.05 5.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="GPS horizontal position measurement noise (m)" name="EKF_POSNE_NOISE" documentation="This is the RMS value of noise in the GPS horizontal position measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Altitude measurement noise (m)" name="EKF_ALT_NOISE" documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Magnetometer measurement noise (Gauss)" name="EKF_MAG_NOISE" documentation="This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Equivalent airspeed measurement noise (m/s)" name="EKF_EAS_NOISE" documentation="This is the RMS value of noise in equivalent airspeed measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.5 5.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Wind velocity process noise (m/s^2)" name="EKF_WIND_PNOISE" documentation="This noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier." user="Advanced">
-<field name="Range">0.01 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Height rate to wind procss noise scaler" name="EKF_WIND_PSCALE" documentation="Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind speed estimation noiser." user="Advanced">
-<field name="Range">0.0 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Rate gyro noise (rad/s)" name="EKF_GYRO_PNOISE" documentation="This noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more." user="Advanced">
-<field name="Range">0.001 0.05</field>
-<field name="Increment">0.001</field>
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Accelerometer noise (m/s^2)" name="EKF_ACC_PNOISE" documentation="This noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more." user="Advanced">
-<field name="Range">0.05 1.0</field>
-<field name="Increment">0.01</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Rate gyro bias process noise (rad/s)" name="EKF_GBIAS_PNOISE" documentation="This noise controls the growth of gyro bias state error estimates. Increasing it makes rate gyro bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.0000001 0.00001</field>
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Accelerometer bias process noise (m/s^2)" name="EKF_ABIAS_PNOISE" documentation="This noise controls the growth of the vertical acelerometer bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.00001 0.001</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Earth magnetic field process noise (gauss/s)" name="EKF_MAGE_PNOISE" documentation="This noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.0001 0.01</field>
-<field name="Units">gauss/s</field>
-</param>
-<param humanName="Body magnetic field process noise (gauss/s)" name="EKF_MAGB_PNOISE" documentation="This noise controls the growth of body magnetic field state error estimates. Increasing it makes compass offset estimation faster and noisier." user="Advanced">
-<field name="Range">0.0001 0.01</field>
-<field name="Units">gauss/s</field>
-</param>
-<param humanName="GPS velocity measurement delay (msec)" name="EKF_VEL_DELAY" documentation="This is the number of msec that the GPS velocity measurements lag behind the inertial measurements." user="Advanced">
-<field name="Range">0 500</field>
-<field name="Increment">10</field>
-<field name="Units">milliseconds</field>
-</param>
-<param humanName="GPS position measurement delay (msec)" name="EKF_POS_DELAY" documentation="This is the number of msec that the GPS position measurements lag behind the inertial measurements." user="Advanced">
-<field name="Range">0 500</field>
-<field name="Increment">10</field>
-<field name="Units">milliseconds</field>
-</param>
-<param humanName="GPS mode control" name="EKF_GPS_TYPE" documentation="This parameter controls use of GPS measurements : 0 = use 3D velocity &amp; 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = use no GPS (optical flow will be used if available)" user="Advanced">
-<values>
-<value code="0">GPS 3D Vel and 2D Pos</value>
-<value code=" 1">GPS 2D vel and 2D pos</value>
-<value code=" 2">GPS 2D pos</value>
-<value code=" 3">No GPS use optical flow</value>
-</values>
-</param>
-<param humanName="GPS velocity measurement gate size" name="EKF_VEL_GATE" documentation="This parameter sets the number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="GPS position measurement gate size" name="EKF_POS_GATE" documentation="This parameter sets the number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Height measurement gate size" name="EKF_HGT_GATE" documentation="This parameter sets the number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Magnetometer measurement gate size" name="EKF_MAG_GATE" documentation="This parameter sets the number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Airspeed measurement gate size" name="EKF_EAS_GATE" documentation="This parameter sets the number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Magnetometer calibration mode" name="EKF_MAG_CAL" documentation="EKF_MAG_CAL = 0 enables calibration based on flying speed and altitude and is the default setting for Plane users. EKF_MAG_CAL = 1 enables calibration based on manoeuvre level and is the default setting for Copter and Rover users. EKF_MAG_CAL = 2 prevents magnetometer calibration regardless of flight condition and is recommended if in-flight magnetometer calibration is unreliable." user="Advanced">
-<values>
-<value code="0">Speed and Height</value>
-<value code="1">Acceleration</value>
-<value code="2">Never</value>
-<value code="3">Always</value>
-</values>
-</param>
-<param humanName="GPS glitch accel gate size (cm/s^2)" name="EKF_GLITCH_ACCEL" documentation="This parameter controls the maximum amount of difference in horizontal acceleration between the value predicted by the filter and the value measured by the GPS before the GPS position data is rejected. If this value is set too low, then valid GPS data will be regularly discarded, and the position accuracy will degrade. If this parameter is set too high, then large GPS glitches will cause large rapid changes in position." user="Advanced">
-<field name="Range">100 500</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="GPS glitch radius gate size (m)" name="EKF_GLITCH_RAD" documentation="This parameter controls the maximum amount of difference in horizontal position (in m) between the value predicted by the filter and the value measured by the GPS before the long term glitch protection logic is activated and the filter states are reset to the new GPS position. Position steps smaller than this value will be temporarily ignored, but will then be accepted and the filter will move to the new position. Position steps larger than this value will be ignored initially, but the filter will then apply an offset to the GPS position measurement." user="Advanced">
-<field name="Range">10 50</field>
-<field name="Increment">5</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Terrain Gradient % RMS" name="EKF_GND_GRADIENT" documentation="This parameter sets the RMS terrain gradient percentage assumed by the terrain height estimation. Terrain height can be estimated using optical flow and/or range finder sensor data if fitted. Smaller values cause the terrain height estimate to be slower to respond to changes in measurement. Larger values casue the terrain height estimate to be faster to respond, but also more noisy. Generally this value can be reduced if operating over very flat terrain and increased if operating over uneven terrain." user="Advanced">
-<field name="Range">1 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Optical flow measurement noise (rad/s)" name="EKF_FLOW_NOISE" documentation="This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.05 1.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Optical Flow measurement gate size" name="EKF_FLOW_GATE" documentation="This parameter sets the number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Optical Flow measurement delay (msec)" name="EKF_FLOW_DELAY" documentation="This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
-<field name="Range">0 500</field>
-<field name="Increment">10</field>
-<field name="Units">milliseconds</field>
-</param>
-<param humanName="Range finder measurement gate size" name="EKF_RNG_GATE" documentation="This parameter sets the number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Maximum valid optical flow rate" name="EKF_MAX_FLOW" documentation="This parameter sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter" user="Advanced">
-<field name="Range">1.0 4.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Fallback strictness" name="EKF_FALLBACK" documentation="This parameter controls the conditions necessary to trigger a fallback to DCM and INAV. A value of 1 will cause fallbacks to occur on loss of GPS and other conditions. A value of 0 will trust the EKF more." user="Advanced">
-<values>
-<value code="0">Trust EKF more</value>
-<value code=" 1">Trust DCM more</value>
-</values>
-</param>
-<param humanName="Primary height source" name="EKF_ALT_SOURCE" documentation="This parameter controls which height sensor is used by the EKF during optical flow navigation (when EKF_GPS_TYPE = 3). A value of will 0 cause it to always use baro altitude. A value of 1 will casue it to use range finder if available." user="Advanced">
-<values>
-<value code="0">Use Baro</value>
-<value code=" 1">Use Range Finder</value>
-</values>
-</param>
-<param humanName="GPS preflight check" name="EKF_GPS_CHECK" documentation="1 byte bitmap of GPS preflight checks to perform. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat." user="Advanced">
-<field name="Bitmask">0:NSats,1:HDoP,2:speed error,3:horiz pos error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed</field>
-</param>
-</parameters>
-<parameters name="EK2_">
-<param humanName="Enable EKF2" name="EK2_ENABLE" documentation="This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="GPS mode control" name="EK2_GPS_TYPE" documentation="This controls use of GPS measurements : 0 = use 3D velocity &amp; 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = use no GPS (optical flow will be used if available)" user="Advanced">
-<values>
-<value code="0">GPS 3D Vel and 2D Pos</value>
-<value code=" 1">GPS 2D vel and 2D pos</value>
-<value code=" 2">GPS 2D pos</value>
-<value code=" 3">No GPS use optical flow</value>
-</values>
-</param>
-<param humanName="GPS horizontal velocity measurement noise (m/s)" name="EK2_VELNE_NOISE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements." user="Advanced">
-<field name="Range">0.05 5.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="GPS vertical velocity measurement noise (m/s)" name="EK2_VELD_NOISE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements." user="Advanced">
-<field name="Range">0.05 5.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="GPS velocity innovation gate size" name="EK2_VEL_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="GPS horizontal position measurement noise (m)" name="EK2_POSNE_NOISE" documentation="This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m</field>
-</param>
-<param humanName="GPS position measurement gate size" name="EK2_POS_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="GPS glitch radius gate size (m)" name="EK2_GLITCH_RAD" documentation="This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position." user="Advanced">
-<field name="Range">10 100</field>
-<field name="Increment">5</field>
-<field name="Units">m</field>
-</param>
-<param humanName="GPS measurement delay (msec)" name="EK2_GPS_DELAY" documentation="This is the number of msec that the GPS measurements lag behind the inertial measurements." user="Advanced">
-<field name="Range">0 250</field>
-<field name="Increment">10</field>
-<field name="Units">msec</field>
-</param>
-<param humanName="Primary height source" name="EK2_ALT_SOURCE" documentation="This parameter controls which height sensor is used by the EKF. If the selected optionn cannot be used, it will default to Baro as the primary height source. Setting 0 will use the baro altitude at all times. Setting 1 uses the range finder and is only available in combination with optical flow navigation (EK2_GPS_TYPE = 3). Setting 2 uses GPS." user="Advanced">
-<values>
-<value code="0">Use Baro</value>
-<value code=" 1">Use Range Finder</value>
-<value code=" 2">Use GPS</value>
-</values>
-</param>
-<param humanName="Altitude measurement noise (m)" name="EK2_ALT_NOISE" documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m</field>
-</param>
-<param humanName="Height measurement gate size" name="EK2_HGT_GATE" documentation="This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Height measurement delay (msec)" name="EK2_HGT_DELAY" documentation="This is the number of msec that the Height measurements lag behind the inertial measurements." user="Advanced">
-<field name="Range">0 250</field>
-<field name="Increment">10</field>
-<field name="Units">msec</field>
-</param>
-<param humanName="Magnetometer measurement noise (Gauss)" name="EK2_MAG_NOISE" documentation="This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
-<field name="Units">gauss</field>
-</param>
-<param humanName="Magnetometer calibration mode" name="EK2_MAG_CAL" documentation="EKF_MAG_CAL = 0 enables calibration when airborne and is the default setting for Plane users. EKF_MAG_CAL = 1 enables calibration when manoeuvreing. EKF_MAG_CAL = 2 prevents magnetometer calibration regardless of flight condition, is recommended if the external magnetic field is varying and is the default for rovers. EKF_MAG_CAL = 3 enables calibration when the first in-air field and yaw reset has completed and is the default for copters. EKF_MAG_CAL = 4 enables calibration all the time. This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states. This model is only suitable for use when the external magnetic field environment is stable." user="Advanced">
-<values>
-<value code="0">When flying</value>
-<value code="1">When manoeuvring</value>
-<value code="2">Never</value>
-<value code="3">After first climb yaw reset</value>
-<value code="4">Always</value>
-</values>
-</param>
-<param humanName="Magnetometer measurement gate size" name="EK2_MAG_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Equivalent airspeed measurement noise (m/s)" name="EK2_EAS_NOISE" documentation="This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements." user="Advanced">
-<field name="Range">0.5 5.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Airspeed measurement gate size" name="EK2_EAS_GATE" documentation="This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Range finder measurement noise (m)" name="EK2_RNG_NOISE" documentation="This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m</field>
-</param>
-<param humanName="Range finder measurement gate size" name="EK2_RNG_GATE" documentation="This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Maximum valid optical flow rate" name="EK2_MAX_FLOW" documentation="This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter" user="Advanced">
-<field name="Range">1.0 4.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Optical flow measurement noise (rad/s)" name="EK2_FLOW_NOISE" documentation="This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.05 1.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Optical Flow measurement gate size" name="EK2_FLOW_GATE" documentation="This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Optical Flow measurement delay (msec)" name="EK2_FLOW_DELAY" documentation="This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
-<field name="Range">0 250</field>
-<field name="Increment">10</field>
-<field name="Units">msec</field>
-</param>
-<param humanName="Rate gyro noise (rad/s)" name="EK2_GYRO_PNOISE" documentation="This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more." user="Advanced">
-<field name="Range">0.0001 0.01</field>
-<field name="Increment">0.0001</field>
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Accelerometer noise (m/s^2)" name="EK2_ACC_PNOISE" documentation="This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more." user="Advanced">
-<field name="Range">0.01 1.0</field>
-<field name="Increment">0.01</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Rate gyro bias process noise (rad/s)" name="EK2_GBIAS_PNOISE" documentation="This state  process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.0000001 0.00001</field>
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Rate gyro scale factor process noise (1/s)" name="EK2_GSCL_PNOISE" documentation="This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier." user="Advanced">
-<field name="Range">0.0000001 0.00001</field>
-<field name="Units">1/s</field>
-</param>
-<param humanName="Accelerometer bias process noise (m/s^2)" name="EK2_ABIAS_PNOISE" documentation="This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.00001 0.001</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Magnetic field process noise (gauss/s)" name="EK2_MAG_PNOISE" documentation="This state process noise controls the growth of magnetic field state error estimates. Increasing it makes magnetic field bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.0001 0.01</field>
-<field name="Units">gauss/s</field>
-</param>
-<param humanName="Wind velocity process noise (m/s^2)" name="EK2_WIND_PNOISE" documentation="This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier." user="Advanced">
-<field name="Range">0.01 1.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Height rate to wind procss noise scaler" name="EK2_WIND_PSCALE" documentation="This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser." user="Advanced">
-<field name="Range">0.0 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="GPS preflight check" name="EK2_GPS_CHECK" documentation="This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat." user="Advanced">
-<field name="Bitmask">0:NSats,1:HDoP,2:speed error,3:horiz pos error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed</field>
-</param>
-<param humanName="Bitmask of active IMUs" name="EK2_IMU_MASK" documentation="1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start." user="Advanced">
-<field name="Range">1 127</field>
-</param>
-<param humanName="GPS accuracy check scaler (%)" name="EK2_CHECK_SCALE" documentation="This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error." user="Advanced">
-<field name="Range">50 200</field>
-<field name="Units">%</field>
-</param>
-<param humanName="Non-GPS operation position uncertainty (m)" name="EK2_NOAID_NOISE" documentation="This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors." user="Advanced">
-<field name="Range">0.5 50.0</field>
-<field name="Units">m/s</field>
-</param>
-</parameters>
-<parameters name="RPM">
-<param humanName="RPM type" name="RPM_TYPE" documentation="What type of RPM sensor is connected">
-<values>
-<value code="0">None</value>
-<value code="1">PX4-PWM</value>
-</values>
-</param>
-<param humanName="RPM scaling" name="RPM_SCALING" documentation="Scaling factor between sensor reading and RPM.">
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Maximum RPM" name="RPM_MAX" documentation="Maximum RPM to report">
-<field name="Increment">1</field>
-</param>
-<param humanName="Minimum RPM" name="RPM_MIN" documentation="Minimum RPM to report">
-<field name="Increment">1</field>
-</param>
-<param humanName="Minimum Quality" name="RPM_MIN_QUAL" documentation="Minimum data quality to be used">
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Second RPM type" name="RPM2_TYPE" documentation="What type of RPM sensor is connected">
-<values>
-<value code="0">None</value>
-<value code="1">PX4-PWM</value>
-</values>
-</param>
-<param humanName="RPM scaling" name="RPM2_SCALING" documentation="Scaling factor between sensor reading and RPM.">
-<field name="Increment">0.001</field>
-</param>
-</parameters>
-<parameters name="RSSI_">
-<param humanName="RSSI Type" name="RSSI_TYPE" documentation="Radio Receiver RSSI type. If your radio receiver supports RSSI of some kind, set it here, then set its associated RSSI_XXXXX parameters, if any." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">AnalogPin</value>
-<value code="2">RCChannelPwmValue</value>
-</values>
-</param>
-<param humanName="Receiver RSSI analog sensing pin" name="RSSI_ANA_PIN" documentation="This selects an analog pin where the receiver RSSI voltage will be read." user="Standard">
-<values>
-<value code="0">APM2 A0</value>
-<value code=" 1">APM2 A1</value>
-<value code=" 13">APM2 A13</value>
-<value code=" 103">Pixhawk SBUS</value>
-</values>
-</param>
-<param humanName="Receiver RSSI voltage low" name="RSSI_PIN_LOW" documentation="This is the voltage value that the radio receiver will put on the RSSI_ANA_PIN when the signal strength is the weakest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn't necessarily a lower value than RSSI_PIN_HIGH. " user="Standard">
-<field name="Range">0 5.0</field>
-<field name="Increment">0.01</field>
-<field name="Units">Volt</field>
-</param>
-<param humanName="Receiver RSSI voltage high" name="RSSI_PIN_HIGH" documentation="This is the voltage value that the radio receiver will put on the RSSI_ANA_PIN when the signal strength is the strongest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn't necessarily a higher value than RSSI_PIN_LOW. " user="Standard">
-<field name="Range">0 5.0</field>
-<field name="Increment">0.01</field>
-<field name="Units">Volt</field>
-</param>
-<param humanName="Receiver RSSI channel number" name="RSSI_CHANNEL" documentation="The channel number where RSSI will be output by the radio receiver." user="Standard">
-<values>
-<value code="5">Channel5</value>
-<value code="6">Channel6</value>
-<value code="7">Channel7</value>
-<value code="8">Channel8</value>
-</values>
-<field name="Units"></field>
-</param>
-<param humanName="Receiver RSSI PWM low value" name="RSSI_CHAN_LOW" documentation="This is the PWM value that the radio receiver will put on the RSSI_CHANNEL when the signal strength is the weakest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn't necessarily a lower value than RSSI_CHAN_HIGH. " user="Standard">
-<field name="Range">0 2000</field>
-<field name="Units">Microseconds</field>
-</param>
-<param humanName="Receiver RSSI PWM high value" name="RSSI_CHAN_HIGH" documentation="This is the PWM value that the radio receiver will put on the RSSI_CHANNEL when the signal strength is the strongest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn't necessarily a higher value than RSSI_CHAN_LOW. " user="Standard">
-<field name="Range">0 2000</field>
-<field name="Units">Microseconds</field>
-</param>
-</parameters>
-<parameters name="NTF_">
-<param humanName="LED Brightness" name="NTF_LED_BRIGHT" documentation="Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting." user="Advanced">
-<values>
-<value code="0">Off</value>
-<value code="1">Low</value>
-<value code="2">Medium</value>
-<value code="3">High</value>
-</values>
-</param>
-</parameters>
-<parameters name="HS1_">
-<param humanName="RC min PWM" name="HS1_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="HS1_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="HS1_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="HS1_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="HS1_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="HS2_">
-<param humanName="RC min PWM" name="HS2_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="HS2_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="HS2_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="HS2_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="HS2_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="HS3_">
-<param humanName="RC min PWM" name="HS3_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="HS3_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="HS3_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="HS3_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="HS3_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="HS4_">
-<param humanName="RC min PWM" name="HS4_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="HS4_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="HS4_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="HS4_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="HS4_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="H_RSC_">
-<param humanName="RC min PWM" name="H_RSC_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="H_RSC_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="H_RSC_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="H_RSC_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="H_RSC_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="EPM_">
-<param humanName="EPM Enable/Disable" name="EPM_ENABLE" documentation="EPM enable/disable" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="EPM Grab PWM" name="EPM_GRAB" documentation="PWM value sent to EPM to initiate grabbing the cargo" user="Advanced">
-<field name="Range">1000 2000</field>
-</param>
-<param humanName="EPM Release PWM" name="EPM_RELEASE" documentation="PWM value sent to EPM to release the cargo" user="Advanced">
-<field name="Range">1000 2000</field>
-</param>
-<param humanName="EPM Neutral PWM" name="EPM_NEUTRAL" documentation="PWM value sent to EPM when not grabbing or releasing" user="Advanced">
-<field name="Range">1000 2000</field>
-</param>
-<param humanName="EPM Regrab interval" name="EPM_REGRAB" documentation="Time in seconds that gripper will regrab the cargo to ensure grip has not weakend" user="Advanced">
-<values>
-<value code="0">Never</value>
-<value code=" 15">every 15 seconds</value>
-<value code=" 30">every 30 seconds</value>
-<value code=" 60">once per minute</value>
-</values>
-</param>
-</parameters>
-<parameters name="LGR_">
-<param humanName="Landing Gear Servo Retracted PWM Value" name="LGR_SERVO_RTRACT" documentation="Servo PWM value when landing gear is retracted" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Landing Gear Servo Deployed PWM Value" name="LGR_SERVO_DEPLOY" documentation="Servo PWM value when landing gear is deployed" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="IM_">
-<param humanName="Stabilize Mode Collective Point 1" name="IM_STAB_COL_1" documentation="Helicopter's minimum collective pitch setting at zero throttle input in Stabilize mode" user="Standard">
-<field name="Range">0 500</field>
-<field name="Increment">1</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Stabilize Mode Collective Point 2" name="IM_STAB_COL_2" documentation="Helicopter's collective pitch setting at mid-low throttle input in Stabilize mode" user="Standard">
-<field name="Range">0 500</field>
-<field name="Increment">1</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Stabilize Mode Collective Point 3" name="IM_STAB_COL_3" documentation="Helicopter's collective pitch setting at mid-high throttle input in Stabilize mode" user="Standard">
-<field name="Range">500 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Stabilize Mode Collective Point 4" name="IM_STAB_COL_4" documentation="Helicopter's maximum collective pitch setting at full throttle input in Stabilize mode" user="Standard">
-<field name="Range">500 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Acro Mode Collective Expo" name="IM_ACRO_COL_EXP" documentation="Used to soften collective pitch inputs near center point in Acro mode." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="0.1">Very Low</value>
-<value code="0.2">Low</value>
-<value code="0.3">Medium</value>
-<value code="0.4">High</value>
-<value code="0.5">Very High</value>
-</values>
-</param>
-</parameters>
-<parameters name="WPNAV_">
-<param humanName="Waypoint Horizontal Speed Target" name="WPNAV_SPEED" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission" user="Standard">
-<field name="Range">0 2000</field>
-<field name="Increment">50</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Waypoint Radius" name="WPNAV_RADIUS" documentation="Defines the distance from a waypoint, that when crossed indicates the wp has been hit." user="Standard">
-<field name="Range">100 1000</field>
-<field name="Increment">1</field>
-<field name="Units">cm</field>
-</param>
-<param humanName="Waypoint Climb Speed Target" name="WPNAV_SPEED_UP" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">50</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Waypoint Descent Speed Target" name="WPNAV_SPEED_DN" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission" user="Standard">
-<field name="Range">0 500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Loiter Horizontal Maximum Speed" name="WPNAV_LOIT_SPEED" documentation="Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode" user="Standard">
-<field name="Range">0 2000</field>
-<field name="Increment">50</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Waypoint Acceleration " name="WPNAV_ACCEL" documentation="Defines the horizontal acceleration in cm/s/s used during missions" user="Standard">
-<field name="Range">50 500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Waypoint Vertical Acceleration" name="WPNAV_ACCEL_Z" documentation="Defines the vertical acceleration in cm/s/s used during missions" user="Standard">
-<field name="Range">50 500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Loiter maximum jerk" name="WPNAV_LOIT_JERK" documentation="Loiter maximum jerk in cm/s/s/s" user="Advanced">
-<field name="Range">500 5000</field>
-<field name="Increment">1</field>
-<field name="Units">cm/s/s/s</field>
-</param>
-<param humanName="Loiter maximum acceleration" name="WPNAV_LOIT_MAXA" documentation="Loiter maximum acceleration in cm/s/s.  Higher values cause the copter to accelerate and stop more quickly." user="Advanced">
-<field name="Range">100 981</field>
-<field name="Increment">1</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Loiter minimum acceleration" name="WPNAV_LOIT_MINA" documentation="Loiter minimum acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered, but cause a larger jerk when the copter stops." user="Advanced">
-<field name="Range">100 981</field>
-<field name="Increment">1</field>
-<field name="Units">cm/s/s</field>
-</param>
-</parameters>
-<parameters name="CIRCLE_">
-<param humanName="Circle Radius" name="CIRCLE_RADIUS" documentation="Defines the radius of the circle the vehicle will fly when in Circle flight mode" user="Standard">
-<field name="Range">0 10000</field>
-<field name="Increment">100</field>
-<field name="Units">cm</field>
-</param>
-<param humanName="Circle rate" name="CIRCLE_RATE" documentation="Circle mode's turn rate in deg/sec.  Positive to turn clockwise, negative for counter clockwise" user="Standard">
-<field name="Range">-90 90</field>
-<field name="Increment">1</field>
-<field name="Units">deg/s</field>
-</param>
-</parameters>
-<parameters name="ATC_">
-<param humanName="Yaw target slew rate" name="ATC_SLEW_YAW" documentation="Maximum rate the yaw target can be updated in Loiter, RTL, Auto flight modes" user="Advanced">
-<field name="Range">500 18000</field>
-<field name="Increment">100</field>
-<field name="Units">Centi-Degrees/Sec</field>
-</param>
-<param humanName="Acceleration Max for Yaw" name="ATC_ACCEL_Y_MAX" documentation="Maximum acceleration in yaw axis" user="Advanced">
-<field name="Range">0 72000</field>
-<values>
-<value code="0">Disabled</value>
-<value code=" 18000">Slow</value>
-<value code=" 36000">Medium</value>
-<value code=" 54000">Fast</value>
-</values>
-<field name="Increment">1000</field>
-<field name="Units">Centi-Degrees/Sec/Sec</field>
-</param>
-<param humanName="Rate Feedforward Enable" name="ATC_RATE_FF_ENAB" documentation="Controls whether body-frame rate feedfoward is enabled or disabled" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="Acceleration Max for Roll" name="ATC_ACCEL_R_MAX" documentation="Maximum acceleration in roll axis" user="Advanced">
-<field name="Range">0 180000</field>
-<values>
-<value code="0">Disabled</value>
-<value code=" 72000">Slow</value>
-<value code=" 108000">Medium</value>
-<value code=" 162000">Fast</value>
-</values>
-<field name="Increment">1000</field>
-<field name="Units">Centi-Degrees/Sec/Sec</field>
-</param>
-<param humanName="Acceleration Max for Pitch" name="ATC_ACCEL_P_MAX" documentation="Maximum acceleration in pitch axis" user="Advanced">
-<field name="Range">0 180000</field>
-<values>
-<value code="0">Disabled</value>
-<value code=" 72000">Slow</value>
-<value code=" 108000">Medium</value>
-<value code=" 162000">Fast</value>
-</values>
-<field name="Increment">1000</field>
-<field name="Units">Centi-Degrees/Sec/Sec</field>
-</param>
-<param humanName="Angle Boost" name="ATC_ANGLE_BOOST" documentation="Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-</parameters>
-<parameters name="POSCON_">
-<param humanName="XY Acceleration filter cutoff frequency" name="POSCON__ACC_XY_FILT" documentation="Lower values will slow the response of the navigation controller and reduce twitchiness" user="Advanced">
-<field name="Range">0.5 5</field>
-<field name="Increment">0.1</field>
-<field name="Units">Hz</field>
-</param>
-</parameters>
-<parameters name="SPRAY_">
-<param humanName="Sprayer enable/disable" name="SPRAY_ENABLE" documentation="Allows you to enable (1) or disable (0) the sprayer" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Pump speed" name="SPRAY_PUMP_RATE" documentation="Desired pump speed when travelling 1m/s expressed as a percentage" user="Standard">
-<field name="Range">0 100</field>
-<field name="Units">percentage</field>
-</param>
-<param humanName="Spinner rotation speed" name="SPRAY_SPINNER" documentation="Spinner's rotation speed in PWM (a higher rate will disperse the spray over a wider area horizontally)" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Units">ms</field>
-</param>
-<param humanName="Speed minimum" name="SPRAY_SPEED_MIN" documentation="Speed minimum at which we will begin spraying" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Pump speed minimum" name="SPRAY_PUMP_MIN" documentation="Minimum pump speed expressed as a percentage" user="Standard">
-<field name="Range">0 100</field>
-<field name="Units">percentage</field>
-</param>
-</parameters>
-<parameters name="FENCE_">
-<param humanName="Fence enable/disable" name="FENCE_ENABLE" documentation="Allows you to enable (1) or disable (0) the fence functionality" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Fence Type" name="FENCE_TYPE" documentation="Enabled fence types held as bitmask" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Altitude</value>
-<value code="2">Circle</value>
-<value code="3">Altitude and Circle</value>
-</values>
-</param>
-<param humanName="Fence Action" name="FENCE_ACTION" documentation="What action should be taken when fence is breached" user="Standard">
-<values>
-<value code="0">Report Only</value>
-<value code="1">RTL or Land</value>
-</values>
-</param>
-<param humanName="Fence Maximum Altitude" name="FENCE_ALT_MAX" documentation="Maximum altitude allowed before geofence triggers" user="Standard">
-<field name="Range">10 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Circular Fence Radius" name="FENCE_RADIUS" documentation="Circle fence radius which when breached will cause an RTL" user="Standard">
-<field name="Range">30 10000</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Fence Margin" name="FENCE_MARGIN" documentation="Distance that autopilot's should maintain from the fence to avoid a breach" user="Standard">
-<field name="Range">1 10</field>
-<field name="Units">Meters</field>
-</param>
-</parameters>
-<parameters name="H_">
-<param humanName="Servo 1 Position" name="H_SV1_POS" documentation="Angular location of swash servo #1" user="Standard">
-<field name="Range">-180 180</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Servo 2 Position" name="H_SV2_POS" documentation="Angular location of swash servo #2" user="Standard">
-<field name="Range">-180 180</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Servo 3 Position" name="H_SV3_POS" documentation="Angular location of swash servo #3" user="Standard">
-<field name="Range">-180 180</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Tail Type" name="H_TAIL_TYPE" documentation="Tail type selection.  Simpler yaw controller used if external gyro is selected" user="Standard">
-<values>
-<value code="0">Servo only</value>
-<value code="1">Servo with ExtGyro</value>
-<value code="2">DirectDrive VarPitch</value>
-<value code="3">DirectDrive FixedPitch</value>
-</values>
-</param>
-<param humanName="Swash Type" name="H_SWASH_TYPE" documentation="Swash Type Setting - either 3-servo CCPM or H1 Mechanical Mixing" user="Standard">
-<values>
-<value code="0">3-Servo CCPM</value>
-<value code=" 1">H1 Mechanical Mixing</value>
-</values>
-</param>
-<param humanName="External Gyro Gain" name="H_GYR_GAIN" documentation="PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">PWM</field>
-</param>
-<param humanName="Swashplate Phase Angle Compensation" name="H_PHANG" documentation="Phase angle correction for rotor head.  If pitching the swash forward induces a roll, this can be correct the problem" user="Advanced">
-<field name="Range">-90 90</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Collective-Yaw Mixing" name="H_COLYAW" documentation="Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.">
-<field name="Range">-10 10</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Flybar Mode Selector" name="H_FLYBAR_MODE" documentation="Flybar present or not.  Affects attitude controller used during ACRO flight mode" user="Standard">
-<values>
-<value code="0">NoFlybar</value>
-<value code="1">Flybar</value>
-</values>
-</param>
-<param humanName="Direct Drive VarPitch Tail ESC speed" name="H_TAIL_SPEED" documentation="Direct Drive VarPitch Tail ESC speed.  Only used when TailType is DirectDrive VarPitch" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">PWM</field>
-</param>
-<param humanName="External Gyro Gain for ACRO" name="H_GYR_GAIN_ACRO" documentation="PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro. A value of zero means to use H_GYR_GAIN" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">PWM</field>
-</param>
-</parameters>
-<parameters name="SS1_">
-<param humanName="RC min PWM" name="SS1_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="SS1_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="SS1_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="SS1_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="SS1_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="SS2_">
-<param humanName="RC min PWM" name="SS2_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="SS2_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="SS2_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="SS2_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="SS2_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="SS3_">
-<param humanName="RC min PWM" name="SS3_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="SS3_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="SS3_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="SS3_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="SS3_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="SS4_">
-<param humanName="RC min PWM" name="SS4_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="SS4_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="SS4_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="SS4_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="SS4_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="MOT_">
-<param humanName="Reverse roll feedback " name="MOT_ROLL_SV_REV" documentation="Ensure the feedback is negative">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="Reverse pitch feedback " name="MOT_PITCH_SV_REV" documentation="Ensure the feedback is negative">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="Reverse yaw feedback " name="MOT_YAW_SV_REV" documentation="Ensure the feedback is negative">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="Servo speed " name="MOT_SV_SPEED" documentation="Servo update speed in hz">
-<field name="Values">50, 125, 250</field>
-</param>
-</parameters>
-<parameters name="PLND_">
-<param humanName="Precision Land enabled/disabled and behaviour" name="PLND_ENABLED" documentation="Precision Land enabled/disabled and behaviour" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled Always Land</value>
-<value code=" 2">Enabled Strict</value>
-</values>
-</param>
-<param humanName="Precision Land Type" name="PLND_TYPE" documentation="Precision Land Type" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code=" 1">CompanionComputer</value>
-<value code=" 2">IRLock</value>
-</values>
-</param>
-<param humanName="Precision Land horizontal speed maximum in cm/s" name="PLND_SPEED" documentation="Precision Land horizontal speed maximum in cm/s" user="Advanced">
-<field name="Range">0 500</field>
-</param>
-<param humanName="Precision landing velocity controller P gain" name="PLND_VEL_P" documentation="Precision landing velocity controller P gain" user="Advanced">
-<field name="Range">0.100 5.000</field>
-</param>
-<param humanName="Precision landing velocity controller I gain" name="PLND_VEL_I" documentation="Precision landing velocity controller I gain" user="Advanced">
-<field name="Range">0.100 5.000</field>
-</param>
-<param humanName="Precision landing velocity controller I gain maximum" name="PLND_VEL_IMAX" documentation="Precision landing velocity controller I gain maximum" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Units">cm/s</field>
-</param>
-</parameters>
-</libraries></paramfile>
diff --git a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.7.xml b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.7.xml
deleted file mode 100644
index 9a849d2036cb888981ddb3f84bef82b3c87cac3c..0000000000000000000000000000000000000000
--- a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.7.xml
+++ /dev/null
@@ -1,7143 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-        <!-- Dynamically generated list of documented parameters (generated by param_parse.py) -->    
-        <paramfile>
-        <vehicles>
-        <parameters name="ArduPlane">
-<param humanName="Eeprom format version number" name="ArduPlane:FORMAT_VERSION" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
-</param>
-<param humanName="Software Type" name="ArduPlane:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="MAVLink system ID of this vehicle" name="ArduPlane:SYSID_THISMAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="Ground station MAVLink system ID" name="ArduPlane:SYSID_MYGCS" documentation="The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match." user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="CLI Enable" name="ArduPlane:CLI_ENABLED" documentation="This enables/disables the checking for three carriage returns on telemetry links on startup to enter the diagnostics command line interface" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Autotune level" name="ArduPlane:AUTOTUNE_LEVEL" documentation="Level of aggressiveness for autotune. When autotune is run a lower AUTOTUNE_LEVEL will result in a 'softer' tune, with less aggressive gains. For most users a level of 6 is recommended." user="Standard">
-<field name="Range">1 10</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Telemetry startup delay " name="ArduPlane:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Standard">
-<field name="Range">0 30</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="GCS PID tuning mask" name="ArduPlane:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
-<field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
-<values>
-<value code="0">None</value>
-<value code="1">Roll</value>
-<value code="2">Pitch</value>
-<value code="4">Yaw</value>
-</values>
-</param>
-<param humanName="Rudder Mix" name="ArduPlane:KFF_RDDRMIX" documentation="The amount of rudder mix to apply during aileron movement 0 = 0 %, 1 = 100%" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Throttle to Pitch Mix" name="ArduPlane:KFF_THR2PTCH" documentation="Throttle to pitch feed-forward gain." user="Advanced">
-<field name="Range">0 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Low throttle pitch down trim " name="ArduPlane:STAB_PITCH_DOWN" documentation="This controls the amount of down pitch to add in FBWA and AUTOTUNE modes when at low throttle. No down trim is added when throttle is above TRIM_THROTTLE. Below TRIM_THROTTLE downtrim is added in proportion to the amount the throttle is below TRIM_THROTTLE. At zero throttle the full downpitch specified in this parameter is added. This parameter is meant to help keep airspeed up when flying in FBWA mode with low throttle, such as when on a landing approach, without relying on an airspeed sensor. A value of 2 degrees is good for many planes, although a higher value may be needed for high drag aircraft." user="Advanced">
-<field name="Range">0 15</field>
-<field name="Increment">0.1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Glide slope minimum" name="ArduPlane:GLIDE_SLOPE_MIN" documentation="This controls the minimum altitude change for a waypoint before a glide slope will be used instead of an immediate altitude change. The default value is 15 meters, which helps to smooth out waypoint missions where small altitude changes happen near waypoints. If you don't want glide slopes to be used in missions then you can set this to zero, which will disable glide slope calculations. Otherwise you can set it to a minimum number of meters of altitude error to the destination waypoint before a glide slope will be used to change altitude." user="Advanced">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Glide slope threshold" name="ArduPlane:GLIDE_SLOPE_THR" documentation="This controls the height above the glide slope the plane may be before rebuilding a glide slope. This is useful for smoothing out an autotakeoff" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Stick Mixing" name="ArduPlane:STICK_MIXING" documentation='When enabled, this adds user stick input to the control surfaces in auto modes, allowing the user to have some degree of flight control without changing modes.  There are two types of stick mixing available. If you set STICK_MIXING to 1 then it will use "fly by wire" mixing, which controls the roll and pitch in the same way that the FBWA mode does. This is the safest option if you usually fly ArduPlane in FBWA or FBWB mode. If you set STICK_MIXING to 2 then it will enable direct mixing mode, which is what the STABILIZE mode uses. That will allow for much more extreme maneuvers while in AUTO mode.' user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">FBWMixing</value>
-<value code="2">DirectMixing</value>
-</values>
-</param>
-<param humanName="Use FBWA steering in AUTO" name="ArduPlane:AUTO_FBW_STEER" documentation="When enabled this option gives FBWA navigation and steering in AUTO mode. This can be used to allow manual stabilised piloting with waypoint logic for triggering payloads. With this enabled the pilot has the same control over the plane as in FBWA mode, and the normal AUTO navigation is completely disabled. THIS OPTION IS NOT RECOMMENDED FOR NORMAL USE." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="42">Enabled</value>
-</values>
-</param>
-<param humanName="Takeoff throttle min speed" name="ArduPlane:TKOFF_THR_MINSPD" documentation="Minimum GPS ground speed in m/s used by the speed check that un-suppresses throttle in auto-takeoff. This can be be used for catapult launches where you want the motor to engage only after the plane leaves the catapult, but it is preferable to use the TKOFF_THR_MINACC and TKOFF_THR_DELAY parameters for catapult launches due to the errors associated with GPS measurements. For hand launches with a pusher prop it is strongly advised that this parameter be set to a value no less than 4 m/s to provide additional protection against premature motor start. Note that the GPS velocity will lag the real velocity by about 0.5 seconds. The ground speed check is delayed by the TKOFF_THR_DELAY parameter." user="User">
-<field name="Range">0 30</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Takeoff throttle min acceleration" name="ArduPlane:TKOFF_THR_MINACC" documentation="Minimum forward acceleration in m/s/s before arming the ground speed check in auto-takeoff. This is meant to be used for hand launches. Setting this value to 0 disables the acceleration test which means the ground speed check will always be armed which could allow GPS velocity jumps to start the engine. For hand launches and bungee launches this should be set to around 15." user="User">
-<field name="Range">0 30</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Takeoff throttle delay" name="ArduPlane:TKOFF_THR_DELAY" documentation="This parameter sets the time delay (in 1/10ths of a second) that the ground speed check is delayed after the forward acceleration check controlled by TKOFF_THR_MINACC has passed. For hand launches with pusher propellers it is essential that this is set to a value of no less than 2 (0.2 seconds) to ensure that the aircraft is safely clear of the throwers arm before the motor can start. For bungee launches a larger value can be used (such as 30) to give time for the bungee to release from the aircraft before the motor is started." user="User">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">0.1 seconds</field>
-</param>
-<param humanName="Takeoff tail dragger elevator" name="ArduPlane:TKOFF_TDRAG_ELEV" documentation="This parameter sets the amount of elevator to apply during the initial stage of a takeoff. It is used to hold the tail wheel of a taildragger on the ground during the initial takeoff stage to give maximum steering. This option should be combined with the TKOFF_TDRAG_SPD1 option and the GROUND_STEER_ALT option along with tuning of the ground steering controller. A value of zero means to bypass the initial &quot;tail hold&quot; stage of takeoff. Set to zero for hand and catapult launch. For tail-draggers you should normally set this to 100, meaning full up elevator during the initial stage of takeoff. For most tricycle undercarriage aircraft a value of zero will work well, but for some tricycle aircraft a small negative value (say around -20 to -30) will apply down elevator which will hold the nose wheel firmly on the ground during initial acceleration. Only use a negative value if you find that the nosewheel doesn't grip well during takeoff. Too much down elevator on a tricycle undercarriage may cause instability in steering as the plane pivots around the nosewheel. Add down elevator 10 percent at a time." user="User">
-<field name="Range">-100 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Takeoff tail dragger speed1" name="ArduPlane:TKOFF_TDRAG_SPD1" documentation='This parameter sets the airspeed at which to stop holding the tail down and transition to rudder control of steering on the ground. When TKOFF_TDRAG_SPD1 is reached the pitch of the aircraft will be held level until TKOFF_ROTATE_SPD is reached, at which point the takeoff pitch specified in the mission will be used to "rotate" the pitch for takeoff climb. Set TKOFF_TDRAG_SPD1 to zero to go straight to rotation. This should be set to zero for hand launch and catapult launch. It should also be set to zero for tricycle undercarriages unless you are using the method above to genetly hold the nose wheel down. For tail dragger aircraft it should be set just below the stall speed.' user="User">
-<field name="Range">0 30</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Takeoff rotate speed" name="ArduPlane:TKOFF_ROTATE_SPD" documentation='This parameter sets the airspeed at which the aircraft will "rotate", setting climb pitch specified in the mission. If TKOFF_ROTATE_SPD is zero then the climb pitch will be used as soon as takeoff is started. For hand launch and catapult launches a TKOFF_ROTATE_SPD of zero should be set. For all ground launches TKOFF_ROTATE_SPD should be set above the stall speed, usually by about 10 to 30 percent' user="User">
-<field name="Range">0 30</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Takeoff throttle slew rate" name="ArduPlane:TKOFF_THR_SLEW" documentation="This parameter sets the slew rate for the throttle during auto takeoff. When this is zero the THR_SLEWRATE parameter is used during takeoff. For rolling takeoffs it can be a good idea to set a lower slewrate for takeoff to give a slower acceleration which can improve ground steering control. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on takeoff. Values below 20 are not recommended as they may cause the plane to try to climb out with too little throttle." user="User">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">percent</field>
-</param>
-<param humanName="Takeoff pitch limit reduction" name="ArduPlane:TKOFF_PLIM_SEC" documentation="This parameter reduces the pitch minimum limit of an auto-takeoff just a few seconds before it reaches the target altitude. This reduces overshoot by allowing the flight controller to start leveling off a few seconds before reaching the target height. When set to zero, the mission pitch min is enforced all the way to and through the target altitude, otherwise the pitch min slowly reduces to zero in the final segment. This is the pitch_min, not the demand. The flight controller should still be commanding to gain altitude to finish the takeoff but with this param it is not forcing it higher than it wants to be." user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">0.5</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Landing throttle slew rate" name="ArduPlane:LAND_THR_SLEW" documentation="This parameter sets the slew rate for the throttle during auto landing. When this is zero the THR_SLEWRATE parameter is used during landing. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on landing. Values below 50 are not recommended as it may cause a stall when airspeed is low and you can not throttle up fast enough." user="User">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">percent</field>
-</param>
-<param humanName="Takeoff flap percentage" name="ArduPlane:TKOFF_FLAP_PCNT" documentation="The amount of flaps (as a percentage) to apply in automatic takeoff" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="FBWA taildragger channel" name="ArduPlane:FBWA_TDRAG_CHAN" documentation="This is a RC input channel which when it goes above 1700 enables FBWA taildragger takeoff mode. It should be assigned to a momentary switch. Once this feature is enabled it will stay enabled until the aircraft goes above TKOFF_TDRAG_SPD1 airspeed, changes mode, or the pitch goes above the initial pitch when this is engaged or goes below 0 pitch. When enabled the elevator will be forced to TKOFF_TDRAG_ELEV. This option allows for easier takeoffs on taildraggers in FBWA mode, and also makes it easier to test auto-takeoff steering handling in FBWA. Setting it to 0 disables this option." user="Standard">
-</param>
-<param humanName="Level flight roll limit" name="ArduPlane:LEVEL_ROLL_LIMIT" documentation="This controls the maximum bank angle in degrees during flight modes where level flight is desired, such as in the final stages of landing, and during auto takeoff. This should be a small angle (such as 5 degrees) to prevent a wing hitting the runway during takeoff or landing. Setting this to zero will completely disable heading hold on auto takeoff and final landing approach." user="User">
-<field name="Range">0 45</field>
-<field name="Increment">1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Landing slope re-calc threshold" name="ArduPlane:LAND_SLOPE_RCALC" documentation="This parameter is used when using a rangefinder during landing for altitude correction from baro drift (RNGFND_LANDING=1) and the altitude correction indicates your altitude is lower than the intended slope path. This value is the threshold of the correction to re-calculate the landing approach slope. Set to zero to keep the original slope all the way down and any detected baro drift will be corrected by pitching/throttling up to snap back to resume the original slope path. Otherwise, when a rangefinder altitude correction exceeds this threshold it will trigger a slope re-calculate to give a shallower slope. This also smoothes out the approach when flying over objects such as trees. Recommend a value of 2m." user="Advanced">
-<field name="Range">0 5</field>
-<field name="Increment">0.5</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Landing auto-abort slope threshold" name="ArduPlane:LAND_ABORT_DEG" documentation="This parameter is used when using a rangefinder during landing for altitude correction from baro drift (RNGFND_LANDING=1) and the altitude correction indicates your actual altitude is higher than the intended slope path. Normally it would pitch down steeply but that can result in a crash with high airspeed so this allows remembering the baro offset and self-abort the landing and come around for another landing with the correct baro offset applied for a perfect slope. An auto-abort go-around will only happen once, next attempt will not auto-abort again. This operation happens entirely automatically in AUTO mode. This value is the delta degrees threshold to trigger the go-around compared to the original slope. Example: if set to 5 deg and the mission planned slope is 15 deg then if the new slope is 21 then it will go-around. Set to 0 to disable. Requires LAND_SLOPE_RCALC &gt; 0." user="Advanced">
-<field name="Range">0 90</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Landing Pitch" name="ArduPlane:LAND_PITCH_CD" documentation="Used in autoland to give the minimum pitch in the final stage of landing (after the flare). This parameter can be used to ensure that the final landing attitude is appropriate for the type of undercarriage on the aircraft. Note that it is a minimum pitch only - the landing code will control pitch above this value to try to achieve the configured landing sink rate." user="Advanced">
-<field name="Units">centi-Degrees</field>
-</param>
-<param humanName="Landing flare altitude" name="ArduPlane:LAND_FLARE_ALT" documentation="Altitude in autoland at which to lock heading and flare to the LAND_PITCH_CD pitch. Note that this option is secondary to LAND_FLARE_SEC. For a good landing it preferable that the flare is triggered by LAND_FLARE_SEC. " user="Advanced">
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Landing flare time" name="ArduPlane:LAND_FLARE_SEC" documentation="Vertical time before landing point at which to lock heading and flare with the motor stopped. This is vertical time, and is calculated based solely on the current height above the ground and the current descent rate.  Set to 0 if you only wish to flare based on altitude (see LAND_FLARE_ALT)." user="Advanced">
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Landing pre-flare altitude" name="ArduPlane:LAND_PF_ALT" documentation="Altitude to trigger pre-flare flight stage where LAND_PF_ARSPD controls airspeed. The pre-flare flight stage trigger works just like LAND_FLARE_ALT but higher. Disabled when LAND_PF_ARSPD is 0." user="Advanced">
-<field name="Range">0 30</field>
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Landing pre-flare time" name="ArduPlane:LAND_PF_SEC" documentation="Vertical time to ground to trigger pre-flare flight stage where LAND_PF_ARSPD controls airspeed. This pre-flare flight stage trigger works just like LAND_FLARE_SEC but earlier. Disabled when LAND_PF_ARSPD is 0." user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Landing pre-flare airspeed" name="ArduPlane:LAND_PF_ARSPD" documentation="Desired airspeed during pre-flare flight stage. This is useful to reduce airspeed just before the flare. Use 0 to disable." user="Advanced">
-<field name="Range">0 30</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Bitmask for when to allow negative reverse thrust" name="ArduPlane:USE_REV_THRUST" documentation="Typically THR_MIN will be clipped to zero unless reverse thrust is available. Since you may not want negative thrust available at all times this bitmask allows THR_MIN to go below 0 while executing certain auto-mission commands." user="Advanced">
-<field name="Bitmask">0:AUTO_ALWAYS,1:AUTO_LAND,2:AUTO_LOITER_TO_ALT,3:AUTO_LOITER_ALL,4:AUTO_WAYPOINTS,5:LOITER,6:RTL,7:CIRCLE,8:CRUISE,9:FBWB,10:GUIDED</field>
-<values>
-<value code="0">Disabled</value>
-<value code="1">AlwaysAllowedInAuto</value>
-<value code="2">Auto_LandApproach</value>
-<value code="4">Auto_LoiterToAlt</value>
-<value code="8">Auto_Loiter</value>
-<value code="16">Auto_Waypoint</value>
-<value code="32">Loiter</value>
-<value code="64">RTL</value>
-<value code="128">Circle</value>
-<value code="256">Cruise</value>
-<value code="512">FBWB</value>
-<value code="1024">Guided</value>
-</values>
-</param>
-<param humanName="Landing disarm delay" name="ArduPlane:LAND_DISARMDELAY" documentation="After a landing has completed using a LAND waypoint, automatically disarm after this many seconds have passed. Use 0 to not disarm." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Set servos to neutral after landing" name="ArduPlane:LAND_THEN_NEUTRL" documentation="When enabled, after an autoland and auto-disarm via LAND_DISARMDELAY happens then set all servos to neutral. This is helpful when an aircraft has a rough landing upside down or a crazy angle causing the servos to strain." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Servos to Neutral</value>
-<value code=" 2">Servos to Zero PWM</value>
-</values>
-</param>
-<param humanName="Landing abort using throttle" name="ArduPlane:LAND_ABORT_THR" documentation="Allow a landing abort to trigger with a throttle &gt; 95%" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="Navigation controller selection" name="ArduPlane:NAV_CONTROLLER" documentation="Which navigation controller to enable. Currently the only navigation controller available is L1. From time to time other experimental controllers will be added which are selected using this parameter." user="Standard">
-<values>
-<value code="0">Default</value>
-<value code="1">L1Controller</value>
-</values>
-</param>
-<param humanName="GPS to Baro Mix" name="ArduPlane:ALT_MIX" documentation="The percent of mixing between GPS altitude and baro altitude. 0 = 100% gps, 1 = 100% baro. It is highly recommend that you not change this from the default of 1, as GPS altitude is notoriously unreliable. The only time I would recommend changing this is if you have a high altitude enabled GPS, and you are dropping a plane from a high altitude balloon many kilometers off the ground." user="Advanced">
-<field name="Range">0 1</field>
-<field name="Increment">0.1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Altitude control algorithm" name="ArduPlane:ALT_CTRL_ALG" documentation="This sets what algorithm will be used for altitude control. The default is zero, which selects the most appropriate algorithm for your airframe. Currently the default is to use TECS (total energy control system). From time to time we will add other experimental altitude control algorithms which will be selected using this parameter." user="Advanced">
-<values>
-<value code="0">Automatic</value>
-</values>
-</param>
-<param humanName="Altitude offset" name="ArduPlane:ALT_OFFSET" documentation="This is added to the target altitude in automatic flight. It can be used to add a global altitude offset to a mission" user="Advanced">
-<field name="Range">-32767 32767</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Waypoint Radius" name="ArduPlane:WP_RADIUS" documentation='Defines the maximum distance from a waypoint that when crossed indicates the waypoint may be complete. To avoid the aircraft looping around the waypoint in case it misses by more than the WP_RADIUS an additional check is made to see if the aircraft has crossed a "finish line" passing through the waypoint and perpendicular to the flight path from the previous waypoint. If that finish line is crossed then the waypoint is considered complete. Note that the navigation controller may decide to turn later than WP_RADIUS before a waypoint, based on how sharp the turn is and the speed of the aircraft. It is safe to set WP_RADIUS much larger than the usual turn radius of your aircraft and the navigation controller will work out when to turn. If you set WP_RADIUS too small then you will tend to overshoot the turns.' user="Standard">
-<field name="Range">1 32767</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Waypoint Maximum Radius" name="ArduPlane:WP_MAX_RADIUS" documentation='Sets the maximum distance to a waypoint for the waypoint to be considered complete. This overrides the "cross the finish line" logic that is normally used to consider a waypoint complete. For normal AUTO behaviour this parameter should be set to zero. Using a non-zero value is only recommended when it is critical that the aircraft does approach within the given radius, and should loop around until it has done so. This can cause the aircraft to loop forever if its turn radius is greater than the maximum radius set.' user="Standard">
-<field name="Range">0 32767</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Waypoint Loiter Radius" name="ArduPlane:WP_LOITER_RAD" documentation="Defines the distance from the waypoint center, the plane will maintain during a loiter. If you set this value to a negative number then the default loiter direction will be counter-clockwise instead of clockwise." user="Standard">
-<field name="Range">-32767 32767</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="RTL loiter radius" name="ArduPlane:RTL_RADIUS" documentation="Defines the radius of the loiter circle when in RTL mode. If this is zero then WP_LOITER_RAD is used. If the radius is negative then a counter-clockwise is used. If positive then a clockwise loiter is used." user="Standard">
-<field name="Range">-32767 32767</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Action on geofence breach" name="ArduPlane:FENCE_ACTION" documentation="What to do on fence breach. If this is set to 0 then no action is taken, and geofencing is disabled. If this is set to 1 then the plane will enter GUIDED mode, with the target waypoint as the fence return point. If this is set to 2 then the fence breach is reported to the ground station, but no other action is taken. If set to 3 then the plane enters guided mode but the pilot retains manual throttle control. If set to 4 the plane enters RTL mode, with the target waypoint as the closest rally point (or home point if there are no rally points)." user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">GuidedMode</value>
-<value code="2">ReportOnly</value>
-<value code="3">GuidedModeThrPass</value>
-<value code="4">RTL_Mode</value>
-</values>
-</param>
-<param humanName="Fence Total" name="ArduPlane:FENCE_TOTAL" documentation="Number of geofence points currently loaded" user="Advanced">
-</param>
-<param humanName="Fence Channel" name="ArduPlane:FENCE_CHANNEL" documentation="RC Channel to use to enable geofence. PWM input above 1750 enables the geofence" user="Standard">
-</param>
-<param humanName="Fence Minimum Altitude" name="ArduPlane:FENCE_MINALT" documentation="Minimum altitude allowed before geofence triggers" user="Standard">
-<field name="Range">0 32767</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Fence Maximum Altitude" name="ArduPlane:FENCE_MAXALT" documentation="Maximum altitude allowed before geofence triggers" user="Standard">
-<field name="Range">0 32767</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Fence Return Altitude" name="ArduPlane:FENCE_RETALT" documentation="Altitude the aircraft will transit to when a fence breach occurs.  If FENCE_RETALT is &lt;= 0 then the midpoint between FENCE_MAXALT and FENCE_MINALT is used, unless FENCE_MAXALT &lt; FENCE_MINALT.  If FENCE_MAXALT &lt; FENCE_MINALT AND FENCE_RETALT is &lt;= 0 then ALT_HOLD_RTL is the altitude used on a fence breach." user="Standard">
-<field name="Range">0 32767</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Fence automatic enable" name="ArduPlane:FENCE_AUTOENABLE" documentation="When set to 1, geofence automatically enables after an auto takeoff and automatically disables at the beginning of an auto landing.  When on the ground before takeoff the fence is disabled.  When set to 2, the fence autoenables after an auto takeoff, but only disables the fence floor during landing. It is highly recommended to not use this option for line of sight flying and use a fence enable channel instead." user="Standard">
-<values>
-<value code="0">NoAutoEnable</value>
-<value code="1">AutoEnable</value>
-<value code="2">AutoEnableDisableFloorOnly</value>
-</values>
-</param>
-<param humanName="Fence Return to Rally" name="ArduPlane:FENCE_RET_RALLY" documentation="When set to 1: on fence breach the plane will return to the nearest rally point rather than the fence return point.  If no rally points have been defined the plane will return to the home point.  " user="Standard">
-<values>
-<value code="0">FenceReturnPoint</value>
-<value code="1">NearestRallyPoint</value>
-</values>
-</param>
-<param humanName="Enable stall prevention" name="ArduPlane:STALL_PREVENTION" documentation="This controls the use of stall prevention techniques, including roll limits at low speed and raising the minimum airspeed in turns. The limits are based on the aerodynamic load factor of a banked turn. This option relies on the correct ARSPD_FBW_MIN value being set correctly. Note that if you don't have an airspeed sensor then stall prevention will use an airspeed estimate based on the ground speed plus a wind estimate taken from the response of the autopilot banked turns. That synthetic airspeed estimate may be inaccurate, so you should not assume that stall prevention with no airspeed sensor will be effective." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Minimum Airspeed" name="ArduPlane:ARSPD_FBW_MIN" documentation="This is the minimum airspeed you want to fly at in modes where the autopilot controls the airspeed. This should be set to a value around 20% higher than the level flight stall speed for the airframe. This value is also used in the STALL_PREVENTION code." user="Standard">
-<field name="Range">5 100</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Maximum Airspeed" name="ArduPlane:ARSPD_FBW_MAX" documentation="This is the maximum airspeed that you want to allow for your airframe in auto-throttle modes. You should ensure that this value is sufficiently above the ARSPD_FBW_MIN value to allow for a sufficient flight envelope to accurately control altitude using airspeed. A value at least 50% above ARSPD_FBW_MIN is recommended." user="Standard">
-<field name="Range">5 100</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Fly By Wire elevator reverse" name="ArduPlane:FBWB_ELEV_REV" documentation="Reverse sense of elevator in FBWB and CRUISE modes. When set to 0 up elevator (pulling back on the stick) means to lower altitude. When set to 1, up elevator means to raise altitude." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Use terrain following" name="ArduPlane:TERRAIN_FOLLOW" documentation="This enables terrain following for CRUISE mode, FBWB mode, RTL and for rally points. To use this option you also need to set TERRAIN_ENABLE to 1, which enables terrain data fetching from the GCS, and you need to have a GCS that supports sending terrain data to the aircraft. When terrain following is enabled then CRUISE and FBWB mode will hold height above terrain rather than height above home. In RTL the return to launch altitude will be considered to be a height above the terrain. Rally point altitudes will be taken as height above the terrain. This option does not affect mission items, which have a per-waypoint flag for whether they are height above home or height above the terrain. To use terrain following missions you need a ground station which can set the waypoint type to be a terrain height waypoint when creating the mission." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Terrain lookahead" name="ArduPlane:TERRAIN_LOOKAHD" documentation="This controls how far ahead the terrain following code looks to ensure it stays above upcoming terrain. A value of zero means no lookahead, so the controller will track only the terrain directly below the aircraft. The lookahead will never extend beyond the next waypoint when in AUTO mode." user="Standard">
-<field name="Range">0 10000</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Fly By Wire B altitude change rate" name="ArduPlane:FBWB_CLIMB_RATE" documentation="This sets the rate in m/s at which FBWB and CRUISE modes will change its target altitude for full elevator deflection. Note that the actual climb rate of the aircraft can be lower than this, depending on your airspeed and throttle control settings. If you have this parameter set to the default value of 2.0, then holding the elevator at maximum deflection for 10 seconds would change the target altitude by 20 meters." user="Standard">
-<field name="Range">1 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Minimum Throttle" name="ArduPlane:THR_MIN" documentation="The minimum throttle setting (as a percentage) which the autopilot will apply. For the final stage of an automatic landing this is always zero. If your ESC supports reverse, use a negative value to configure for reverse thrust." user="Standard">
-<field name="Range">-100 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Maximum Throttle" name="ArduPlane:THR_MAX" documentation="The maximum throttle setting (as a percentage) which the autopilot will apply." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Maximum Throttle for takeoff" name="ArduPlane:TKOFF_THR_MAX" documentation="The maximum throttle setting during automatic takeoff. If this is zero then THR_MAX is used for takeoff as well." user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Throttle slew rate" name="ArduPlane:THR_SLEWRATE" documentation="maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second." user="Standard">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Flap slew rate" name="ArduPlane:FLAP_SLEWRATE" documentation="maximum percentage change in flap output per second. A setting of 25 means to not change the flap by more than 25% of the full flap range in one second. A value of 0 means no rate limiting." user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Throttle suppress manual passthru" name="ArduPlane:THR_SUPP_MAN" documentation="When throttle is suppressed in auto mode it is normally forced to zero. If you enable this option, then while suppressed it will be manual throttle. This is useful on petrol engines to hold the idle throttle manually while waiting for takeoff" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Throttle passthru in stabilize" name="ArduPlane:THR_PASS_STAB" documentation="If this is set then when in STABILIZE, FBWA or ACRO modes the throttle is a direct passthru from the transmitter. This means the THR_MIN and THR_MAX settings are not used in these modes. This is useful for petrol engines where you setup a throttle cut switch that suppresses the throttle below the normal minimum." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Throttle Failsafe Enable" name="ArduPlane:THR_FAILSAFE" documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Throttle Failsafe Value" name="ArduPlane:THR_FS_VALUE" documentation="The PWM level on channel 3 below which throttle failsafe triggers" user="Standard">
-<field name="Range">925 2200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Throttle cruise percentage" name="ArduPlane:TRIM_THROTTLE" documentation="The target percentage of throttle to apply for normal flight" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Throttle nudge enable" name="ArduPlane:THROTTLE_NUDGE" documentation="When enabled, this uses the throttle input in auto-throttle modes to 'nudge' the throttle or airspeed to higher or lower values. When you have an airspeed sensor the nudge affects the target airspeed, so that throttle inputs above 50% will increase the target airspeed from TRIM_ARSPD_CM up to a maximum of ARSPD_FBW_MAX. When no airspeed sensor is enabled the throttle nudge will push up the target throttle for throttle inputs above 50%." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Short failsafe action" name="ArduPlane:FS_SHORT_ACTN" documentation="The action to take on a short (FS_SHORT_TIMEOUT) failsafe event. A short failsafe even can be triggered either by loss of RC control (see THR_FS_VALUE) or by loss of GCS control (see FS_GCS_ENABL). If in CIRCLE or RTL mode this parameter is ignored. A short failsafe event in stabilization and manual modes will cause an change to CIRCLE mode if FS_SHORT_ACTN is 0 or 1, and a change to FBWA mode if FS_SHORT_ACTN is 2. In all other modes (AUTO, GUIDED and LOITER) a short failsafe event will cause no mode change is FS_SHORT_ACTN is set to 0, will cause a change to CIRCLE mode if set to 1 and will change to FBWA mode if set to 2. Please see the documentation for FS_LONG_ACTN for the behaviour after FS_LONG_TIMEOUT seconds of failsafe." user="Standard">
-<values>
-<value code="0">CIRCLE/no change(if already in AUTO|GUIDED|LOITER)</value>
-<value code="1">CIRCLE</value>
-<value code="2">FBWA</value>
-</values>
-</param>
-<param humanName="Short failsafe timeout" name="ArduPlane:FS_SHORT_TIMEOUT" documentation="The time in seconds that a failsafe condition has to persist before a short failsafe event will occur. This defaults to 1.5 seconds" user="Standard">
-<field name="Range">1 100</field>
-<field name="Increment">0.5</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Long failsafe action" name="ArduPlane:FS_LONG_ACTN" documentation="The action to take on a long (FS_LONG_TIMEOUT seconds) failsafe event. If the aircraft was in a stabilization or manual mode when failsafe started and a long failsafe occurs then it will change to RTL mode if FS_LONG_ACTN is 0 or 1, and will change to FBWA if FS_LONG_ACTN is set to 2. If the aircraft was in an auto mode (such as AUTO or GUIDED) when the failsafe started then it will continue in the auto mode if FS_LONG_ACTN is set to 0, will change to RTL mode if FS_LONG_ACTN is set to 1 and will change to FBWA mode if FS_LONG_ACTN is set to 2. If FS_LONG_ACTION is set to 3, the parachute will be deployed (make sure the chute is configured and enabled). " user="Standard">
-<values>
-<value code="0">Continue</value>
-<value code="1">ReturnToLaunch</value>
-<value code="2">Glide</value>
-<value code="3">Deploy Parachute</value>
-</values>
-</param>
-<param humanName="Long failsafe timeout" name="ArduPlane:FS_LONG_TIMEOUT" documentation="The time in seconds that a failsafe condition has to persist before a long failsafe event will occur. This defaults to 5 seconds." user="Standard">
-<field name="Range">1 300</field>
-<field name="Increment">0.5</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Failsafe battery voltage" name="ArduPlane:FS_BATT_VOLTAGE" documentation="Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe. If the battery voltage drops below this voltage continuously for 10 seconds then the plane will switch to RTL mode." user="Standard">
-<field name="Increment">0.1</field>
-<field name="Units">Volts</field>
-</param>
-<param humanName="Failsafe battery milliAmpHours" name="ArduPlane:FS_BATT_MAH" documentation="Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe. If the battery remaining drops below this level then the plane will switch to RTL mode immediately." user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
-</param>
-<param humanName="GCS failsafe enable" name="ArduPlane:FS_GCS_ENABL" documentation="Enable ground control station telemetry failsafe. Failsafe will trigger after FS_LONG_TIMEOUT seconds of no MAVLink heartbeat messages. There are two possible enabled settings. Seeing FS_GCS_ENABL to 1 means that GCS failsafe will be triggered when the aircraft has not received a MAVLink HEARTBEAT message. Setting FS_GCS_ENABL to 2 means that GCS failsafe will be triggered on either a loss of HEARTBEAT messages, or a RADIO_STATUS message from a MAVLink enabled 3DR radio indicating that the ground station is not receiving status updates from the aircraft, which is indicated by the RADIO_STATUS.remrssi field being zero (this may happen if you have a one way link due to asymmetric noise on the ground station and aircraft radios).Setting FS_GCS_ENABL to 3 means that GCS failsafe will be triggered by Heartbeat(like option one), but only in AUTO mode. WARNING: Enabling this option opens up the possibility of your plane going into failsafe mode and running the motor on the ground it it loses contact with your ground station. If this option is enabled on an electric plane then you should enable ARMING_REQUIRED." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Heartbeat</value>
-<value code="2">HeartbeatAndREMRSSI</value>
-<value code="3">HeartbeatAndAUTO</value>
-</values>
-</param>
-<param humanName="Flightmode channel" name="ArduPlane:FLTMODE_CH" documentation="RC Channel to use for flight mode control" user="Advanced">
-</param>
-<param humanName="FlightMode1" name="ArduPlane:FLTMODE1" documentation="Flight mode for switch position 1 (910 to 1230 and above 2049)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="14">AVOID_ADSB</value>
-<value code="15">Guided</value>
-<value code="17">QSTABILIZE</value>
-<value code="18">QHOVER</value>
-<value code="19">QLOITER</value>
-<value code="20">QLAND</value>
-<value code="21">QRTL</value>
-</values>
-</param>
-<param humanName="FlightMode2" name="ArduPlane:FLTMODE2" documentation="Flight mode for switch position 2 (1231 to 1360)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="14">AVOID_ADSB</value>
-<value code="15">Guided</value>
-<value code="17">QSTABILIZE</value>
-<value code="18">QHOVER</value>
-<value code="19">QLOITER</value>
-<value code="20">QLAND</value>
-<value code="21">QRTL</value>
-</values>
-</param>
-<param humanName="FlightMode3" name="ArduPlane:FLTMODE3" documentation="Flight mode for switch position 3 (1361 to 1490)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="14">AVOID_ADSB</value>
-<value code="15">Guided</value>
-<value code="17">QSTABILIZE</value>
-<value code="18">QHOVER</value>
-<value code="19">QLOITER</value>
-<value code="20">QLAND</value>
-<value code="21">QRTL</value>
-</values>
-</param>
-<param humanName="FlightMode4" name="ArduPlane:FLTMODE4" documentation="Flight mode for switch position 4 (1491 to 1620)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="14">AVOID_ADSB</value>
-<value code="15">Guided</value>
-<value code="17">QSTABILIZE</value>
-<value code="18">QHOVER</value>
-<value code="19">QLOITER</value>
-<value code="20">QLAND</value>
-<value code="21">QRTL</value>
-</values>
-</param>
-<param humanName="FlightMode5" name="ArduPlane:FLTMODE5" documentation="Flight mode for switch position 5 (1621 to 1749)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="14">AVOID_ADSB</value>
-<value code="15">Guided</value>
-<value code="17">QSTABILIZE</value>
-<value code="18">QHOVER</value>
-<value code="19">QLOITER</value>
-<value code="20">QLAND</value>
-<value code="21">QRTL</value>
-</values>
-</param>
-<param humanName="FlightMode6" name="ArduPlane:FLTMODE6" documentation="Flight mode for switch position 6 (1750 to 2049)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="14">AVOID_ADSB</value>
-<value code="15">Guided</value>
-<value code="17">QSTABILIZE</value>
-<value code="18">QHOVER</value>
-<value code="19">QLOITER</value>
-<value code="20">QLAND</value>
-<value code="21">QRTL</value>
-</values>
-</param>
-<param humanName="Initial flight mode" name="ArduPlane:INITIAL_MODE" documentation="This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver." user="Advanced">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="14">AVOID_ADSB</value>
-<value code="15">Guided</value>
-<value code="17">QSTABILIZE</value>
-<value code="18">QHOVER</value>
-<value code="19">QLOITER</value>
-<value code="20">QLAND</value>
-<value code="21">QRTL</value>
-</values>
-</param>
-<param humanName="Maximum Bank Angle" name="ArduPlane:LIM_ROLL_CD" documentation="The maximum commanded bank angle in either direction" user="Standard">
-<field name="Range">0 9000</field>
-<field name="Increment">1</field>
-<field name="Units">centi-Degrees</field>
-</param>
-<param humanName="Maximum Pitch Angle" name="ArduPlane:LIM_PITCH_MAX" documentation="The maximum commanded pitch up angle" user="Standard">
-<field name="Range">0 9000</field>
-<field name="Increment">1</field>
-<field name="Units">centi-Degrees</field>
-</param>
-<param humanName="Minimum Pitch Angle" name="ArduPlane:LIM_PITCH_MIN" documentation="The minimum commanded pitch down angle" user="Standard">
-<field name="Range">-9000 0</field>
-<field name="Increment">1</field>
-<field name="Units">centi-Degrees</field>
-</param>
-<param humanName="ACRO mode roll rate" name="ArduPlane:ACRO_ROLL_RATE" documentation="The maximum roll rate at full stick deflection in ACRO mode" user="Standard">
-<field name="Range">10 500</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="ACRO mode pitch rate" name="ArduPlane:ACRO_PITCH_RATE" documentation="The maximum pitch rate at full stick deflection in ACRO mode" user="Standard">
-<field name="Range">10 500</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="ACRO mode attitude locking" name="ArduPlane:ACRO_LOCKING" documentation="Enable attitude locking when sticks are released" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Ground steer altitude" name="ArduPlane:GROUND_STEER_ALT" documentation="Altitude at which to use the ground steering controller on the rudder. If non-zero then the STEER2SRV controller will be used to control the rudder for altitudes within this limit of the home altitude." user="Standard">
-<field name="Range">-100 100</field>
-<field name="Increment">0.1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Ground steer rate" name="ArduPlane:GROUND_STEER_DPS" documentation="Ground steering rate in degrees per second for full rudder stick deflection" user="Advanced">
-<field name="Range">10 360</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Automatic trim adjustment" name="ArduPlane:TRIM_AUTO" documentation="Set RC trim PWM levels to current levels when switching away from manual mode. When this option is enabled and you change from MANUAL to any other mode then the APM will take the current position of the control sticks as the trim values for aileron, elevator and rudder. It will use those to set RC1_TRIM, RC2_TRIM and RC4_TRIM. This option is disabled by default as if a pilot is not aware of this option and changes from MANUAL to another mode while control inputs are not centered then the trim could be changed to a dangerously bad value. You can enable this option to assist with trimming your plane, by enabling it before takeoff then switching briefly to MANUAL in flight, and seeing how the plane reacts. You can then switch back to FBWA, trim the surfaces then again test MANUAL mode. Each time you switch from MANUAL the APM will take your control inputs as the new trim. After you have good trim on your aircraft you can disable TRIM_AUTO for future flights." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Elevon mixing" name="ArduPlane:ELEVON_MIXING" documentation="This enables an older form of elevon mixing which is now deprecated. Please see the ELEVON_OUTPUT option for setting up elevons. The ELEVON_MIXING option should be set to 0 for elevon planes except for backwards compatibility with older setups." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Elevon reverse" name="ArduPlane:ELEVON_REVERSE" documentation="Reverse elevon mixing" user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Elevon reverse" name="ArduPlane:ELEVON_CH1_REV" documentation="Reverse elevon channel 1" user="User">
-<values>
-<value code="-1">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Elevon reverse" name="ArduPlane:ELEVON_CH2_REV" documentation="Reverse elevon channel 2" user="User">
-<values>
-<value code="-1">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="VTail output" name="ArduPlane:VTAIL_OUTPUT" documentation="Enable VTail output in software. If enabled then the APM will provide software VTail mixing on the elevator and rudder channels. There are 4 different mixing modes available, which refer to the 4 ways the elevator can be mapped to the two VTail servos. Note that you must not use VTail output mixing with hardware pass-through of RC values, such as with channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to something other than 8 before you enable VTAIL_OUTPUT. Please also see the MIXING_GAIN parameter for the output gain of the mixer." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">UpUp</value>
-<value code="2">UpDown</value>
-<value code="3">DownUp</value>
-<value code="4">DownDown</value>
-</values>
-</param>
-<param humanName="Elevon output" name="ArduPlane:ELEVON_OUTPUT" documentation="Enable software elevon output mixer. If enabled then the APM will provide software elevon mixing on the aileron and elevator channels. There are 4 different mixing modes available, which refer to the 4 ways the elevator can be mapped to the two elevon servos. Note that you must not use elevon output mixing with hardware pass-through of RC values, such as with channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to something other than 8 before you enable ELEVON_OUTPUT. Please also see the MIXING_GAIN parameter for the output gain of the mixer." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">UpUp</value>
-<value code="2">UpDown</value>
-<value code="3">DownUp</value>
-<value code="4">DownDown</value>
-</values>
-</param>
-<param humanName="Mixing Gain" name="ArduPlane:MIXING_GAIN" documentation="The gain for the Vtail and elevon output mixers. The default is 0.5, which ensures that the mixer doesn't saturate, allowing both input channels to go to extremes while retaining control over the output. Hardware mixers often have a 1.0 gain, which gives more servo throw, but can saturate. If you don't have enough throw on your servos with VTAIL_OUTPUT or ELEVON_OUTPUT enabled then you can raise the gain using MIXING_GAIN. The mixer allows outputs in the range 900 to 2100 microseconds." user="User">
-<field name="Range">0.5 1.2</field>
-</param>
-<param humanName="Rudder only aircraft" name="ArduPlane:RUDDER_ONLY" documentation="Enable rudder only mode. The rudder will control attitude in attitude controlled modes (such as FBWA). You should setup your transmitter to send roll stick inputs to the RCMAP_YAW channel (normally channel 4). The rudder servo should be attached to the RCMAP_YAW channel as well. Note that automatic ground steering will be disabled for rudder only aircraft. You should also set KFF_RDDRMIX to 1.0. You will also need to setup the YAW2SRV_DAMP yaw damping appropriately for your aircraft. A value of 0.5 for YAW2SRV_DAMP is a good starting point." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Mixing Offset" name="ArduPlane:MIXING_OFFSET" documentation="The offset for the Vtail and elevon output mixers, as a percentage. This can be used in combination with MIXING_GAIN to configure how the control surfaces respond to input. The response to aileron or elevator input can be increased by setting this parameter to a positive or negative value. A common usage is to enter a positive value to increase the aileron response of the elevons of a flying wing. The default value of zero will leave the aileron-input response equal to the elevator-input response." user="User">
-<field name="Range">-1000 1000</field>
-<field name="Units">percent</field>
-</param>
-<param humanName="Differential spoilers rudder rate" name="ArduPlane:DSPOILR_RUD_RATE" documentation="Sets the amount of deflection that the rudder output will apply to the differential spoilers, as a percentage. The default value of 100 results in full rudder applying full deflection. A value of 0 will result in the differential spoilers exactly following the elevons (no rudder effect)." user="User">
-<field name="Range">-1000 1000</field>
-<field name="Units">percent</field>
-</param>
-<param humanName="Num Resets" name="ArduPlane:SYS_NUM_RESETS" documentation="Number of APM board resets" user="Advanced">
-</param>
-<param humanName="Log bitmask" name="ArduPlane:LOG_BITMASK" documentation="Bitmap of what log types to enable in dataflash. This values is made up of the sum of each of the log types you want to be saved on dataflash. On a PX4 or Pixhawk the large storage size of a microSD card means it is usually best just to enable all log types by setting this to 65535. On APM2 the smaller 4 MByte dataflash means you need to be more selective in your logging or you may run out of log space while flying (in which case it will wrap and overwrite the start of the log). The individual bits are ATTITUDE_FAST=1, ATTITUDE_MEDIUM=2, GPS=4, PerformanceMonitoring=8, ControlTuning=16, NavigationTuning=32, Mode=64, IMU=128, Commands=256, Battery=512, Compass=1024, TECS=2048, Camera=4096, RCandServo=8192, Sonar=16384, Arming=32768, FullLogs=65535" user="Advanced">
-<field name="Bitmask">0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:MODE,7:IMU,8:CMD,9:CURRENT,10:COMPASS,11:TECS,12:CAMERA,13:RC,14:SONAR,15:ARM/DISARM,19:IMU_RAW</field>
-<values>
-<value code="0">Disabled</value>
-<value code="5190">APM2-Default</value>
-<value code="65535">PX4/Pixhawk-Default</value>
-</values>
-</param>
-<param humanName="Reset Switch Channel" name="ArduPlane:RST_SWITCH_CH" documentation="RC channel to use to reset to last flight mode&#9;after geofence takeover." user="Advanced">
-</param>
-<param humanName="Reset Mission Channel" name="ArduPlane:RST_MISSION_CH" documentation="RC channel to use to reset the mission to the first waypoint. When this channel goes above 1750 the mission is reset. Set RST_MISSION_CH to 0 to disable." user="Advanced">
-</param>
-<param humanName="Target airspeed" name="ArduPlane:TRIM_ARSPD_CM" documentation="Airspeed in cm/s to aim for when airspeed is enabled in auto mode. This is a calibrated (apparent) airspeed." user="User">
-<field name="Units">cm/s</field>
-</param>
-<param humanName="speed used for speed scaling calculations" name="ArduPlane:SCALING_SPEED" documentation="Airspeed in m/s to use when calculating surface speed scaling. Note that changing this value will affect all PID values" user="Advanced">
-<field name="Units">m/s</field>
-</param>
-<param humanName="Minimum ground speed" name="ArduPlane:MIN_GNDSPD_CM" documentation="Minimum ground speed in cm/s when under airspeed control" user="Advanced">
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Pitch angle offset" name="ArduPlane:TRIM_PITCH_CD" documentation="offset to add to pitch - used for in-flight pitch trimming. It is recommended that instead of using this parameter you level your plane correctly on the ground for good flight attitude." user="Advanced">
-<field name="Units">centi-Degrees</field>
-</param>
-<param humanName="RTL altitude" name="ArduPlane:ALT_HOLD_RTL" documentation="Return to launch target altitude. This is the relative altitude the plane will aim for and loiter at when returning home. If this is negative (usually -1) then the plane will use the current altitude at the time of entering RTL. Note that when transiting to a Rally Point the altitude of the Rally Point is used instead of ALT_HOLD_RTL." user="User">
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Minimum altitude for FBWB mode" name="ArduPlane:ALT_HOLD_FBWCM" documentation="This is the minimum altitude in centimeters that FBWB and CRUISE modes will allow. If you attempt to descend below this altitude then the plane will level off. A value of zero means no limit." user="User">
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Enable Compass" name="ArduPlane:MAG_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Flap input channel" name="ArduPlane:FLAP_IN_CHANNEL" documentation="An RC input channel to use for flaps control. If this is set to a RC channel number then that channel will be used for manual flaps control. When enabled, the percentage of flaps is taken as the percentage travel from the TRIM value of the channel to the MIN value of the channel. A value above the TRIM values will give inverse flaps (spoilers). This option needs to be enabled in conjunction with a FUNCTION setting on an output channel to one of the flap functions. When a FLAP_IN_CHANNEL is combined with auto-flaps the higher of the two flap percentages is taken. You must also enable a FLAPERON_OUTPUT flaperon mixer setting if using flaperons." user="User">
-</param>
-<param humanName="Flaperon output" name="ArduPlane:FLAPERON_OUTPUT" documentation="Enable flaperon output in software. If enabled then the APM will provide software flaperon mixing on the FLAPERON1 and FLAPERON2 output channels specified using the FUNCTION on two auxiliary channels. There are 4 different mixing modes available, which refer to the 4 ways the flap and aileron outputs can be mapped to the two flaperon servos. Note that you must not use flaperon output mixing with hardware pass-through of RC values, such as with channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to something other than 8 before you enable FLAPERON_OUTPUT. Please also see the MIXING_GAIN parameter for the output gain of the mixer. FLAPERON_OUTPUT cannot be combined with ELEVON_OUTPUT or ELEVON_MIXING." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">UpUp</value>
-<value code="2">UpDown</value>
-<value code="3">DownUp</value>
-<value code="4">DownDown</value>
-</values>
-</param>
-<param humanName="Flap 1 percentage" name="ArduPlane:FLAP_1_PERCNT" documentation="The percentage change in flap position when FLAP_1_SPEED is reached. Use zero to disable flaps" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Flap 1 speed" name="ArduPlane:FLAP_1_SPEED" documentation="The speed in meters per second at which to engage FLAP_1_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Flap 2 percentage" name="ArduPlane:FLAP_2_PERCNT" documentation="The percentage change in flap position when FLAP_2_SPEED is reached. Use zero to disable flaps" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Flap 2 speed" name="ArduPlane:FLAP_2_SPEED" documentation="The speed in meters per second at which to engage FLAP_2_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Landing flap percentage" name="ArduPlane:LAND_FLAP_PERCNT" documentation="The amount of flaps (as a percentage) to apply in the landing approach and flare of an automatic landing" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="PX4IO override channel" name="ArduPlane:OVERRIDE_CHAN" documentation="If set to a non-zero value then this is an RC input channel number to use for giving PX4IO manual control in case the main FMU microcontroller on a PX4 or Pixhawk fails. When this RC input channel goes above 1750 the FMU microcontroller will no longer be involved in controlling the servos and instead the PX4IO microcontroller will directly control the servos. Note that PX4IO manual control will be automatically activated if the FMU crashes for any reason. This parameter allows you to test for correct manual behaviour without actually crashing the FMU. This parameter is can be set to a non-zero value either for ground testing purposes or for giving the effect of an external override control board. Please also see the docs on OVERRIDE_SAFETY. Note that you may set OVERRIDE_CHAN to the same channel as FLTMODE_CH to get PX4IO based override when in flight mode 6. Note that when override is triggered due to a FMU crash the 6 auxiliary output channels on Pixhawk will no longer be updated, so all the flight controls you need must be assigned to the first 8 channels." user="Advanced">
-</param>
-<param humanName="PX4IO override safety switch" name="ArduPlane:OVERRIDE_SAFETY" documentation="This controls whether the safety switch is turned off when you activate override with OVERRIDE_CHAN. When set to 1 the safety switch is de-activated (activating the servos) then a PX4IO override is triggered. In that case the safety remains de-activated after override is disabled. If OVERRIDE_SAFETTY is set to 0 then the safety switch state does not change. Note that regardless of the value of this parameter the servos will be active while override is active." user="Advanced">
-</param>
-<param humanName="Inverted flight channel" name="ArduPlane:INVERTEDFLT_CH" documentation="A RC input channel number to enable inverted flight. If this is non-zero then the APM will monitor the corresponding RC input channel and will enable inverted flight when the channel goes above 1750." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Channel1</value>
-<value code="2">Channel2</value>
-<value code="3">Channel3</value>
-<value code="4">Channel4</value>
-<value code="5">Channel5</value>
-<value code="6">Channel6</value>
-<value code="7">Channel7</value>
-<value code="8">Channel8</value>
-</values>
-</param>
-<param humanName="HIL mode enable" name="ArduPlane:HIL_MODE" documentation="This enables and disables hardware in the loop mode. If HIL_MODE is 1 then on the next reboot all sensors are replaced with HIL sensors which come from the GCS." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="HIL Servos enable" name="ArduPlane:HIL_SERVOS" documentation="This controls whether real servo controls are used in HIL mode. If you enable this then the APM will control the real servos in HIL mode. If disabled it will report servo values, but will not output to the real servos. Be careful that your motor and propeller are not connected if you enable this option." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Limit of error in HIL attitude before reset" name="ArduPlane:HIL_ERR_LIMIT" documentation="This controls the maximum error in degrees on any axis before HIL will reset the DCM attitude to match the HIL_STATE attitude. This limit will prevent poor timing on HIL from causing a major attitude error. If the value is zero then no limit applies." user="Advanced">
-<field name="Range">0 90</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="RTL auto land" name="ArduPlane:RTL_AUTOLAND" documentation="Automatically begin landing sequence after arriving at RTL location. This requires the addition of a DO_LAND_START mission item, which acts as a marker for the start of a landing sequence. The closest landing sequence will be chosen to the current location. " user="Standard">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable - go HOME then land</value>
-<value code="2">Enable - go directly to landing sequence</value>
-</values>
-</param>
-<param humanName="RC Trims auto set at start." name="ArduPlane:RC_TRIM_AT_START" documentation="Automatically set roll/pitch trim from Tx at ground start. This makes the assumption that the RC transmitter has not been altered since trims were last captured." user="Standard">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-<param humanName="Crash Deceleration Threshold" name="ArduPlane:CRASH_ACC_THRESH" documentation="X-Axis deceleration threshold to notify the crash detector that there was a possible impact which helps disarm the motor quickly after a crash. This value should be much higher than normal negative x-axis forces during normal flight, check flight log files to determine the average IMU.x values for your aircraft and motor type. Higher value means less sensative (triggers on higher impact). For electric planes that don't vibrate much during fight a value of 25 is good (that's about 2.5G). For petrol/nitro planes you'll want a higher value. Set to 0 to disable the collision detector." user="Advanced">
-<field name="Values">10 127</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Crash Detection" name="ArduPlane:CRASH_DETECT" documentation="Automatically detect a crash during AUTO flight and perform the bitmask selected action(s). Disarm will turn off motor for safety and to help against burning out ESC and motor. Setting the mode to manual will help save the servos from burning out by overexerting if the aircraft crashed in an odd orientation such as upsidedown." user="Advanced">
-<field name="Bitmask">0:Disarm</field>
-<values>
-<value code="0">Disabled</value>
-<value code="1">Disarm</value>
-</values>
-</param>
-<param humanName="Parachute release channel" name="ArduPlane:CHUTE_CHAN" documentation="If set to a non-zero value then this is an RC input channel number to use for manually releasing the parachute. When this channel goes above 1700 the parachute will be released" user="Advanced">
-</param>
-<param humanName="Enable rangefinder for landing" name="ArduPlane:RNGFND_LANDING" documentation="This enables the use of a rangefinder for automatic landing. The rangefinder will be used both on the landing approach and for final flare" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-</parameters>
-<parameters name="ArduCopter">
-<param humanName="Eeprom format version number" name="ArduCopter:SYSID_SW_MREV" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="Software Type" name="ArduCopter:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
-<field name="ReadOnly">True</field>
-<values>
-<value code="0">ArduPlane</value>
-<value code="4">AntennaTracker</value>
-<value code="10">Copter</value>
-<value code="20">Rover</value>
-</values>
-</param>
-<param humanName="MAVLink system ID of this vehicle" name="ArduCopter:SYSID_THISMAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="My ground station number" name="ArduCopter:SYSID_MYGCS" documentation="Allows restricting radio overrides to only come from my ground station" user="Advanced">
-<values>
-<value code="255">Mission Planner and DroidPlanner</value>
-<value code=" 252"> AP Planner 2</value>
-</values>
-</param>
-<param humanName="CLI Enable" name="ArduCopter:CLI_ENABLED" documentation="This enables/disables the checking for three carriage returns on telemetry links on startup to enter the diagnostics command line interface" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Throttle filter cutoff" name="ArduCopter:PILOT_THR_FILT" documentation="Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable" user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">.5</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Pilot takeoff altitude" name="ArduCopter:PILOT_TKOFF_ALT" documentation="Altitude that altitude control modes will climb to when a takeoff is triggered with the throttle stick." user="Standard">
-<field name="Range">0.0 1000.0</field>
-<field name="Increment">10</field>
-<field name="Units">Centimeters</field>
-</param>
-<param humanName="Takeoff trigger deadzone" name="ArduCopter:PILOT_TKOFF_DZ" documentation="Offset from mid stick at which takeoff is triggered" user="Standard">
-<field name="Range">0.0 500.0</field>
-<field name="Increment">10</field>
-</param>
-<param humanName="Throttle stick behavior" name="ArduCopter:PILOT_THR_BHV" documentation="Bitmask containing various throttle stick options. Add up the values for options that you want." user="Standard">
-<field name="Bitmask">0:Feedback from mid stick,1:High throttle cancels landing,2:Disarm on land detection</field>
-<values>
-<value code="0">None</value>
-<value code="1">Feedback from mid stick</value>
-<value code="2">High throttle cancels landing</value>
-<value code="4">Disarm on land detection</value>
-</values>
-</param>
-<param humanName="Telemetry startup delay" name="ArduCopter:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Advanced">
-<field name="Range">0 30</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="GCS PID tuning mask" name="ArduCopter:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
-<field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
-<values>
-<value code="0">None</value>
-<value code="1">Roll</value>
-<value code="2">Pitch</value>
-<value code="4">Yaw</value>
-</values>
-</param>
-<param humanName="RTL Altitude" name="ArduCopter:RTL_ALT" documentation="The minimum relative altitude the model will move to before Returning to Launch.  Set to zero to return at current altitude." user="Standard">
-<field name="Range">0 8000</field>
-<field name="Increment">1</field>
-<field name="Units">Centimeters</field>
-</param>
-<param humanName="RTL cone slope" name="ArduCopter:RTL_CONE_SLOPE" documentation="Defines a cone above home which determines maximum climb" user="Standard">
-<field name="Range">0.5 10.0</field>
-<values>
-<value code="0">Disabled</value>
-<value code="1">Shallow</value>
-<value code="3">Steep</value>
-</values>
-<field name="Increment">.1</field>
-</param>
-<param humanName="RTL speed" name="ArduCopter:RTL_SPEED" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain horizontally while flying home. If this is set to zero, WPNAV_SPEED will be used instead." user="Standard">
-<field name="Range">0 2000</field>
-<field name="Increment">50</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Rangefinder gain" name="ArduCopter:RNGFND_GAIN" documentation="Used to adjust the speed with which the target altitude is changed when objects are sensed below the copter" user="Standard">
-<field name="Range">0.01 2.0</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Battery Failsafe Enable" name="ArduCopter:FS_BATT_ENABLE" documentation="Controls whether failsafe will be invoked when battery voltage or current runs low" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Land</value>
-<value code="2">RTL</value>
-</values>
-</param>
-<param humanName="Failsafe battery voltage" name="ArduCopter:FS_BATT_VOLTAGE" documentation="Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe. If the battery voltage drops below this voltage then the copter will RTL" user="Standard">
-<field name="Increment">0.1</field>
-<field name="Units">Volts</field>
-</param>
-<param humanName="Failsafe battery milliAmpHours" name="ArduCopter:FS_BATT_MAH" documentation="Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe. If the battery remaining drops below this level then the copter will RTL" user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
-</param>
-<param humanName="Ground Station Failsafe Enable" name="ArduCopter:FS_GCS_ENABLE" documentation="Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. NB. The GCS Failsafe is only active when RC_OVERRIDE is being used to control the vehicle." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled always RTL</value>
-<value code="2">Enabled Continue with Mission in Auto Mode</value>
-</values>
-</param>
-<param humanName="GPS Hdop Good" name="ArduCopter:GPS_HDOP_GOOD" documentation="GPS Hdop value at or below this value represent a good position.  Used for pre-arm checks" user="Advanced">
-<field name="Range">100 900</field>
-</param>
-<param humanName="Compass enable/disable" name="ArduCopter:MAG_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Super Simple Mode" name="ArduCopter:SUPER_SIMPLE" documentation="Bitmask to enable Super Simple mode for some flight modes. Setting this to Disabled(0) will disable Super Simple Mode" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Mode1</value>
-<value code="2">Mode2</value>
-<value code="3">Mode1+2</value>
-<value code="4">Mode3</value>
-<value code="5">Mode1+3</value>
-<value code="6">Mode2+3</value>
-<value code="7">Mode1+2+3</value>
-<value code="8">Mode4</value>
-<value code="9">Mode1+4</value>
-<value code="10">Mode2+4</value>
-<value code="11">Mode1+2+4</value>
-<value code="12">Mode3+4</value>
-<value code="13">Mode1+3+4</value>
-<value code="14">Mode2+3+4</value>
-<value code="15">Mode1+2+3+4</value>
-<value code="16">Mode5</value>
-<value code="17">Mode1+5</value>
-<value code="18">Mode2+5</value>
-<value code="19">Mode1+2+5</value>
-<value code="20">Mode3+5</value>
-<value code="21">Mode1+3+5</value>
-<value code="22">Mode2+3+5</value>
-<value code="23">Mode1+2+3+5</value>
-<value code="24">Mode4+5</value>
-<value code="25">Mode1+4+5</value>
-<value code="26">Mode2+4+5</value>
-<value code="27">Mode1+2+4+5</value>
-<value code="28">Mode3+4+5</value>
-<value code="29">Mode1+3+4+5</value>
-<value code="30">Mode2+3+4+5</value>
-<value code="31">Mode1+2+3+4+5</value>
-<value code="32">Mode6</value>
-<value code="33">Mode1+6</value>
-<value code="34">Mode2+6</value>
-<value code="35">Mode1+2+6</value>
-<value code="36">Mode3+6</value>
-<value code="37">Mode1+3+6</value>
-<value code="38">Mode2+3+6</value>
-<value code="39">Mode1+2+3+6</value>
-<value code="40">Mode4+6</value>
-<value code="41">Mode1+4+6</value>
-<value code="42">Mode2+4+6</value>
-<value code="43">Mode1+2+4+6</value>
-<value code="44">Mode3+4+6</value>
-<value code="45">Mode1+3+4+6</value>
-<value code="46">Mode2+3+4+6</value>
-<value code="47">Mode1+2+3+4+6</value>
-<value code="48">Mode5+6</value>
-<value code="49">Mode1+5+6</value>
-<value code="50">Mode2+5+6</value>
-<value code="51">Mode1+2+5+6</value>
-<value code="52">Mode3+5+6</value>
-<value code="53">Mode1+3+5+6</value>
-<value code="54">Mode2+3+5+6</value>
-<value code="55">Mode1+2+3+5+6</value>
-<value code="56">Mode4+5+6</value>
-<value code="57">Mode1+4+5+6</value>
-<value code="58">Mode2+4+5+6</value>
-<value code="59">Mode1+2+4+5+6</value>
-<value code="60">Mode3+4+5+6</value>
-<value code="61">Mode1+3+4+5+6</value>
-<value code="62">Mode2+3+4+5+6</value>
-<value code="63">Mode1+2+3+4+5+6</value>
-</values>
-</param>
-<param humanName="RTL Final Altitude" name="ArduCopter:RTL_ALT_FINAL" documentation="This is the altitude the vehicle will move to as the final stage of Returning to Launch or after completing a mission.  Set to zero to land." user="Standard">
-<field name="Range">-1 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Centimeters</field>
-</param>
-<param humanName="RTL minimum climb" name="ArduCopter:RTL_CLIMB_MIN" documentation="The vehicle will climb this many cm during the initial climb portion of the RTL" user="Standard">
-<field name="Range">0 3000</field>
-<field name="Increment">10</field>
-<field name="Units">Centimeters</field>
-</param>
-<param humanName="Yaw behaviour during missions" name="ArduCopter:WP_YAW_BEHAVIOR" documentation="Determines how the autopilot controls the yaw during missions and RTL" user="Standard">
-<values>
-<value code="0">Never change yaw</value>
-<value code=" 1">Face next waypoint</value>
-<value code=" 2">Face next waypoint except RTL</value>
-<value code=" 3">Face along GPS course</value>
-</values>
-</param>
-<param humanName="RTL loiter time" name="ArduCopter:RTL_LOIT_TIME" documentation="Time (in milliseconds) to loiter above home before beginning final descent" user="Standard">
-<field name="Range">0 60000</field>
-<field name="Increment">1000</field>
-<field name="Units">ms</field>
-</param>
-<param humanName="Land speed" name="ArduCopter:LAND_SPEED" documentation="The descent speed for the final stage of landing in cm/s" user="Standard">
-<field name="Range">30 200</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Land speed high" name="ArduCopter:LAND_SPEED_HIGH" documentation="The descent speed for the first stage of landing in cm/s. If this is zero then WPNAV_SPEED_DN is used" user="Standard">
-<field name="Range">0 500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Pilot maximum vertical speed" name="ArduCopter:PILOT_VELZ_MAX" documentation="The maximum vertical velocity the pilot may request in cm/s" user="Standard">
-<field name="Range">50 500</field>
-<field name="Increment">10</field>
-<field name="Units">Centimeters/Second</field>
-</param>
-<param humanName="Pilot vertical acceleration" name="ArduCopter:PILOT_ACCEL_Z" documentation="The vertical acceleration used when pilot is controlling the altitude" user="Standard">
-<field name="Range">50 500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Throttle Failsafe Enable" name="ArduCopter:FS_THR_ENABLE" documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled always RTL</value>
-<value code="2">Enabled Continue with Mission in Auto Mode</value>
-<value code="3">Enabled always LAND</value>
-</values>
-</param>
-<param humanName="Throttle Failsafe Value" name="ArduCopter:FS_THR_VALUE" documentation="The PWM level on channel 3 below which throttle sailsafe triggers" user="Standard">
-<field name="Range">925 1100</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Throttle deadzone" name="ArduCopter:THR_DZ" documentation="The deadzone above and below mid throttle.  Used in AltHold, Loiter, PosHold flight modes" user="Standard">
-<field name="Range">0 300</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Flight Mode 1" name="ArduCopter:FLTMODE1" documentation="Flight mode when Channel 5 pwm is &lt;= 1230" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-<value code="18">Throw</value>
-<value code="19">Avoid_ADSB</value>
-<value code="20">Guided_NoGPS</value>
-<value code="21">SmartRTL</value>
-</values>
-</param>
-<param humanName="Flight Mode 2" name="ArduCopter:FLTMODE2" documentation="Flight mode when Channel 5 pwm is &gt;1230, &lt;= 1360" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-<value code="18">Throw</value>
-<value code="19">Avoid_ADSB</value>
-<value code="20">Guided_NoGPS</value>
-<value code="21">SmartRTL</value>
-</values>
-</param>
-<param humanName="Flight Mode 3" name="ArduCopter:FLTMODE3" documentation="Flight mode when Channel 5 pwm is &gt;1360, &lt;= 1490" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-<value code="18">Throw</value>
-<value code="19">Avoid_ADSB</value>
-<value code="20">Guided_NoGPS</value>
-<value code="21">SmartRTL</value>
-</values>
-</param>
-<param humanName="Flight Mode 4" name="ArduCopter:FLTMODE4" documentation="Flight mode when Channel 5 pwm is &gt;1490, &lt;= 1620" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-<value code="18">Throw</value>
-<value code="19">Avoid_ADSB</value>
-<value code="20">Guided_NoGPS</value>
-<value code="21">SmartRTL</value>
-</values>
-</param>
-<param humanName="Flight Mode 5" name="ArduCopter:FLTMODE5" documentation="Flight mode when Channel 5 pwm is &gt;1620, &lt;= 1749" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-<value code="18">Throw</value>
-<value code="19">Avoid_ADSB</value>
-<value code="20">Guided_NoGPS</value>
-<value code="21">SmartRTL</value>
-</values>
-</param>
-<param humanName="Flight Mode 6" name="ArduCopter:FLTMODE6" documentation="Flight mode when Channel 5 pwm is &gt;=1750" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-<value code="18">Throw</value>
-<value code="19">Avoid_ADSB</value>
-<value code="20">Guided_NoGPS</value>
-<value code="21">SmartRTL</value>
-</values>
-</param>
-<param humanName="Simple mode bitmask" name="ArduCopter:SIMPLE" documentation="Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode)" user="Advanced">
-</param>
-<param humanName="Log bitmask" name="ArduCopter:LOG_BITMASK" documentation="4 byte bitmap of log types to enable" user="Standard">
-<field name="Bitmask">0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,17:MOTBATT,18:IMU_FAST,19:IMU_RAW</field>
-<values>
-<value code="830">Default</value>
-<value code="894">Default+RCIN</value>
-<value code="958">Default+IMU</value>
-<value code="1854">Default+Motors</value>
-<value code="-6146">NearlyAll-AC315</value>
-<value code="45054">NearlyAll</value>
-<value code="131071">All+FastATT</value>
-<value code="262142">All+MotBatt</value>
-<value code="393214">All+FastIMU</value>
-<value code="397310">All+FastIMU+PID</value>
-<value code="655358">All+FullIMU</value>
-<value code="0">Disabled</value>
-</values>
-</param>
-<param humanName="ESC Calibration" name="ArduCopter:ESC_CALIBRATION" documentation="Controls whether ArduCopter will enter ESC calibration on the next restart.  Do not adjust this parameter manually." user="Advanced">
-<values>
-<value code="0">Normal Start-up</value>
-<value code=" 1">Start-up in ESC Calibration mode if throttle high</value>
-<value code=" 2">Start-up in ESC Calibration mode regardless of throttle</value>
-<value code=" 3">Start-up and automatically calibrate ESCs</value>
-<value code=" 9">Disabled</value>
-</values>
-</param>
-<param humanName="Channel 6 Tuning" name="ArduCopter:TUNE" documentation="Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Stab Roll/Pitch kP</value>
-<value code="4">Rate Roll/Pitch kP</value>
-<value code="5">Rate Roll/Pitch kI</value>
-<value code="21">Rate Roll/Pitch kD</value>
-<value code="3">Stab Yaw kP</value>
-<value code="6">Rate Yaw kP</value>
-<value code="26">Rate Yaw kD</value>
-<value code="14">Altitude Hold kP</value>
-<value code="7">Throttle Rate kP</value>
-<value code="34">Throttle Accel kP</value>
-<value code="35">Throttle Accel kI</value>
-<value code="36">Throttle Accel kD</value>
-<value code="42">Loiter Speed</value>
-<value code="12">Loiter Pos kP</value>
-<value code="22">Velocity XY kP</value>
-<value code="28">Velocity XY kI</value>
-<value code="10">WP Speed</value>
-<value code="25">Acro RollPitch kP</value>
-<value code="40">Acro Yaw kP</value>
-<value code="13">Heli Ext Gyro</value>
-<value code="17">OF Loiter kP</value>
-<value code="18">OF Loiter kI</value>
-<value code="19">OF Loiter kD</value>
-<value code="38">Declination</value>
-<value code="39">Circle Rate</value>
-<value code="41">RangeFinder Gain</value>
-<value code="46">Rate Pitch kP</value>
-<value code="47">Rate Pitch kI</value>
-<value code="48">Rate Pitch kD</value>
-<value code="49">Rate Roll kP</value>
-<value code="50">Rate Roll kI</value>
-<value code="51">Rate Roll kD</value>
-<value code="52">Rate Pitch FF</value>
-<value code="53">Rate Roll FF</value>
-<value code="54">Rate Yaw FF</value>
-</values>
-</param>
-<param humanName="Tuning minimum" name="ArduCopter:TUNE_LOW" documentation="The minimum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob" user="Standard">
-<field name="Range">0 32767</field>
-</param>
-<param humanName="Tuning maximum" name="ArduCopter:TUNE_HIGH" documentation="The maximum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob" user="Standard">
-<field name="Range">0 32767</field>
-</param>
-<param humanName="Frame Orientation (+, X or V)" name="ArduCopter:FRAME" documentation="Controls motor mixing for multicopters.  Not used for Tri or Traditional Helicopters." user="Standard">
-<values>
-<value code="0">Plus</value>
-<value code=" 1">X</value>
-<value code=" 2">V</value>
-<value code=" 3">H</value>
-<value code=" 4">V-Tail</value>
-<value code=" 5">A-Tail</value>
-<value code=" 10">Y6B (New)</value>
-</values>
-</param>
-<param humanName="Channel 7 option" name="ArduCopter:CH7_OPT" documentation="Select which function if performed when CH7 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 34">Relay2 On/Off</value>
-<value code=" 35">Relay3 On/Off</value>
-<value code=" 36">Relay4 On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-<value code=" 37">Throw</value>
-<value code=" 38">Avoidance</value>
-</values>
-</param>
-<param humanName="Channel 8 option" name="ArduCopter:CH8_OPT" documentation="Select which function if performed when CH8 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 34">Relay2 On/Off</value>
-<value code=" 35">Relay3 On/Off</value>
-<value code=" 36">Relay4 On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-<value code=" 37">Throw</value>
-<value code=" 38">Avoidance</value>
-</values>
-</param>
-<param humanName="Channel 9 option" name="ArduCopter:CH9_OPT" documentation="Select which function if performed when CH9 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 34">Relay2 On/Off</value>
-<value code=" 35">Relay3 On/Off</value>
-<value code=" 36">Relay4 On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-<value code=" 37">Throw</value>
-<value code=" 38">Avoidance</value>
-</values>
-</param>
-<param humanName="Channel 10 option" name="ArduCopter:CH10_OPT" documentation="Select which function if performed when CH10 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 34">Relay2 On/Off</value>
-<value code=" 35">Relay3 On/Off</value>
-<value code=" 36">Relay4 On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-<value code=" 37">Throw</value>
-<value code=" 38">Avoidance</value>
-</values>
-</param>
-<param humanName="Channel 11 option" name="ArduCopter:CH11_OPT" documentation="Select which function if performed when CH11 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 34">Relay2 On/Off</value>
-<value code=" 35">Relay3 On/Off</value>
-<value code=" 36">Relay4 On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-<value code=" 37">Throw</value>
-<value code=" 38">Avoidance</value>
-</values>
-</param>
-<param humanName="Channel 12 option" name="ArduCopter:CH12_OPT" documentation="Select which function if performed when CH12 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 34">Relay2 On/Off</value>
-<value code=" 35">Relay3 On/Off</value>
-<value code=" 36">Relay4 On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-<value code=" 37">Throw</value>
-<value code=" 38">Avoidance</value>
-</values>
-</param>
-<param humanName="Arming check" name="ArduCopter:ARMING_CHECK" documentation="Allows enabling or disabling of pre-arming checks of receiver, accelerometer, barometer, compass and GPS" user="Standard">
-<field name="Bitmask">0:All,1:Baro,2:Compass,3:GPS,4:INS,5:Parameters+Rangefinder,6:RC,7:Voltage</field>
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-<value code=" -3">Skip Baro</value>
-<value code=" -5">Skip Compass</value>
-<value code=" -9">Skip GPS</value>
-<value code=" -17">Skip INS</value>
-<value code=" -33">Skip Params/Rangefinder</value>
-<value code=" -65">Skip RC</value>
-<value code=" 127">Skip Voltage</value>
-</values>
-</param>
-<param humanName="Disarm delay" name="ArduCopter:DISARM_DELAY" documentation="Delay before automatic disarm in seconds. A value of zero disables auto disarm." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="Angle Max" name="ArduCopter:ANGLE_MAX" documentation="Maximum lean angle in all flight modes" user="Advanced">
-<field name="Range">1000 8000</field>
-<field name="Units">Centi-degrees</field>
-</param>
-<param humanName="RC Feel Roll/Pitch" name="ArduCopter:RC_FEEL_RP" documentation="RC feel for roll/pitch which controls vehicle response to user input with 0 being extremely soft and 100 being crisp" user="Standard">
-<field name="Range">0 100</field>
-<values>
-<value code="0">Very Soft</value>
-<value code=" 25">Soft</value>
-<value code=" 50">Medium</value>
-<value code=" 75">Crisp</value>
-<value code=" 100">Very Crisp</value>
-</values>
-<field name="Increment">10</field>
-</param>
-<param humanName="PosHold braking rate" name="ArduCopter:PHLD_BRAKE_RATE" documentation="PosHold flight mode's rotation rate during braking in deg/sec" user="Advanced">
-<field name="Range">4 12</field>
-<field name="Units">deg/sec</field>
-</param>
-<param humanName="PosHold braking angle max" name="ArduCopter:PHLD_BRAKE_ANGLE" documentation="PosHold flight mode's max lean angle during braking in centi-degrees" user="Advanced">
-<field name="Range">2000 4500</field>
-<field name="Units">Centi-degrees</field>
-</param>
-<param humanName="Land repositioning" name="ArduCopter:LAND_REPOSITION" documentation="Enables user input during LAND mode, the landing phase of RTL, and auto mode landings." user="Advanced">
-<values>
-<value code="0">No repositioning</value>
-<value code=" 1">Repositioning</value>
-</values>
-</param>
-<param humanName="EKF Failsafe Action" name="ArduCopter:FS_EKF_ACTION" documentation="Controls the action that will be taken when an EKF failsafe is invoked" user="Advanced">
-<values>
-<value code="1">Land</value>
-<value code=" 2">AltHold</value>
-<value code=" 3">Land even in Stabilize</value>
-</values>
-</param>
-<param humanName="EKF failsafe variance threshold" name="ArduCopter:FS_EKF_THRESH" documentation="Allows setting the maximum acceptable compass and velocity variance" user="Advanced">
-<field name="Values">0.6:Strict, 0.8:Default, 1.0:Relaxed</field>
-</param>
-<param humanName="Crash check enable" name="ArduCopter:FS_CRASH_CHECK" documentation="This enables automatic crash checking. When enabled the motors will disarm if a crash is detected." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="ESC Update Speed" name="ArduCopter:RC_SPEED" documentation="This is the speed in Hertz that your ESCs will receive updates" user="Advanced">
-<field name="Range">50 490</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Acro Roll and Pitch P gain" name="ArduCopter:ACRO_RP_P" documentation="Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode.  Higher values mean faster rate of rotation." user="Standard">
-<field name="Range">1 10</field>
-</param>
-<param humanName="Acro Yaw P gain" name="ArduCopter:ACRO_YAW_P" documentation="Converts pilot yaw input into a desired rate of rotation in ACRO, Stabilize and SPORT modes.  Higher values mean faster rate of rotation." user="Standard">
-<field name="Range">1 10</field>
-</param>
-<param humanName="Acro Balance Roll" name="ArduCopter:ACRO_BAL_ROLL" documentation="rate at which roll angle returns to level in acro mode.  A higher value causes the vehicle to return to level faster." user="Advanced">
-<field name="Range">0 3</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Acro Balance Pitch" name="ArduCopter:ACRO_BAL_PITCH" documentation="rate at which pitch angle returns to level in acro mode.  A higher value causes the vehicle to return to level faster." user="Advanced">
-<field name="Range">0 3</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Acro Trainer" name="ArduCopter:ACRO_TRAINER" documentation="Type of trainer used in acro mode" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Leveling</value>
-<value code="2">Leveling and Limited</value>
-</values>
-</param>
-<param humanName="Acro Expo" name="ArduCopter:ACRO_EXPO" documentation="Acro roll/pitch Expo to allow faster rotation when stick at edges" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="0.1">Very Low</value>
-<value code="0.2">Low</value>
-<value code="0.3">Medium</value>
-<value code="0.4">High</value>
-<value code="0.5">Very High</value>
-</values>
-</param>
-<param humanName="Velocity (horizontal) P gain" name="ArduCopter:VEL_XY_P" documentation="Velocity (horizontal) P gain.  Converts the difference between desired velocity to a target acceleration" user="Advanced">
-<field name="Range">0.1 6.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Velocity (horizontal) I gain" name="ArduCopter:VEL_XY_I" documentation="Velocity (horizontal) I gain.  Corrects long-term difference in desired velocity to a target acceleration" user="Advanced">
-<field name="Range">0.02 1.00</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Velocity (horizontal) integrator maximum" name="ArduCopter:VEL_XY_IMAX" documentation="Velocity (horizontal) integrator maximum.  Constrains the target acceleration that the I gain will output" user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Velocity (vertical) P gain" name="ArduCopter:VEL_Z_P" documentation="Velocity (vertical) P gain.  Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller" user="Standard">
-<field name="Range">1.000 8.000</field>
-</param>
-<param humanName="Throttle acceleration controller P gain" name="ArduCopter:ACCEL_Z_P" documentation="Throttle acceleration controller P gain.  Converts the difference between desired vertical acceleration and actual acceleration into a motor output" user="Standard">
-<field name="Range">0.500 1.500</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Throttle acceleration controller I gain" name="ArduCopter:ACCEL_Z_I" documentation="Throttle acceleration controller I gain.  Corrects long-term difference in desired vertical acceleration and actual acceleration" user="Standard">
-<field name="Range">0.000 3.000</field>
-</param>
-<param humanName="Throttle acceleration controller I gain maximum" name="ArduCopter:ACCEL_Z_IMAX" documentation="Throttle acceleration controller I gain maximum.  Constrains the maximum pwm that the I term will generate" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Throttle acceleration controller D gain" name="ArduCopter:ACCEL_Z_D" documentation="Throttle acceleration controller D gain.  Compensates for short-term change in desired vertical acceleration vs actual acceleration" user="Standard">
-<field name="Range">0.000 0.400</field>
-</param>
-<param humanName="Throttle acceleration filter" name="ArduCopter:ACCEL_Z_FILT_HZ" documentation="Filter applied to acceleration to reduce noise.  Lower values reduce noise but add delay." user="Standard">
-<field name="Range">1.000 100.000</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Position (vertical) controller P gain" name="ArduCopter:POS_Z_P" documentation="Position (vertical) controller P gain.  Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller" user="Standard">
-<field name="Range">1.000 3.000</field>
-</param>
-<param humanName="Position (horizonal) controller P gain" name="ArduCopter:POS_XY_P" documentation="Loiter position controller P gain.  Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller" user="Standard">
-<field name="Range">0.500 2.000</field>
-</param>
-<param humanName="Autotune axis bitmask" name="ArduCopter:AUTOTUNE_AXES" documentation="1-byte bitmap of axes to autotune" user="Standard">
-<field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
-<values>
-<value code="7">All</value>
-<value code="1">Roll Only</value>
-<value code="2">Pitch Only</value>
-<value code="4">Yaw Only</value>
-<value code="3">Roll and Pitch</value>
-<value code="5">Roll and Yaw</value>
-<value code="6">Pitch and Yaw</value>
-</values>
-</param>
-<param humanName="Autotune aggressiveness" name="ArduCopter:AUTOTUNE_AGGR" documentation="Autotune aggressiveness. Defines the bounce back used to detect size of the D term." user="Standard">
-<field name="Range">0.05 0.10</field>
-</param>
-<param humanName="AutoTune minimum D" name="ArduCopter:AUTOTUNE_MIN_D" documentation="Defines the minimum D gain" user="Standard">
-<field name="Range">0.001 0.006</field>
-</param>
-<param humanName="Start motors before throwing is detected" name="ArduCopter:THROW_MOT_START" documentation="Used by THROW mode. Controls whether motors will run at the speed set by THR_MIN or will be stopped when armed and waiting for the throw." user="Standard">
-<values>
-<value code="0">Stopped</value>
-<value code="1">Running</value>
-</values>
-</param>
-<param humanName="Terrain Following use control" name="ArduCopter:TERRAIN_FOLLOW" documentation="This enables terrain following for RTL and LAND flight modes. To use this option TERRAIN_ENABLE must be 1 and the GCS must  support sending terrain data to the aircraft.  In RTL the RTL_ALT will be considered a height above the terrain.  In LAND mode the vehicle will slow to LAND_SPEED 10m above terrain (instead of 10m above home).  This parameter does not affect AUTO and Guided which use a per-command flag to determine if the height is above-home, absolute or above-terrain." user="Standard">
-<values>
-<value code="0">Do Not Use in RTL and Land</value>
-<value code="1">Use in RTL and Land</value>
-</values>
-</param>
-<param humanName="Minimum navigation altitude" name="ArduCopter:WP_NAVALT_MIN" documentation="This is the altitude in meters above which for navigation can begin. This applies in auto takeoff and auto landing." user="Standard">
-<field name="Range">0 5</field>
-</param>
-<param humanName="Throw mode's follow up mode" name="ArduCopter:THROW_NEXTMODE" documentation="Vehicle will switch to this mode after the throw is successfully completed.  Default is to stay in throw mode (18)" user="Standard">
-<values>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="6">RTL</value>
-<value code="9">Land</value>
-<value code="17">Brake</value>
-<value code="18">Throw</value>
-</values>
-</param>
-<param humanName="Type of Type" name="ArduCopter:THROW_TYPE" documentation="Used by THROW mode. Specifies whether Copter is thrown upward or dropped." user="Standard">
-<values>
-<value code="0">Upward Throw</value>
-<value code="1">Drop</value>
-</values>
-</param>
-<param humanName="Ground Effect Compensation Enable/Disable" name="ArduCopter:GND_EFFECT_COMP" documentation="Ground Effect Compensation Enable/Disable" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-</parameters>
-<parameters name="AntennaTracker">
-<param humanName="Eeprom format version number" name="AntennaTracker:FORMAT_VERSION" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
-</param>
-<param humanName="Software Type" name="AntennaTracker:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
-<field name="ReadOnly">True</field>
-<values>
-<value code="0">ArduPlane</value>
-<value code="4">AntennaTracker</value>
-<value code="10">Copter</value>
-<value code="20">Rover</value>
-</values>
-</param>
-<param humanName="MAVLink system ID of this vehicle" name="AntennaTracker:SYSID_THISMAV" documentation="Allows setting an individual system id for this vehicle to distinguish it from others on the same network" user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="Ground station MAVLink system ID" name="AntennaTracker:SYSID_MYGCS" documentation="The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match." user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="Target vehicle's MAVLink system ID" name="AntennaTracker:SYSID_TARGET" documentation="The identifier of the vehicle being tracked. This should be zero (to auto detect) or be the same as the SYSID_THISMAV parameter of the vehicle being tracked." user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="Enable Compass" name="AntennaTracker:MAG_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Time for yaw to slew through its full range" name="AntennaTracker:YAW_SLEW_TIME" documentation="This controls how rapidly the tracker will change the servo output for yaw. It is set as the number of seconds to do a full rotation. You can use this parameter to slow the trackers movements, which may help with some types of trackers. A value of zero will allow for unlimited servo movement per update." user="Standard">
-<field name="Range">0 20</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Time for pitch to slew through its full range" name="AntennaTracker:PITCH_SLEW_TIME" documentation="This controls how rapidly the tracker will change the servo output for pitch. It is set as the number of seconds to do a full range of pitch movement. You can use this parameter to slow the trackers movements, which may help with some types of trackers. A value of zero will allow for unlimited servo movement per update." user="Standard">
-<field name="Range">0 20</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Speed at which to rotate in scan mode" name="AntennaTracker:SCAN_SPEED" documentation="This controls how rapidly the tracker will move the servos in SCAN mode" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Minimum time to apply a yaw reversal" name="AntennaTracker:MIN_REVERSE_TIME" documentation="When the tracker detects it has reached the limit of servo movement in yaw it will reverse and try moving to the other extreme of yaw. This parameter controls the minimum time it should reverse for. It is used to cope with trackers that have a significant lag in movement to ensure they do move all the way around." user="Standard">
-<field name="Range">0 20</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Initial Latitude before GPS lock" name="AntennaTracker:START_LATITUDE" documentation="Combined with START_LONGITUDE this parameter allows for an initial position of the tracker to be set. This position will be used until the GPS gets lock. It can also be used to run a stationary tracker with no GPS attached." user="Standard">
-<field name="Range">-90 90</field>
-<field name="Increment">0.000001</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Initial Longitude before GPS lock" name="AntennaTracker:START_LONGITUDE" documentation="Combined with START_LATITUDE this parameter allows for an initial position of the tracker to be set. This position will be used until the GPS gets lock. It can also be used to run a stationary tracker with no GPS attached." user="Standard">
-<field name="Range">-180 180</field>
-<field name="Increment">0.000001</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Delay before first servo movement from trim" name="AntennaTracker:STARTUP_DELAY" documentation="This parameter can be used to force the servos to their trim value for a time on startup. This can help with some servo types" user="Standard">
-<field name="Range">0 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Type of servo system being used for pitch" name="AntennaTracker:SERVO_PITCH_TYPE" documentation="This allows selection of position servos or on/off servos for pitch" user="Standard">
-<values>
-<value code="0">Position</value>
-<value code="1">OnOff</value>
-<value code="2">ContinuousRotation</value>
-</values>
-</param>
-<param humanName="Type of servo system being used for yaw" name="AntennaTracker:SERVO_YAW_TYPE" documentation="This allows selection of position servos or on/off servos for yaw" user="Standard">
-<values>
-<value code="0">Position</value>
-<value code="1">OnOff</value>
-<value code="2">ContinuousRotation</value>
-</values>
-</param>
-<param humanName="Yaw rate for on/off servos" name="AntennaTracker:ONOFF_YAW_RATE" documentation="Rate of change of yaw in degrees/second for on/off servos" user="Standard">
-<field name="Range">0 50</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Pitch rate for on/off servos" name="AntennaTracker:ONOFF_PITCH_RATE" documentation="Rate of change of pitch in degrees/second for on/off servos" user="Standard">
-<field name="Range">0 50</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Yaw minimum movement time" name="AntennaTracker:ONOFF_YAW_MINT" documentation="Minimum amount of time in seconds to move in yaw" user="Standard">
-<field name="Range">0 2</field>
-<field name="Increment">0.01</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Pitch minimum movement time" name="AntennaTracker:ONOFF_PITCH_MINT" documentation="Minimim amount of time in seconds to move in pitch" user="Standard">
-<field name="Range">0 2</field>
-<field name="Increment">0.01</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Yaw trim" name="AntennaTracker:YAW_TRIM" documentation="Amount of extra yaw to add when tracking. This allows for small adjustments for an out of trim compass." user="Standard">
-<field name="Range">-10 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Pitch trim" name="AntennaTracker:PITCH_TRIM" documentation="Amount of extra pitch to add when tracking. This allows for small adjustments for a badly calibrated barometer." user="Standard">
-<field name="Range">-10 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Yaw Angle Range" name="AntennaTracker:YAW_RANGE" documentation="Yaw axis total range of motion in degrees" user="Standard">
-<field name="Range">0 360</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Distance minimum to target" name="AntennaTracker:DISTANCE_MIN" documentation="Tracker will track targets at least this distance away" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Altitude Source" name="AntennaTracker:ALT_SOURCE" documentation="What provides altitude information for vehicle. Vehicle only assumes tracker has same altitude as vehicle's home" user="Standard">
-<values>
-<value code="0">Barometer</value>
-<value code="1">GPS</value>
-<value code="2">GPS vehicle only</value>
-</values>
-</param>
-<param humanName="Mavlink Update Rate" name="AntennaTracker:MAV_UPDATE_RATE" documentation="The rate at which Mavlink updates position and baro data" user="Standard">
-<field name="Range">1 10</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Minimum Pitch Angle" name="AntennaTracker:PITCH_MIN" documentation="The lowest angle the pitch can reach" user="Standard">
-<field name="Range">-90 0</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Maximum Pitch Angle" name="AntennaTracker:PITCH_MAX" documentation="The highest angle the pitch can reach" user="Standard">
-<field name="Range">0 90</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Log bitmask" name="AntennaTracker:LOG_BITMASK" documentation="4 byte bitmap of log types to enable" user="Standard">
-<field name="Bitmask">0:ATTITUDE,1:GPS,2:RCIN,3:IMU,4:RCOUT,5:COMPASS</field>
-<values>
-<value code="63">Default</value>
-<value code="0">Disabled</value>
-</values>
-</param>
-<param humanName="Pitch axis controller P gain" name="AntennaTracker:PITCH2SRV_P" documentation="Pitch axis controller P gain.  Converts the difference between desired pitch angle and actual pitch angle into a pitch servo pwm change" user="Standard">
-<field name="Range">0.0 3.0</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Pitch axis controller I gain" name="AntennaTracker:PITCH2SRV_I" documentation="Pitch axis controller I gain.  Corrects long-term difference in desired pitch angle vs actual pitch angle" user="Standard">
-<field name="Range">0.0 3.0</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Pitch axis controller I gain maximum" name="AntennaTracker:PITCH2SRV_IMAX" documentation="Pitch axis controller I gain maximum.  Constrains the maximum pwm change that the I gain will output" user="Standard">
-<field name="Range">0 4000</field>
-<field name="Increment">10</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Pitch axis controller D gain" name="AntennaTracker:PITCH2SRV_D" documentation="Pitch axis controller D gain.  Compensates for short-term change in desired pitch angle vs actual pitch angle" user="Standard">
-<field name="Range">0.001 0.1</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Yaw axis controller P gain" name="AntennaTracker:YAW2SRV_P" documentation="Yaw axis controller P gain.  Converts the difference between desired yaw angle (heading) and actual yaw angle into a yaw servo pwm change" user="Standard">
-<field name="Range">0.0 3.0</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Yaw axis controller I gain" name="AntennaTracker:YAW2SRV_I" documentation="Yaw axis controller I gain.  Corrects long-term difference in desired yaw angle (heading) vs actual yaw angle" user="Standard">
-<field name="Range">0.0 3.0</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Yaw axis controller I gain maximum" name="AntennaTracker:YAW2SRV_IMAX" documentation="Yaw axis controller I gain maximum.  Constrains the maximum pwm change that the I gain will output" user="Standard">
-<field name="Range">0 4000</field>
-<field name="Increment">10</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Yaw axis controller D gain" name="AntennaTracker:YAW2SRV_D" documentation="Yaw axis controller D gain.  Compensates for short-term change in desired yaw angle (heading) vs actual yaw angle" user="Standard">
-<field name="Range">0.001 0.1</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Number of loaded mission items" name="AntennaTracker:CMD_TOTAL" documentation="Set to 1 if HOME location has been loaded by the ground station. Do not change this manually." user="Advanced">
-<field name="Range">1 255</field>
-</param>
-</parameters>
-<parameters name="APMrover2">
-<param humanName="Eeprom format version number" name="APMrover2:FORMAT_VERSION" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
-</param>
-<param humanName="Software Type" name="APMrover2:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="Log bitmask" name="APMrover2:LOG_BITMASK" documentation="Bitmap of what log types to enable in dataflash. This values is made up of the sum of each of the log types you want to be saved on dataflash. On a PX4 or Pixhawk the large storage size of a microSD card means it is usually best just to enable all log types by setting this to 65535. On APM2 the smaller 4 MByte dataflash means you need to be more selective in your logging or you may run out of log space while flying (in which case it will wrap and overwrite the start of the log). The individual bits are ATTITUDE_FAST=1, ATTITUDE_MEDIUM=2, GPS=4, PerformanceMonitoring=8, ControlTuning=16, NavigationTuning=32, Mode=64, IMU=128, Commands=256, Battery=512, Compass=1024, TECS=2048, Camera=4096, RCandServo=8192, Sonar=16384, Arming=32768, FullLogs=65535" user="Advanced">
-<field name="Bitmask">0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:MODE,7:IMU,8:CMD,9:CURRENT,10:COMPASS,11:TECS,12:CAMERA,13:RC,14:SONAR,15:ARM/DISARM,19:IMU_RAW</field>
-<values>
-<value code="0">Disabled</value>
-<value code="5190">APM2-Default</value>
-<value code="65535">PX4/Pixhawk-Default</value>
-</values>
-</param>
-<param humanName="Num Resets" name="APMrover2:SYS_NUM_RESETS" documentation="Number of APM board resets" user="Advanced">
-</param>
-<param humanName="Reset Switch Channel" name="APMrover2:RST_SWITCH_CH" documentation="RC channel to use to reset to last flight mode&#9;after geofence takeover." user="Advanced">
-</param>
-<param humanName="Initial driving mode" name="APMrover2:INITIAL_MODE" documentation="This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver. Usually used in combination with when AUTO_TRIGGER_PIN or AUTO_KICKSTART." user="Advanced">
-<values>
-<value code="0">MANUAL</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">AUTO</value>
-<value code="11">RTL</value>
-<value code="15">GUIDED</value>
-</values>
-</param>
-<param humanName="MAVLink system ID of this vehicle" name="APMrover2:SYSID_THIS_MAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="MAVLink ground station ID" name="APMrover2:SYSID_MYGCS" documentation="The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match." user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="CLI Enable" name="APMrover2:CLI_ENABLED" documentation="This enables/disables the checking for three carriage returns on telemetry links on startup to enter the diagnostics command line interface" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Telemetry startup delay " name="APMrover2:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Standard">
-<field name="Range">0 30</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="GCS PID tuning mask" name="APMrover2:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
-<field name="Bitmask">0:Steering,1:Throttle</field>
-<values>
-<value code="0">None</value>
-<value code="1">Steering</value>
-<value code="2">Throttle</value>
-</values>
-</param>
-<param humanName="Enable Compass" name="APMrover2:MAG_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Auto mode trigger pin" name="APMrover2:AUTO_TRIGGER_PIN" documentation="pin number to use to enable the throttle in auto mode. If set to -1 then don't use a trigger, otherwise this is a pin number which if held low in auto mode will enable the motor to run. If the switch is released while in AUTO then the motor will stop again. This can be used in combination with INITIAL_MODE to give a 'press button to start' rover with no receiver." user="standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 0-8">APM TriggerPin</value>
-<value code=" 50-55"> Pixhawk TriggerPin</value>
-</values>
-</param>
-<param humanName="Auto mode trigger kickstart acceleration" name="APMrover2:AUTO_KICKSTART" documentation="X acceleration in meters/second/second to use to trigger the motor start in auto mode. If set to zero then auto throttle starts immediately when the mode switch happens, otherwise the rover waits for the X acceleration to go above this value before it will start the motor" user="standard">
-<field name="Range">0 20</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Target cruise speed in auto modes" name="APMrover2:CRUISE_SPEED" documentation="The target speed in auto missions." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Target speed reduction while turning" name="APMrover2:SPEED_TURN_GAIN" documentation="The percentage to reduce the throttle while turning. If this is 100% then the target speed is not reduced while turning. If this is 50% then the target speed is reduced in proportion to the turn rate, with a reduction of 50% when the steering is maximally deflected." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">percent</field>
-</param>
-<param humanName="Distance to turn to start reducing speed" name="APMrover2:SPEED_TURN_DIST" documentation="The distance to the next turn at which the rover reduces its target speed by the SPEED_TURN_GAIN" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Percentage braking to apply" name="APMrover2:BRAKING_PERCENT" documentation="The maximum reverse throttle braking percentage to apply when cornering" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">percent</field>
-</param>
-<param humanName="Speed error at which to apply braking" name="APMrover2:BRAKING_SPEEDERR" documentation="The amount of overspeed error at which to start applying braking" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Pivot turn angle" name="APMrover2:PIVOT_TURN_ANGLE" documentation="Navigation angle threshold in degrees to switch to pivot steering when SKID_STEER_OUT is 1. This allows you to setup a skid steering rover to turn on the spot in auto mode when the angle it needs to turn it greater than this angle. An angle of zero means to disable pivot turning. Note that you will probably also want to set a low value for WP_RADIUS to get neat turns." user="Standard">
-<field name="Range">0 360</field>
-<field name="Increment">1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Channel 7 option" name="APMrover2:CH7_OPTION" documentation="What to do use channel 7 for" user="Standard">
-<values>
-<value code="0">Nothing</value>
-<value code="1">LearnWaypoint</value>
-</values>
-</param>
-<param humanName="Minimum Throttle" name="APMrover2:THR_MIN" documentation="The minimum throttle setting to which the autopilot will apply. This is mostly useful for rovers with internal combustion motors, to prevent the motor from cutting out in auto mode." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Maximum Throttle" name="APMrover2:THR_MAX" documentation="The maximum throttle setting to which the autopilot will apply. This can be used to prevent overheating a ESC or motor on an electric rover." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Base throttle percentage in auto" name="APMrover2:CRUISE_THROTTLE" documentation="The base throttle percentage to use in auto mode. The CRUISE_SPEED parameter controls the target speed, but the rover starts with the CRUISE_THROTTLE setting as the initial estimate for how much throttle is needed to achieve that speed. It then adjusts the throttle based on how fast the rover is actually going." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Throttle slew rate" name="APMrover2:THR_SLEWRATE" documentation="maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second. A value of zero means no limit. A value of 100 means the throttle can change over its full range in one second. Note that for some NiMH powered rovers setting a lower value like 40 or 50 may be worthwhile as the sudden current demand on the battery of a big rise in throttle may cause a brownout." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Skid steering output" name="APMrover2:SKID_STEER_OUT" documentation="Set this to 1 for skid steering controlled rovers (tank track style). When enabled, servo1 is used for the left track control, servo3 is used for right track control" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">SkidSteeringOutput</value>
-</values>
-</param>
-<param humanName="Skid steering input" name="APMrover2:SKID_STEER_IN" documentation="Set this to 1 for skid steering input rovers (tank track style in RC controller). When enabled, servo1 is used for the left track control, servo3 is used for right track control" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">SkidSteeringInput</value>
-</values>
-</param>
-<param humanName="Failsafe Action" name="APMrover2:FS_ACTION" documentation="What to do on a failsafe event" user="Standard">
-<values>
-<value code="0">Nothing</value>
-<value code="1">RTL</value>
-<value code="2">HOLD</value>
-</values>
-</param>
-<param humanName="Failsafe timeout" name="APMrover2:FS_TIMEOUT" documentation="How long a failsafe event need to happen for before we trigger the failsafe action" user="Standard">
-<field name="Units">seconds</field>
-</param>
-<param humanName="Throttle Failsafe Enable" name="APMrover2:FS_THR_ENABLE" documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel to a low value. This can be used to detect the RC transmitter going out of range. Failsafe will be triggered when the throttle channel goes below the FS_THR_VALUE for FS_TIMEOUT seconds." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Throttle Failsafe Value" name="APMrover2:FS_THR_VALUE" documentation="The PWM level on the throttle channel below which throttle failsafe triggers." user="Standard">
-<field name="Range">925 1100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="GCS failsafe enable" name="APMrover2:FS_GCS_ENABLE" documentation="Enable ground control station telemetry failsafe. When enabled the Rover will execute the FS_ACTION when it fails to receive MAVLink heartbeat packets for FS_TIMEOUT seconds." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Rangefinder trigger distance" name="APMrover2:RNGFND_TRIGGR_CM" documentation="The distance from an obstacle in centimeters at which the rangefinder triggers a turn to avoid the obstacle" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Rangefinder trigger angle" name="APMrover2:RNGFND_TURN_ANGL" documentation="The course deviation in degrees to apply while avoiding an obstacle detected with the rangefinder. A positive number means to turn right, and a negative angle means to turn left." user="Standard">
-<field name="Range">-45 45</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Rangefinder turn time" name="APMrover2:RNGFND_TURN_TIME" documentation="The amount of time in seconds to apply the RNGFND_TURN_ANGL after detecting an obstacle." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Rangefinder debounce count" name="APMrover2:RNGFND_DEBOUNCE" documentation="The number of 50Hz rangefinder hits needed to trigger an obstacle avoidance event. If you get a lot of false sonar events then raise this number, but if you make it too large then it will cause lag in detecting obstacles, which could cause you go hit the obstacle." user="Standard">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Learning channel" name="APMrover2:LEARN_CH" documentation="RC Channel to use for learning waypoints" user="Advanced">
-</param>
-<param humanName="Mode channel" name="APMrover2:MODE_CH" documentation="RC Channel to use for driving mode control" user="Advanced">
-</param>
-<param humanName="Mode1" name="APMrover2:MODE1" documentation="Driving mode for switch position 1 (910 to 1230 and above 2049)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Mode2" name="APMrover2:MODE2" documentation="Driving mode for switch position 2 (1231 to 1360)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Mode3" name="APMrover2:MODE3" documentation="Driving mode for switch position 3 (1361 to 1490)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Mode4" name="APMrover2:MODE4" documentation="Driving mode for switch position 4 (1491 to 1620)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Mode5" name="APMrover2:MODE5" documentation="Driving mode for switch position 5 (1621 to 1749)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Mode6" name="APMrover2:MODE6" documentation="Driving mode for switch position 6 (1750 to 2049)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Waypoint radius" name="APMrover2:WP_RADIUS" documentation="The distance in meters from a waypoint when we consider the waypoint has been reached. This determines when the rover will turn along the next waypoint path." user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Turning maximum G force" name="APMrover2:TURN_MAX_G" documentation="The maximum turning acceleration (in units of gravities) that the rover can handle while remaining stable. The navigation code will keep the lateral acceleration below this level to avoid rolling over or slipping the wheels in turns" user="Standard">
-<field name="Range">0.2 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">gravities</field>
-</param>
-</parameters>
-</vehicles><libraries><parameters name="SERIAL">
-<param humanName="Serial0 baud rate" name="SERIAL0_BAUD" documentation="The baud rate used on the USB console. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Console protocol selection" name="SERIAL0_PROTOCOL" documentation="Control what protocol to use on the console. " user="Standard">
-<values>
-<value code="1">MAVlink1</value>
-<value code=" 2">MAVLink2</value>
-</values>
-</param>
-<param humanName="Telem1 protocol selection" name="SERIAL1_PROTOCOL" documentation="Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="-1">None</value>
-<value code=" 1">MAVLink1</value>
-<value code=" 2">MAVLink2</value>
-<value code=" 3">Frsky D</value>
-<value code=" 4">Frsky SPort</value>
-<value code=" 5">GPS</value>
-<value code=" 7">Alexmos Gimbal Serial</value>
-<value code=" 8">SToRM32 Gimbal Serial</value>
-<value code=" 9">Lidar</value>
-<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
-</values>
-</param>
-<param humanName="Telem1 Baud Rate" name="SERIAL1_BAUD" documentation="The baud rate used on the Telem1 port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Telemetry 2 protocol selection" name="SERIAL2_PROTOCOL" documentation="Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="-1">None</value>
-<value code=" 1">MAVLink1</value>
-<value code=" 2">MAVLink2</value>
-<value code=" 3">Frsky D</value>
-<value code=" 4">Frsky SPort</value>
-<value code=" 5">GPS</value>
-<value code=" 7">Alexmos Gimbal Serial</value>
-<value code=" 8">SToRM32 Gimbal Serial</value>
-<value code=" 9">Lidar</value>
-<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
-</values>
-</param>
-<param humanName="Telemetry 2 Baud Rate" name="SERIAL2_BAUD" documentation="The baud rate of the Telem2 port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Serial 3 (GPS) protocol selection" name="SERIAL3_PROTOCOL" documentation="Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="-1">None</value>
-<value code=" 1">MAVLink1</value>
-<value code=" 2">MAVLink2</value>
-<value code=" 3">Frsky D</value>
-<value code=" 4">Frsky SPort</value>
-<value code=" 5">GPS</value>
-<value code=" 7">Alexmos Gimbal Serial</value>
-<value code=" 8">SToRM32 Gimbal Serial</value>
-<value code=" 9">Lidar</value>
-<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
-</values>
-</param>
-<param humanName="Serial 3 (GPS) Baud Rate" name="SERIAL3_BAUD" documentation="The baud rate used for the Serial 3 (GPS). The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Serial4 protocol selection" name="SERIAL4_PROTOCOL" documentation="Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="-1">None</value>
-<value code=" 1">MAVLink1</value>
-<value code=" 2">MAVLink2</value>
-<value code=" 3">Frsky D</value>
-<value code=" 4">Frsky SPort</value>
-<value code=" 5">GPS</value>
-<value code=" 7">Alexmos Gimbal Serial</value>
-<value code=" 8">SToRM32 Gimbal Serial</value>
-<value code=" 9">Lidar</value>
-<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
-</values>
-</param>
-<param humanName="Serial 4 Baud Rate" name="SERIAL4_BAUD" documentation="The baud rate used for Serial4. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Serial5 protocol selection" name="SERIAL5_PROTOCOL" documentation="Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="-1">None</value>
-<value code=" 1">MAVLink1</value>
-<value code=" 2">MAVLink2</value>
-<value code=" 3">Frsky D</value>
-<value code=" 4">Frsky SPort</value>
-<value code=" 5">GPS</value>
-<value code=" 7">Alexmos Gimbal Serial</value>
-<value code=" 8">SToRM32 Gimbal Serial</value>
-<value code=" 9">Lidar</value>
-<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
-</values>
-</param>
-<param humanName="Serial 5 Baud Rate" name="SERIAL5_BAUD" documentation="The baud rate used for Serial5. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-</parameters>
-<parameters name="GND_">
-<param humanName="Absolute Pressure" name="GND_ABS_PRESS" documentation="calibrated ground pressure in Pascals">
-<field name="ReadOnly">True</field>
-<field name="Volatile">True</field>
-<field name="Increment">1</field>
-<field name="Units">pascals</field>
-</param>
-<param humanName="ground temperature" name="GND_TEMP" documentation="calibrated ground temperature in degrees Celsius">
-<field name="ReadOnly">True</field>
-<field name="Volatile">True</field>
-<field name="Increment">1</field>
-<field name="Units">degrees celsius</field>
-</param>
-<param humanName="altitude offset" name="GND_ALT_OFFSET" documentation="altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.">
-<field name="Units">meters</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Primary barometer" name="GND_PRIMARY" documentation="This selects which barometer will be the primary if multiple barometers are found">
-<values>
-<value code="0">FirstBaro</value>
-<value code="1">2ndBaro</value>
-<value code="2">3rdBaro</value>
-</values>
-</param>
-</parameters>
-<parameters name="GPS_">
-<param humanName="GPS type" name="GPS_TYPE" documentation="GPS type">
-<values>
-<value code="0">None</value>
-<value code="1">AUTO</value>
-<value code="2">uBlox</value>
-<value code="3">MTK</value>
-<value code="4">MTK19</value>
-<value code="5">NMEA</value>
-<value code="6">SiRF</value>
-<value code="7">HIL</value>
-<value code="8">SwiftNav</value>
-<value code="9">PX4-UAVCAN</value>
-<value code="10">SBF</value>
-<value code="11">GSOF</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="2nd GPS type" name="GPS_TYPE2" documentation="GPS type of 2nd GPS">
-<values>
-<value code="0">None</value>
-<value code="1">AUTO</value>
-<value code="2">uBlox</value>
-<value code="3">MTK</value>
-<value code="4">MTK19</value>
-<value code="5">NMEA</value>
-<value code="6">SiRF</value>
-<value code="7">HIL</value>
-<value code="8">SwiftNav</value>
-<value code="9">PX4-UAVCAN</value>
-<value code="10">SBF</value>
-<value code="11">GSOF</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Navigation filter setting" name="GPS_NAVFILTER" documentation="Navigation filter engine setting">
-<values>
-<value code="0">Portable</value>
-<value code="2">Stationary</value>
-<value code="3">Pedestrian</value>
-<value code="4">Automotive</value>
-<value code="5">Sea</value>
-<value code="6">Airborne1G</value>
-<value code="7">Airborne2G</value>
-<value code="8">Airborne4G</value>
-</values>
-</param>
-<param humanName="Automatic Switchover Setting" name="GPS_AUTO_SWITCH" documentation="Automatic switchover to GPS reporting best lock" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Minimum Lock Type Accepted for DGPS" name="GPS_MIN_DGPS" documentation="Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode." user="Advanced">
-<values>
-<value code="0">Any</value>
-<value code="50">FloatRTK</value>
-<value code="100">IntegerRTK</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="SBAS Mode" name="GPS_SBAS_MODE" documentation="This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code="2">NoChange</value>
-</values>
-</param>
-<param humanName="Minimum elevation" name="GPS_MIN_ELEV" documentation="This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default." user="Advanced">
-<field name="Range">-100 90</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Destination for GPS_INJECT_DATA MAVLink packets" name="GPS_INJECT_TO" documentation="The GGS can send raw serial packets to inject data to multiple GPSes.">
-<values>
-<value code="0">send to first GPS</value>
-<value code="1">send to 2nd GPS</value>
-<value code="127">send to all</value>
-</values>
-</param>
-<param humanName="Swift Binary Protocol Logging Mask" name="GPS_SBP_LOGMASK" documentation="Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged" user="Advanced">
-<values>
-<value code="0x0000">None</value>
-<value code=" 0xFFFF">All</value>
-<value code=" 0xFF00">External only</value>
-</values>
-</param>
-<param humanName="Raw data logging" name="GPS_RAW_DATA" documentation="Enable logging of RXM raw data from uBlox which includes carrier phase and pseudo range information. This allows for post processing of dataflash logs for more precise positioning. Note that this requires a raw capable uBlox such as the 6P or 6T.">
-<values>
-<value code="0">Disabled</value>
-<value code="1">log every sample</value>
-<value code="5">log every 5 samples</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="GNSS system configuration" name="GPS_GNSS_MODE" documentation="Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
-<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS</field>
-<values>
-<value code="0">Leave as currently configured</value>
-<value code=" 1">GPS-NoSBAS</value>
-<value code=" 3">GPS+SBAS</value>
-<value code=" 4">Galileo-NoSBAS</value>
-<value code=" 6">Galileo+SBAS</value>
-<value code=" 8">Beidou</value>
-<value code=" 51">GPS+IMES+QZSS+SBAS (Japan Only)</value>
-<value code=" 64">GLONASS</value>
-<value code=" 66">GLONASS+SBAS</value>
-<value code=" 67">GPS+GLONASS+SBAS</value>
-</values>
-</param>
-<param humanName="Save GPS configuration" name="GPS_SAVE_CFG" documentation="Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above." user="Advanced">
-<values>
-<value code="0">Do not save config</value>
-<value code="1">Save config</value>
-<value code="2">Save only when needed</value>
-</values>
-</param>
-<param humanName="GNSS system configuration" name="GPS_GNSS_MODE2" documentation="Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
-<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS</field>
-<values>
-<value code="0">Leave as currently configured</value>
-<value code=" 1">GPS-NoSBAS</value>
-<value code=" 3">GPS+SBAS</value>
-<value code=" 4">Galileo-NoSBAS</value>
-<value code=" 6">Galileo+SBAS</value>
-<value code=" 8">Beidou</value>
-<value code=" 51">GPS+IMES+QZSS+SBAS (Japan Only)</value>
-<value code=" 64">GLONASS</value>
-<value code=" 66">GLONASS+SBAS</value>
-<value code=" 67">GPS+GLONASS+SBAS</value>
-</values>
-</param>
-<param humanName="Automatic GPS configuration" name="GPS_AUTO_CONFIG" documentation="Controls if the autopilot should automatically configure the GPS based on the parameters and default settings" user="Advanced">
-<values>
-<value code="0">Disables automatic configuration</value>
-<value code="1">Enable automatic configuration</value>
-</values>
-</param>
-</parameters>
-<parameters name="CAM_">
-<param humanName="Camera shutter (trigger) type" name="CAM_TRIGG_TYPE" documentation="how to trigger the camera to take a picture" user="Standard">
-<values>
-<value code="0">Servo</value>
-<value code="1">Relay</value>
-</values>
-</param>
-<param humanName="Duration that shutter is held open" name="CAM_DURATION" documentation="How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)" user="Standard">
-<field name="Range">0 50</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Servo ON PWM value" name="CAM_SERVO_ON" documentation="PWM value to move servo to when shutter is activated" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo OFF PWM value" name="CAM_SERVO_OFF" documentation="PWM value to move servo to when shutter is deactivated" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Camera trigger distance" name="CAM_TRIGG_DIST" documentation="Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the GPS position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight." user="Standard">
-<field name="Range">0 1000</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Relay ON value" name="CAM_RELAY_ON" documentation="This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera" user="Standard">
-<values>
-<value code="0">Low</value>
-<value code="1">High</value>
-</values>
-</param>
-<param humanName="Minimum time between photos" name="CAM_MIN_INTERVAL" documentation="Postpone shooting if previous picture was taken less than preset time(ms) ago." user="Standard">
-<field name="Range">0 10000</field>
-<field name="Units">milliseconds</field>
-</param>
-<param humanName="Maximum photo roll angle." name="CAM_MAX_ROLL" documentation="Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll)." user="Standard">
-<field name="Range">0 180</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Camera feedback pin" name="CAM_FEEDBACK_PIN" documentation="pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. See also the CAM_FEEDBACK_POL option. If using AUX4 pin on a Pixhawk then a fast capture method is used that allows for the trigger time to be as short as one microsecond." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="50">PX4 AUX1</value>
-<value code="51">PX4 AUX2</value>
-<value code="52">PX4 AUX3</value>
-<value code="53">PX4 AUX4(fast capture)</value>
-<value code="54">PX4 AUX5</value>
-<value code="55">PX4 AUX6</value>
-</values>
-</param>
-<param humanName="Camera feedback pin polarity" name="CAM_FEEDBACK_POL" documentation="Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low" user="Standard">
-<values>
-<value code="0">TriggerLow</value>
-<value code="1">TriggerHigh</value>
-</values>
-</param>
-</parameters>
-<parameters name="ARMING_">
-<param humanName="Require Arming Motors " name="ARMING_REQUIRE" documentation="Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately).  If 1, require rudder stick or GCS arming before arming motors and send THR_MIN PWM to throttle channel when disarmed.  If 2, require rudder stick or GCS arming and send 0 PWM to throttle channel when disarmed. See the ARMING_CHECK_* parameters to see what checks are done before arming. Note, if setting this parameter to 0 a reboot is required to arm the plane.  Also note, even with this parameter at 0, if ARMING_CHECK parameter is not also zero the plane may fail to arm throttle at boot due to a pre-arm check failure." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">THR_MIN PWM when disarmed</value>
-<value code="2">0 PWM when disarmed</value>
-</values>
-</param>
-<param humanName="Arm Checks to Peform (bitmask)" name="ARMING_CHECK" documentation="Checks prior to arming motor. This is a bitmask of checks that will be performed befor allowing arming. The default is no checks, allowing arming at any time. You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72. For most users it is recommended that you set this to 1 to enable all checks." user="Standard">
-<field name="Bitmask">0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC,7:Board voltage,8:Battery Level,9:Airspeed,10:Logging Available,11:Hardware safety switch,12:GPS Configuration</field>
-<values>
-<value code="0">None</value>
-<value code="1">All</value>
-<value code="2">Barometer</value>
-<value code="4">Compass</value>
-<value code="8">GPS Lock</value>
-<value code="16">INS(INertial Sensors - accels &amp; gyros)</value>
-<value code="32">Parameters(unused)</value>
-<value code="64">RC Failsafe</value>
-<value code="128">Board voltage</value>
-<value code="256">Battery Level</value>
-<value code="512">Airspeed</value>
-<value code="1024">LoggingAvailable</value>
-<value code="2048">Hardware safety switch</value>
-<value code="4096">GPS configuration</value>
-</values>
-</param>
-<param humanName="Accelerometer error threshold" name="ARMING_ACCTHRESH" documentation="Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal." user="Advanced">
-<field name="Range">0.25 3.0</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Minimum arming voltage on the first battery" name="ARMING_MIN_VOLT" documentation="The minimum voltage on the first battery to arm, 0 disabes the check" user="Standard">
-<field name="Increment">0.1 </field>
-<field name="Units">Volts</field>
-</param>
-<param humanName="Minimum arming voltage on the second battery" name="ARMING_MIN_VOLT2" documentation="The minimum voltage on the first battery to arm, 0 disabes the check" user="Standard">
-<field name="Increment">0.1 </field>
-<field name="Units">Volts</field>
-</param>
-</parameters>
-<parameters name="RELAY_">
-<param humanName="First Relay Pin" name="RELAY_PIN" documentation="Digital pin number for first relay control. This is the pin used for camera control." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="13">APM2 A9 pin</value>
-<value code="47">APM1 relay</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Second Relay Pin" name="RELAY_PIN2" documentation="Digital pin number for 2nd relay control." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="13">APM2 A9 pin</value>
-<value code="47">APM1 relay</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Third Relay Pin" name="RELAY_PIN3" documentation="Digital pin number for 3rd relay control." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="13">APM2 A9 pin</value>
-<value code="47">APM1 relay</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Fourth Relay Pin" name="RELAY_PIN4" documentation="Digital pin number for 4th relay control." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="13">APM2 A9 pin</value>
-<value code="47">APM1 relay</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Default relay state" name="RELAY_DEFAULT" documentation="The state of the relay on boot. " user="Standard">
-<values>
-<value code="0">Off</value>
-<value code="1">On</value>
-<value code="2">NoChange</value>
-</values>
-</param>
-</parameters>
-<parameters name="CHUTE_">
-<param humanName="Parachute release enabled or disabled" name="CHUTE_ENABLED" documentation="Parachute release enabled or disabled" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Parachute release mechanism type (relay or servo)" name="CHUTE_TYPE" documentation="Parachute release mechanism type (relay or servo)" user="Standard">
-<values>
-<value code="0">First Relay</value>
-<value code="1">Second Relay</value>
-<value code="2">Third Relay</value>
-<value code="3">Fourth Relay</value>
-<value code="10">Servo</value>
-</values>
-</param>
-<param humanName="Parachute Servo ON PWM value" name="CHUTE_SERVO_ON" documentation="Parachute Servo PWM value when parachute is released" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo OFF PWM value" name="CHUTE_SERVO_OFF" documentation="Parachute Servo PWM value when parachute is not released" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Parachute min altitude in meters above home" name="CHUTE_ALT_MIN" documentation="Parachute min altitude above home.  Parachute will not be released below this altitude.  0 to disable alt check." user="Standard">
-<field name="Range">0 32000</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Parachute release delay" name="CHUTE_DELAY_MS" documentation="Delay in millseconds between motor stop and chute release" user="Standard">
-<field name="Range">0 5000</field>
-<field name="Increment">1</field>
-<field name="Units">Milliseconds</field>
-</param>
-</parameters>
-<parameters name="RNGFND">
-<param humanName="Rangefinder type" name="RNGFND_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Analog</value>
-<value code="2">APM2-MaxbotixI2C</value>
-<value code="3">APM2-PulsedLightI2C</value>
-<value code="4">PX4-I2C</value>
-<value code="5">PX4-PWM</value>
-<value code="6">BBB-PRU</value>
-<value code="7">LightWareI2C</value>
-<value code="8">LightWareSerial</value>
-<value code="9">Bebop</value>
-<value code="10">MAVLink</value>
-</values>
-</param>
-<param humanName="Rangefinder pin" name="RNGFND_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
-<values>
-<value code="-1">Not Used</value>
-<value code=" 0">APM2-A0</value>
-<value code=" 1">APM2-A1</value>
-<value code=" 2">APM2-A2</value>
-<value code=" 3">APM2-A3</value>
-<value code=" 4">APM2-A4</value>
-<value code=" 5">APM2-A5</value>
-<value code=" 6">APM2-A6</value>
-<value code=" 7">APM2-A7</value>
-<value code=" 8">APM2-A8</value>
-<value code=" 9">APM2-A9</value>
-<value code=" 11">PX4-airspeed port</value>
-<value code=" 15">Pixhawk-airspeed port</value>
-<value code=" 64">APM1-airspeed port</value>
-</values>
-</param>
-<param humanName="Rangefinder scaling" name="RNGFND_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
-<field name="Increment">0.001</field>
-<field name="Units">meters/Volt</field>
-</param>
-<param humanName="rangefinder offset" name="RNGFND_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
-<field name="Increment">0.001</field>
-<field name="Units">Volts</field>
-</param>
-<param humanName="Rangefinder function" name="RNGFND_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
-<values>
-<value code="0">Linear</value>
-<value code="1">Inverted</value>
-<value code="2">Hyperbolic</value>
-</values>
-</param>
-<param humanName="Rangefinder minimum distance" name="RNGFND_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Rangefinder maximum distance" name="RNGFND_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Rangefinder stop pin" name="RNGFND_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Standard">
-<values>
-<value code="-1">Not Used</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Rangefinder settle time" name="RNGFND_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Standard">
-<field name="Increment">1</field>
-<field name="Units">milliseconds</field>
-</param>
-<param humanName="Ratiometric" name="RNGFND_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
-<values>
-<value code="0">No</value>
-<value code="1">Yes</value>
-</values>
-</param>
-<param humanName="Powersave range" name="RNGFND_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
-<field name="Range">0 32767</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Bus address of sensor" name="RNGFND_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Second Rangefinder type" name="RNGFND2_TYPE" documentation="What type of rangefinder device that is connected" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Analog</value>
-<value code="2">APM2-MaxbotixI2C</value>
-<value code="3">APM2-PulsedLightI2C</value>
-<value code="4">PX4-I2C</value>
-<value code="5">PX4-PWM</value>
-<value code="6">BBB-PRU</value>
-<value code="7">LightWareI2C</value>
-<value code="8">LightWareSerial</value>
-<value code="9">Bebop</value>
-<value code="10">MAVLink</value>
-</values>
-</param>
-<param humanName="Rangefinder pin" name="RNGFND2_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Advanced">
-<values>
-<value code="-1">Not Used</value>
-<value code=" 0">APM2-A0</value>
-<value code=" 1">APM2-A1</value>
-<value code=" 2">APM2-A2</value>
-<value code=" 3">APM2-A3</value>
-<value code=" 4">APM2-A4</value>
-<value code=" 5">APM2-A5</value>
-<value code=" 6">APM2-A6</value>
-<value code=" 7">APM2-A7</value>
-<value code=" 8">APM2-A8</value>
-<value code=" 9">APM2-A9</value>
-<value code=" 11">PX4-airspeed port</value>
-<value code=" 15">Pixhawk-airspeed port</value>
-<value code=" 64">APM1-airspeed port</value>
-</values>
-</param>
-<param humanName="Rangefinder scaling" name="RNGFND2_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Advanced">
-<field name="Increment">0.001</field>
-<field name="Units">meters/Volt</field>
-</param>
-<param humanName="rangefinder offset" name="RNGFND2_OFFSET" documentation="Offset in volts for zero distance" user="Advanced">
-<field name="Increment">0.001</field>
-<field name="Units">Volts</field>
-</param>
-<param humanName="Rangefinder function" name="RNGFND2_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Advanced">
-<values>
-<value code="0">Linear</value>
-<value code="1">Inverted</value>
-<value code="2">Hyperbolic</value>
-</values>
-</param>
-<param humanName="Rangefinder minimum distance" name="RNGFND2_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Advanced">
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Rangefinder maximum distance" name="RNGFND2_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Advanced">
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Rangefinder stop pin" name="RNGFND2_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Advanced">
-<values>
-<value code="-1">Not Used</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Sonar settle time" name="RNGFND2_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Advanced">
-<field name="Increment">1</field>
-<field name="Units">milliseconds</field>
-</param>
-<param humanName="Ratiometric" name="RNGFND2_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Advanced">
-<values>
-<value code="0">No</value>
-<value code="1">Yes</value>
-</values>
-</param>
-<param humanName="Distance (in cm) from the second range finder to the ground" name="RNGFND2_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the second range finder should return when the vehicle is on the ground." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Bus address of second rangefinder" name="RNGFND2_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Third Rangefinder type" name="RNGFND3_TYPE" documentation="What type of rangefinder device that is connected">
-<values>
-<value code="0">None</value>
-<value code="1">Analog</value>
-<value code="2">APM2-MaxbotixI2C</value>
-<value code="3">APM2-PulsedLightI2C</value>
-<value code="4">PX4-I2C</value>
-<value code="5">PX4-PWM</value>
-<value code="6">BBB-PRU</value>
-<value code="7">LightWareI2C</value>
-<value code="8">LightWareSerial</value>
-<value code="9">Bebop</value>
-<value code="10">MAVLink</value>
-</values>
-</param>
-<param humanName="Rangefinder pin" name="RNGFND3_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port.">
-<values>
-<value code="-1">Not Used</value>
-<value code=" 0">APM2-A0</value>
-<value code=" 1">APM2-A1</value>
-<value code=" 2">APM2-A2</value>
-<value code=" 3">APM2-A3</value>
-<value code=" 4">APM2-A4</value>
-<value code=" 5">APM2-A5</value>
-<value code=" 6">APM2-A6</value>
-<value code=" 7">APM2-A7</value>
-<value code=" 8">APM2-A8</value>
-<value code=" 9">APM2-A9</value>
-<value code=" 11">PX4-airspeed port</value>
-<value code=" 15">Pixhawk-airspeed port</value>
-<value code=" 64">APM1-airspeed port</value>
-</values>
-</param>
-<param humanName="Rangefinder scaling" name="RNGFND3_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.">
-<field name="Units">meters/Volt</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="rangefinder offset" name="RNGFND3_OFFSET" documentation="Offset in volts for zero distance">
-<field name="Units">Volts</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Rangefinder function" name="RNGFND3_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.">
-<values>
-<value code="0">Linear</value>
-<value code="1">Inverted</value>
-<value code="2">Hyperbolic</value>
-</values>
-</param>
-<param humanName="Rangefinder minimum distance" name="RNGFND3_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read">
-<field name="Units">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder maximum distance" name="RNGFND3_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read">
-<field name="Units">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder stop pin" name="RNGFND3_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other.">
-<values>
-<value code="-1">Not Used</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Sonar settle time" name="RNGFND3_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.">
-<field name="Units">milliseconds</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Ratiometric" name="RNGFND3_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.">
-<values>
-<value code="0">No</value>
-<value code="1">Yes</value>
-</values>
-</param>
-<param humanName="Distance (in cm) from the third range finder to the ground" name="RNGFND3_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the third range finder should return when the vehicle is on the ground." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Bus address of third rangefinder" name="RNGFND3_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Fourth Rangefinder type" name="RNGFND4_TYPE" documentation="What type of rangefinder device that is connected">
-<values>
-<value code="0">None</value>
-<value code="1">Analog</value>
-<value code="2">APM2-MaxbotixI2C</value>
-<value code="3">APM2-PulsedLightI2C</value>
-<value code="4">PX4-I2C</value>
-<value code="5">PX4-PWM</value>
-<value code="6">BBB-PRU</value>
-<value code="7">LightWareI2C</value>
-<value code="8">LightWareSerial</value>
-<value code="9">Bebop</value>
-<value code="10">MAVLink</value>
-</values>
-</param>
-<param humanName="Rangefinder pin" name="RNGFND4_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port.">
-<values>
-<value code="-1">Not Used</value>
-<value code=" 0">APM2-A0</value>
-<value code=" 1">APM2-A1</value>
-<value code=" 2">APM2-A2</value>
-<value code=" 3">APM2-A3</value>
-<value code=" 4">APM2-A4</value>
-<value code=" 5">APM2-A5</value>
-<value code=" 6">APM2-A6</value>
-<value code=" 7">APM2-A7</value>
-<value code=" 8">APM2-A8</value>
-<value code=" 9">APM2-A9</value>
-<value code=" 11">PX4-airspeed port</value>
-<value code=" 15">Pixhawk-airspeed port</value>
-<value code=" 64">APM1-airspeed port</value>
-</values>
-</param>
-<param humanName="Rangefinder scaling" name="RNGFND4_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.">
-<field name="Units">meters/Volt</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="rangefinder offset" name="RNGFND4_OFFSET" documentation="Offset in volts for zero distance">
-<field name="Units">Volts</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Rangefinder function" name="RNGFND4_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.">
-<values>
-<value code="0">Linear</value>
-<value code="1">Inverted</value>
-<value code="2">Hyperbolic</value>
-</values>
-</param>
-<param humanName="Rangefinder minimum distance" name="RNGFND4_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read">
-<field name="Units">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder maximum distance" name="RNGFND4_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read">
-<field name="Units">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder stop pin" name="RNGFND4_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other.">
-<values>
-<value code="-1">Not Used</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Sonar settle time" name="RNGFND4_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.">
-<field name="Units">milliseconds</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Ratiometric" name="RNGFND4_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.">
-<values>
-<value code="0">No</value>
-<value code="1">Yes</value>
-</values>
-</param>
-<param humanName="Distance (in cm) from the fourth range finder to the ground" name="RNGFND4_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the fourth range finder should return when the vehicle is on the ground." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Bus address of fourth rangefinder" name="RNGFND4_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="TERRAIN_">
-<param humanName="Terrain data enable" name="TERRAIN_ENABLE" documentation="enable terrain data. This enables the vehicle storing a database of terrain data on the SD card. The terrain data is requested from the ground station as needed, and stored for later use on the SD card. To be useful the ground station must support TERRAIN_REQUEST messages and have access to a terrain database, such as the SRTM database.">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-<param humanName="Terrain grid spacing" name="TERRAIN_SPACING" documentation="Distance between terrain grid points in meters. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station. If your GCS is using the worldwide SRTM database then a resolution of 100 meters is appropriate. Some parts of the world may have higher resolution data available, such as 30 meter data available in the SRTM database in the USA. The grid spacing also controls how much data is kept in memory during flight. A larger grid spacing will allow for a larger amount of data in memory. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2.7 kilometers by 3.2 kilometers. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be demand loaded as needed.">
-<field name="Units">meters</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="ADSB_">
-<param humanName="Enable ADSB" name="ADSB_ENABLE" documentation="Enable ADS-B" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="ADSB vehicle list size" name="ADSB_LIST_MAX" documentation="ADSB list size of nearest vehicles. Longer lists take longer to refresh with lower SRx_ADSB values." user="Advanced">
-<field name="Range">1 100</field>
-</param>
-<param humanName="ADSB vehicle list radius filter" name="ADSB_LIST_RADIUS" documentation="ADSB vehicle list radius filter. Vehicles detected outside this radius will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations." user="Advanced">
-<field name="Range">1 100000</field>
-</param>
-<param humanName="ICAO_ID vehicle identifaction number" name="ADSB_ICAO_ID" documentation="ICAO_ID unique vehicle identifaction number of this aircraft. This is a integer limited to 24bits. If set to 0 then one will be randomly generated. If set to -1 then static information is not sent, transceiver is assumed pre-programmed." user="Advanced">
-<field name="Range">-1 16777215</field>
-</param>
-<param humanName="Emitter type" name="ADSB_EMIT_TYPE" documentation="ADSB classification for the type of vehicle emitting the transponder signal. Default value is 14 (UAV)." user="Advanced">
-<values>
-<value code="0">NoInfo</value>
-<value code="1">Light</value>
-<value code="2">Small</value>
-<value code="3">Large</value>
-<value code="4">HighVortexlarge</value>
-<value code="5">Heavy</value>
-<value code="6">HighlyManuv</value>
-<value code="7">Rotocraft</value>
-<value code="8">RESERVED</value>
-<value code="9">Glider</value>
-<value code="10">LightAir</value>
-<value code="11">Parachute</value>
-<value code="12">UltraLight</value>
-<value code="13">RESERVED</value>
-<value code="14">UAV</value>
-<value code="15">Space</value>
-<value code="16">RESERVED</value>
-<value code="17">EmergencySurface</value>
-<value code="18">ServiceSurface</value>
-<value code="19">PointObstacle</value>
-</values>
-</param>
-<param humanName="Aircraft length and width" name="ADSB_LEN_WIDTH" documentation="Aircraft length and width dimension options in Length and Width in meters. In most cases, use a value of 1 for smallest size." user="Advanced">
-<values>
-<value code="0">NO_DATA</value>
-<value code="1">L15W23</value>
-<value code="2">L25W28P5</value>
-<value code="3">L25W34</value>
-<value code="4">L35W33</value>
-<value code="5">L35W38</value>
-<value code="6">L45W39P5</value>
-<value code="7">L45W45</value>
-<value code="8">L55W45</value>
-<value code="9">L55W52</value>
-<value code="10">L65W59P5</value>
-<value code="11">L65W67</value>
-<value code="12">L75W72P5</value>
-<value code="13">L75W80</value>
-<value code="14">L85W80</value>
-<value code="15">L85W90</value>
-</values>
-</param>
-<param humanName="GPS antenna lateral offset" name="ADSB_OFFSET_LAT" documentation="GPS antenna lateral offset. This describes the physical location offest from center of the GPS antenna on the aircraft." user="Advanced">
-<values>
-<value code="0">NoData</value>
-<value code="1">Left2m</value>
-<value code="2">Left4m</value>
-<value code="3">Left6m</value>
-<value code="4">Center</value>
-<value code="5">Right2m</value>
-<value code="6">Right4m</value>
-<value code="7">Right6m</value>
-</values>
-</param>
-<param humanName="GPS antenna longitudinal offset" name="ADSB_OFFSET_LON" documentation="GPS antenna longitudinal offset. This is usually set to 1, Applied By Sensor" user="Advanced">
-<values>
-<value code="0">NO_DATA</value>
-<value code="1">AppliedBySensor</value>
-</values>
-</param>
-<param humanName="Transceiver RF selection" name="ADSB_RF_SELECT" documentation="Transceiver RF selection for Rx enable and/or Tx enable." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Rx-Only</value>
-<value code="2">Tx-Only</value>
-<value code="3">Rx and Tx Enabled</value>
-</values>
-</param>
-</parameters>
-<parameters name="AVD_">
-<param humanName="Enable Avoidance using ADSB" name="AVD_ENABLE" documentation="Enable Avoidance using ADSB" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Recovery behaviour after a fail event" name="AVD_F_RCVRY" documentation="Determines what the aircraft will do after a fail event is resolved" user="Advanced">
-<values>
-<value code="0">Remain in AVOID_ADSB</value>
-<value code="1">Resume previous flight mode</value>
-<value code="2">RTL</value>
-<value code="3">Resume if AUTO else Loiter</value>
-</values>
-</param>
-<param humanName="Maximum number of obstacles to track" name="AVD_OBS_MAX" documentation="Maximum number of obstacles to track" user="Advanced">
-</param>
-<param humanName="Time Horizon Warn" name="AVD_W_TIME" documentation="Aircraft velocity vectors are multiplied by this time to determine closest approach.  If this results in an approach closer than W_DIST_XY or W_DIST_Z then W_ACTION is undertaken (assuming F_ACTION is not undertaken)" user="Advanced">
-</param>
-<param humanName="Time Horizon Fail" name="AVD_F_TIME" documentation="Aircraft velocity vectors are multiplied by this time to determine closest approach.  If this results in an approach closer than F_DIST_XY or F_DIST_Z then F_ACTION is undertaken" user="Advanced">
-</param>
-<param humanName="Distance Warn XY" name="AVD_W_DIST_XY" documentation="Closest allowed projected distance before W_ACTION is undertaken" user="Advanced">
-</param>
-<param humanName="Distance Fail XY" name="AVD_F_DIST_XY" documentation="Closest allowed projected distance before F_ACTION is undertaken" user="Advanced">
-</param>
-<param humanName="Distance Warn Z" name="AVD_W_DIST_Z" documentation="Closest allowed projected distance before BEHAVIOUR_W is undertaken" user="Advanced">
-</param>
-<param humanName="Distance Fail Z" name="AVD_F_DIST_Z" documentation="Closest allowed projected distance before BEHAVIOUR_F is undertaken" user="Advanced">
-</param>
-</parameters>
-<parameters name="TUNE_">
-<param humanName="Transmitter tuning channel" name="TUNE_CHAN" documentation="This sets the channel for transmitter tuning. This should be connected to a knob or slider on your transmitter. It needs to be setup to use the PWM range given by TUNE_CHAN_MIN to TUNE_CHAN_MAX" user="Standard">
-<values>
-<value code="0">Disable</value>
-<value code="5">Chan5</value>
-<value code="6">Chan6</value>
-<value code="7">Chan7</value>
-<value code="8">Chan8</value>
-<value code="9">Chan9</value>
-<value code="10">Chan10</value>
-<value code="11">Chan11</value>
-<value code="12">Chan12</value>
-<value code="13">Chan13</value>
-<value code="14">Chan14</value>
-<value code="15">Chan15</value>
-<value code="16">Chan16</value>
-</values>
-</param>
-<param humanName="Transmitter tuning channel minimum pwm" name="TUNE_CHAN_MIN" documentation="This sets the PWM lower limit for the tuning channel" user="Standard">
-<field name="Range">900 2100</field>
-</param>
-<param humanName="Transmitter tuning channel maximum pwm" name="TUNE_CHAN_MAX" documentation="This sets the PWM upper limit for the tuning channel" user="Standard">
-<field name="Range">900 2100</field>
-</param>
-<param humanName="Transmitter tuning selector channel" name="TUNE_SELECTOR" documentation="This sets the channel for the transmitter tuning selector switch. This should be a 2 position switch, preferably spring loaded. A PWM above 1700 means high, below 1300 means low. If no selector is set then you won't be able to switch between parameters during flight or re-center the tuning knob" user="Standard">
-<values>
-<value code="0">Disable</value>
-<value code="1">Chan1</value>
-<value code="2">Chan3</value>
-<value code="3">Chan3</value>
-<value code="4">Chan4</value>
-<value code="5">Chan5</value>
-<value code="6">Chan6</value>
-<value code="7">Chan7</value>
-<value code="8">Chan8</value>
-<value code="9">Chan9</value>
-<value code="10">Chan10</value>
-<value code="11">Chan11</value>
-<value code="12">Chan12</value>
-<value code="13">Chan13</value>
-<value code="14">Chan14</value>
-<value code="15">Chan15</value>
-<value code="16">Chan16</value>
-</values>
-</param>
-<param humanName="Transmitter tuning range" name="TUNE_RANGE" documentation="This sets the range over which tuning will change a parameter. A value of 2 means the tuning parameter will go from 0.5 times the start value to 2x the start value over the range of the tuning channel" user="Standard">
-</param>
-<param humanName="Revert on mode change" name="TUNE_MODE_REVERT" documentation="This controls whether tuning values will revert on a flight mode change." user="Standard">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-<param humanName="Controller error threshold" name="TUNE_ERR_THRESH" documentation="This sets the controller error threshold above which an alarm will sound and a message will be sent to the GCS to warn of controller instability" user="Standard">
-<field name="Range">0 1</field>
-</param>
-</parameters>
-<parameters name="Q_A_">
-<param humanName="Roll axis rate controller P gain" name="Q_A_RAT_RLL_P" documentation="Roll axis rate controller P gain.  Converts the difference between desired roll rate and actual roll rate into a motor speed output" user="Standard">
-<field name="Range">0.08 0.30</field>
-<field name="Increment">0.005</field>
-</param>
-<param humanName="Roll axis rate controller I gain" name="Q_A_RAT_RLL_I" documentation="Roll axis rate controller I gain.  Corrects long-term difference in desired roll rate vs actual roll rate" user="Standard">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Roll axis rate controller I gain maximum" name="Q_A_RAT_RLL_IMAX" documentation="Roll axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Roll axis rate controller D gain" name="Q_A_RAT_RLL_D" documentation="Roll axis rate controller D gain.  Compensates for short-term change in desired roll rate vs actual roll rate" user="Standard">
-<field name="Range">0.0 0.02</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Roll axis rate conroller input frequency in Hz" name="Q_A_RAT_RLL_FILT" documentation="Roll axis rate conroller input frequency in Hz">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Pitch axis rate controller P gain" name="Q_A_RAT_PIT_P" documentation="Pitch axis rate controller P gain.  Converts the difference between desired pitch rate and actual pitch rate into a motor speed output" user="Standard">
-<field name="Range">0.08 0.30</field>
-<field name="Increment">0.005</field>
-</param>
-<param humanName="Pitch axis rate controller I gain" name="Q_A_RAT_PIT_I" documentation="Pitch axis rate controller I gain.  Corrects long-term difference in desired pitch rate vs actual pitch rate" user="Standard">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Pitch axis rate controller I gain maximum" name="Q_A_RAT_PIT_IMAX" documentation="Pitch axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Pitch axis rate controller D gain" name="Q_A_RAT_PIT_D" documentation="Pitch axis rate controller D gain.  Compensates for short-term change in desired pitch rate vs actual pitch rate" user="Standard">
-<field name="Range">0.0 0.02</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Pitch axis rate conroller input frequency in Hz" name="Q_A_RAT_PIT_FILT" documentation="Pitch axis rate conroller input frequency in Hz">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Yaw axis rate controller P gain" name="Q_A_RAT_YAW_P" documentation="Yaw axis rate controller P gain.  Converts the difference between desired yaw rate and actual yaw rate into a motor speed output" user="Standard">
-<field name="Range">0.10 0.50</field>
-<field name="Increment">0.005</field>
-</param>
-<param humanName="Yaw axis rate controller I gain" name="Q_A_RAT_YAW_I" documentation="Yaw axis rate controller I gain.  Corrects long-term difference in desired yaw rate vs actual yaw rate" user="Standard">
-<field name="Range">0.010 0.05</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Yaw axis rate controller I gain maximum" name="Q_A_RAT_YAW_IMAX" documentation="Yaw axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Yaw axis rate controller D gain" name="Q_A_RAT_YAW_D" documentation="Yaw axis rate controller D gain.  Compensates for short-term change in desired yaw rate vs actual yaw rate" user="Standard">
-<field name="Range">0.000 0.02</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Yaw axis rate conroller input frequency in Hz" name="Q_A_RAT_YAW_FILT" documentation="Yaw axis rate conroller input frequency in Hz">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Throttle Mix Minimum" name="Q_A_THR_MIX_MIN" documentation="Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)" user="Advanced">
-<field name="Range">0.1 0.25</field>
-</param>
-<param humanName="Throttle Mix Maximum" name="Q_A_THR_MIX_MAX" documentation="Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)" user="Advanced">
-<field name="Range">0.5 0.9</field>
-</param>
-</parameters>
-<parameters name="RC1_">
-<param humanName="RC min PWM" name="RC1_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC1_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC1_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC1_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC1_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="RC2_">
-<param humanName="RC min PWM" name="RC2_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC2_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC2_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC2_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC2_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="RC3_">
-<param humanName="RC min PWM" name="RC3_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC3_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC3_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC3_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC3_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="RC4_">
-<param humanName="RC min PWM" name="RC4_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC4_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC4_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC4_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC4_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="RC5_">
-<param humanName="RC min PWM" name="RC5_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC5_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC5_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC5_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC5_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC5_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-<value code="67">Ignition</value>
-<value code="68">Choke</value>
-<value code="69">Starter</value>
-<value code="70">Throttle</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC6_">
-<param humanName="RC min PWM" name="RC6_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC6_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC6_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC6_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC6_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC6_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-<value code="67">Ignition</value>
-<value code="68">Choke</value>
-<value code="69">Starter</value>
-<value code="70">Throttle</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC7_">
-<param humanName="RC min PWM" name="RC7_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC7_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC7_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC7_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC7_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC7_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-<value code="67">Ignition</value>
-<value code="68">Choke</value>
-<value code="69">Starter</value>
-<value code="70">Throttle</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC8_">
-<param humanName="RC min PWM" name="RC8_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC8_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC8_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC8_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC8_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC8_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-<value code="67">Ignition</value>
-<value code="68">Choke</value>
-<value code="69">Starter</value>
-<value code="70">Throttle</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC9_">
-<param humanName="RC min PWM" name="RC9_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC9_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC9_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC9_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC9_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC9_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-<value code="67">Ignition</value>
-<value code="68">Choke</value>
-<value code="69">Starter</value>
-<value code="70">Throttle</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC10_">
-<param humanName="RC min PWM" name="RC10_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC10_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC10_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC10_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC10_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC10_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-<value code="67">Ignition</value>
-<value code="68">Choke</value>
-<value code="69">Starter</value>
-<value code="70">Throttle</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC11_">
-<param humanName="RC min PWM" name="RC11_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC11_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC11_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC11_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC11_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC11_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-<value code="67">Ignition</value>
-<value code="68">Choke</value>
-<value code="69">Starter</value>
-<value code="70">Throttle</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC12_">
-<param humanName="RC min PWM" name="RC12_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC12_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC12_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC12_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC12_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC12_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-<value code="67">Ignition</value>
-<value code="68">Choke</value>
-<value code="69">Starter</value>
-<value code="70">Throttle</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC13_">
-<param humanName="RC min PWM" name="RC13_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC13_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC13_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC13_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC13_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC13_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-<value code="67">Ignition</value>
-<value code="68">Choke</value>
-<value code="69">Starter</value>
-<value code="70">Throttle</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC14_">
-<param humanName="RC min PWM" name="RC14_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC14_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC14_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC14_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC14_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC14_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-<value code="67">Ignition</value>
-<value code="68">Choke</value>
-<value code="69">Starter</value>
-<value code="70">Throttle</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC15_">
-<param humanName="RC min PWM" name="RC15_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC15_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC15_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC15_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC15_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC15_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-<value code="67">Ignition</value>
-<value code="68">Choke</value>
-<value code="69">Starter</value>
-<value code="70">Throttle</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC16_">
-<param humanName="RC min PWM" name="RC16_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC16_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC16_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC16_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC16_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC16_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-<value code="67">Ignition</value>
-<value code="68">Choke</value>
-<value code="69">Starter</value>
-<value code="70">Throttle</value>
-</values>
-</param>
-</parameters>
-<parameters name="RLL2SRV_">
-<param humanName="Roll Time Constant" name="RLL2SRV_TCONST" documentation="This controls the time constant in seconds from demanded to achieved bank angle. A value of 0.5 is a good default and will work with nearly all models. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the aircraft can achieve." user="Advanced">
-<field name="Range">0.4 1.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Proportional Gain" name="RLL2SRV_P" documentation="This is the gain from bank angle error to aileron." user="User">
-<field name="Range">0.1 4.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Damping Gain" name="RLL2SRV_D" documentation="This is the gain from roll rate to aileron. This adjusts the damping of the roll control loop. It has the same effect as RLL2SRV_D in the old PID controller but without the spikes in servo demands. This gain helps to reduce rolling in turbulence. It should be increased in 0.01 increments as too high a value can lead to a high frequency roll oscillation that could overstress the airframe." user="User">
-<field name="Range">0 0.1</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Integrator Gain" name="RLL2SRV_I" documentation="This is the gain from the integral of bank angle to aileron. It has the same effect as RLL2SRV_I in the old PID controller. Increasing this gain causes the controller to trim out steady offsets due to an out of trim aircraft." user="User">
-<field name="Range">0 1.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Maximum Roll Rate" name="RLL2SRV_RMAX" documentation="This sets the maximum roll rate that the controller will demand (degrees/sec). Setting it to zero disables the limit. If this value is set too low, then the roll can't keep up with the navigation demands and the plane will start weaving. If it is set too high (or disabled by setting to zero) then ailerons will get large inputs at the start of turns. A limit of 60 degrees/sec is a good default." user="Advanced">
-<field name="Range">0 180</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Integrator limit" name="RLL2SRV_IMAX" documentation="This limits the number of degrees of aileron in centi-degrees over which the integrator will operate. At the default setting of 3000 centi-degrees, the integrator will be limited to +- 30 degrees of servo travel. The maximum servo deflection is +- 45 centi-degrees, so the default value represents a 2/3rd of the total control throw which is adequate unless the aircraft is severely out of trim." user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Feed forward Gain" name="RLL2SRV_FF" documentation="This is the gain from demanded rate to aileron output. " user="User">
-<field name="Range">0.1 4.0</field>
-<field name="Increment">0.1</field>
-</param>
-</parameters>
-<parameters name="PTCH2SRV_">
-<param humanName="Pitch Time Constant" name="PTCH2SRV_TCONST" documentation="This controls the time constant in seconds from demanded to achieved pitch angle. A value of 0.5 is a good default and will work with nearly all models. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the aircraft can achieve." user="Advanced">
-<field name="Range">0.4 1.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Proportional Gain" name="PTCH2SRV_P" documentation="This is the gain from pitch angle to elevator. This gain works the same way as PTCH2SRV_P in the old PID controller and can be set to the same value." user="User">
-<field name="Range">0.1 3.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Damping Gain" name="PTCH2SRV_D" documentation="This is the gain from pitch rate to elevator. This adjusts the damping of the pitch control loop. It has the same effect as PTCH2SRV_D in the old PID controller and can be set to the same value, but without the spikes in servo demands. This gain helps to reduce pitching in turbulence. Some airframes such as flying wings that have poor pitch damping can benefit from increasing this gain term. This should be increased in 0.01 increments as too high a value can lead to a high frequency pitch oscillation that could overstress the airframe." user="User">
-<field name="Range">0 0.1</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Integrator Gain" name="PTCH2SRV_I" documentation="This is the gain applied to the integral of pitch angle. It has the same effect as PTCH2SRV_I in the old PID controller and can be set to the same value. Increasing this gain causes the controller to trim out constant offsets between demanded and measured pitch angle." user="User">
-<field name="Range">0 0.5</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Pitch up max rate" name="PTCH2SRV_RMAX_UP" documentation="This sets the maximum nose up pitch rate that the controller will demand (degrees/sec). Setting it to zero disables the limit." user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Pitch down max rate" name="PTCH2SRV_RMAX_DN" documentation="This sets the maximum nose down pitch rate that the controller will demand (degrees/sec). Setting it to zero disables the limit." user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Roll compensation" name="PTCH2SRV_RLL" documentation="This is the gain term that is applied to the pitch rate offset calculated as required to keep the nose level during turns. The default value is 1 which will work for all models. Advanced users can use it to correct for height variation in turns. If height is lost initially in turns this can be increased in small increments of 0.05 to compensate. If height is gained initially in turns then it can be decreased." user="User">
-<field name="Range">0.7 1.5</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Integrator limit" name="PTCH2SRV_IMAX" documentation="This limits the number of centi-degrees of elevator over which the integrator will operate. At the default setting of 3000 centi-degrees, the integrator will be limited to +- 30 degrees of servo travel. The maximum servo deflection is +- 45 degrees, so the default value represents a 2/3rd of the total control throw which is adequate for most aircraft unless they are severely out of trim or have very limited elevator control effectiveness." user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Feed forward Gain" name="PTCH2SRV_FF" documentation="This is the gain from demanded rate to elevator output. " user="User">
-<field name="Range">0.1 4.0</field>
-<field name="Increment">0.1</field>
-</param>
-</parameters>
-<parameters name="YAW2SRV_">
-<param humanName="Sideslip control gain" name="YAW2SRV_SLIP" documentation="This is the gain from measured lateral acceleration to demanded yaw rate. It should be set to zero unless active control of sideslip is desired. This will only work effectively if there is enough fuselage side area to generate a measureable lateral acceleration when the model sideslips. Flying wings and most gliders cannot use this term. This term should only be adjusted after the basic yaw damper gain YAW2SRV_DAMP is tuned and the YAW2SRV_INT integrator gain has been set. Set this gain to zero if only yaw damping is required.">
-<field name="Range">0 4</field>
-<field name="Increment">0.25</field>
-</param>
-<param humanName="Sideslip control integrator" name="YAW2SRV_INT" documentation="This is the integral gain from lateral acceleration error. This gain should only be non-zero if active control over sideslip is desired. If active control over sideslip is required then this can be set to 1.0 as a first try.">
-<field name="Range">0 2</field>
-<field name="Increment">0.25</field>
-</param>
-<param humanName="Yaw damping" name="YAW2SRV_DAMP" documentation="This is the gain from yaw rate to rudder. It acts as a damper on yaw motion. If a basic yaw damper is required, this gain term can be incremented, whilst leaving the YAW2SRV_SLIP and YAW2SRV_INT gains at zero. Note that unlike with a standard PID controller, if this damping term is zero then the integrator will also be disabled.">
-<field name="Range">0 2</field>
-<field name="Increment">0.25</field>
-</param>
-<param humanName="Yaw coordination gain" name="YAW2SRV_RLL" documentation="This is the gain term that is applied to the yaw rate offset calculated as required to keep the yaw rate consistent with the turn rate for a coordinated turn. The default value is 1 which will work for all models. Advanced users can use it to correct for any tendency to yaw away from or into the turn once the turn is established. Increase to make the model yaw more initially and decrease to make the model yaw less initially. If values greater than 1.1 or less than 0.9 are required then it normally indicates a problem with the airspeed calibration.">
-<field name="Range">0.8 1.2</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Integrator limit" name="YAW2SRV_IMAX" documentation="This limits the number of centi-degrees of rudder over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 degrees, so the default value represents a 1/3rd of the total control throw which is adequate for most aircraft unless they are severely out of trim or have very limited rudder control effectiveness." user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="STEER2SRV_">
-<param humanName="Steering Time Constant" name="STEER2SRV_TCONST" documentation="This controls the time constant in seconds from demanded to achieved steering angle. A value of 0.75 is a good default and will work with nearly all rovers. Ground steering in aircraft needs a bit smaller time constant, and a value of 0.5 is recommended for best ground handling in fixed wing aircraft. A value of 0.75 means that the controller will try to correct any deviation between the desired and actual steering angle in 0.75 seconds. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the vehicle can achieve." user="Advanced">
-<field name="Range">0.4 1.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Steering turning gain" name="STEER2SRV_P" documentation="The proportional gain for steering. This should be approximately equal to the diameter of the turning circle of the vehicle at low speed and maximum steering angle" user="User">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Integrator Gain" name="STEER2SRV_I" documentation="This is the gain from the integral of steering angle. Increasing this gain causes the controller to trim out steady offsets due to an out of trim vehicle." user="User">
-<field name="Range">0 1.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Damping Gain" name="STEER2SRV_D" documentation="This adjusts the damping of the steering control loop. This gain helps to reduce steering jitter with vibration. It should be increased in 0.01 increments as too high a value can lead to a high frequency steering oscillation that could overstress the vehicle." user="User">
-<field name="Range">0 0.1</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Integrator limit" name="STEER2SRV_IMAX" documentation="This limits the number of degrees of steering in centi-degrees over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 centi-degrees, so the default value represents a 1/3rd of the total control throw which is adequate unless the vehicle is severely out of trim." user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Minimum speed" name="STEER2SRV_MINSPD" documentation="This is the minimum assumed ground speed in meters/second for steering. Having a minimum speed prevents oscillations when the vehicle first starts moving. The vehicle can still drive slower than this limit, but the steering calculations will be done based on this minimum speed." user="User">
-<field name="Range">0 5</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Steering feed forward" name="STEER2SRV_FF" documentation="The feed forward gain for steering this is the ratio of the achieved turn rate to applied steering. A value of 1 means that the vehicle would yaw at a rate of 45 degrees per second with full steering deflection at 1m/s ground speed." user="User">
-<field name="Range">0.0 10.0</field>
-<field name="Increment">0.1</field>
-</param>
-</parameters>
-<parameters name="COMPASS_">
-<param humanName="Compass offsets in milligauss on the X axis" name="COMPASS_OFS_X" documentation="Offset to be added to the compass x-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Compass offsets in milligauss on the Y axis" name="COMPASS_OFS_Y" documentation="Offset to be added to the compass y-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Compass offsets in milligauss on the Z axis" name="COMPASS_OFS_Z" documentation="Offset to be added to the compass z-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Compass declination" name="COMPASS_DEC" documentation="An angle to compensate between the true north and magnetic north" user="Standard">
-<field name="Range">-3.142 3.142</field>
-<field name="Increment">0.01</field>
-<field name="Units">Radians</field>
-</param>
-<param humanName="Learn compass offsets automatically" name="COMPASS_LEARN" documentation="Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Internal-Learning</value>
-<value code="2">EKF-Learning</value>
-</values>
-</param>
-<param humanName="Use compass for yaw" name="COMPASS_USE" documentation="Enable or disable the use of the compass (instead of the GPS) for determining heading" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Auto Declination" name="COMPASS_AUTODEC" documentation="Enable or disable the automatic calculation of the declination based on gps location" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Motor interference compensation type" name="COMPASS_MOTCT" documentation="Set motor interference compensation type to disabled, throttle or current.  Do not change manually." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Use Throttle</value>
-<value code="2">Use Current</value>
-</values>
-</param>
-<param humanName="Motor interference compensation for body frame X axis" name="COMPASS_MOT_X" documentation="Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation for body frame Y axis" name="COMPASS_MOT_Y" documentation="Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation for body frame Z axis" name="COMPASS_MOT_Z" documentation="Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Compass orientation" name="COMPASS_ORIENT" documentation="The orientation of the compass relative to the autopilot board. This will default to the right value for each board type, but can be changed if you have an external compass. See the documentation for your external compass for the right value. The correct orientation should give the X axis forward, the Y axis to the right and the Z axis down. So if your aircraft is pointing west it should show a positive value for the Y axis, and a value close to zero for the X axis. On a PX4 or Pixhawk with an external compass the correct value is zero if the compass is correctly oriented. NOTE: This orientation is combined with any AHRS_ORIENTATION setting." user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Yaw45</value>
-<value code="2">Yaw90</value>
-<value code="3">Yaw135</value>
-<value code="4">Yaw180</value>
-<value code="5">Yaw225</value>
-<value code="6">Yaw270</value>
-<value code="7">Yaw315</value>
-<value code="8">Roll180</value>
-<value code="9">Roll180Yaw45</value>
-<value code="10">Roll180Yaw90</value>
-<value code="11">Roll180Yaw135</value>
-<value code="12">Pitch180</value>
-<value code="13">Roll180Yaw225</value>
-<value code="14">Roll180Yaw270</value>
-<value code="15">Roll180Yaw315</value>
-<value code="16">Roll90</value>
-<value code="17">Roll90Yaw45</value>
-<value code="18">Roll90Yaw90</value>
-<value code="19">Roll90Yaw135</value>
-<value code="20">Roll270</value>
-<value code="21">Roll270Yaw45</value>
-<value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw136</value>
-<value code="24">Pitch90</value>
-<value code="25">Pitch270</value>
-<value code="26">Pitch180Yaw90</value>
-<value code="27">Pitch180Yaw270</value>
-<value code="28">Roll90Pitch90</value>
-<value code="29">Roll180Pitch90</value>
-<value code="30">Roll270Pitch90</value>
-<value code="31">Roll90Pitch180</value>
-<value code="32">Roll270Pitch180</value>
-<value code="33">Roll90Pitch270</value>
-<value code="34">Roll180Pitch270</value>
-<value code="35">Roll270Pitch270</value>
-<value code="36">Roll90Pitch180Yaw90</value>
-<value code="37">Roll90Yaw270</value>
-<value code="38">Yaw293Pitch68Roll90</value>
-</values>
-</param>
-<param humanName="Compass is attached via an external cable" name="COMPASS_EXTERNAL" documentation="Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
-<values>
-<value code="0">Internal</value>
-<value code="1">External</value>
-<value code="2">ForcedExternal</value>
-</values>
-</param>
-<param humanName="Compass2 offsets in milligauss on the X axis" name="COMPASS_OFS2_X" documentation="Offset to be added to compass2's x-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Compass2 offsets in milligauss on the Y axis" name="COMPASS_OFS2_Y" documentation="Offset to be added to compass2's y-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Compass2 offsets in milligauss on the Z axis" name="COMPASS_OFS2_Z" documentation="Offset to be added to compass2's z-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Motor interference compensation to compass2 for body frame X axis" name="COMPASS_MOT2_X" documentation="Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation to compass2 for body frame Y axis" name="COMPASS_MOT2_Y" documentation="Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation to compass2 for body frame Z axis" name="COMPASS_MOT2_Z" documentation="Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Choose primary compass" name="COMPASS_PRIMARY" documentation="If more than one compass is available this selects which compass is the primary. Normally 0=External, 1=Internal. If no External compass is attached this parameter is ignored" user="Advanced">
-<values>
-<value code="0">FirstCompass</value>
-<value code="1">SecondCompass</value>
-<value code="2">ThirdCompass</value>
-</values>
-</param>
-<param humanName="Compass3 offsets in milligauss on the X axis" name="COMPASS_OFS3_X" documentation="Offset to be added to compass3's x-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Compass3 offsets in milligauss on the Y axis" name="COMPASS_OFS3_Y" documentation="Offset to be added to compass3's y-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Compass3 offsets in milligauss on the Z axis" name="COMPASS_OFS3_Z" documentation="Offset to be added to compass3's z-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Motor interference compensation to compass3 for body frame X axis" name="COMPASS_MOT3_X" documentation="Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation to compass3 for body frame Y axis" name="COMPASS_MOT3_Y" documentation="Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation to compass3 for body frame Z axis" name="COMPASS_MOT3_Z" documentation="Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Compass device id" name="COMPASS_DEV_ID" documentation="Compass device id.  Automatically detected, do not set manually">
-</param>
-<param humanName="Compass2 device id" name="COMPASS_DEV_ID2" documentation="Second compass's device id.  Automatically detected, do not set manually">
-</param>
-<param humanName="Compass3 device id" name="COMPASS_DEV_ID3" documentation="Third compass's device id.  Automatically detected, do not set manually">
-</param>
-<param humanName="Compass2 used for yaw" name="COMPASS_USE2" documentation="Enable or disable the second compass for determining heading." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Compass2 orientation" name="COMPASS_ORIENT2" documentation="The orientation of the second compass relative to the frame (if external) or autopilot board (if internal)." user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Yaw45</value>
-<value code="2">Yaw90</value>
-<value code="3">Yaw135</value>
-<value code="4">Yaw180</value>
-<value code="5">Yaw225</value>
-<value code="6">Yaw270</value>
-<value code="7">Yaw315</value>
-<value code="8">Roll180</value>
-<value code="9">Roll180Yaw45</value>
-<value code="10">Roll180Yaw90</value>
-<value code="11">Roll180Yaw135</value>
-<value code="12">Pitch180</value>
-<value code="13">Roll180Yaw225</value>
-<value code="14">Roll180Yaw270</value>
-<value code="15">Roll180Yaw315</value>
-<value code="16">Roll90</value>
-<value code="17">Roll90Yaw45</value>
-<value code="18">Roll90Yaw90</value>
-<value code="19">Roll90Yaw135</value>
-<value code="20">Roll270</value>
-<value code="21">Roll270Yaw45</value>
-<value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw136</value>
-<value code="24">Pitch90</value>
-<value code="25">Pitch270</value>
-<value code="26">Pitch180Yaw90</value>
-<value code="27">Pitch180Yaw270</value>
-<value code="28">Roll90Pitch90</value>
-<value code="29">Roll180Pitch90</value>
-<value code="30">Roll270Pitch90</value>
-<value code="31">Roll90Pitch180</value>
-<value code="32">Roll270Pitch180</value>
-<value code="33">Roll90Pitch270</value>
-<value code="34">Roll180Pitch270</value>
-<value code="35">Roll270Pitch270</value>
-<value code="36">Roll90Pitch180Yaw90</value>
-<value code="37">Roll90Yaw270</value>
-<value code="38">Yaw293Pitch68Roll90</value>
-</values>
-</param>
-<param humanName="Compass2 is attached via an external cable" name="COMPASS_EXTERN2" documentation="Configure second compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
-<values>
-<value code="0">Internal</value>
-<value code="1">External</value>
-<value code="2">ForcedExternal</value>
-</values>
-</param>
-<param humanName="Compass3 used for yaw" name="COMPASS_USE3" documentation="Enable or disable the third compass for determining heading." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Compass3 orientation" name="COMPASS_ORIENT3" documentation="The orientation of the third compass relative to the frame (if external) or autopilot board (if internal)." user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Yaw45</value>
-<value code="2">Yaw90</value>
-<value code="3">Yaw135</value>
-<value code="4">Yaw180</value>
-<value code="5">Yaw225</value>
-<value code="6">Yaw270</value>
-<value code="7">Yaw315</value>
-<value code="8">Roll180</value>
-<value code="9">Roll180Yaw45</value>
-<value code="10">Roll180Yaw90</value>
-<value code="11">Roll180Yaw135</value>
-<value code="12">Pitch180</value>
-<value code="13">Roll180Yaw225</value>
-<value code="14">Roll180Yaw270</value>
-<value code="15">Roll180Yaw315</value>
-<value code="16">Roll90</value>
-<value code="17">Roll90Yaw45</value>
-<value code="18">Roll90Yaw90</value>
-<value code="19">Roll90Yaw135</value>
-<value code="20">Roll270</value>
-<value code="21">Roll270Yaw45</value>
-<value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw136</value>
-<value code="24">Pitch90</value>
-<value code="25">Pitch270</value>
-<value code="26">Pitch180Yaw90</value>
-<value code="27">Pitch180Yaw270</value>
-<value code="28">Roll90Pitch90</value>
-<value code="29">Roll180Pitch90</value>
-<value code="30">Roll270Pitch90</value>
-<value code="31">Roll90Pitch180</value>
-<value code="32">Roll270Pitch180</value>
-<value code="33">Roll90Pitch270</value>
-<value code="34">Roll180Pitch270</value>
-<value code="35">Roll270Pitch270</value>
-<value code="36">Roll90Pitch180Yaw90</value>
-<value code="37">Roll90Yaw270</value>
-<value code="38">Yaw293Pitch68Roll90</value>
-</values>
-</param>
-<param humanName="Compass3 is attached via an external cable" name="COMPASS_EXTERN3" documentation="Configure third compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
-<values>
-<value code="0">Internal</value>
-<value code="1">External</value>
-<value code="2">ForcedExternal</value>
-</values>
-</param>
-<param humanName="Compass soft-iron diagonal X component" name="COMPASS_DIA_X" documentation="DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass soft-iron diagonal Y component" name="COMPASS_DIA_Y" documentation="DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass soft-iron diagonal Z component" name="COMPASS_DIA_Z" documentation="DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass soft-iron off-diagonal X component" name="COMPASS_ODI_X" documentation="ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass soft-iron off-diagonal Y component" name="COMPASS_ODI_Y" documentation="ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass soft-iron off-diagonal Z component" name="COMPASS_ODI_Z" documentation="ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass2 soft-iron diagonal X component" name="COMPASS_DIA2_X" documentation="DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass2 soft-iron diagonal Y component" name="COMPASS_DIA2_Y" documentation="DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass2 soft-iron diagonal Z component" name="COMPASS_DIA2_Z" documentation="DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass2 soft-iron off-diagonal X component" name="COMPASS_ODI2_X" documentation="ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass2 soft-iron off-diagonal Y component" name="COMPASS_ODI2_Y" documentation="ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass2 soft-iron off-diagonal Z component" name="COMPASS_ODI2_Z" documentation="ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass3 soft-iron diagonal X component" name="COMPASS_DIA3_X" documentation="DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass3 soft-iron diagonal Y component" name="COMPASS_DIA3_Y" documentation="DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass3 soft-iron diagonal Z component" name="COMPASS_DIA3_Z" documentation="DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass3 soft-iron off-diagonal X component" name="COMPASS_ODI3_X" documentation="ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass3 soft-iron off-diagonal Y component" name="COMPASS_ODI3_Y" documentation="ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass3 soft-iron off-diagonal Z component" name="COMPASS_ODI3_Z" documentation="ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass calibration fitness" name="COMPASS_CAL_FIT" documentation="This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value." user="Advanced">
-<field name="Range">4 20</field>
-<field name="Increment">0.1</field>
-</param>
-</parameters>
-<parameters name="SCHED_">
-<param humanName="Scheduler debug level" name="SCHED_DEBUG" documentation='Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.' user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="2">ShowSlips</value>
-<value code="3">ShowOverruns</value>
-</values>
-</param>
-<param humanName="Scheduling main loop rate" name="SCHED_LOOP_RATE" documentation="This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart" user="Advanced">
-<values>
-<value code="50">50Hz</value>
-<value code="100">100Hz</value>
-<value code="200">200Hz</value>
-<value code="250">250Hz</value>
-<value code="300">300Hz</value>
-<value code="400">400Hz</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-</parameters>
-<parameters name="RCMAP_">
-<param humanName="Roll channel" name="RCMAP_ROLL" documentation="Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect." user="Advanced">
-<field name="Range">1 8</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Pitch channel" name="RCMAP_PITCH" documentation="Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect." user="Advanced">
-<field name="Range">1 8</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Throttle channel" name="RCMAP_THROTTLE" documentation="Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Warning APM 2.X: Changing the throttle channel could produce unexpected fail-safe results if connection between receiver and on-board PPM Encoder is lost. Disabling on-board PPM Encoder is recommended.  Reboot is required for changes to take effect." user="Advanced">
-<field name="Range">1 8</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Yaw channel" name="RCMAP_YAW" documentation="Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect." user="Advanced">
-<field name="Range">1 8</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-</parameters>
-<parameters name="INS_">
-<param humanName="IMU Product ID" name="INS_PRODUCT_ID" documentation="Which type of IMU is installed (read-only)." user="Advanced">
-<values>
-<value code="0">Unknown</value>
-<value code="1">unused</value>
-<value code="2">unused</value>
-<value code="88">unused</value>
-<value code="3">SITL</value>
-<value code="4">PX4v1</value>
-<value code="5">PX4v2</value>
-<value code="256">unused</value>
-<value code="257">Linux</value>
-</values>
-</param>
-<param humanName="Gyro offsets of X axis" name="INS_GYROFFS_X" documentation="Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro offsets of Y axis" name="INS_GYROFFS_Y" documentation="Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro offsets of Z axis" name="INS_GYROFFS_Z" documentation="Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro2 offsets of X axis" name="INS_GYR2OFFS_X" documentation="Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro2 offsets of Y axis" name="INS_GYR2OFFS_Y" documentation="Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro2 offsets of Z axis" name="INS_GYR2OFFS_Z" documentation="Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro3 offsets of X axis" name="INS_GYR3OFFS_X" documentation="Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro3 offsets of Y axis" name="INS_GYR3OFFS_Y" documentation="Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro3 offsets of Z axis" name="INS_GYR3OFFS_Z" documentation="Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Accelerometer scaling of X axis" name="INS_ACCSCAL_X" documentation="Accelerometer scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer scaling of Y axis" name="INS_ACCSCAL_Y" documentation="Accelerometer scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer scaling of Z axis" name="INS_ACCSCAL_Z" documentation="Accelerometer scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer offsets of X axis" name="INS_ACCOFFS_X" documentation="Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer offsets of Y axis" name="INS_ACCOFFS_Y" documentation="Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer offsets of Z axis" name="INS_ACCOFFS_Z" documentation="Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer2 scaling of X axis" name="INS_ACC2SCAL_X" documentation="Accelerometer2 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer2 scaling of Y axis" name="INS_ACC2SCAL_Y" documentation="Accelerometer2 scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer2 scaling of Z axis" name="INS_ACC2SCAL_Z" documentation="Accelerometer2 scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer2 offsets of X axis" name="INS_ACC2OFFS_X" documentation="Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer2 offsets of Y axis" name="INS_ACC2OFFS_Y" documentation="Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer2 offsets of Z axis" name="INS_ACC2OFFS_Z" documentation="Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer3 scaling of X axis" name="INS_ACC3SCAL_X" documentation="Accelerometer3 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer3 scaling of Y axis" name="INS_ACC3SCAL_Y" documentation="Accelerometer3 scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer3 scaling of Z axis" name="INS_ACC3SCAL_Z" documentation="Accelerometer3 scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer3 offsets of X axis" name="INS_ACC3OFFS_X" documentation="Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer3 offsets of Y axis" name="INS_ACC3OFFS_Y" documentation="Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer3 offsets of Z axis" name="INS_ACC3OFFS_Z" documentation="Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Gyro filter cutoff frequency" name="INS_GYRO_FILTER" documentation="Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)" user="Advanced">
-<field name="Range">0 127</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Accel filter cutoff frequency" name="INS_ACCEL_FILTER" documentation="Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)" user="Advanced">
-<field name="Range">0 127</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Use first IMU for attitude, velocity and position estimates" name="INS_USE" documentation="Use first IMU for attitude, velocity and position estimates" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Use second IMU for attitude, velocity and position estimates" name="INS_USE2" documentation="Use second IMU for attitude, velocity and position estimates" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Use third IMU for attitude, velocity and position estimates" name="INS_USE3" documentation="Use third IMU for attitude, velocity and position estimates" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stillness threshold for detecting if we are moving" name="INS_STILL_THRESH" documentation="Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5" user="Advanced">
-<field name="Range">0.05 50</field>
-</param>
-<param humanName="Gyro Calibration scheme" name="INS_GYR_CAL" documentation="Conrols when automatic gyro calibration is performed" user="Advanced">
-<values>
-<value code="0">Never</value>
-<value code=" 1">Start-up only</value>
-</values>
-</param>
-<param humanName="Accel cal trim option" name="INS_TRIM_OPTION" documentation="Specifies how the accel cal routine determines the trims" user="Advanced">
-<values>
-<value code="0">Don't adjust the trims</value>
-<value code="1">Assume first orientation was level</value>
-<value code="2">Assume ACC_BODYFIX is perfectly aligned to the vehicle</value>
-</values>
-</param>
-<param humanName="Body-fixed accelerometer" name="INS_ACC_BODYFIX" documentation="The body-fixed accelerometer to be used for trim calculation" user="Advanced">
-<values>
-<value code="1">IMU 1</value>
-<value code="2">IMU 2</value>
-<value code="3">IMU 3</value>
-</values>
-</param>
-</parameters>
-<parameters name="AHRS_">
-<param humanName="AHRS GPS gain" name="AHRS_GPS_GAIN" documentation="This controls how how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.">
-<field name="Range">0.0 1.0</field>
-<field name="Increment">.01</field>
-</param>
-<param humanName="AHRS use GPS for navigation" name="AHRS_GPS_USE" documentation="This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Yaw P" name="AHRS_YAW_P" documentation="This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.">
-<field name="Range">0.1 0.4</field>
-<field name="Increment">.01</field>
-</param>
-<param humanName="AHRS RP_P" name="AHRS_RP_P" documentation="This controls how fast the accelerometers correct the attitude">
-<field name="Range">0.1 0.4</field>
-<field name="Increment">.01</field>
-</param>
-<param humanName="Maximum wind" name="AHRS_WIND_MAX" documentation="This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is.">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="AHRS Trim Roll" name="AHRS_TRIM_X" documentation="Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right." user="User">
-<field name="Range">-0.1745 +0.1745</field>
-<field name="Increment">0.01</field>
-<field name="Units">Radians</field>
-</param>
-<param humanName="AHRS Trim Pitch" name="AHRS_TRIM_Y" documentation="Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back." user="User">
-<field name="Range">-0.1745 +0.1745</field>
-<field name="Increment">0.01</field>
-<field name="Units">Radians</field>
-</param>
-<param humanName="AHRS Trim Yaw" name="AHRS_TRIM_Z" documentation="Not Used" user="Advanced">
-<field name="Range">-0.1745 +0.1745</field>
-<field name="Increment">0.01</field>
-<field name="Units">Radians</field>
-</param>
-<param humanName="Board Orientation" name="AHRS_ORIENTATION" documentation="Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle." user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Yaw45</value>
-<value code="2">Yaw90</value>
-<value code="3">Yaw135</value>
-<value code="4">Yaw180</value>
-<value code="5">Yaw225</value>
-<value code="6">Yaw270</value>
-<value code="7">Yaw315</value>
-<value code="8">Roll180</value>
-<value code="9">Roll180Yaw45</value>
-<value code="10">Roll180Yaw90</value>
-<value code="11">Roll180Yaw135</value>
-<value code="12">Pitch180</value>
-<value code="13">Roll180Yaw225</value>
-<value code="14">Roll180Yaw270</value>
-<value code="15">Roll180Yaw315</value>
-<value code="16">Roll90</value>
-<value code="17">Roll90Yaw45</value>
-<value code="18">Roll90Yaw90</value>
-<value code="19">Roll90Yaw135</value>
-<value code="20">Roll270</value>
-<value code="21">Roll270Yaw45</value>
-<value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw136</value>
-<value code="24">Pitch90</value>
-<value code="25">Pitch270</value>
-<value code="26">Pitch180Yaw90</value>
-<value code="27">Pitch180Yaw270</value>
-<value code="28">Roll90Pitch90</value>
-<value code="29">Roll180Pitch90</value>
-<value code="30">Roll270Pitch90</value>
-<value code="31">Roll90Pitch180</value>
-<value code="32">Roll270Pitch180</value>
-<value code="33">Roll90Pitch270</value>
-<value code="34">Roll180Pitch270</value>
-<value code="35">Roll270Pitch270</value>
-<value code="36">Roll90Pitch180Yaw90</value>
-<value code="37">Roll90Yaw270</value>
-</values>
-</param>
-<param humanName="AHRS Velocity Complementary Filter Beta Coefficient" name="AHRS_COMP_BETA" documentation="This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less." user="Advanced">
-<field name="Range">0.001 0.5</field>
-<field name="Increment">.01</field>
-</param>
-<param humanName="AHRS GPS Minimum satellites" name="AHRS_GPS_MINSATS" documentation="Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers." user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Use NavEKF Kalman filter for attitude and position estimation" name="AHRS_EKF_TYPE" documentation='This controls whether the NavEKF Kalman filter is used for attitude and position estimation and whether fallback to the DCM algorithm is allowed. Note that on copters "disabled" is not available, and will be the same as "enabled - no fallback"' user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code="2">Enable EKF2</value>
-</values>
-</param>
-</parameters>
-<parameters name="ARSPD_">
-<param humanName="Airspeed enable" name="ARSPD_ENABLE" documentation="enable airspeed sensor">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-<param humanName="Airspeed use" name="ARSPD_USE" documentation="use airspeed for flight control">
-<values>
-<value code="1">Use</value>
-<value code="0">Don't Use</value>
-</values>
-</param>
-<param humanName="Airspeed offset" name="ARSPD_OFFSET" documentation="Airspeed calibration offset">
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Airspeed ratio" name="ARSPD_RATIO" documentation="Airspeed calibration ratio">
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Airspeed pin" name="ARSPD_PIN" documentation="The analog pin number that the airspeed sensor is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated airspeed port on the end of the board. Set to 11 on PX4 for the analog airspeed port. Set to 15 on the Pixhawk for the analog airspeed port. Set to 65 on the PX4 or Pixhawk for an EagleTree or MEAS I2C airspeed sensor." user="Advanced">
-</param>
-<param humanName="Automatic airspeed ratio calibration" name="ARSPD_AUTOCAL" documentation="If this is enabled then the APM will automatically adjust the ARSPD_RATIO during flight, based upon an estimation filter using ground speed and true airspeed. The automatic calibration will save the new ratio to EEPROM every 2 minutes if it changes by more than 5%. This option should be enabled for a calibration flight then disabled again when calibration is complete. Leaving it enabled all the time is not recommended." user="Advanced">
-</param>
-<param humanName="Control pitot tube order" name="ARSPD_TUBE_ORDER" documentation="This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the top connector on the sensor needs to be the dynamic pressure. If set to 1 then the bottom connector needs to be the dynamic pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft it receiving excessive pressure on the static port, which would otherwise be seen as a positive airspeed." user="Advanced">
-</param>
-<param humanName="Skip airspeed calibration on startup" name="ARSPD_SKIP_CAL" documentation="This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot." user="Advanced">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-<param humanName="The PSI range of the device" name="ARSPD_PSI_RANGE" documentation="This parameter allows you to to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device" user="Advanced">
-</param>
-</parameters>
-<parameters name="NAVL1_">
-<param humanName="L1 control period" name="NAVL1_PERIOD" documentation="Period in seconds of L1 tracking loop. This parameter is the primary control for agressiveness of turns in auto mode. This needs to be larger for less responsive airframes. The default of 20 is quite conservative, but for most RC aircraft will lead to reasonable flight. For smaller more agile aircraft a value closer to 15 is appropriate, or even as low as 10 for some very agile aircraft. When tuning, change this value in small increments, as a value that is much too small (say 5 or 10 below the right value) can lead to very radical turns, and a risk of stalling.">
-<field name="Range">1 60</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="L1 control damping ratio" name="NAVL1_DAMPING" documentation="Damping ratio for L1 control. Increase this in increments of 0.05 if you are getting overshoot in path tracking. You should not need a value below 0.7 or above 0.85.">
-<field name="Range">0.6 1.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="L1 control crosstrack integrator gain" name="NAVL1_XTRACK_I" documentation="Crosstrack error integrator gain. This gain is applied to the crosstrack error to ensure it converges to zero. Set to zero to disable. Smaller values converge slower, higher values will cause crosstrack error oscillation.">
-<field name="Range">0 0.1</field>
-<field name="Increment">0.01</field>
-</param>
-</parameters>
-<parameters name="TECS_">
-<param humanName="Maximum Climb Rate (metres/sec)" name="TECS_CLMB_MAX" documentation="This is the best climb rate that the aircraft can achieve with the throttle set to THR_MAX and the airspeed set to the default value. For electric aircraft make sure this number can be achieved towards the end of flight when the battery voltage has reduced. The setting of this parameter can be checked by commanding a positive altitude change of 100m in loiter, RTL or guided mode. If the throttle required to climb is close to THR_MAX and the aircraft is maintaining airspeed, then this parameter is set correctly. If the airspeed starts to reduce, then the parameter is set to high, and if the throttle demand require to climb and maintain speed is noticeably less than THR_MAX, then either CLMB_MAX should be increased or THR_MAX reduced." user="User">
-<field name="Range">0.1 20.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Minimum Sink Rate (metres/sec)" name="TECS_SINK_MIN" documentation="This is the sink rate of the aircraft with the throttle set to THR_MIN and the same airspeed as used to measure CLMB_MAX." user="User">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Controller time constant (sec)" name="TECS_TIME_CONST" documentation="This is the time constant of the TECS control algorithm. Smaller values make it faster to respond, large values make it slower to respond." user="Advanced">
-<field name="Range">3.0 10.0</field>
-<field name="Increment">0.2</field>
-</param>
-<param humanName="Controller throttle damping" name="TECS_THR_DAMP" documentation="This is the damping gain for the throttle demand loop. Increase to add damping  to correct for oscillations in speed and height." user="Advanced">
-<field name="Range">0.1 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Controller integrator" name="TECS_INTEG_GAIN" documentation="This is the integrator gain on the control loop. Increase to increase the rate at which speed and height offsets are trimmed out" user="Advanced">
-<field name="Range">0.0 0.5</field>
-<field name="Increment">0.02</field>
-</param>
-<param humanName="Vertical Acceleration Limit (metres/sec^2)" name="TECS_VERT_ACC" documentation="This is the maximum vertical acceleration either up or down that the  controller will use to correct speed or height errors." user="Advanced">
-<field name="Range">1.0 10.0</field>
-<field name="Increment">0.5</field>
-</param>
-<param humanName="Height complementary filter frequency (radians/sec)" name="TECS_HGT_OMEGA" documentation="This is the cross-over frequency of the complementary filter used to fuse vertical acceleration and baro alt to obtain an estimate of height rate and height." user="Advanced">
-<field name="Range">1.0 5.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Speed complementary filter frequency (radians/sec)" name="TECS_SPD_OMEGA" documentation="This is the cross-over frequency of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain a lower noise and lag estimate of airspeed." user="Advanced">
-<field name="Range">0.5 2.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Bank angle compensation gain" name="TECS_RLL2THR" documentation="Increasing this gain turn increases the amount of throttle that will be used to compensate for the additional drag created by turning. Ideally this should be set to approximately 10 x the extra sink rate in m/s created by a 45 degree bank turn. Increase this gain if the aircraft initially loses energy in turns and reduce if the aircraft initially gains energy in turns. Efficient high aspect-ratio aircraft (eg powered sailplanes) can use a lower value, whereas inefficient low aspect-ratio models (eg delta wings) can use a higher value." user="Advanced">
-<field name="Range">5.0 30.0</field>
-<field name="Increment">1.0</field>
-</param>
-<param humanName="Weighting applied to speed control" name="TECS_SPDWEIGHT" documentation="This parameter adjusts the amount of weighting that the pitch control applies to speed vs height errors. Setting it to 0.0 will cause the pitch control to control height and ignore speed errors. This will normally improve height accuracy but give larger airspeed errors. Setting it to 2.0 will cause the pitch control loop to control speed and ignore height errors. This will normally reduce airsped errors, but give larger height errors.&#9;A value of 1.0 gives a balanced response and is the default." user="Advanced">
-<field name="Range">0.0 2.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Controller pitch damping" name="TECS_PTCH_DAMP" documentation="This is the damping gain for the pitch demand loop. Increase to add damping  to correct for oscillations in speed and height." user="Advanced">
-<field name="Range">0.1 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Maximum Descent Rate (metres/sec)" name="TECS_SINK_MAX" documentation="This sets the maximum descent rate that the controller will use.  If this value is too large, the aircraft will reach the pitch angle limit first and be unable to achieve the descent rate. This should be set to a value that can be achieved at the lower pitch angle limit." user="User">
-<field name="Range">0.0 20.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Airspeed during landing approach (m/s)" name="TECS_LAND_ARSPD" documentation="When performing an autonomus landing, this value is used as the goal airspeed during approach.  Note that this parameter is not useful if your platform does not have an airspeed sensor (use TECS_LAND_THR instead).  If negative then this value is not used during landing." user="User">
-<field name="Range">-1 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Cruise throttle during landing approach (percentage)" name="TECS_LAND_THR" documentation="Use this parameter instead of LAND_ARSPD if your platform does not have an airspeed sensor.  It is the cruise throttle during landing approach.  If this value is negative then it is disabled and TECS_LAND_ARSPD is used instead." user="User">
-<field name="Range">-1 100</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Weighting applied to speed control during landing." name="TECS_LAND_SPDWGT" documentation="Same as SPDWEIGHT parameter, with the exception that this parameter is applied during landing flight stages.  A value closer to 2 will result in the plane ignoring height error during landing and our experience has been that the plane will therefore keep the nose up -- sometimes good for a glider landing (with the side effect that you will likely glide a ways past the landing point).  A value closer to 0 results in the plane ignoring speed error -- use caution when lowering the value below 1 -- ignoring speed could result in a stall. Values between 0 and 2 are valid values for a fixed landing weight. When using -1 the weight will be scaled during the landing. At the start of the landing approach it starts with TECS_SPDWEIGHT and scales down to 0 by the time you reach the land point. Example: Halfway down the landing approach you'll effectively have a weight of TECS_SPDWEIGHT/2." user="Advanced">
-<field name="Range">-1.0 2.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Maximum pitch in auto flight" name="TECS_PITCH_MAX" documentation="This controls maximum pitch up in automatic throttle modes. If this is set to zero then LIM_PITCH_MAX is used instead. The purpose of this parameter is to allow the use of a smaller pitch range when in automatic flight than what is used in FBWA mode." user="Advanced">
-<field name="Range">0 45</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Minimum pitch in auto flight" name="TECS_PITCH_MIN" documentation="This controls minimum pitch in automatic throttle modes. If this is set to zero then LIM_PITCH_MIN is used instead. The purpose of this parameter is to allow the use of a smaller pitch range when in automatic flight than what is used in FBWA mode. Note that TECS_PITCH_MIN should be a negative number." user="Advanced">
-<field name="Range">-45 0</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Sink rate for final landing stage" name="TECS_LAND_SINK" documentation="The sink rate in meters/second for the final stage of landing." user="Advanced">
-<field name="Range">0.0 2.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Land controller time constant (sec)" name="TECS_LAND_TCONST" documentation="This is the time constant of the TECS control algorithm when in final landing stage of flight. It should be smaller than TECS_TIME_CONST to allow for faster flare" user="Advanced">
-<field name="Range">1.0 5.0</field>
-<field name="Increment">0.2</field>
-</param>
-<param humanName="Controller sink rate to pitch gain during flare" name="TECS_LAND_DAMP" documentation="This is the sink rate gain for the pitch demand loop when in final landing stage of flight. It should be larger than TECS_PTCH_DAMP to allow for better sink rate control during flare." user="Advanced">
-<field name="Range">0.1 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Maximum pitch during final stage of landing" name="TECS_LAND_PMAX" documentation="This limits the pitch used during the final stage of automatic landing. During the final landing stage most planes need to keep their pitch small to avoid stalling. A maximum of 10 degrees is usually good. A value of zero means to use the normal pitch limits." user="Advanced">
-<field name="Range">-5 40</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Sink rate max for landing approach stage" name="TECS_APPR_SMAX" documentation="The sink rate max for the landing approach stage of landing. This will need to be large for steep landing approaches especially when using reverse thrust. If 0, then use TECS_SINK_MAX." user="Advanced">
-<field name="Range">0.0 20.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Land sink rate change" name="TECS_LAND_SRC" documentation="When zero, the flare sink rate (TECS_LAND_SINK) is a fixed sink demand. With this enabled the flare sinkrate will increase/decrease the flare sink demand as you get further beyond the LAND waypoint. Has no effect before the waypoint. This value is added to TECS_LAND_SINK proportional to distance traveled after wp. With an increasing sink rate you can still land in a given distance if you're traveling too fast and cruise passed the land point. A positive value will force the plane to land sooner proportional to distance passed land point. A negative number will tell the plane to slowly climb allowing for a pitched-up stall landing. Recommend 0.2 as initial value." user="Advanced">
-<field name="Range">-2.0 2.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s/m</field>
-</param>
-<param humanName="Controller throttle damping when landing" name="TECS_LAND_TDAMP" documentation="This is the damping gain for the throttle demand loop during and auto-landing. Same as TECS_THR_DAMP but only in effect during an auto-land. Increase to add damping to correct for oscillations in speed and height. When set to 0 landing throttle damp is controlled by TECS_THR_DAMP." user="Advanced">
-<field name="Range">0.1 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Controller integrator during landing" name="TECS_LAND_IGAIN" documentation="This is the integrator gain on the control loop during landing. When set to 0 then TECS_INTEG_GAIN is used. Increase to increase the rate at which speed and height offsets are trimmed out. Typically values lower than TECS_INTEG_GAIN work best" user="Advanced">
-<field name="Range">0.0 0.5</field>
-<field name="Increment">0.02</field>
-</param>
-<param humanName="Controller integrator during takeoff" name="TECS_TKOFF_IGAIN" documentation="This is the integrator gain on the control loop during takeoff. When set to 0 then TECS_INTEG_GAIN is used. Increase to increase the rate at which speed and height offsets are trimmed out. Typically values higher than TECS_INTEG_GAIN work best" user="Advanced">
-<field name="Range">0.0 0.5</field>
-<field name="Increment">0.02</field>
-</param>
-<param name="TECS_LAND_PDAMP" documentation="This is the damping gain for the pitch demand loop. Increase to add damping  to correct for oscillations in speed and height. If set to 0 then TECS_PTCH_DAMP will be used instead." user="Advanced">
-<field name="Range">0.1 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-</parameters>
-<parameters name="MNT">
-<param humanName="Mount default operating mode" name="MNT_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
-<values>
-<value code="0">Retracted</value>
-<value code="1">Neutral</value>
-<value code="2">MavLink Targeting</value>
-<value code="3">RC Targeting</value>
-<value code="4">GPS Point</value>
-</values>
-</param>
-<param humanName="Mount roll angle when in retracted position" name="MNT_RETRACT_X" documentation="Mount roll angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount tilt/pitch angle when in retracted position" name="MNT_RETRACT_Y" documentation="Mount tilt/pitch angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount yaw/pan angle when in retracted position" name="MNT_RETRACT_Z" documentation="Mount yaw/pan angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount roll angle when in neutral position" name="MNT_NEUTRAL_X" documentation="Mount roll angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount tilt/pitch angle when in neutral position" name="MNT_NEUTRAL_Y" documentation="Mount tilt/pitch angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount pan/yaw angle when in neutral position" name="MNT_NEUTRAL_Z" documentation="Mount pan/yaw angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Stabilize mount's roll angle" name="MNT_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stabilize mount's pitch/tilt angle" name="MNT_STAB_TILT" documentation="enable tilt/pitch stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stabilize mount pan/yaw angle" name="MNT_STAB_PAN" documentation="enable pan/yaw stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="roll RC input channel" name="MNT_RC_IN_ROLL" documentation="0 for none, any other for the RC channel to be used to control roll movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
-</values>
-</param>
-<param humanName="Minimum roll angle" name="MNT_ANGMIN_ROL" documentation="Minimum physical roll angular position of mount." user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Maximum roll angle" name="MNT_ANGMAX_ROL" documentation="Maximum physical roll angular position of the mount" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="tilt (pitch) RC input channel" name="MNT_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
-</values>
-</param>
-<param humanName="Minimum tilt angle" name="MNT_ANGMIN_TIL" documentation="Minimum physical tilt (pitch) angular position of mount." user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Maximum tilt angle" name="MNT_ANGMAX_TIL" documentation="Maximum physical tilt (pitch) angular position of the mount" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="pan (yaw) RC input channel" name="MNT_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
-</values>
-</param>
-<param humanName="Minimum pan angle" name="MNT_ANGMIN_PAN" documentation="Minimum physical pan (yaw) angular position of mount." user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Maximum pan angle" name="MNT_ANGMAX_PAN" documentation="Maximum physical pan (yaw) angular position of the mount" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="mount joystick speed" name="MNT_JSTICK_SPD" documentation="0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Roll stabilization lead time" name="MNT_LEAD_RLL" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="Pitch stabilization lead time" name="MNT_LEAD_PTCH" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="Mount Type" name="MNT_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
-<values>
-<value code="0">None</value>
-<value code=" 1">Servo</value>
-<value code=" 2">3DR Solo</value>
-<value code=" 3">Alexmos Serial</value>
-<value code=" 4">SToRM32 MAVLink</value>
-<value code=" 5">SToRM32 Serial</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Mount default operating mode" name="MNT2_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
-<values>
-<value code="0">Retracted</value>
-<value code="1">Neutral</value>
-<value code="2">MavLink Targeting</value>
-<value code="3">RC Targeting</value>
-<value code="4">GPS Point</value>
-</values>
-</param>
-<param humanName="Mount2 roll angle when in retracted position" name="MNT2_RETRACT_X" documentation="Mount2 roll angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount2 tilt/pitch angle when in retracted position" name="MNT2_RETRACT_Y" documentation="Mount2 tilt/pitch angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount2 yaw/pan angle when in retracted position" name="MNT2_RETRACT_Z" documentation="Mount2 yaw/pan angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount2 roll angle when in neutral position" name="MNT2_NEUTRAL_X" documentation="Mount2 roll angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount2 tilt/pitch angle when in neutral position" name="MNT2_NEUTRAL_Y" documentation="Mount2 tilt/pitch angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount2 pan/yaw angle when in neutral position" name="MNT2_NEUTRAL_Z" documentation="Mount2 pan/yaw angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Stabilize Mount2's roll angle" name="MNT2_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stabilize Mount2's pitch/tilt angle" name="MNT2_STAB_TILT" documentation="enable tilt/pitch stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stabilize mount2 pan/yaw angle" name="MNT2_STAB_PAN" documentation="enable pan/yaw stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Mount2's roll RC input channel" name="MNT2_RC_IN_ROLL" documentation="0 for none, any other for the RC channel to be used to control roll movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
-</values>
-</param>
-<param humanName="Mount2's minimum roll angle" name="MNT2_ANGMIN_ROL" documentation="Mount2's minimum physical roll angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's maximum roll angle" name="MNT2_ANGMAX_ROL" documentation="Mount2's maximum physical roll angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's tilt (pitch) RC input channel" name="MNT2_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
-</values>
-</param>
-<param humanName="Mount2's minimum tilt angle" name="MNT2_ANGMIN_TIL" documentation="Mount2's minimum physical tilt (pitch) angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's maximum tilt angle" name="MNT2_ANGMAX_TIL" documentation="Mount2's maximum physical tilt (pitch) angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's pan (yaw) RC input channel" name="MNT2_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
-</values>
-</param>
-<param humanName="Mount2's minimum pan angle" name="MNT2_ANGMIN_PAN" documentation="Mount2's minimum physical pan (yaw) angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's maximum pan angle" name="MNT2_ANGMAX_PAN" documentation="MOunt2's maximum physical pan (yaw) angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's Roll stabilization lead time" name="MNT2_LEAD_RLL" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="Mount2's Pitch stabilization lead time" name="MNT2_LEAD_PTCH" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="Mount2 Type" name="MNT2_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
-<values>
-<value code="0">None</value>
-<value code=" 1">Servo</value>
-<value code=" 2">3DR Solo</value>
-<value code=" 3">Alexmos Serial</value>
-<value code=" 4">SToRM32 MAVLink</value>
-<value code=" 5">SToRM32 Serial</value>
-</values>
-</param>
-</parameters>
-<parameters name="LOG">
-<param humanName="DataFlash Backend Storage type" name="LOG_BACKEND_TYPE" documentation="0 for None, 1 for File, 2 for dataflash mavlink, 3 for both file and dataflash" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">File</value>
-<value code="2">MAVLink</value>
-<value code="3">BothFileAndMAVLink</value>
-</values>
-</param>
-<param humanName="Maximum DataFlash File Backend buffer size (in kilobytes)" name="LOG_FILE_BUFSIZE" documentation='The DataFlash_File backend uses a buffer to store data before writing to the block device.  Raising this value may reduce "gaps" in your SD card logging.  This buffer size may be reduced depending on available memory.  PixHawk requires at least 4 kilobytes.  Maximum value available here is 64 kilobytes.' user="Standard">
-</param>
-<param humanName="Enable logging while disarmed" name="LOG_DISARMED" documentation="If LOG_DISARMED is set to 1 then logging will be enabled while disarmed. This can make for very large logfiles but can help a lot when tracking down startup issues" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Enable logging of information needed for Replay" name="LOG_REPLAY" documentation="If LOG_REPLAY is set to 1 then the EKF2 state estimator will log detailed information needed for diagnosing problems with the Kalman filter. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-</parameters>
-<parameters name="BATT">
-<param humanName="Battery monitoring" name="BATT_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="3">Analog Voltage Only</value>
-<value code="4">Analog Voltage and Current</value>
-<value code="5">SMBus</value>
-<value code="6">Bebop</value>
-</values>
-</param>
-<param humanName="Battery Voltage sensing pin" name="BATT_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100. On the Pixhawk powered from the PM connector it should be set to 2." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 0">A0</value>
-<value code=" 1">A1</value>
-<value code=" 2">Pixhawk</value>
-<value code=" 13">A13</value>
-<value code=" 100">PX4</value>
-</values>
-</param>
-<param humanName="Battery Current sensing pin" name="BATT_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 1">A1</value>
-<value code=" 2">A2</value>
-<value code=" 3">Pixhawk</value>
-<value code=" 12">A12</value>
-<value code=" 101">PX4</value>
-</values>
-</param>
-<param humanName="Voltage Multiplier" name="BATT_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1." user="Advanced">
-</param>
-<param humanName="Amps per volt" name="BATT_AMP_PERVOLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
-<field name="Units">Amps/Volt</field>
-</param>
-<param humanName="AMP offset" name="BATT_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
-<field name="Units">Volts</field>
-</param>
-<param humanName="Battery capacity" name="BATT_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
-</param>
-<param humanName="Maximum allowed power (Watts)" name="BATT_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
-<field name="Increment">1</field>
-<field name="Units">Watts</field>
-</param>
-<param humanName="Battery monitoring" name="BATT2_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="3">Analog Voltage Only</value>
-<value code="4">Analog Voltage and Current</value>
-<value code="5">SMBus</value>
-<value code="6">Bebop</value>
-</values>
-</param>
-<param humanName="Battery Voltage sensing pin" name="BATT2_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100. On the Pixhawk powered from the PM connector it should be set to 2." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 0">A0</value>
-<value code=" 1">A1</value>
-<value code=" 2">Pixhawk</value>
-<value code=" 13">A13</value>
-<value code=" 100">PX4</value>
-</values>
-</param>
-<param humanName="Battery Current sensing pin" name="BATT2_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 1">A1</value>
-<value code=" 2">A2</value>
-<value code=" 3">Pixhawk</value>
-<value code=" 12">A12</value>
-<value code=" 101">PX4</value>
-</values>
-</param>
-<param humanName="Voltage Multiplier" name="BATT2_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1." user="Advanced">
-</param>
-<param humanName="Amps per volt" name="BATT2_AMP_PERVOL" documentation="Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
-<field name="Units">Amps/Volt</field>
-</param>
-<param humanName="AMP offset" name="BATT2_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
-<field name="Units">Volts</field>
-</param>
-<param humanName="Battery capacity" name="BATT2_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
-</param>
-<param humanName="Maximum allowed current" name="BATT2_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
-<field name="Increment">1</field>
-<field name="Units">Amps</field>
-</param>
-</parameters>
-<parameters name="BRD_">
-<param humanName="Auxiliary pin config" name="BRD_PWM_COUNT" documentation="Control assigning of FMU pins to PWM output, timer capture and GPIO. All unassigned pins can be used for GPIO">
-<values>
-<value code="0">No PWMs</value>
-<value code="2">Two PWMs</value>
-<value code="4">Four PWMs</value>
-<value code="6">Six PWMs</value>
-<value code="7">Three PWMs and One Capture</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Serial 1 flow control" name="BRD_SER1_RTSCTS" documentation="Enable flow control on serial 1 (telemetry 1) on Pixhawk. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled.">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code="2">Auto</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Serial 2 flow control" name="BRD_SER2_RTSCTS" documentation="Enable flow control on serial 2 (telemetry 2) on Pixhawk and PX4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code="2">Auto</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Enable use of safety arming switch" name="BRD_SAFETYENABLE" documentation="This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message.">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName=" SBUS output rate" name="BRD_SBUS_OUT" documentation="This sets the SBUS output frame rate in Hz">
-<values>
-<value code="0">Disabled</value>
-<value code="1">50Hz</value>
-<value code="2">75Hz</value>
-<value code="3">100Hz</value>
-<value code="4">150Hz</value>
-<value code="5">200Hz</value>
-<value code="6">250Hz</value>
-<value code="7">300Hz</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="User-defined serial number" name="BRD_SERIAL_NUM" documentation="User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot" user="Standard">
-<field name="Range">-32767 32768</field>
-</param>
-<param humanName=" Enable use of UAVCAN devices" name="BRD_CAN_ENABLE" documentation="Enabling this option on a Pixhawk enables UAVCAN devices. Note that this uses about 25k of memory">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Channels to which ignore the safety switch state" name="BRD_SAFETY_MASK" documentation="A bitmask which controls what channels can move while the safety switch has not been pressed">
-<field name="Bitmask">0:Ch1,1:Ch2,2:Ch3,3:Ch4,4:Ch5,5:Ch6,6:Ch7,7:Ch8</field>
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Target IMU temperature" name="BRD_IMU_TARGTEMP" documentation="This sets the target IMU temperature for boards with controllable IMU heating units. A value of -1 disables heating.">
-<field name="Units">degreesC</field>
-<field name="Range">-1 80</field>
-</param>
-<param humanName="Board type" name="BRD_TYPE" documentation="This allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4)">
-<values>
-<value code="0">AUTO</value>
-<value code="1">PX4V1</value>
-<value code="2">Pixhawk</value>
-<value code="3">Pixhawk2</value>
-<value code="4">Pixracer</value>
-<value code="5">PixhawkMini</value>
-<value code="6">Pixhawk2Slim</value>
-<value code="7">VRBrain 5.1</value>
-<value code="8">VRBrain 5.2</value>
-<value code="9">VR Micro Brain 5.1</value>
-<value code="10">VR Micro Brain 5.2</value>
-<value code="11">VRBrain Core 1.0</value>
-<value code="12">VRBrain 5.4</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-</parameters>
-<parameters name="AFS_">
-<param humanName="Enable Advanced Failsafe" name="AFS_ENABLE" documentation="This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect" user="Advanced">
-</param>
-<param humanName="Manual Pin" name="AFS_MAN_PIN" documentation="This sets a digital output pin to set high when in manual mode" user="Advanced">
-</param>
-<param humanName="Heartbeat Pin" name="AFS_HB_PIN" documentation="This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination." user="Advanced">
-</param>
-<param humanName="Comms Waypoint" name="AFS_WP_COMMS" documentation="Waypoint number to navigate to on comms loss" user="Advanced">
-</param>
-<param humanName="GPS Loss Waypoint" name="AFS_GPS_LOSS" documentation="Waypoint number to navigate to on GPS lock loss" user="Advanced">
-</param>
-<param humanName="Force Terminate" name="AFS_TERMINATE" documentation="Can be set in flight to force termination of the heartbeat signal" user="Advanced">
-</param>
-<param humanName="Terminate action" name="AFS_TERM_ACTION" documentation="This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup APM to handle it here. If set to 0 (which is the default) then no extra action is taken. If set to the magic value 42 then the plane will deliberately crash itself by setting maximum throws on all surfaces, and zero throttle" user="Advanced">
-</param>
-<param humanName="Terminate Pin" name="AFS_TERM_PIN" documentation="This sets a digital output pin to set high on flight termination" user="Advanced">
-</param>
-<param humanName="AMSL limit" name="AFS_AMSL_LIMIT" documentation="This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit." user="Advanced">
-<field name="Units">meters</field>
-</param>
-<param humanName="Error margin for GPS based AMSL limit" name="AFS_AMSL_ERR_GPS" documentation="This sets margin for error in GPS derived altitude limit. This error margin is only used if the barometer has failed. If the barometer fails then the GPS will be used to enforce the AMSL_LIMIT, but this margin will be subtracted from the AMSL_LIMIT first, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached. OBC users should set this to comply with their D2 safety case. A value of -1 will mean that barometer failure will lead to immediate termination." user="Advanced">
-<field name="Units">meters</field>
-</param>
-<param humanName="QNH pressure" name="AFS_QNH_PRESSURE" documentation="This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit. A value of zero disables the altitude limit." user="Advanced">
-<field name="Units">millibar</field>
-</param>
-<param humanName="Maximum number of GPS loss events" name="AFS_MAX_GPS_LOSS" documentation="Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events." user="Advanced">
-</param>
-<param humanName="Maximum number of comms loss events" name="AFS_MAX_COM_LOSS" documentation="Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events." user="Advanced">
-</param>
-<param humanName="Enable geofence Advanced Failsafe" name="AFS_GEOFENCE" documentation="This enables the geofence part of the AFS. Will only be in effect if AFS_ENABLE is also 1" user="Advanced">
-</param>
-<param humanName="Enable RC Advanced Failsafe" name="AFS_RC" documentation="This enables the RC part of the AFS. Will only be in effect if AFS_ENABLE is also 1" user="Advanced">
-</param>
-<param humanName="Enable RC Termination only in manual control modes" name="AFS_RC_MAN_ONLY" documentation="If this parameter is set to 1, then an RC loss will only cause the plane to terminate in manual control modes. If it is 0, then the plane will terminate in any flight mode." user="Advanced">
-</param>
-<param humanName="Enable dual loss terminate due to failure of both GCS and GPS simultaneously" name="AFS_DUAL_LOSS" documentation='This enables the dual loss termination part of the AFS system. If this parameter is 1 and both GPS and the ground control station fail simultaneously, this will be considered a "dual loss" and cause termination.' user="Advanced">
-</param>
-<param humanName="RC failure time" name="AFS_RC_FAIL_TIME" documentation="This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be (1.5). Use 0 to disable." user="Advanced">
-<field name="Units">seconds</field>
-</param>
-</parameters>
-<parameters name="FLOW">
-<param humanName="Optical flow enable/disable" name="FLOW_ENABLE" documentation="Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="X axis optical flow scale factor correction" name="FLOW_FXSCALER" documentation="This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor." user="Standard">
-<field name="Range">-200 +200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Y axis optical flow scale factor correction" name="FLOW_FYSCALER" documentation="This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor." user="Standard">
-<field name="Range">-200 +200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Flow sensor yaw alignment" name="FLOW_ORIENT_YAW" documentation="Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle." user="Standard">
-<field name="Range">-18000 +18000</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="MIS_">
-<param humanName="Total mission commands" name="MIS_TOTAL" documentation="The number of mission mission items that has been loaded by the ground station. Do not change this manually." user="Advanced">
-<field name="Range">0 32766</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Mission Restart when entering Auto mode" name="MIS_RESTART" documentation="Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)">
-<values>
-<value code="0">Resume Mission</value>
-<value code=" 1">Restart Mission</value>
-</values>
-</param>
-</parameters>
-<parameters name="RALLY_">
-<param humanName="Rally Total" name="RALLY_TOTAL" documentation="Number of rally points currently loaded" user="Advanced">
-</param>
-<param humanName="Rally Limit" name="RALLY_LIMIT_KM" documentation="Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used." user="Advanced">
-<field name="Increment">0.1</field>
-<field name="Units">kilometers</field>
-</param>
-<param humanName="Rally Include Home" name="RALLY_INCL_HOME" documentation="Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL" user="Standard">
-<values>
-<value code="0">DoNotIncludeHome</value>
-<value code="1">IncludeHome</value>
-</values>
-</param>
-</parameters>
-<parameters name="EKF_">
-<param humanName="Enable EKF1" name="EKF_ENABLE" documentation="This enables EKF1 to be disabled when using alternative algorithms. When disabling it, the alternate EKF2 estimator must be enabled by setting EK2_ENABLED = 1 and flight control algorithms must be set to use the alternative estimator by setting AHRS_EKF_TYPE = 2." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="GPS horizontal velocity measurement noise scaler" name="EKF_VELNE_NOISE" documentation="This is the scaler that is applied to the speed accuracy reported by the receiver to estimate the horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then a speed accuracy of 1 is assumed. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.05 5.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="GPS vertical velocity measurement noise scaler" name="EKF_VELD_NOISE" documentation="This is the scaler that is applied to the speed accuracy reported by the receiver to estimate the vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then a speed accuracy of 1 is assumed. Increasing it reduces the weighting on this measurement." user="Advanced">
-<field name="Range">0.05 5.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="GPS horizontal position measurement noise (m)" name="EKF_POSNE_NOISE" documentation="This is the RMS value of noise in the GPS horizontal position measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Altitude measurement noise (m)" name="EKF_ALT_NOISE" documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Magnetometer measurement noise (Gauss)" name="EKF_MAG_NOISE" documentation="This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Equivalent airspeed measurement noise (m/s)" name="EKF_EAS_NOISE" documentation="This is the RMS value of noise in equivalent airspeed measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.5 5.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Wind velocity process noise (m/s^2)" name="EKF_WIND_PNOISE" documentation="This noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier." user="Advanced">
-<field name="Range">0.01 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Height rate to wind procss noise scaler" name="EKF_WIND_PSCALE" documentation="Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind speed estimation noiser." user="Advanced">
-<field name="Range">0.0 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Rate gyro noise (rad/s)" name="EKF_GYRO_PNOISE" documentation="This noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more." user="Advanced">
-<field name="Range">0.001 0.05</field>
-<field name="Increment">0.001</field>
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Accelerometer noise (m/s^2)" name="EKF_ACC_PNOISE" documentation="This noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more." user="Advanced">
-<field name="Range">0.05 1.0</field>
-<field name="Increment">0.01</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Rate gyro bias process noise (rad/s)" name="EKF_GBIAS_PNOISE" documentation="This noise controls the growth of gyro bias state error estimates. Increasing it makes rate gyro bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.0000001 0.00001</field>
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Accelerometer bias process noise (m/s^2)" name="EKF_ABIAS_PNOISE" documentation="This noise controls the growth of the vertical acelerometer bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.00001 0.001</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Earth magnetic field process noise (gauss/s)" name="EKF_MAGE_PNOISE" documentation="This noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.0001 0.01</field>
-<field name="Units">gauss/s</field>
-</param>
-<param humanName="Body magnetic field process noise (gauss/s)" name="EKF_MAGB_PNOISE" documentation="This noise controls the growth of body magnetic field state error estimates. Increasing it makes compass offset estimation faster and noisier." user="Advanced">
-<field name="Range">0.0001 0.01</field>
-<field name="Units">gauss/s</field>
-</param>
-<param humanName="GPS velocity measurement delay (msec)" name="EKF_VEL_DELAY" documentation="This is the number of msec that the GPS velocity measurements lag behind the inertial measurements." user="Advanced">
-<field name="Range">0 500</field>
-<field name="Increment">10</field>
-<field name="Units">milliseconds</field>
-</param>
-<param humanName="GPS position measurement delay (msec)" name="EKF_POS_DELAY" documentation="This is the number of msec that the GPS position measurements lag behind the inertial measurements." user="Advanced">
-<field name="Range">0 500</field>
-<field name="Increment">10</field>
-<field name="Units">milliseconds</field>
-</param>
-<param humanName="GPS mode control" name="EKF_GPS_TYPE" documentation="This parameter controls use of GPS measurements : 0 = use 3D velocity &amp; 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = use no GPS (optical flow will be used if available)" user="Advanced">
-<values>
-<value code="0">GPS 3D Vel and 2D Pos</value>
-<value code=" 1">GPS 2D vel and 2D pos</value>
-<value code=" 2">GPS 2D pos</value>
-<value code=" 3">No GPS use optical flow</value>
-</values>
-</param>
-<param humanName="GPS velocity measurement gate size" name="EKF_VEL_GATE" documentation="This parameter sets the number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="GPS position measurement gate size" name="EKF_POS_GATE" documentation="This parameter sets the number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Height measurement gate size" name="EKF_HGT_GATE" documentation="This parameter sets the number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Magnetometer measurement gate size" name="EKF_MAG_GATE" documentation="This parameter sets the number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Airspeed measurement gate size" name="EKF_EAS_GATE" documentation="This parameter sets the number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Magnetometer calibration mode" name="EKF_MAG_CAL" documentation="EKF_MAG_CAL = 0 enables calibration based on flying speed and altitude and is the default setting for Plane users. EKF_MAG_CAL = 1 enables calibration based on manoeuvre level and is the default setting for Copter and Rover users. EKF_MAG_CAL = 2 prevents magnetometer calibration regardless of flight condition and is recommended if in-flight magnetometer calibration is unreliable." user="Advanced">
-<values>
-<value code="0">Speed and Height</value>
-<value code="1">Acceleration</value>
-<value code="2">Never</value>
-<value code="3">Always</value>
-</values>
-</param>
-<param humanName="GPS glitch accel gate size (cm/s^2)" name="EKF_GLITCH_ACCEL" documentation="This parameter controls the maximum amount of difference in horizontal acceleration between the value predicted by the filter and the value measured by the GPS before the GPS position data is rejected. If this value is set too low, then valid GPS data will be regularly discarded, and the position accuracy will degrade. If this parameter is set too high, then large GPS glitches will cause large rapid changes in position." user="Advanced">
-<field name="Range">100 500</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="GPS glitch radius gate size (m)" name="EKF_GLITCH_RAD" documentation="This parameter controls the maximum amount of difference in horizontal position (in m) between the value predicted by the filter and the value measured by the GPS before the long term glitch protection logic is activated and the filter states are reset to the new GPS position. Position steps smaller than this value will be temporarily ignored, but will then be accepted and the filter will move to the new position. Position steps larger than this value will be ignored initially, but the filter will then apply an offset to the GPS position measurement." user="Advanced">
-<field name="Range">10 50</field>
-<field name="Increment">5</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Terrain Gradient % RMS" name="EKF_GND_GRADIENT" documentation="This parameter sets the RMS terrain gradient percentage assumed by the terrain height estimation. Terrain height can be estimated using optical flow and/or range finder sensor data if fitted. Smaller values cause the terrain height estimate to be slower to respond to changes in measurement. Larger values cause the terrain height estimate to be faster to respond, but also more noisy. Generally this value can be reduced if operating over very flat terrain and increased if operating over uneven terrain." user="Advanced">
-<field name="Range">1 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Optical flow measurement noise (rad/s)" name="EKF_FLOW_NOISE" documentation="This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.05 1.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Optical Flow measurement gate size" name="EKF_FLOW_GATE" documentation="This parameter sets the number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Optical Flow measurement delay (msec)" name="EKF_FLOW_DELAY" documentation="This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
-<field name="Range">0 500</field>
-<field name="Increment">10</field>
-<field name="Units">milliseconds</field>
-</param>
-<param humanName="Range finder measurement gate size" name="EKF_RNG_GATE" documentation="This parameter sets the number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Maximum valid optical flow rate" name="EKF_MAX_FLOW" documentation="This parameter sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter" user="Advanced">
-<field name="Range">1.0 4.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Fallback strictness" name="EKF_FALLBACK" documentation="This parameter controls the conditions necessary to trigger a fallback to DCM and INAV. A value of 1 will cause fallbacks to occur on loss of GPS and other conditions. A value of 0 will trust the EKF more." user="Advanced">
-<values>
-<value code="0">Trust EKF more</value>
-<value code=" 1">Trust DCM more</value>
-</values>
-</param>
-<param humanName="Primary height source" name="EKF_ALT_SOURCE" documentation="This parameter controls which height sensor is used by the EKF during optical flow navigation (when EKF_GPS_TYPE = 3). A value of will 0 cause it to always use baro altitude. A value of 1 will cause it to use range finder if available." user="Advanced">
-<values>
-<value code="0">Use Baro</value>
-<value code=" 1">Use Range Finder</value>
-</values>
-</param>
-<param humanName="GPS preflight check" name="EKF_GPS_CHECK" documentation="1 byte bitmap of GPS preflight checks to perform. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat." user="Advanced">
-<field name="Bitmask">0:NSats,1:HDoP,2:speed error,3:horiz pos error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed</field>
-</param>
-</parameters>
-<parameters name="EK2_">
-<param humanName="Enable EKF2" name="EK2_ENABLE" documentation="This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="GPS mode control" name="EK2_GPS_TYPE" documentation="This controls use of GPS measurements : 0 = use 3D velocity &amp; 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = use no GPS (optical flow will be used if available)" user="Advanced">
-<values>
-<value code="0">GPS 3D Vel and 2D Pos</value>
-<value code=" 1">GPS 2D vel and 2D pos</value>
-<value code=" 2">GPS 2D pos</value>
-<value code=" 3">No GPS use optical flow</value>
-</values>
-</param>
-<param humanName="GPS horizontal velocity measurement noise (m/s)" name="EK2_VELNE_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements." user="Advanced">
-<field name="Range">0.05 5.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="GPS vertical velocity measurement noise (m/s)" name="EK2_VELD_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements." user="Advanced">
-<field name="Range">0.05 5.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="GPS velocity innovation gate size" name="EK2_VEL_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="GPS horizontal position measurement noise (m)" name="EK2_POSNE_M_NSE" documentation="This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m</field>
-</param>
-<param humanName="GPS position measurement gate size" name="EK2_POS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="GPS glitch radius gate size (m)" name="EK2_GLITCH_RAD" documentation="This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position." user="Advanced">
-<field name="Range">10 100</field>
-<field name="Increment">5</field>
-<field name="Units">m</field>
-</param>
-<param humanName="GPS measurement delay (msec)" name="EK2_GPS_DELAY" documentation="This is the number of msec that the GPS measurements lag behind the inertial measurements." user="Advanced">
-<field name="Range">0 250</field>
-<field name="Increment">10</field>
-<field name="Units">msec</field>
-</param>
-<param humanName="Primary height source" name="EK2_ALT_SOURCE" documentation="This parameter controls the primary height sensor used by the EKF. If the selected option cannot be used, it will default to Baro as the primary height source. Setting 0 will use the baro altitude at all times. Setting 1 uses the range finder and is only available in combination with optical flow navigation (EK2_GPS_TYPE = 3). Setting 2 uses GPS. NOTE - the EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground." user="Advanced">
-<values>
-<value code="0">Use Baro</value>
-<value code=" 1">Use Range Finder</value>
-<value code=" 2">Use GPS</value>
-</values>
-</param>
-<param humanName="Altitude measurement noise (m)" name="EK2_ALT_M_NSE" documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m</field>
-</param>
-<param humanName="Height measurement gate size" name="EK2_HGT_I_GATE" documentation="This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Height measurement delay (msec)" name="EK2_HGT_DELAY" documentation="This is the number of msec that the Height measurements lag behind the inertial measurements." user="Advanced">
-<field name="Range">0 250</field>
-<field name="Increment">10</field>
-<field name="Units">msec</field>
-</param>
-<param humanName="Magnetometer measurement noise (Gauss)" name="EK2_MAG_M_NSE" documentation="This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
-<field name="Units">gauss</field>
-</param>
-<param humanName="Magnetometer calibration mode" name="EK2_MAG_CAL" documentation="EKF_MAG_CAL = 0 enables calibration when airborne and is the default setting for Plane users. EKF_MAG_CAL = 1 enables calibration when manoeuvreing. EKF_MAG_CAL = 2 prevents magnetometer calibration regardless of flight condition, is recommended if the external magnetic field is varying and is the default for rovers. EKF_MAG_CAL = 3 enables calibration when the first in-air field and yaw reset has completed and is the default for copters. EKF_MAG_CAL = 4 enables calibration all the time. This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states. This model is only suitable for use when the external magnetic field environment is stable." user="Advanced">
-<values>
-<value code="0">When flying</value>
-<value code="1">When manoeuvring</value>
-<value code="2">Never</value>
-<value code="3">After first climb yaw reset</value>
-<value code="4">Always</value>
-</values>
-</param>
-<param humanName="Magnetometer measurement gate size" name="EK2_MAG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Equivalent airspeed measurement noise (m/s)" name="EK2_EAS_M_NSE" documentation="This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements." user="Advanced">
-<field name="Range">0.5 5.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Airspeed measurement gate size" name="EK2_EAS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Range finder measurement noise (m)" name="EK2_RNG_M_NSE" documentation="This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m</field>
-</param>
-<param humanName="Range finder measurement gate size" name="EK2_RNG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Maximum valid optical flow rate" name="EK2_MAX_FLOW" documentation="This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter" user="Advanced">
-<field name="Range">1.0 4.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Optical flow measurement noise (rad/s)" name="EK2_FLOW_M_NSE" documentation="This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.05 1.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Optical Flow measurement gate size" name="EK2_FLOW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Optical Flow measurement delay (msec)" name="EK2_FLOW_DELAY" documentation="This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
-<field name="Range">0 250</field>
-<field name="Increment">10</field>
-<field name="Units">msec</field>
-</param>
-<param humanName="Rate gyro noise (rad/s)" name="EK2_GYRO_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more." user="Advanced">
-<field name="Range">0.0001 0.1</field>
-<field name="Increment">0.0001</field>
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Accelerometer noise (m/s^2)" name="EK2_ACC_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more." user="Advanced">
-<field name="Range">0.01 1.0</field>
-<field name="Increment">0.01</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Rate gyro bias stability (rad/s/s)" name="EK2_GBIAS_P_NSE" documentation="This state  process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.00001 0.001</field>
-<field name="Units">rad/s/s</field>
-</param>
-<param humanName="Rate gyro scale factor stability (1/s)" name="EK2_GSCL_P_NSE" documentation="This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier." user="Advanced">
-<field name="Range">0.000001 0.001</field>
-<field name="Units">1/s</field>
-</param>
-<param humanName="Accelerometer bias stability (m/s^3)" name="EK2_ABIAS_P_NSE" documentation="This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.00001 0.001</field>
-<field name="Units">m/s/s/s</field>
-</param>
-<param humanName="Wind velocity process noise (m/s^2)" name="EK2_WIND_P_NSE" documentation="This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier." user="Advanced">
-<field name="Range">0.01 1.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Height rate to wind procss noise scaler" name="EK2_WIND_PSCALE" documentation="This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser." user="Advanced">
-<field name="Range">0.0 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="GPS preflight check" name="EK2_GPS_CHECK" documentation="This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat." user="Advanced">
-<field name="Bitmask">0:NSats,1:HDoP,2:speed error,3:horiz pos error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed</field>
-</param>
-<param humanName="Bitmask of active IMUs" name="EK2_IMU_MASK" documentation="1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start." user="Advanced">
-<field name="Range">1 127</field>
-</param>
-<param humanName="GPS accuracy check scaler (%)" name="EK2_CHECK_SCALE" documentation="This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error." user="Advanced">
-<field name="Range">50 200</field>
-<field name="Units">%</field>
-</param>
-<param humanName="Non-GPS operation position uncertainty (m)" name="EK2_NOAID_M_NSE" documentation="This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors." user="Advanced">
-<field name="Range">0.5 50.0</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="EKF sensor logging IMU mask" name="EK2_LOG_MASK" documentation="This sets the IMU mask of sensors to do full logging for" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">FirstIMU</value>
-<value code="3">FirstAndSecondIMU</value>
-<value code="7">AllIMUs</value>
-</values>
-</param>
-<param humanName="Yaw measurement noise (rad)" name="EK2_YAW_M_NSE" documentation="This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.05 1.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">gauss</field>
-</param>
-<param humanName="Yaw measurement gate size" name="EK2_YAW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Output complementary filter time constant (centi-sec)" name="EK2_TAU_OUTPUT" documentation="Sets the time constant of the output complementary filter/predictor in centi-seconds." user="Advanced">
-<field name="Range">10 50</field>
-<field name="Increment">5</field>
-</param>
-<param humanName="Earth magnetic field process noise (gauss/s)" name="EK2_MAGE_P_NSE" documentation="This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier." user="Advanced">
-<field name="Range">0.00001 0.01</field>
-<field name="Units">gauss/s</field>
-</param>
-<param humanName="Body magnetic field process noise (gauss/s)" name="EK2_MAGB_P_NSE" documentation="This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier." user="Advanced">
-<field name="Range">0.00001 0.01</field>
-<field name="Units">gauss/s</field>
-</param>
-<param humanName="Range finder switch height percentage" name="EK2_RNG_USE_HGT" documentation="The range finder will be used as the primary height source when below a specified percentage of the sensor maximum as set by the RNGFND_MAX_CM parameter. Set to -1 to prevent range finder use." user="Advanced">
-<field name="Range">-1 70</field>
-<field name="Increment">1</field>
-<field name="Units">%</field>
-</param>
-</parameters>
-<parameters name="RPM">
-<param humanName="RPM type" name="RPM_TYPE" documentation="What type of RPM sensor is connected">
-<values>
-<value code="0">None</value>
-<value code="1">PX4-PWM</value>
-</values>
-</param>
-<param humanName="RPM scaling" name="RPM_SCALING" documentation="Scaling factor between sensor reading and RPM.">
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Maximum RPM" name="RPM_MAX" documentation="Maximum RPM to report">
-<field name="Increment">1</field>
-</param>
-<param humanName="Minimum RPM" name="RPM_MIN" documentation="Minimum RPM to report">
-<field name="Increment">1</field>
-</param>
-<param humanName="Minimum Quality" name="RPM_MIN_QUAL" documentation="Minimum data quality to be used">
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Second RPM type" name="RPM2_TYPE" documentation="What type of RPM sensor is connected">
-<values>
-<value code="0">None</value>
-<value code="1">PX4-PWM</value>
-</values>
-</param>
-<param humanName="RPM scaling" name="RPM2_SCALING" documentation="Scaling factor between sensor reading and RPM.">
-<field name="Increment">0.001</field>
-</param>
-</parameters>
-<parameters name="RSSI_">
-<param humanName="RSSI Type" name="RSSI_TYPE" documentation="Radio Receiver RSSI type. If your radio receiver supports RSSI of some kind, set it here, then set its associated RSSI_XXXXX parameters, if any." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">AnalogPin</value>
-<value code="2">RCChannelPwmValue</value>
-</values>
-</param>
-<param humanName="Receiver RSSI analog sensing pin" name="RSSI_ANA_PIN" documentation="This selects an analog pin where the receiver RSSI voltage will be read." user="Standard">
-<values>
-<value code="0">APM2 A0</value>
-<value code="1">APM2 A1</value>
-<value code="13">APM2 A13</value>
-<value code="11">Pixracer</value>
-<value code="13">Pixhawk ADC4</value>
-<value code="14">Pixhawk ADC3</value>
-<value code="15"> Pixhawk ADC6</value>
-<value code="103">Pixhawk SBUS</value>
-</values>
-</param>
-<param humanName="Receiver RSSI voltage low" name="RSSI_PIN_LOW" documentation="This is the voltage value that the radio receiver will put on the RSSI_ANA_PIN when the signal strength is the weakest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn't necessarily a lower value than RSSI_PIN_HIGH. " user="Standard">
-<field name="Range">0 5.0</field>
-<field name="Increment">0.01</field>
-<field name="Units">Volt</field>
-</param>
-<param humanName="Receiver RSSI voltage high" name="RSSI_PIN_HIGH" documentation="This is the voltage value that the radio receiver will put on the RSSI_ANA_PIN when the signal strength is the strongest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn't necessarily a higher value than RSSI_PIN_LOW. " user="Standard">
-<field name="Range">0 5.0</field>
-<field name="Increment">0.01</field>
-<field name="Units">Volt</field>
-</param>
-<param humanName="Receiver RSSI channel number" name="RSSI_CHANNEL" documentation="The channel number where RSSI will be output by the radio receiver (5 and above)." user="Standard">
-<field name="Units"></field>
-</param>
-<param humanName="Receiver RSSI PWM low value" name="RSSI_CHAN_LOW" documentation="This is the PWM value that the radio receiver will put on the RSSI_CHANNEL when the signal strength is the weakest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn't necessarily a lower value than RSSI_CHAN_HIGH. " user="Standard">
-<field name="Range">0 2000</field>
-<field name="Units">Microseconds</field>
-</param>
-<param humanName="Receiver RSSI PWM high value" name="RSSI_CHAN_HIGH" documentation="This is the PWM value that the radio receiver will put on the RSSI_CHANNEL when the signal strength is the strongest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn't necessarily a higher value than RSSI_CHAN_LOW. " user="Standard">
-<field name="Range">0 2000</field>
-<field name="Units">Microseconds</field>
-</param>
-</parameters>
-<parameters name="NTF_">
-<param humanName="LED Brightness" name="NTF_LED_BRIGHT" documentation="Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting." user="Advanced">
-<values>
-<value code="0">Off</value>
-<value code="1">Low</value>
-<value code="2">Medium</value>
-<value code="3">High</value>
-</values>
-</param>
-<param humanName="Buzzer enable" name="NTF_BUZZ_ENABLE" documentation="Enable or disable the buzzer. Only for Linux and PX4 based boards." user="Advanced">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-<param humanName="Setup for MAVLink LED override" name="NTF_LED_OVERRIDE" documentation="This sets up the board RGB LED for override by MAVLink. Normal notify LED control is disabled" user="Advanced">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-</parameters>
-<parameters name="BTN_">
-<param humanName="Enable button reporting" name="BTN_ENABLE" documentation="This enables the button checking module. When this is disabled the parameters for setting button inputs are not visible" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="First button Pin" name="BTN_PIN1" documentation="Digital pin number for first button input. " user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Second button Pin" name="BTN_PIN2" documentation="Digital pin number for second button input. " user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Third button Pin" name="BTN_PIN3" documentation="Digital pin number for third button input. " user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Fourth button Pin" name="BTN_PIN4" documentation="Digital pin number for fourth button input. " user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Report send time" name="BTN_REPORT_SEND" documentation="The duration in seconds that a BUTTON_CHANGE report is repeatedly sent to the GCS regarding a button changing state. Note that the BUTTON_CHANGE message is MAVLink2 only." user="Standard">
-<field name="Range">0 3600</field>
-</param>
-</parameters>
-<parameters name="ICE_">
-<param humanName="Enable ICEngine control" name="ICE_ENABLE" documentation="This enables internal combusion engine control" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="Input channel for engine start" name="ICE_START_CHAN" documentation="This is an RC input channel for requesting engine start. Engine will try to start when channel is at or above 1700. Engine will stop when channel is at or below 1300. Between 1301 and 1699 the engine will not change state unless a MAVLink command or mission item commands a state change, or the vehicle is disamed." user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Chan1</value>
-<value code="2">Chan2</value>
-<value code="3">Chan3</value>
-<value code="4">Chan4</value>
-<value code="5">Chan5</value>
-<value code="6">Chan6</value>
-<value code="7">Chan7</value>
-<value code="8">Chan8</value>
-<value code="9">Chan9</value>
-<value code="10">Chan10</value>
-<value code="11">Chan11</value>
-<value code="12">Chan12</value>
-<value code="13">Chan13</value>
-<value code="14">Chan14</value>
-<value code="15">Chan15</value>
-<value code="16">Chan16</value>
-</values>
-</param>
-<param humanName="Time to run starter" name="ICE_STARTER_TIME" documentation="This is the number of seconds to run the starter when trying to start the engine" user="Standard">
-<field name="Range">0.1 5</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="Time to wait between starts" name="ICE_START_DELAY" documentation="Delay between start attempts" user="Standard">
-<field name="Range">1 10</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="RPM threshold" name="ICE_RPM_THRESH" documentation="This is the measured RPM above which tne engine is considered to be running" user="Standard">
-<field name="Range">100 100000</field>
-</param>
-<param humanName="PWM value for ignition on" name="ICE_PWM_IGN_ON" documentation="This is the value sent to the ignition channel when on" user="Standard">
-<field name="Range">1000 2000</field>
-</param>
-<param humanName="PWM value for ignition off" name="ICE_PWM_IGN_OFF" documentation="This is the value sent to the ignition channel when off" user="Standard">
-<field name="Range">1000 2000</field>
-</param>
-<param humanName="PWM value for starter on" name="ICE_PWM_STRT_ON" documentation="This is the value sent to the starter channel when on" user="Standard">
-<field name="Range">1000 2000</field>
-</param>
-<param humanName="PWM value for starter off" name="ICE_PWM_STRT_OFF" documentation="This is the value sent to the starter channel when off" user="Standard">
-<field name="Range">1000 2000</field>
-</param>
-<param humanName="RPM instance channel to use" name="ICE_RPM_CHAN" documentation="This is which of the RPM instances to use for detecting the RPM of the engine" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">RPM1</value>
-<value code="2">RPM2</value>
-</values>
-</param>
-<param humanName="Throttle percentage for engine start" name="ICE_START_PCT" documentation="This is the percentage throttle output for engine start" user="Standard">
-<field name="Range">0 100</field>
-</param>
-</parameters>
-<parameters name="EPM_">
-<param humanName="EPM Enable/Disable" name="EPM_ENABLE" documentation="EPM enable/disable" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="EPM Grab PWM" name="EPM_GRAB" documentation="PWM value sent to EPM to initiate grabbing the cargo" user="Advanced">
-<field name="Range">1000 2000</field>
-</param>
-<param humanName="EPM Release PWM" name="EPM_RELEASE" documentation="PWM value sent to EPM to release the cargo" user="Advanced">
-<field name="Range">1000 2000</field>
-</param>
-<param humanName="EPM Neutral PWM" name="EPM_NEUTRAL" documentation="PWM value sent to EPM when not grabbing or releasing" user="Advanced">
-<field name="Range">1000 2000</field>
-</param>
-<param humanName="EPM Regrab interval" name="EPM_REGRAB" documentation="Time in seconds that gripper will regrab the cargo to ensure grip has not weakened; 0 to disable" user="Advanced">
-<field name="Values">0 255</field>
-</param>
-<param humanName="EPM UAVCAN Hardpoint ID" name="EPM_REGRAB" documentation="Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface" user="Standard">
-<field name="Range">0 255</field>
-</param>
-</parameters>
-<parameters name="LGR_">
-<param humanName="Landing Gear Servo Retracted PWM Value" name="LGR_SERVO_RTRACT" documentation="Servo PWM value when landing gear is retracted" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Landing Gear Servo Deployed PWM Value" name="LGR_SERVO_DEPLOY" documentation="Servo PWM value when landing gear is deployed" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="IM_">
-<param humanName="Stabilize Mode Collective Point 1" name="IM_STAB_COL_1" documentation="Helicopter's minimum collective pitch setting at zero throttle input in Stabilize mode" user="Standard">
-<field name="Range">0 500</field>
-<field name="Increment">1</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Stabilize Mode Collective Point 2" name="IM_STAB_COL_2" documentation="Helicopter's collective pitch setting at mid-low throttle input in Stabilize mode" user="Standard">
-<field name="Range">0 500</field>
-<field name="Increment">1</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Stabilize Mode Collective Point 3" name="IM_STAB_COL_3" documentation="Helicopter's collective pitch setting at mid-high throttle input in Stabilize mode" user="Standard">
-<field name="Range">500 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Stabilize Mode Collective Point 4" name="IM_STAB_COL_4" documentation="Helicopter's maximum collective pitch setting at full throttle input in Stabilize mode" user="Standard">
-<field name="Range">500 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Acro Mode Collective Expo" name="IM_ACRO_COL_EXP" documentation="Used to soften collective pitch inputs near center point in Acro mode." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="0.1">Very Low</value>
-<value code="0.2">Low</value>
-<value code="0.3">Medium</value>
-<value code="0.4">High</value>
-<value code="0.5">Very High</value>
-</values>
-</param>
-</parameters>
-<parameters name="WPNAV_">
-<param humanName="Waypoint Horizontal Speed Target" name="WPNAV_SPEED" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission" user="Standard">
-<field name="Range">0 2000</field>
-<field name="Increment">50</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Waypoint Radius" name="WPNAV_RADIUS" documentation="Defines the distance from a waypoint, that when crossed indicates the wp has been hit." user="Standard">
-<field name="Range">100 1000</field>
-<field name="Increment">1</field>
-<field name="Units">cm</field>
-</param>
-<param humanName="Waypoint Climb Speed Target" name="WPNAV_SPEED_UP" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">50</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Waypoint Descent Speed Target" name="WPNAV_SPEED_DN" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission" user="Standard">
-<field name="Range">0 500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Loiter Horizontal Maximum Speed" name="WPNAV_LOIT_SPEED" documentation="Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode" user="Standard">
-<field name="Range">0 2000</field>
-<field name="Increment">50</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Waypoint Acceleration " name="WPNAV_ACCEL" documentation="Defines the horizontal acceleration in cm/s/s used during missions" user="Standard">
-<field name="Range">50 500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Waypoint Vertical Acceleration" name="WPNAV_ACCEL_Z" documentation="Defines the vertical acceleration in cm/s/s used during missions" user="Standard">
-<field name="Range">50 500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Loiter maximum jerk" name="WPNAV_LOIT_JERK" documentation="Loiter maximum jerk in cm/s/s/s" user="Advanced">
-<field name="Range">500 5000</field>
-<field name="Increment">1</field>
-<field name="Units">cm/s/s/s</field>
-</param>
-<param humanName="Loiter maximum acceleration" name="WPNAV_LOIT_MAXA" documentation="Loiter maximum acceleration in cm/s/s.  Higher values cause the copter to accelerate and stop more quickly." user="Advanced">
-<field name="Range">100 981</field>
-<field name="Increment">1</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Loiter minimum acceleration" name="WPNAV_LOIT_MINA" documentation="Loiter minimum acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered, but cause a larger jerk when the copter stops." user="Advanced">
-<field name="Range">25 250</field>
-<field name="Increment">1</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Use rangefinder for terrain following" name="WPNAV_RFND_USE" documentation="This controls the use of a rangefinder for terrain following" user="Advanced">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-</parameters>
-<parameters name="CIRCLE_">
-<param humanName="Circle Radius" name="CIRCLE_RADIUS" documentation="Defines the radius of the circle the vehicle will fly when in Circle flight mode" user="Standard">
-<field name="Range">0 10000</field>
-<field name="Increment">100</field>
-<field name="Units">cm</field>
-</param>
-<param humanName="Circle rate" name="CIRCLE_RATE" documentation="Circle mode's turn rate in deg/sec.  Positive to turn clockwise, negative for counter clockwise" user="Standard">
-<field name="Range">-90 90</field>
-<field name="Increment">1</field>
-<field name="Units">deg/s</field>
-</param>
-</parameters>
-<parameters name="ATC_">
-<param humanName="Yaw target slew rate" name="ATC_SLEW_YAW" documentation="Maximum rate the yaw target can be updated in Loiter, RTL, Auto flight modes" user="Advanced">
-<field name="Range">500 18000</field>
-<field name="Increment">100</field>
-<field name="Units">Centi-Degrees/Sec</field>
-</param>
-<param humanName="Acceleration Max for Yaw" name="ATC_ACCEL_Y_MAX" documentation="Maximum acceleration in yaw axis" user="Advanced">
-<field name="Range">0 72000</field>
-<values>
-<value code="0">Disabled</value>
-<value code=" 18000">Slow</value>
-<value code=" 36000">Medium</value>
-<value code=" 54000">Fast</value>
-</values>
-<field name="Increment">1000</field>
-<field name="Units">Centi-Degrees/Sec/Sec</field>
-</param>
-<param humanName="Rate Feedforward Enable" name="ATC_RATE_FF_ENAB" documentation="Controls whether body-frame rate feedfoward is enabled or disabled" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="Acceleration Max for Roll" name="ATC_ACCEL_R_MAX" documentation="Maximum acceleration in roll axis" user="Advanced">
-<field name="Range">0 180000</field>
-<values>
-<value code="0">Disabled</value>
-<value code=" 72000">Slow</value>
-<value code=" 108000">Medium</value>
-<value code=" 162000">Fast</value>
-</values>
-<field name="Increment">1000</field>
-<field name="Units">Centi-Degrees/Sec/Sec</field>
-</param>
-<param humanName="Acceleration Max for Pitch" name="ATC_ACCEL_P_MAX" documentation="Maximum acceleration in pitch axis" user="Advanced">
-<field name="Range">0 180000</field>
-<values>
-<value code="0">Disabled</value>
-<value code=" 72000">Slow</value>
-<value code=" 108000">Medium</value>
-<value code=" 162000">Fast</value>
-</values>
-<field name="Increment">1000</field>
-<field name="Units">Centi-Degrees/Sec/Sec</field>
-</param>
-<param humanName="Angle Boost" name="ATC_ANGLE_BOOST" documentation="Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="Roll axis angle controller P gain" name="ATC_ANG_RLL_P" documentation="Roll axis angle controller P gain.  Converts the error between the desired roll angle and actual angle to a desired roll rate" user="Standard">
-<field name="Range">3.000 12.000</field>
-</param>
-<param humanName="Pitch axis angle controller P gain" name="ATC_ANG_PIT_P" documentation="Pitch axis angle controller P gain.  Converts the error between the desired pitch angle and actual angle to a desired pitch rate" user="Standard">
-<field name="Range">3.000 12.000</field>
-</param>
-<param humanName="Yaw axis angle controller P gain" name="ATC_ANG_YAW_P" documentation="Yaw axis angle controller P gain.  Converts the error between the desired yaw angle and actual angle to a desired yaw rate" user="Standard">
-<field name="Range">3.000 6.000</field>
-</param>
-<param humanName="Angle Limit (to maintain altitude) Time Constant" name="ATC_ANG_LIM_TC" documentation="Angle Limit (to maintain altitude) Time Constant" user="Advanced">
-<field name="Range">0.5 10.0</field>
-</param>
-<param humanName="Roll axis rate controller P gain" name="ATC_RAT_RLL_P" documentation="Roll axis rate controller P gain.  Converts the difference between desired roll rate and actual roll rate into a motor speed output" user="Standard">
-<field name="Range">0.08 0.30</field>
-<field name="Increment">0.005</field>
-</param>
-<param humanName="Roll axis rate controller I gain" name="ATC_RAT_RLL_I" documentation="Roll axis rate controller I gain.  Corrects long-term difference in desired roll rate vs actual roll rate" user="Standard">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Roll axis rate controller I gain maximum" name="ATC_RAT_RLL_IMAX" documentation="Roll axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Roll axis rate controller D gain" name="ATC_RAT_RLL_D" documentation="Roll axis rate controller D gain.  Compensates for short-term change in desired roll rate vs actual roll rate" user="Standard">
-<field name="Range">0.0 0.02</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Roll axis rate conroller input frequency in Hz" name="ATC_RAT_RLL_FILT" documentation="Roll axis rate conroller input frequency in Hz">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Pitch axis rate controller P gain" name="ATC_RAT_PIT_P" documentation="Pitch axis rate controller P gain.  Converts the difference between desired pitch rate and actual pitch rate into a motor speed output" user="Standard">
-<field name="Range">0.08 0.30</field>
-<field name="Increment">0.005</field>
-</param>
-<param humanName="Pitch axis rate controller I gain" name="ATC_RAT_PIT_I" documentation="Pitch axis rate controller I gain.  Corrects long-term difference in desired pitch rate vs actual pitch rate" user="Standard">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Pitch axis rate controller I gain maximum" name="ATC_RAT_PIT_IMAX" documentation="Pitch axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Pitch axis rate controller D gain" name="ATC_RAT_PIT_D" documentation="Pitch axis rate controller D gain.  Compensates for short-term change in desired pitch rate vs actual pitch rate" user="Standard">
-<field name="Range">0.0 0.02</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Pitch axis rate conroller input frequency in Hz" name="ATC_RAT_PIT_FILT" documentation="Pitch axis rate conroller input frequency in Hz">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Yaw axis rate controller P gain" name="ATC_RAT_YAW_P" documentation="Yaw axis rate controller P gain.  Converts the difference between desired yaw rate and actual yaw rate into a motor speed output" user="Standard">
-<field name="Range">0.10 0.50</field>
-<field name="Increment">0.005</field>
-</param>
-<param humanName="Yaw axis rate controller I gain" name="ATC_RAT_YAW_I" documentation="Yaw axis rate controller I gain.  Corrects long-term difference in desired yaw rate vs actual yaw rate" user="Standard">
-<field name="Range">0.010 0.05</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Yaw axis rate controller I gain maximum" name="ATC_RAT_YAW_IMAX" documentation="Yaw axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Yaw axis rate controller D gain" name="ATC_RAT_YAW_D" documentation="Yaw axis rate controller D gain.  Compensates for short-term change in desired yaw rate vs actual yaw rate" user="Standard">
-<field name="Range">0.000 0.02</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Yaw axis rate conroller input frequency in Hz" name="ATC_RAT_YAW_FILT" documentation="Yaw axis rate conroller input frequency in Hz">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Throttle Mix Minimum" name="ATC_THR_MIX_MIN" documentation="Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)" user="Advanced">
-<field name="Range">0.1 0.25</field>
-</param>
-<param humanName="Throttle Mix Maximum" name="ATC_THR_MIX_MAX" documentation="Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)" user="Advanced">
-<field name="Range">0.5 0.9</field>
-</param>
-</parameters>
-<parameters name="POSCON_">
-<param humanName="XY Acceleration filter cutoff frequency" name="POSCON__ACC_XY_FILT" documentation="Lower values will slow the response of the navigation controller and reduce twitchiness" user="Advanced">
-<field name="Range">0.5 5</field>
-<field name="Increment">0.1</field>
-<field name="Units">Hz</field>
-</param>
-</parameters>
-<parameters name="SPRAY_">
-<param humanName="Sprayer enable/disable" name="SPRAY_ENABLE" documentation="Allows you to enable (1) or disable (0) the sprayer" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Pump speed" name="SPRAY_PUMP_RATE" documentation="Desired pump speed when travelling 1m/s expressed as a percentage" user="Standard">
-<field name="Range">0 100</field>
-<field name="Units">percentage</field>
-</param>
-<param humanName="Spinner rotation speed" name="SPRAY_SPINNER" documentation="Spinner's rotation speed in PWM (a higher rate will disperse the spray over a wider area horizontally)" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Units">ms</field>
-</param>
-<param humanName="Speed minimum" name="SPRAY_SPEED_MIN" documentation="Speed minimum at which we will begin spraying" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Pump speed minimum" name="SPRAY_PUMP_MIN" documentation="Minimum pump speed expressed as a percentage" user="Standard">
-<field name="Range">0 100</field>
-<field name="Units">percentage</field>
-</param>
-</parameters>
-<parameters name="FENCE_">
-<param humanName="Fence enable/disable" name="FENCE_ENABLE" documentation="Allows you to enable (1) or disable (0) the fence functionality" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Fence Type" name="FENCE_TYPE" documentation="Enabled fence types held as bitmask" user="Standard">
-<field name="Bitmask">0:Altitude,1:Circle,2:Polygon</field>
-<values>
-<value code="0">None</value>
-<value code="1">Altitude</value>
-<value code="2">Circle</value>
-<value code="3">Altitude and Circle</value>
-<value code="4">Polygon</value>
-<value code="5">Altitude and Polygon</value>
-<value code="6">Circle and Polygon</value>
-<value code="7">All</value>
-</values>
-</param>
-<param humanName="Fence Action" name="FENCE_ACTION" documentation="What action should be taken when fence is breached" user="Standard">
-<values>
-<value code="0">Report Only</value>
-<value code="1">RTL or Land</value>
-</values>
-</param>
-<param humanName="Fence Maximum Altitude" name="FENCE_ALT_MAX" documentation="Maximum altitude allowed before geofence triggers" user="Standard">
-<field name="Range">10 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Circular Fence Radius" name="FENCE_RADIUS" documentation="Circle fence radius which when breached will cause an RTL" user="Standard">
-<field name="Range">30 10000</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Fence Margin" name="FENCE_MARGIN" documentation="Distance that autopilot's should maintain from the fence to avoid a breach" user="Standard">
-<field name="Range">1 10</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Fence polygon point total" name="FENCE_TOTAL" documentation="Number of polygon points saved in eeprom (do not update manually)" user="Standard">
-<field name="Range">1 20</field>
-</param>
-</parameters>
-<parameters name="AVOID_">
-<param humanName="Avoidance control enable/disable" name="AVOID_ENABLE" documentation="Enabled/disable stopping at fence" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">StopAtFence</value>
-</values>
-</param>
-</parameters>
-<parameters name="H_">
-<param humanName="Servo 1 Position" name="H_SV1_POS" documentation="Angular location of swash servo #1" user="Standard">
-<field name="Range">-180 180</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Servo 2 Position" name="H_SV2_POS" documentation="Angular location of swash servo #2" user="Standard">
-<field name="Range">-180 180</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Servo 3 Position" name="H_SV3_POS" documentation="Angular location of swash servo #3" user="Standard">
-<field name="Range">-180 180</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Tail Type" name="H_TAIL_TYPE" documentation="Tail type selection.  Simpler yaw controller used if external gyro is selected" user="Standard">
-<values>
-<value code="0">Servo only</value>
-<value code="1">Servo with ExtGyro</value>
-<value code="2">DirectDrive VarPitch</value>
-<value code="3">DirectDrive FixedPitch</value>
-</values>
-</param>
-<param humanName="Swash Type" name="H_SWASH_TYPE" documentation="Swash Type Setting - either 3-servo CCPM or H1 Mechanical Mixing" user="Standard">
-<values>
-<value code="0">3-Servo CCPM</value>
-<value code=" 1">H1 Mechanical Mixing</value>
-</values>
-</param>
-<param humanName="External Gyro Gain" name="H_GYR_GAIN" documentation="PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">PWM</field>
-</param>
-<param humanName="Swashplate Phase Angle Compensation" name="H_PHANG" documentation="Phase angle correction for rotor head.  If pitching the swash forward induces a roll, this can be correct the problem" user="Advanced">
-<field name="Range">-90 90</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Collective-Yaw Mixing" name="H_COLYAW" documentation="Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.">
-<field name="Range">-10 10</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Flybar Mode Selector" name="H_FLYBAR_MODE" documentation="Flybar present or not.  Affects attitude controller used during ACRO flight mode" user="Standard">
-<values>
-<value code="0">NoFlybar</value>
-<value code="1">Flybar</value>
-</values>
-</param>
-<param humanName="Direct Drive VarPitch Tail ESC speed" name="H_TAIL_SPEED" documentation="Direct Drive VarPitch Tail ESC speed.  Only used when TailType is DirectDrive VarPitch" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">PWM</field>
-</param>
-<param humanName="External Gyro Gain for ACRO" name="H_GYR_GAIN_ACRO" documentation="PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro. A value of zero means to use H_GYR_GAIN" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">PWM</field>
-</param>
-<param humanName="RSC PWM output miniumum" name="H_RSC_PWM_MIN" documentation="This sets the PWM output on RSC channel for maximum rotor speed" user="Standard">
-<field name="Range">0 2000</field>
-</param>
-<param humanName="RSC PWM output maxiumum" name="H_RSC_PWM_MAX" documentation="This sets the PWM output on RSC channel for miniumum rotor speed" user="Standard">
-<field name="Range">0 2000</field>
-</param>
-<param humanName="RSC PWM reversal" name="H_RSC_PWM_REV" documentation="This controls reversal of the RSC channel output" user="Standard">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-</parameters>
-<parameters name="MOT_">
-<param humanName="Matrix Yaw Min" name="MOT_YAW_HEADROOM" documentation="Yaw control is given at least this pwm range" user="Advanced">
-<field name="Range">0 500</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Thrust Curve Expo" name="MOT_THST_EXPO" documentation="Motor thrust curve exponent (from 0 for linear to 1.0 for second order curve)" user="Advanced">
-<field name="Range">0.25 0.8</field>
-</param>
-<param humanName="Motor Spin maximum" name="MOT_SPIN_MAX" documentation="Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range" user="Advanced">
-<field name="Values">0.9:Low, 0.95:Default, 1.0:High</field>
-</param>
-<param humanName="Battery voltage compensation maximum voltage" name="MOT_BAT_VOLT_MAX" documentation="Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust).  Recommend 4.4 * cell count, 0 = Disabled" user="Advanced">
-<field name="Range">6 35</field>
-<field name="Units">Volts</field>
-</param>
-<param humanName="Battery voltage compensation minimum voltage" name="MOT_BAT_VOLT_MIN" documentation="Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust).  Recommend 3.5 * cell count, 0 = Disabled" user="Advanced">
-<field name="Range">6 35</field>
-<field name="Units">Volts</field>
-</param>
-<param humanName="Motor Current Max" name="MOT_BAT_CURR_MAX" documentation="Maximum current over which maximum throttle is limited (0 = Disabled)" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">Amps</field>
-</param>
-<param humanName="Output PWM type" name="MOT_PWM_TYPE" documentation="This selects the output PWM type, allowing for normal PWM continuous output or OneShot125" user="Advanced">
-<values>
-<value code="0">Normal</value>
-<value code="1">OneShot</value>
-<value code="2">OneShot125</value>
-</values>
-</param>
-<param humanName="PWM output miniumum" name="MOT_PWM_MIN" documentation="This sets the min PWM output value that will ever be output to the motors, 0 = use input RC3_MIN" user="Advanced">
-<field name="Range">0 2000</field>
-</param>
-<param humanName="PWM output maximum" name="MOT_PWM_MAX" documentation="This sets the max PWM value that will ever be output to the motors, 0 = use input RC3_MAX" user="Advanced">
-<field name="Range">0 2000</field>
-</param>
-<param humanName="Motor Spin minimum" name="MOT_SPIN_MIN" documentation="Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range.  Should be higher than MOT_SPIN_ARM." user="Advanced">
-<field name="Values">0.0:Low, 0.15:Default, 0.3:High</field>
-</param>
-<param humanName="Motor Spin armed" name="MOT_SPIN_ARM" documentation="Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range.  Should be lower than MOT_SPIN_MIN." user="Advanced">
-<field name="Values">0.0:Low, 0.1:Default, 0.2:High</field>
-</param>
-<param humanName="Motor Current Max Time Constant" name="MOT_BAT_CURR_TC" documentation="Time constant used to limit the maximum current" user="Advanced">
-<field name="Range">0 10</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="Thrust Hover Value" name="MOT_THST_HOVER" documentation="Motor thrust needed to hover expressed as a number from 0 to 1" user="Advanced">
-<field name="Range">0.2 0.8</field>
-</param>
-<param humanName="Hover Value Learning" name="MOT_HOVER_LEARN" documentation="Enable/Disable automatic learning of hover throttle" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Learn</value>
-<value code=" 2">LearnAndSave</value>
-</values>
-</param>
-</parameters>
-<parameters name="PLND_">
-<param humanName="Precision Land enabled/disabled and behaviour" name="PLND_ENABLED" documentation="Precision Land enabled/disabled and behaviour" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled Always Land</value>
-<value code=" 2">Enabled Strict</value>
-</values>
-</param>
-<param humanName="Precision Land Type" name="PLND_TYPE" documentation="Precision Land Type" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code=" 1">CompanionComputer</value>
-<value code=" 2">IRLock</value>
-</values>
-</param>
-</parameters>
-</libraries></paramfile>
diff --git a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.8.xml b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.8.xml
index 6dc5898b6150168e35db0459caa88979938813b5..bb5209cf9f95e9c191178f0442e67a67b9ba1bc3 100644
--- a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.8.xml
+++ b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.8.xml
@@ -5,12 +5,21 @@
         <parameters name="ArduPlane">
 <param humanName="Eeprom format version number" name="ArduPlane:FORMAT_VERSION" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
 </param>
+<param humanName="Software Type" name="ArduPlane:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
 <param humanName="MAVLink system ID of this vehicle" name="ArduPlane:SYSID_THISMAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
 <field name="Range">1 255</field>
 </param>
 <param humanName="Ground station MAVLink system ID" name="ArduPlane:SYSID_MYGCS" documentation="The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match." user="Advanced">
 <field name="Range">1 255</field>
 </param>
+<param humanName="CLI Enable" name="ArduPlane:CLI_ENABLED" documentation="This enables/disables the checking for three carriage returns on telemetry links on startup to enter the diagnostics command line interface" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
 <param humanName="Autotune level" name="ArduPlane:AUTOTUNE_LEVEL" documentation="Level of aggressiveness for autotune. When autotune is run a lower AUTOTUNE_LEVEL will result in a 'softer' tune, with less aggressive gains. For most users a level of 6 is recommended." user="Standard">
 <field name="Range">1 10</field>
 <field name="Increment">1</field>
@@ -99,8 +108,8 @@
 <field name="Units">m/s</field>
 <field name="UnitText">meters per second</field>
 </param>
-<param humanName="Takeoff throttle slew rate" name="ArduPlane:TKOFF_THR_SLEW" documentation="This parameter sets the slew rate for the throttle during auto takeoff. When this is zero the THR_SLEWRATE parameter is used during takeoff. For rolling takeoffs it can be a good idea to set a lower slewrate for takeoff to give a slower acceleration which can improve ground steering control. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on takeoff. Values below 20 are not recommended as they may cause the plane to try to climb out with too little throttle. A value of -1 means no limit on slew rate in takeoff." user="User">
-<field name="Range">-1 127</field>
+<param humanName="Takeoff throttle slew rate" name="ArduPlane:TKOFF_THR_SLEW" documentation="This parameter sets the slew rate for the throttle during auto takeoff. When this is zero the THR_SLEWRATE parameter is used during takeoff. For rolling takeoffs it can be a good idea to set a lower slewrate for takeoff to give a slower acceleration which can improve ground steering control. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on takeoff. Values below 20 are not recommended as they may cause the plane to try to climb out with too little throttle." user="User">
+<field name="Range">0 127</field>
 <field name="Increment">1</field>
 <field name="Units">%/s</field>
 <field name="UnitText">percent per second</field>
@@ -124,13 +133,8 @@
 <field name="Units">deg</field>
 <field name="UnitText">degrees</field>
 </param>
-<param humanName="Bitmask for when to allow negative reverse thrust" name="ArduPlane:USE_REV_THRUST" documentation="This controls when to use reverse thrust. If set to zero then reverse thrust is never used. If set to a non-zero value then the bits correspond to flight stages where reverse thrust may be used. Note that reverse thrust is only ever auto-enabled in auto-throttle modes. In modes where throttle control is pilot controlled the ability to do reverse thrust is controlled by throttle stick input. The most commonly used value for USE_REV_THRUST is 2, which means AUTO_LAND only. That enables reverse thrust in the landing stage of AUTO mode. Another common choice is 1, which means to use reverse thrust in all auto flight stages." user="Advanced">
+<param humanName="Bitmask for when to allow negative reverse thrust" name="ArduPlane:USE_REV_THRUST" documentation="Typically THR_MIN will be clipped to zero unless reverse thrust is available. Since you may not want negative thrust available at all times this bitmask allows THR_MIN to go below 0 while executing certain auto-mission commands." user="Advanced">
 <field name="Bitmask">0:AUTO_ALWAYS,1:AUTO_LAND,2:AUTO_LOITER_TO_ALT,3:AUTO_LOITER_ALL,4:AUTO_WAYPOINTS,5:LOITER,6:RTL,7:CIRCLE,8:CRUISE,9:FBWB,10:GUIDED</field>
-<values>
-<value code="0">Never</value>
-<value code="1">AutoAlways</value>
-<value code="2">AutoLanding</value>
-</values>
 </param>
 <param humanName="Navigation controller selection" name="ArduPlane:NAV_CONTROLLER" documentation="Which navigation controller to enable. Currently the only navigation controller available is L1. From time to time other experimental controllers will be added which are selected using this parameter." user="Standard">
 <values>
@@ -276,7 +280,7 @@
 <field name="Units">%</field>
 <field name="UnitText">percent</field>
 </param>
-<param humanName="Throttle slew rate" name="ArduPlane:THR_SLEWRATE" documentation="maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second. Note that the minimum throttle change is 1 microsecond per loop, which provides a lower limit on the throttle slew rate, especially for quadplanes that run at 300 loops per second by default." user="Standard">
+<param humanName="Throttle slew rate" name="ArduPlane:THR_SLEWRATE" documentation="maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second." user="Standard">
 <field name="Range">0 127</field>
 <field name="Increment">1</field>
 <field name="Units">%/s</field>
@@ -327,7 +331,6 @@
 <value code="0">CIRCLE/no change(if already in AUTO|GUIDED|LOITER)</value>
 <value code="1">CIRCLE</value>
 <value code="2">FBWA</value>
-<value code="3">Disable</value>
 </values>
 </param>
 <param humanName="Short failsafe timeout" name="ArduPlane:FS_SHORT_TIMEOUT" documentation="The time in seconds that a failsafe condition has to persist before a short failsafe event will occur. This defaults to 1.5 seconds" user="Standard">
@@ -350,6 +353,16 @@
 <field name="Units">s</field>
 <field name="UnitText">seconds</field>
 </param>
+<param humanName="Failsafe battery voltage" name="ArduPlane:FS_BATT_VOLTAGE" documentation="Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe. If the battery voltage drops below this voltage continuously for 10 seconds then the plane will switch to RTL mode." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Failsafe battery milliAmpHours" name="ArduPlane:FS_BATT_MAH" documentation="Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe. If the battery remaining drops below this level then the plane will switch to RTL mode immediately." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mA.h</field>
+<field name="UnitText">milliampere hour</field>
+</param>
 <param humanName="GCS failsafe enable" name="ArduPlane:FS_GCS_ENABL" documentation="Enable ground control station telemetry failsafe. Failsafe will trigger after FS_LONG_TIMEOUT seconds of no MAVLink heartbeat messages. There are two possible enabled settings. Seeing FS_GCS_ENABL to 1 means that GCS failsafe will be triggered when the aircraft has not received a MAVLink HEARTBEAT message. Setting FS_GCS_ENABL to 2 means that GCS failsafe will be triggered on either a loss of HEARTBEAT messages, or a RADIO_STATUS message from a MAVLink enabled 3DR radio indicating that the ground station is not receiving status updates from the aircraft, which is indicated by the RADIO_STATUS.remrssi field being zero (this may happen if you have a one way link due to asymmetric noise on the ground station and aircraft radios).Setting FS_GCS_ENABL to 3 means that GCS failsafe will be triggered by Heartbeat(like option one), but only in AUTO mode. WARNING: Enabling this option opens up the possibility of your plane going into failsafe mode and running the motor on the ground it it loses contact with your ground station. If this option is enabled on an electric plane then you should enable ARMING_REQUIRED." user="Standard">
 <values>
 <value code="0">Disabled</value>
@@ -736,15 +749,6 @@
 <param humanName="Manual R/C pass-through mask" name="ArduPlane:MANUAL_RCMASK" documentation="Mask of R/C channels to pass directly to corresponding output channel when in MANUAL mode. When in any mode except MANUAL the channels selected with this option behave normally. This parameter is designed to allow for complex mixing strategies to be used for MANUAL flight using transmitter based mixing. Note that when this option is used you need to be very careful with pre-flight checks to ensure that the output is correct both in MANUAL and non-MANUAL modes." user="Advanced">
 <field name="Bitmask">0:Chan1,1:Chan2,2:Chan3,3:Chan4,4:Chan5,5:Chan6,6:Chan7,7:Chan8,8:Chan9,9:Chan10,10:Chan11,11:Chan12,12:Chan13,13:Chan14,14:Chan15,15:Chan16</field>
 </param>
-<param humanName="Home reset altitude threshold" name="ArduPlane:HOME_RESET_ALT" documentation="When the aircraft is within this altitude of the home waypoint, while disarmed it will automatically update the home position. Set to 0 to continously reset it." user="Advanced">
-<field name="Range">-1 127</field>
-<values>
-<value code="-1">Never reset</value>
-<value code="0">Always reset</value>
-</values>
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-</param>
 </parameters>
 </vehicles><libraries><parameters name="ADSB_">
 <param humanName="Enable ADSB" name="ADSB_ENABLE" documentation="Enable ADS-B" user="Standard">
@@ -759,7 +763,7 @@
 <param humanName="ADSB vehicle list radius filter" name="ADSB_LIST_RADIUS" documentation="ADSB vehicle list radius filter. Vehicles detected outside this radius will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations." user="Advanced">
 <field name="Range">1 100000</field>
 </param>
-<param humanName="ICAO_ID vehicle identification number" name="ADSB_ICAO_ID" documentation="ICAO_ID unique vehicle identification number of this aircraft. This is a integer limited to 24bits. If set to 0 then one will be randomly generated. If set to -1 then static information is not sent, transceiver is assumed pre-programmed." user="Advanced">
+<param humanName="ICAO_ID vehicle identifaction number" name="ADSB_ICAO_ID" documentation="ICAO_ID unique vehicle identifaction number of this aircraft. This is a integer limited to 24bits. If set to 0 then one will be randomly generated. If set to -1 then static information is not sent, transceiver is assumed pre-programmed." user="Advanced">
 <field name="Range">-1 16777215</field>
 </param>
 <param humanName="Emitter type" name="ADSB_EMIT_TYPE" documentation="ADSB classification for the type of vehicle emitting the transponder signal. Default value is 14 (UAV)." user="Advanced">
@@ -824,7 +828,7 @@
 <value code="1">AppliedBySensor</value>
 </values>
 </param>
-<param humanName="Transceiver RF selection" name="ADSB_RF_SELECT" documentation="Transceiver RF selection for Rx enable and/or Tx enable. This only effects devices that can Tx and Rx. Rx-only devices override this to always be Rx-only." user="Advanced">
+<param humanName="Transceiver RF selection" name="ADSB_RF_SELECT" documentation="Transceiver RF selection for Rx enable and/or Tx enable." user="Advanced">
 <values>
 <value code="0">Disabled</value>
 <value code="1">Rx-Only</value>
@@ -832,19 +836,6 @@
 <value code="3">Rx and Tx Enabled</value>
 </values>
 </param>
-<param humanName="Squawk code" name="ADSB_SQUAWK" documentation="VFR squawk (Mode 3/A) code is a pre-programmed default code when the pilot is flying VFR and not in contact with ATC. In the USA, the VFR squawk code is octal 1200 (hex 0x280, decimal 640) and in most parts of Europe the VFR squawk code is octal 7000. If an invalid octal number is set then it will be reset to 1200." user="Advanced">
-<field name="Units">octal</field>
-<field name="UnitText">octal</field>
-</param>
-<param humanName="RF capabilities" name="ADSB_RF_CAPABLE" documentation="Describes your hardware RF In/Out capabilities." user="Advanced">
-<field name="Bitmask">0:UAT_in,1:1090ES_in,2:UAT_out,3:1090ES_out</field>
-<values>
-<value code="0">Unknown</value>
-<value code="1">Rx UAT only</value>
-<value code="3">Rx UAT and 1090ES</value>
-<value code="7">Rx&amp;Tx UAT and 1090ES</value>
-</values>
-</param>
 </parameters>
 <parameters name="AFS_">
 <param humanName="Enable Advanced Failsafe" name="AFS_ENABLE" documentation="This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect" user="Advanced">
@@ -859,7 +850,7 @@
 </param>
 <param humanName="Force Terminate" name="AFS_TERMINATE" documentation="Can be set in flight to force termination of the heartbeat signal" user="Advanced">
 </param>
-<param humanName="Terminate action" name="AFS_TERM_ACTION" documentation="This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup APM to handle it here. Please consult the wiki for more information on the possible values of the parameter" user="Advanced">
+<param humanName="Terminate action" name="AFS_TERM_ACTION" documentation="This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup APM to handle it here. If set to 0 (which is the default) then no extra action is taken. If set to the magic value 42 then the plane will deliberately crash itself by setting maximum throws on all surfaces, and zero throttle" user="Advanced">
 </param>
 <param humanName="Terminate Pin" name="AFS_TERM_PIN" documentation="This sets a digital output pin to set high on flight termination" user="Advanced">
 </param>
@@ -897,7 +888,7 @@
 <field name="Range">0.0 1.0</field>
 <field name="Increment">.01</field>
 </param>
-<param humanName="AHRS use GPS for navigation" name="AHRS_GPS_USE" documentation="This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight. Currently this affects only the DCM-based AHRS: the EKF uses GPS whenever it is available." user="Advanced">
+<param humanName="AHRS use GPS for navigation" name="AHRS_GPS_USE" documentation="This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight." user="Advanced">
 <values>
 <value code="0">Disabled</value>
 <value code="1">Enabled</value>
@@ -960,7 +951,7 @@
 <value code="20">Roll270</value>
 <value code="21">Roll270Yaw45</value>
 <value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw135</value>
+<value code="23">Roll270Yaw136</value>
 <value code="24">Pitch90</value>
 <value code="25">Pitch270</value>
 <value code="26">Pitch180Yaw90</value>
@@ -975,10 +966,6 @@
 <value code="35">Roll270Pitch270</value>
 <value code="36">Roll90Pitch180Yaw90</value>
 <value code="37">Roll90Yaw270</value>
-<value code="38">Yaw293Pitch68Roll180</value>
-<value code="39">Pitch315</value>
-<value code="40">Roll90Pitch315</value>
-<value code="100">Custom</value>
 </values>
 </param>
 <param humanName="AHRS Velocity Complementary Filter Beta Coefficient" name="AHRS_COMP_BETA" documentation="This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less." user="Advanced">
@@ -996,24 +983,6 @@
 <value code="3">Enable EKF3</value>
 </values>
 </param>
-<param humanName="Board orientation roll offset" name="AHRS_CUSTOM_ROLL" documentation="Autopilot mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
-<field name="Range">-180 180</field>
-<field name="Increment">1</field>
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-</param>
-<param humanName="Board orientation pitch offset" name="AHRS_CUSTOM_PIT" documentation="Autopilot mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
-<field name="Range">-180 180</field>
-<field name="Increment">1</field>
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-</param>
-<param humanName="Board orientation yaw offset" name="AHRS_CUSTOM_YAW" documentation="Autopilot mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
-<field name="Range">-180 180</field>
-<field name="Increment">1</field>
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-</param>
 </parameters>
 <parameters name="ARMING_">
 <param humanName="Rudder Arming" name="ARMING_RUDDER" documentation="Control arm/disarm by rudder input. When enabled arming is done with right rudder, disarming with left rudder. Rudder arming only works in manual throttle modes with throttle at zero +- deadzone (RCx_DZ)" user="Advanced">
@@ -1023,7 +992,7 @@
 <value code="2">ArmOrDisarm</value>
 </values>
 </param>
-<param humanName="Require Arming Motors " name="ARMING_REQUIRE" documentation="Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately).  If 1, require rudder stick or GCS arming before arming motors and sends the minimum throttle PWM value to the throttle channel when disarmed.  If 2, require rudder stick or GCS arming and send 0 PWM to throttle channel when disarmed. See the ARMING_CHECK_* parameters to see what checks are done before arming. Note, if setting this parameter to 0 a reboot is required to arm the plane.  Also note, even with this parameter at 0, if ARMING_CHECK parameter is not also zero the plane may fail to arm throttle at boot due to a pre-arm check failure." user="Advanced">
+<param humanName="Require Arming Motors " name="ARMING_REQUIRE" documentation="Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately).  If 1, require rudder stick or GCS arming before arming motors and sends the minimum throttle PWM value to the throttle channel when disarmed.  If 2, require rudder stick or GCS arming and send 0 PWM to throttle channel when disarmed. See the ARMING_CHECK_* parameters to see what checks are done before arming. Note, if setting this parameter to 0 a reboot is required to arm the plane.  Also note, even with this parameter at 0, if ARMING_CHECK parameter is not also zero the plane may fail to arm throttle at boot due to a pre-arm check failure. This parameter is relevant for ArduPlane only." user="Advanced">
 <values>
 <value code="0">Disabled</value>
 <value code="1">THR_MIN PWM when disarmed</value>
@@ -1031,7 +1000,7 @@
 </values>
 </param>
 <param humanName="Arm Checks to Peform (bitmask)" name="ARMING_CHECK" documentation="Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. The default is no checks, allowing arming at any time. You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72. For most users it is recommended that you set this to 1 to enable all checks." user="Standard">
-<field name="Bitmask">0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC Channels,7:Board voltage,8:Battery Level,9:Airspeed,10:Logging Available,11:Hardware safety switch,12:GPS Configuration</field>
+<field name="Bitmask">0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC,7:Board voltage,8:Battery Level,9:Airspeed,10:Logging Available,11:Hardware safety switch,12:GPS Configuration</field>
 <values>
 <value code="0">None</value>
 <value code="1">All</value>
@@ -1040,7 +1009,7 @@
 <value code="8">GPS Lock</value>
 <value code="16">INS(INertial Sensors - accels &amp; gyros)</value>
 <value code="32">Parameters(unused)</value>
-<value code="64">RC Channels</value>
+<value code="64">RC Failsafe</value>
 <value code="128">Board voltage</value>
 <value code="256">Battery Level</value>
 <value code="512">Airspeed</value>
@@ -1054,12 +1023,12 @@
 <field name="Units">m/s/s</field>
 <field name="UnitText">meters per square second</field>
 </param>
-<param humanName="Arming voltage minimum on the first battery" name="ARMING_VOLT_MIN" documentation="The minimum voltage of the first battery required to arm, 0 disables the check" user="Standard">
+<param humanName="Arming voltage minimum on the first battery" name="ARMING_VOLT_MIN" documentation="The minimum voltage on the first battery to arm, 0 disables the check" user="Standard">
 <field name="Increment">0.1 </field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
 </param>
-<param humanName="Arming voltage minimum on the second battery" name="ARMING_VOLT2_MIN" documentation="The minimum voltage of the second battery required to arm, 0 disables the check" user="Standard">
+<param humanName="Arming voltage minimum on the second battery" name="ARMING_VOLT2_MIN" documentation="The minimum voltage on the first battery to arm, 0 disables the check" user="Standard">
 <field name="Increment">0.1 </field>
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
@@ -1123,9 +1092,7 @@
 <value code="1">I2C-MS4525D0</value>
 <value code="2">Analog</value>
 <value code="3">I2C-MS5525</value>
-<value code="4">I2C-MS5525 (0x76)</value>
-<value code="5">I2C-MS5525 (0x77)</value>
-<value code="6">I2C-SDP3X</value>
+<value code="4">I2C-SDP3X</value>
 </values>
 </param>
 <param humanName="Enable use of 2nd airspeed sensor" name="ARSPD2_USE" documentation="use airspeed for flight control. When set to 0 airspeed sensor can be logged and displayed on a GCS but won't be used for flight. When set to 1 it will be logged and used. When set to 2 it will be only used when the throttle is zero, which can be useful in gliders with airspeed sensors behind a propeller" user="Standard">
@@ -1204,13 +1171,9 @@
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
 </param>
-<param humanName="ADS-B avoidance minimum altitude" name="AVD_F_ALT_MIN" documentation="Minimum altitude for ADS-B avoidance. If the vehicle is below this altitude, no avoidance action will take place. Useful to prevent ADS-B avoidance from activating while below the tree line or around structures. Default of 0 is no minimum." user="Advanced">
-<field name="Units">m</field>
-<field name="UnitText">meters</field>
-</param>
 </parameters>
-<parameters name="BATT2_">
-<param humanName="Battery monitoring" name="BATT2_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+<parameters name="BATT">
+<param humanName="Battery monitoring" name="BATT_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="3">Analog Voltage Only</value>
@@ -1218,11 +1181,9 @@
 <value code="5">Solo</value>
 <value code="6">Bebop</value>
 <value code="7">SMBus-Maxell</value>
-<value code="8">UAVCAN-BatteryInfo</value>
 </values>
-<field name="RebootRequired">True</field>
 </param>
-<param humanName="Battery Voltage sensing pin" name="BATT2_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. On the PX4-v1 it should be set to 100. On the Pixhawk, Pixracer and NAVIO boards it should be set to 2, Pixhawk2 Power2 is 13." user="Standard">
+<param humanName="Battery Voltage sensing pin" name="BATT_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. On the PX4-v1 it should be set to 100. On the Pixhawk, Pixracer and NAVIO boards it should be set to 2, Pixhawk2 Power2 is 13." user="Standard">
 <values>
 <value code="-1">Disabled</value>
 <value code=" 0">A0</value>
@@ -1231,9 +1192,8 @@
 <value code=" 13">Pixhawk2_PM2</value>
 <value code=" 100">PX4-v1</value>
 </values>
-<field name="RebootRequired">True</field>
 </param>
-<param humanName="Battery Current sensing pin" name="BATT2_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. On the PX4-v1 it should be set to 101. On the Pixhawk, Pixracer and NAVIO boards it should be set to 3, Pixhawk2 Power2 is 14." user="Standard">
+<param humanName="Battery Current sensing pin" name="BATT_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. On the PX4-v1 it should be set to 101. On the Pixhawk, Pixracer and NAVIO boards it should be set to 3, Pixhawk2 Power2 is 14." user="Standard">
 <values>
 <value code="-1">Disabled</value>
 <value code=" 1">A1</value>
@@ -1242,81 +1202,30 @@
 <value code=" 14">Pixhawk2_PM2</value>
 <value code=" 101">PX4-v1</value>
 </values>
-<field name="RebootRequired">True</field>
 </param>
-<param humanName="Voltage Multiplier" name="BATT2_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+<param humanName="Voltage Multiplier" name="BATT_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1." user="Advanced">
 </param>
-<param humanName="Amps per volt" name="BATT2_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+<param humanName="Amps per volt" name="BATT_AMP_PERVOLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
 <field name="Units">A/V</field>
 <field name="UnitText">ampere per volt</field>
 </param>
-<param humanName="AMP offset" name="BATT2_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+<param humanName="AMP offset" name="BATT_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
 </param>
-<param humanName="Battery capacity" name="BATT2_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+<param humanName="Battery capacity" name="BATT_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
 <field name="Increment">50</field>
-<field name="Units">mAh</field>
+<field name="Units">mA.h</field>
 <field name="UnitText">milliampere hour</field>
 </param>
-<param humanName="Maximum allowed power (Watts)" name="BATT2_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
+<param humanName="Maximum allowed power (Watts)" name="BATT_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
 <field name="Increment">1</field>
 <field name="Units">W</field>
 <field name="UnitText">watt</field>
 </param>
-<param humanName="Battery serial number" name="BATT2_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+<param humanName="Battery serial number" name="BATT_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1" user="Advanced">
 </param>
-<param humanName="Low voltage timeout" name="BATT2_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
-<field name="Range">0 120</field>
-<field name="Increment">1</field>
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
-</param>
-<param humanName="Failsafe voltage source" name="BATT2_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
-<values>
-<value code="0">Raw Voltage</value>
-<value code=" 1">Sag Compensated Voltage</value>
-</values>
-</param>
-<param humanName="Low battery voltage" name="BATT2_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter." user="Standard">
-<field name="Increment">0.1</field>
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-</param>
-<param humanName="Low battery capacity" name="BATT2_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter." user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-</param>
-<param humanName="Critical battery voltage" name="BATT2_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter." user="Standard">
-<field name="Increment">0.1</field>
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-</param>
-<param humanName="Battery critical capacity" name="BATT2_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2__FS_CRT_ACT parameter." user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-</param>
-<param humanName="Low battery failsafe action" name="BATT2_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">RTL</value>
-<value code="2">Land</value>
-<value code="3">Terminate</value>
-</values>
-</param>
-<param humanName="Critical battery failsafe action" name="BATT2_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">RTL</value>
-<value code="2">Land</value>
-<value code="3">Terminate</value>
-</values>
-</param>
-</parameters>
-<parameters name="BATT_">
-<param humanName="Battery monitoring" name="BATT_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+<param humanName="Battery monitoring" name="BATT2_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="3">Analog Voltage Only</value>
@@ -1324,11 +1233,9 @@
 <value code="5">Solo</value>
 <value code="6">Bebop</value>
 <value code="7">SMBus-Maxell</value>
-<value code="8">UAVCAN-BatteryInfo</value>
 </values>
-<field name="RebootRequired">True</field>
 </param>
-<param humanName="Battery Voltage sensing pin" name="BATT_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. On the PX4-v1 it should be set to 100. On the Pixhawk, Pixracer and NAVIO boards it should be set to 2, Pixhawk2 Power2 is 13." user="Standard">
+<param humanName="Battery Voltage sensing pin" name="BATT2_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. On the PX4-v1 it should be set to 100. On the Pixhawk, Pixracer and NAVIO boards it should be set to 2, Pixhawk2 Power2 is 13." user="Standard">
 <values>
 <value code="-1">Disabled</value>
 <value code=" 0">A0</value>
@@ -1337,9 +1244,8 @@
 <value code=" 13">Pixhawk2_PM2</value>
 <value code=" 100">PX4-v1</value>
 </values>
-<field name="RebootRequired">True</field>
 </param>
-<param humanName="Battery Current sensing pin" name="BATT_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. On the PX4-v1 it should be set to 101. On the Pixhawk, Pixracer and NAVIO boards it should be set to 3, Pixhawk2 Power2 is 14." user="Standard">
+<param humanName="Battery Current sensing pin" name="BATT2_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. On the PX4-v1 it should be set to 101. On the Pixhawk, Pixracer and NAVIO boards it should be set to 3, Pixhawk2 Power2 is 14." user="Standard">
 <values>
 <value code="-1">Disabled</value>
 <value code=" 1">A1</value>
@@ -1348,29 +1254,28 @@
 <value code=" 14">Pixhawk2_PM2</value>
 <value code=" 101">PX4-v1</value>
 </values>
-<field name="RebootRequired">True</field>
 </param>
-<param humanName="Voltage Multiplier" name="BATT_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+<param humanName="Voltage Multiplier" name="BATT2_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1." user="Advanced">
 </param>
-<param humanName="Amps per volt" name="BATT_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+<param humanName="Amps per volt" name="BATT2_AMP_PERVOL" documentation="Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
 <field name="Units">A/V</field>
 <field name="UnitText">ampere per volt</field>
 </param>
-<param humanName="AMP offset" name="BATT_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+<param humanName="AMP offset" name="BATT2_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
 <field name="Units">V</field>
 <field name="UnitText">volt</field>
 </param>
-<param humanName="Battery capacity" name="BATT_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+<param humanName="Battery capacity" name="BATT2_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
 <field name="Increment">50</field>
-<field name="Units">mAh</field>
+<field name="Units">mA.h</field>
 <field name="UnitText">milliampere hour</field>
 </param>
-<param humanName="Maximum allowed power (Watts)" name="BATT_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
+<param humanName="Maximum allowed current" name="BATT2_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
 <field name="Increment">1</field>
-<field name="Units">W</field>
-<field name="UnitText">watt</field>
+<field name="Units">A</field>
+<field name="UnitText">ampere</field>
 </param>
-<param humanName="Battery serial number" name="BATT_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+<param humanName="Battery serial number" name="BATT2_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1" user="Advanced">
 </param>
 <param humanName="Low voltage timeout" name="BATT_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
 <field name="Range">0 120</field>
@@ -1378,48 +1283,12 @@
 <field name="Units">s</field>
 <field name="UnitText">seconds</field>
 </param>
-<param humanName="Failsafe voltage source" name="BATT_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+<param humanName="Low voltage type" name="BATT_LOW_TYPE" documentation="Voltage type used for detection of low voltage event" user="Advanced">
 <values>
 <value code="0">Raw Voltage</value>
 <value code=" 1">Sag Compensated Voltage</value>
 </values>
 </param>
-<param humanName="Low battery voltage" name="BATT_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter." user="Standard">
-<field name="Increment">0.1</field>
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-</param>
-<param humanName="Low battery capacity" name="BATT_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter." user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-</param>
-<param humanName="Critical battery voltage" name="BATT_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter." user="Standard">
-<field name="Increment">0.1</field>
-<field name="Units">V</field>
-<field name="UnitText">volt</field>
-</param>
-<param humanName="Battery critical capacity" name="BATT_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT__FS_CRT_ACT parameter." user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
-<field name="UnitText">milliampere hour</field>
-</param>
-<param humanName="Low battery failsafe action" name="BATT_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">RTL</value>
-<value code="2">Land</value>
-<value code="3">Terminate</value>
-</values>
-</param>
-<param humanName="Critical battery failsafe action" name="BATT_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">RTL</value>
-<value code="2">Land</value>
-<value code="3">Terminate</value>
-</values>
-</param>
 </parameters>
 <parameters name="BRD_">
 <param humanName="Auxiliary pin config" name="BRD_PWM_COUNT" documentation="Control assigning of FMU pins to PWM output, timer capture and GPIO. All unassigned pins can be used for GPIO" user="Advanced">
@@ -1440,7 +1309,7 @@
 </values>
 <field name="RebootRequired">True</field>
 </param>
-<param humanName="Serial 2 flow control" name="BRD_SER2_RTSCTS" documentation="Enable flow control on serial 2 (telemetry 2) on Pixhawk and STATE. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup." user="Advanced">
+<param humanName="Serial 2 flow control" name="BRD_SER2_RTSCTS" documentation="Enable flow control on serial 2 (telemetry 2) on Pixhawk and PX4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup." user="Advanced">
 <values>
 <value code="0">Disabled</value>
 <value code="1">Enabled</value>
@@ -1479,7 +1348,7 @@
 </values>
 <field name="RebootRequired">True</field>
 </param>
-<param humanName="Target IMU temperature" name="BRD_IMU_TARGTEMP" documentation="This sets the target IMU temperature for boards with controllable IMU heating units. DO NOT SET -1 on The Cube. A value of -1 sets PH1 behaviour " user="Advanced">
+<param humanName="Target IMU temperature" name="BRD_IMU_TARGTEMP" documentation="This sets the target IMU temperature for boards with controllable IMU heating units. A value of -1 disables heating." user="Advanced">
 <field name="Range">-1 80</field>
 <field name="Units">degC</field>
 <field name="UnitText">degrees Celsius</field>
@@ -1489,7 +1358,7 @@
 <value code="0">AUTO</value>
 <value code="1">PX4V1</value>
 <value code="2">Pixhawk</value>
-<value code="3">Cube/Pixhawk2</value>
+<value code="3">Pixhawk2</value>
 <value code="4">Pixracer</value>
 <value code="5">PixhawkMini</value>
 <value code="6">Pixhawk2Slim</value>
@@ -1512,99 +1381,7 @@
 <field name="RebootRequired">True</field>
 </param>
 <param humanName="Options for safety button behavior" name="BRD_SAFETYOPTION" documentation="This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed" user="Standard">
-<field name="Bitmask">0:ActiveForSafetyEnable,1:ActiveForSafetyDisable,2:ActiveWhenArmed</field>
-</param>
-</parameters>
-<parameters name="BRD_RADIO">
-<param humanName="Set type of direct attached radio" name="BRD_RADIO_TYPE" documentation="This enables support for direct attached radio receivers" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">CYRF6936</value>
-</values>
-</param>
-<param humanName="protocol" name="BRD_RADIO_PROT" documentation="Select air protocol" user="Advanced">
-<values>
-<value code="0">Auto</value>
-<value code="1">DSM2</value>
-<value code="2">DSMX</value>
-</values>
-</param>
-<param humanName="debug level" name="BRD_RADIO_DEBUG" documentation="radio debug level" user="Advanced">
-<field name="Range">0 4</field>
-</param>
-<param humanName="disable receive CRC" name="BRD_RADIO_DISCRC" documentation="disable receive CRC (for debug)" user="Advanced">
-<values>
-<value code="0">NotDisabled</value>
-<value code="1">Disabled</value>
-</values>
-</param>
-<param humanName="RSSI signal strength" name="BRD_RADIO_SIGCH" documentation="Channel to show receive RSSI signal strength, or zero for disabled" user="Advanced">
-<field name="Range">0 16</field>
-</param>
-<param humanName="Packet rate channel" name="BRD_RADIO_PPSCH" documentation="Channel to show received packet-per-second rate, or zero for disabled" user="Advanced">
-<field name="Range">0 16</field>
-</param>
-<param humanName="Enable telemetry" name="BRD_RADIO_TELEM" documentation="If this is non-zero then telemetry packets will be sent over DSM" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Telemetry Transmit power" name="BRD_RADIO_TXPOW" documentation="Set telemetry transmit power. This is the power level (from 1 to 8) for telemetry packets sent from the RX to the TX" user="Advanced">
-<field name="Range">1 8</field>
-</param>
-<param humanName="Put radio into FCC test mode" name="BRD_RADIO_FCCTST" documentation="If this is enabled then the radio will continuously transmit as required for FCC testing. The transmit channel is set by the value of the parameter. The radio will not work for RC input while this is enabled" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">MinChannel</value>
-<value code="2">MidChannel</value>
-<value code="3">MaxChannel</value>
-<value code="4">MinChannelCW</value>
-<value code="5">MidChannelCW</value>
-<value code="6">MaxChannelCW</value>
-</values>
-</param>
-<param humanName="Stick input mode" name="BRD_RADIO_STKMD" documentation="This selects between different stick input modes. The default is mode2, which has throttle on the left stick and pitch on the right stick. You can instead set mode1, which has throttle on the right stick and pitch on the left stick." user="Advanced">
-<values>
-<value code="1">Mode1</value>
-<value code="2">Mode2</value>
-</values>
-</param>
-<param humanName="Set radio to factory test channel" name="BRD_RADIO_TESTCH" documentation="This sets the radio to a fixed test channel for factory testing. Using a fixed channel avoids the need for binding in factory testing." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">TestChan1</value>
-<value code="2">TestChan2</value>
-<value code="3">TestChan3</value>
-<value code="4">TestChan4</value>
-<value code="5">TestChan5</value>
-<value code="6">TestChan6</value>
-<value code="7">TestChan7</value>
-<value code="8">TestChan8</value>
-</values>
-</param>
-<param humanName="RSSI value channel for telemetry data on transmitter" name="BRD_RADIO_TSIGCH" documentation="Channel to show telemetry RSSI value as received by TX" user="Advanced">
-<field name="Range">0 16</field>
-</param>
-<param humanName="Telemetry PPS channel" name="BRD_RADIO_TPPSCH" documentation="Channel to show telemetry packets-per-second value, as received at TX" user="Advanced">
-<field name="Range">0 16</field>
-</param>
-<param humanName="Transmitter transmit power" name="BRD_RADIO_TXMAX" documentation="Set transmitter maximum transmit power (from 1 to 8)" user="Advanced">
-<field name="Range">1 8</field>
-</param>
-<param humanName="Transmitter buzzer adjustment" name="BRD_RADIO_BZOFS" documentation="Set transmitter buzzer note adjustment (adjust frequency up)" user="Advanced">
-<field name="Range">0 40</field>
-</param>
-<param humanName="Auto-bind time" name="BRD_RADIO_ABTIME" documentation="When non-zero this sets the time with no transmitter packets before we start looking for auto-bind packets." user="Advanced">
-<field name="Range">0 120</field>
-</param>
-<param humanName="Auto-bind level" name="BRD_RADIO_ABLVL" documentation="This sets the minimum RSSI of an auto-bind packet for it to be accepted. This should be set so that auto-bind will only happen at short range to minimise the change of an auto-bind happening accidentially" user="Advanced">
-<field name="Range">0 31</field>
-</param>
-</parameters>
-<parameters name="BRD_RTC">
-<param humanName="Allowed sources of RTC time" name="BRD_RTC_TYPES" documentation="Specifies which sources of UTC time will be accepted" user="Advanced">
-<field name="Bitmask">0:GPS,1:MAVLINK_SYSTEM_TIME,2:HW</field>
+<field name="Bitmask">0:ActiveForSafetyEnable,1:ActiveForSafetyDisable,2:ActiveWhenDisarmed</field>
 </param>
 </parameters>
 <parameters name="BTN_">
@@ -1746,14 +1523,26 @@
 <value code="1">TriggerHigh</value>
 </values>
 </param>
-<param humanName="Distance-trigging in AUTO mode only" name="CAM_AUTO_ONLY" documentation="When enabled, trigging by distance is done in AUTO mode only." user="Standard">
+</parameters>
+<parameters name="CAN_D1_">
+<param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_D1_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
 <values>
-<value code="0">Always</value>
-<value code="1">Only when in AUTO</value>
+<value code="0">Disabled</value>
+<value code="1">First driver</value>
+<value code="2">Second driver</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Bitrate of CAN interface" name="CAN_D1_BITRATE" documentation="Bit rate can be set up to from 10000 to 1000000" user="Advanced">
+<field name="Range">10000 1000000</field>
+</param>
+<param humanName="Level of debug for CAN devices" name="CAN_D1_DEBUG" documentation="Enabling this option will provide debug messages" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Major messages</value>
+<value code="2">All messages</value>
 </values>
 </param>
-</parameters>
-<parameters name="CAN_D1_">
 <param humanName="Enable use of specific protocol over virtual driver" name="CAN_D1_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
 <values>
 <value code="0">Disabled</value>
@@ -1772,13 +1561,26 @@
 <param humanName="RC Out channels to be transmitted as ESC over UAVCAN" name="CAN_D1_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN" user="Advanced">
 <field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
 </param>
-<param humanName="Servo output rate" name="CAN_D1_UC_SRV_RT" documentation="Maximum transmit rate for servo outputs" user="Advanced">
-<field name="Range">1 200</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
 </parameters>
 <parameters name="CAN_D2_">
+<param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_D2_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">First driver</value>
+<value code="2">Second driver</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Bitrate of CAN interface" name="CAN_D2_BITRATE" documentation="Bit rate can be set up to from 10000 to 1000000" user="Advanced">
+<field name="Range">10000 1000000</field>
+</param>
+<param humanName="Level of debug for CAN devices" name="CAN_D2_DEBUG" documentation="Enabling this option will provide debug messages" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Major messages</value>
+<value code="2">All messages</value>
+</values>
+</param>
 <param humanName="Enable use of specific protocol over virtual driver" name="CAN_D2_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
 <values>
 <value code="0">Disabled</value>
@@ -1797,13 +1599,26 @@
 <param humanName="RC Out channels to be transmitted as ESC over UAVCAN" name="CAN_D2_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN" user="Advanced">
 <field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
 </param>
-<param humanName="Servo output rate" name="CAN_D2_UC_SRV_RT" documentation="Maximum transmit rate for servo outputs" user="Advanced">
-<field name="Range">1 200</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
 </parameters>
 <parameters name="CAN_D3_">
+<param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_D3_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">First driver</value>
+<value code="2">Second driver</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Bitrate of CAN interface" name="CAN_D3_BITRATE" documentation="Bit rate can be set up to from 10000 to 1000000" user="Advanced">
+<field name="Range">10000 1000000</field>
+</param>
+<param humanName="Level of debug for CAN devices" name="CAN_D3_DEBUG" documentation="Enabling this option will provide debug messages" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Major messages</value>
+<value code="2">All messages</value>
+</values>
+</param>
 <param humanName="Enable use of specific protocol over virtual driver" name="CAN_D3_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
 <values>
 <value code="0">Disabled</value>
@@ -1822,11 +1637,6 @@
 <param humanName="RC Out channels to be transmitted as ESC over UAVCAN" name="CAN_D3_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN" user="Advanced">
 <field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
 </param>
-<param humanName="Servo output rate" name="CAN_D3_UC_SRV_RT" documentation="Maximum transmit rate for servo outputs" user="Advanced">
-<field name="Range">1 200</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
 </parameters>
 <parameters name="CAN_P1_">
 <param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P1_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
@@ -1847,6 +1657,24 @@
 <value code="2">All messages</value>
 </values>
 </param>
+<param humanName="Enable use of specific protocol over virtual driver" name="CAN_P1_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">UAVCAN</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+</parameters>
+<parameters name="CAN_P1_UC_">
+<param humanName="UAVCAN node that is used for this network" name="CAN_P1_UC_NODE" documentation="UAVCAN node should be set implicitly" user="Advanced">
+<field name="Range">1 250</field>
+</param>
+<param humanName="RC Out channels to be transmitted as servo over UAVCAN" name="CAN_P1_UC_SRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over UAVCAN" user="Advanced">
+<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</field>
+</param>
+<param humanName="RC Out channels to be transmitted as ESC over UAVCAN" name="CAN_P1_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN" user="Advanced">
+<field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
+</param>
 </parameters>
 <parameters name="CAN_P2_">
 <param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P2_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
@@ -1867,6 +1695,24 @@
 <value code="2">All messages</value>
 </values>
 </param>
+<param humanName="Enable use of specific protocol over virtual driver" name="CAN_P2_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">UAVCAN</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+</parameters>
+<parameters name="CAN_P2_UC_">
+<param humanName="UAVCAN node that is used for this network" name="CAN_P2_UC_NODE" documentation="UAVCAN node should be set implicitly" user="Advanced">
+<field name="Range">1 250</field>
+</param>
+<param humanName="RC Out channels to be transmitted as servo over UAVCAN" name="CAN_P2_UC_SRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over UAVCAN" user="Advanced">
+<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</field>
+</param>
+<param humanName="RC Out channels to be transmitted as ESC over UAVCAN" name="CAN_P2_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN" user="Advanced">
+<field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
+</param>
 </parameters>
 <parameters name="CAN_P3_">
 <param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P3_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
@@ -1887,6 +1733,24 @@
 <value code="2">All messages</value>
 </values>
 </param>
+<param humanName="Enable use of specific protocol over virtual driver" name="CAN_P3_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">UAVCAN</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+</parameters>
+<parameters name="CAN_P3_UC_">
+<param humanName="UAVCAN node that is used for this network" name="CAN_P3_UC_NODE" documentation="UAVCAN node should be set implicitly" user="Advanced">
+<field name="Range">1 250</field>
+</param>
+<param humanName="RC Out channels to be transmitted as servo over UAVCAN" name="CAN_P3_UC_SRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over UAVCAN" user="Advanced">
+<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</field>
+</param>
+<param humanName="RC Out channels to be transmitted as ESC over UAVCAN" name="CAN_P3_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN" user="Advanced">
+<field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
+</param>
 </parameters>
 <parameters name="CHUTE_">
 <param humanName="Parachute release enabled or disabled" name="CHUTE_ENABLED" documentation="Parachute release enabled or disabled" user="Standard">
@@ -1998,7 +1862,7 @@
 <field name="Units">mGauss/A</field>
 <field name="UnitText">milligauss per ampere</field>
 </param>
-<param humanName="Compass orientation" name="COMPASS_ORIENT" documentation="The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used." user="Advanced">
+<param humanName="Compass orientation" name="COMPASS_ORIENT" documentation="The orientation of the compass relative to the autopilot board. This will default to the right value for each board type, but can be changed if you have an external compass. See the documentation for your external compass for the right value. The correct orientation should give the X axis forward, the Y axis to the right and the Z axis down. So if your aircraft is pointing west it should show a positive value for the Y axis, and a value close to zero for the X axis. On a PX4 or Pixhawk with an external compass the correct value is zero if the compass is correctly oriented. NOTE: This orientation is combined with any AHRS_ORIENTATION setting." user="Advanced">
 <values>
 <value code="0">None</value>
 <value code="1">Yaw45</value>
@@ -2023,7 +1887,7 @@
 <value code="20">Roll270</value>
 <value code="21">Roll270Yaw45</value>
 <value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw135</value>
+<value code="23">Roll270Yaw136</value>
 <value code="24">Pitch90</value>
 <value code="25">Pitch270</value>
 <value code="26">Pitch180Yaw90</value>
@@ -2038,9 +1902,7 @@
 <value code="35">Roll270Pitch270</value>
 <value code="36">Roll90Pitch180Yaw90</value>
 <value code="37">Roll90Yaw270</value>
-<value code="38">Yaw293Pitch68Roll180</value>
-<value code="39">Pitch315</value>
-<value code="40">Roll90Pitch315</value>
+<value code="38">Yaw293Pitch68Roll90</value>
 </values>
 </param>
 <param humanName="Compass is attached via an external cable" name="COMPASS_EXTERNAL" documentation="Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
@@ -2086,7 +1948,7 @@
 <field name="Units">mGauss/A</field>
 <field name="UnitText">milligauss per ampere</field>
 </param>
-<param humanName="Choose primary compass" name="COMPASS_PRIMARY" documentation="If more than one compass is available, this selects which compass is the primary. When external compasses are connected, they will be ordered first. NOTE: If no external compass is attached, this parameter is ignored." user="Advanced">
+<param humanName="Choose primary compass" name="COMPASS_PRIMARY" documentation="If more than one compass is available this selects which compass is the primary. Normally 0=External, 1=Internal. If no External compass is attached this parameter is ignored" user="Advanced">
 <values>
 <value code="0">FirstCompass</value>
 <value code="1">SecondCompass</value>
@@ -2141,7 +2003,7 @@
 <value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Compass2 orientation" name="COMPASS_ORIENT2" documentation="The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used." user="Advanced">
+<param humanName="Compass2 orientation" name="COMPASS_ORIENT2" documentation="The orientation of the second compass relative to the frame (if external) or autopilot board (if internal)." user="Advanced">
 <values>
 <value code="0">None</value>
 <value code="1">Yaw45</value>
@@ -2166,7 +2028,7 @@
 <value code="20">Roll270</value>
 <value code="21">Roll270Yaw45</value>
 <value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw135</value>
+<value code="23">Roll270Yaw136</value>
 <value code="24">Pitch90</value>
 <value code="25">Pitch270</value>
 <value code="26">Pitch180Yaw90</value>
@@ -2181,9 +2043,7 @@
 <value code="35">Roll270Pitch270</value>
 <value code="36">Roll90Pitch180Yaw90</value>
 <value code="37">Roll90Yaw270</value>
-<value code="38">Yaw293Pitch68Roll180</value>
-<value code="39">Pitch315</value>
-<value code="40">Roll90Pitch315</value>
+<value code="38">Yaw293Pitch68Roll90</value>
 </values>
 </param>
 <param humanName="Compass2 is attached via an external cable" name="COMPASS_EXTERN2" documentation="Configure second compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
@@ -2199,7 +2059,7 @@
 <value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Compass3 orientation" name="COMPASS_ORIENT3" documentation="The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used." user="Advanced">
+<param humanName="Compass3 orientation" name="COMPASS_ORIENT3" documentation="The orientation of the third compass relative to the frame (if external) or autopilot board (if internal)." user="Advanced">
 <values>
 <value code="0">None</value>
 <value code="1">Yaw45</value>
@@ -2224,7 +2084,7 @@
 <value code="20">Roll270</value>
 <value code="21">Roll270Yaw45</value>
 <value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw135</value>
+<value code="23">Roll270Yaw136</value>
 <value code="24">Pitch90</value>
 <value code="25">Pitch270</value>
 <value code="26">Pitch180Yaw90</value>
@@ -2239,9 +2099,7 @@
 <value code="35">Roll270Pitch270</value>
 <value code="36">Roll90Pitch180Yaw90</value>
 <value code="37">Roll90Yaw270</value>
-<value code="38">Yaw293Pitch68Roll180</value>
-<value code="39">Pitch315</value>
-<value code="40">Roll90Pitch315</value>
+<value code="38">Yaw293Pitch68Roll90</value>
 </values>
 </param>
 <param humanName="Compass3 is attached via an external cable" name="COMPASS_EXTERN3" documentation="Configure third compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
@@ -2302,49 +2160,7 @@
 <field name="Increment">1</field>
 </param>
 <param humanName="Compass disable driver type mask" name="COMPASS_TYPEMASK" documentation="This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup" user="Advanced">
-<field name="Bitmask">0:HMC5883,1:LSM303D,2:AK8963,3:BMM150,4:LSM9DS1,5:LIS3MDL,6:AK09916,7:IST8310,8:ICM20948,9:MMC3416,11:UAVCAN,12:QMC5883</field>
-</param>
-<param humanName="Range in which sample is accepted" name="COMPASS_FLTR_RNG" documentation="This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">%</field>
-<field name="UnitText">percent</field>
-</param>
-</parameters>
-<parameters name="COMPASS_PMOT">
-<param humanName="per-motor compass correction enable" name="COMPASS_PMOT_EN" documentation="This enables per-motor compass corrections" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="per-motor exponential correction" name="COMPASS_PMOT_EXP" documentation="This is the exponential correction for the power output of the motor for per-motor compass correction" user="Advanced">
-<field name="Range">0 2</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Compass per-motor1 X" name="COMPASS_PMOT1_X" documentation="Compensation for X axis of motor1" user="Advanced">
-</param>
-<param humanName="Compass per-motor1 Y" name="COMPASS_PMOT1_Y" documentation="Compensation for Y axis of motor1" user="Advanced">
-</param>
-<param humanName="Compass per-motor1 Z" name="COMPASS_PMOT1_Z" documentation="Compensation for Z axis of motor1" user="Advanced">
-</param>
-<param humanName="Compass per-motor2 X" name="COMPASS_PMOT2_X" documentation="Compensation for X axis of motor2" user="Advanced">
-</param>
-<param humanName="Compass per-motor2 Y" name="COMPASS_PMOT2_Y" documentation="Compensation for Y axis of motor2" user="Advanced">
-</param>
-<param humanName="Compass per-motor2 Z" name="COMPASS_PMOT2_Z" documentation="Compensation for Z axis of motor2" user="Advanced">
-</param>
-<param humanName="Compass per-motor3 X" name="COMPASS_PMOT3_X" documentation="Compensation for X axis of motor3" user="Advanced">
-</param>
-<param humanName="Compass per-motor3 Y" name="COMPASS_PMOT3_Y" documentation="Compensation for Y axis of motor3" user="Advanced">
-</param>
-<param humanName="Compass per-motor3 Z" name="COMPASS_PMOT3_Z" documentation="Compensation for Z axis of motor3" user="Advanced">
-</param>
-<param humanName="Compass per-motor4 X" name="COMPASS_PMOT4_X" documentation="Compensation for X axis of motor4" user="Advanced">
-</param>
-<param humanName="Compass per-motor4 Y" name="COMPASS_PMOT4_Y" documentation="Compensation for Y axis of motor4" user="Advanced">
-</param>
-<param humanName="Compass per-motor4 Z" name="COMPASS_PMOT4_Z" documentation="Compensation for Z axis of motor4" user="Advanced">
+<field name="Bitmask">0:HMC5883,1:LSM303D,2:AK8963,3:BMM150,4:LSM9DS1,5:LIS3MDL,6:AK09916,7:IST8310,8:ICM20948,9:MMC3416,10:QFLIGHT,11:UAVCAN,12:QMC5883</field>
 </param>
 </parameters>
 <parameters name="EK2_">
@@ -2409,7 +2225,6 @@
 <value code=" 2">Use GPS</value>
 <value code=" 3">Use Range Beacon</value>
 </values>
-<field name="RebootRequired">True</field>
 </param>
 <param humanName="Altitude measurement noise (m)" name="EK2_ALT_M_NSE" documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors." user="Advanced">
 <field name="Range">0.1 10.0</field>
@@ -2929,7 +2744,7 @@
 <field name="Units">m</field>
 <field name="UnitText">meters</field>
 </param>
-<param humanName="Address on the bus" name="FLOW_ADDR" documentation="This is used to select between multiple possible I2C addresses for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus." user="Advanced">
+<param humanName="ID on the bus" name="FLOW_BUS_ID" documentation="This is used to select between multiple possible bus IDs for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus." user="Advanced">
 <field name="Range">0 127</field>
 </param>
 </parameters>
@@ -2983,12 +2798,6 @@
 <field name="Units">Pa</field>
 <field name="UnitText">pascal</field>
 </param>
-<param humanName="Range in which sample is accepted" name="GND_FLTR_RNG" documentation="This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">%</field>
-<field name="UnitText">percent</field>
-</param>
 </parameters>
 <parameters name="GPS_">
 <param humanName="GPS type" name="GPS_TYPE" documentation="GPS type" user="Advanced">
@@ -3005,6 +2814,7 @@
 <value code="9">UAVCAN</value>
 <value code="10">SBF</value>
 <value code="11">GSOF</value>
+<value code="12">QURT</value>
 <value code="13">ERB</value>
 <value code="14">MAV</value>
 <value code="15">NOVA</value>
@@ -3025,6 +2835,7 @@
 <value code="9">UAVCAN</value>
 <value code="10">SBF</value>
 <value code="11">GSOF</value>
+<value code="12">QURT</value>
 <value code="13">ERB</value>
 <value code="14">MAV</value>
 <value code="15">NOVA</value>
@@ -3084,12 +2895,11 @@
 <value code="-256">External only (0xFF00)</value>
 </values>
 </param>
-<param humanName="Raw data logging" name="GPS_RAW_DATA" documentation="Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into dataflash log; on Septentrio this will log on the equipment's SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming" user="Advanced">
+<param humanName="Raw data logging" name="GPS_RAW_DATA" documentation="Enable logging of RXM raw data from uBlox which includes carrier phase and pseudo range information. This allows for post processing of dataflash logs for more precise positioning. Note that this requires a raw capable uBlox such as the 6P or 6T." user="Advanced">
 <values>
-<value code="0">Ignore</value>
-<value code="1">Always log</value>
-<value code="2">Stop logging when disarmed (SBF only)</value>
-<value code="5">Only log every five samples (uBlox only)</value>
+<value code="0">Disabled</value>
+<value code="1">log every sample</value>
+<value code="5">log every 5 samples</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -3201,44 +3011,6 @@
 <field name="UnitText">seconds</field>
 </param>
 </parameters>
-<parameters name="GRIP_">
-<param humanName="Gripper Enable/Disable" name="GRIP_ENABLE" documentation="Gripper enable/disable" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="Gripper Type" name="GRIP_TYPE" documentation="Gripper enable/disable" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Servo</value>
-<value code="2">EPM</value>
-</values>
-</param>
-<param humanName="Gripper Grab PWM" name="GRIP_GRAB" documentation="PWM value in microseconds sent to Gripper to initiate grabbing the cargo" user="Advanced">
-<field name="Range">1000 2000</field>
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="Gripper Release PWM" name="GRIP_RELEASE" documentation="PWM value in microseconds sent to Gripper to release the cargo" user="Advanced">
-<field name="Range">1000 2000</field>
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="Neutral PWM" name="GRIP_NEUTRAL" documentation="PWM value in microseconds sent to grabber when not grabbing or releasing" user="Advanced">
-<field name="Range">1000 2000</field>
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
-</param>
-<param humanName="Gripper Regrab interval" name="GRIP_REGRAB" documentation="Time in seconds that gripper will regrab the cargo to ensure grip has not weakened; 0 to disable" user="Advanced">
-<field name="Range">0 255</field>
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
-</param>
-<param humanName="EPM UAVCAN Hardpoint ID" name="GRIP_UAVCAN_ID" documentation="Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface" user="Standard">
-<field name="Range">0 255</field>
-</param>
-</parameters>
 <parameters name="ICE_">
 <param humanName="Enable ICEngine control" name="ICE_ENABLE" documentation="This enables internal combusion engine control" user="Advanced">
 <values>
@@ -3520,58 +3292,6 @@
 <field name="ReadOnly">True</field>
 </param>
 <param humanName="Fast sampling mask" name="INS_FAST_SAMPLE" documentation="Mask of IMUs to enable fast sampling on, if available" user="Advanced">
-<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU</field>
-<values>
-<value code="1">FirstIMUOnly</value>
-<value code="3">FirstAndSecondIMU</value>
-</values>
-</param>
-</parameters>
-<parameters name="INS_LOG_">
-<param humanName="sample count per batch" name="INS_LOG_BAT_CNT" documentation="Number of samples to take when logging streams of IMU sensor readings.  Will be rounded down to a multiple of 32." user="Advanced">
-<field name="Increment">32</field>
-</param>
-<param humanName="Sensor Bitmask" name="INS_LOG_BAT_MASK" documentation="Bitmap of which IMUs to log batch data for" user="Advanced">
-<field name="Bitmask">0:IMU1,1:IMU2,2:IMU3</field>
-<values>
-<value code="0">None</value>
-<value code="1">First IMU</value>
-<value code="255">All</value>
-</values>
-</param>
-<param humanName="Batch Logging Options Mask" name="INS_LOG_BAT_OPT" documentation="Options for the BatchSampler" user="Advanced">
-<field name="Bitmask">0:Sensor-Rate Logging (sample at full sensor rate seen by AP)</field>
-</param>
-<param humanName="logging interval" name="INS_LOG_BAT_LGIN" documentation="Interval between pushing samples to the DataFlash log">
-<field name="Units">ms</field>
-<field name="UnitText">milliseconds</field>
-<field name="Increment">10</field>
-</param>
-<param humanName="logging count" name="INS_LOG_BAT_LGCT" documentation="Number of samples to push to count every INS_LOG_BAT_LGIN">
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="INS_NOTCH_">
-<param humanName="Enable" name="INS_NOTCH_ENABLE" documentation="Enable notch filter" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Frequency" name="INS_NOTCH_FREQ" documentation="Notch center frequency in Hz" user="Advanced">
-<field name="Range">10 200</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="Bandwidth" name="INS_NOTCH_BW" documentation="Notch bandwidth in Hz" user="Advanced">
-<field name="Range">5 50</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="Attenuation" name="INS_NOTCH_ATT" documentation="Notch attenuation in dB" user="Advanced">
-<field name="Range">5 30</field>
-<field name="Units">dB</field>
-<field name="UnitText">decibel</field>
 </param>
 </parameters>
 <parameters name="LAND_">
@@ -3704,9 +3424,6 @@
 <param humanName="Deepstall L1 I gain" name="LAND_DS_L1_I" documentation="Deepstall L1 integratior gain" user="Advanced">
 <field name="Range">0 1</field>
 </param>
-<param humanName="Aileron landing gain scalaing" name="LAND_DS_AIL_SCL" documentation="A scalar to reduce or increase the aileron control" user="Advanced">
-<field name="Range">0 2.0</field>
-</param>
 </parameters>
 <parameters name="LAND_DS_DS_">
 <param humanName="PID Proportional Gain" name="LAND_DS_DS_P" documentation="P Gain which produces an output value that is proportional to the current error value">
@@ -3747,10 +3464,6 @@
 <value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Maximum DataFlash MAVLink Backend buffer size" name="LOG_MAV_BUFSIZE" documentation="Maximum amount of memory to allocate to DataFlash-over-mavlink" user="Advanced">
-<field name="Units">kB</field>
-<field name="UnitText">kilobytes</field>
-</param>
 </parameters>
 <parameters name="MIS_">
 <param humanName="Total mission commands" name="MIS_TOTAL" documentation="The number of mission mission items that has been loaded by the ground station. Do not change this manually." user="Advanced">
@@ -3763,9 +3476,6 @@
 <value code=" 1">Restart Mission</value>
 </values>
 </param>
-<param humanName="Mission options bitmask" name="MIS_OPTIONS" documentation="Bitmask of what options to use in missions." user="Advanced">
-<field name="Bitmask">0:Clear Mission on reboot</field>
-</param>
 </parameters>
 <parameters name="MNT">
 <param humanName="Mount default operating mode" name="MNT_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
@@ -4150,11 +3860,6 @@
 <value code="2">Rover</value>
 </values>
 </param>
-<param humanName="Buzzer pin" name="NTF_BUZZ_PIN" documentation="Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET!" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-</values>
-</param>
 </parameters>
 <parameters name="PTCH2SRV_">
 <param humanName="Pitch Time Constant" name="PTCH2SRV_TCONST" documentation="This controls the time constant in seconds from demanded to achieved pitch angle. A value of 0.5 is a good default and will work with nearly all models. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the aircraft can achieve." user="Advanced">
@@ -4218,6 +3923,48 @@
 <field name="Units">ms</field>
 <field name="UnitText">milliseconds</field>
 </param>
+<param humanName="Position (vertical) controller P gain" name="Q_PZ_P" documentation="Position (vertical) controller P gain.  Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller" user="Standard">
+<field name="Range">1.000 3.000</field>
+</param>
+<param humanName="Position (horizonal) controller P gain" name="Q_PXY_P" documentation="Loiter position controller P gain.  Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller" user="Standard">
+<field name="Range">0.500 2.000</field>
+</param>
+<param humanName="Velocity (horizontal) P gain" name="Q_VXY_P" documentation="Velocity (horizontal) P gain.  Converts the difference between desired velocity to a target acceleration" user="Advanced">
+<field name="Range">0.1 6.0</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Velocity (horizontal) I gain" name="Q_VXY_I" documentation="Velocity (horizontal) I gain.  Corrects long-term difference in desired velocity to a target acceleration" user="Advanced">
+<field name="Range">0.02 1.00</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Velocity (horizontal) integrator maximum" name="Q_VXY_IMAX" documentation="Velocity (horizontal) integrator maximum.  Constrains the target acceleration that the I gain will output" user="Advanced">
+<field name="Range">0 4500</field>
+<field name="Increment">10</field>
+<field name="Units">cm/s/s</field>
+<field name="UnitText">centimeters per square second</field>
+</param>
+<param humanName="Velocity (vertical) P gain" name="Q_VZ_P" documentation="Velocity (vertical) P gain.  Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller" user="Standard">
+<field name="Range">1.000 8.000</field>
+</param>
+<param humanName="Throttle acceleration controller P gain" name="Q_AZ_P" documentation="Throttle acceleration controller P gain.  Converts the difference between desired vertical acceleration and actual acceleration into a motor output" user="Standard">
+<field name="Range">0.500 1.500</field>
+</param>
+<param humanName="Throttle acceleration controller I gain" name="Q_AZ_I" documentation="Throttle acceleration controller I gain.  Corrects long-term difference in desired vertical acceleration and actual acceleration" user="Standard">
+<field name="Range">0.000 3.000</field>
+</param>
+<param humanName="Throttle acceleration controller I gain maximum" name="Q_AZ_IMAX" documentation="Throttle acceleration controller I gain maximum.  Constrains the maximum pwm that the I term will generate" user="Standard">
+<field name="Range">0 1000</field>
+<field name="Units">d%</field>
+<field name="UnitText">decipercent</field>
+</param>
+<param humanName="Throttle acceleration controller D gain" name="Q_AZ_D" documentation="Throttle acceleration controller D gain.  Compensates for short-term change in desired vertical acceleration vs actual acceleration" user="Standard">
+<field name="Range">0.000 0.400</field>
+</param>
+<param humanName="Throttle acceleration filter" name="Q_AZ_FILT_HZ" documentation="Filter applied to acceleration to reduce noise.  Lower values reduce noise but add delay." user="Standard">
+<field name="Range">1.000 100.000</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
 <param humanName="Pilot maximum vertical speed" name="Q_VELZ_MAX" documentation="The maximum vertical velocity the pilot may request in cm/s" user="Standard">
 <field name="Range">50 500</field>
 <field name="Increment">10</field>
@@ -4239,14 +3986,14 @@
 <param humanName="Minimum PWM output" name="Q_THR_MIN_PWM" documentation="This is the minimum PWM output for the quad motors" user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
 <param humanName="Maximum PWM output" name="Q_THR_MAX_PWM" documentation="This is the maximum PWM output for the quad motors" user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">PWM</field>
-<field name="UnitText">PWM in microseconds</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
 <param humanName="Quadplane assistance speed" name="Q_ASSIST_SPEED" documentation="This is the speed below which the quad motors will provide stability and lift assistance in fixed wing modes. Zero means no assistance except during transition" user="Standard">
 <field name="Range">0 100</field>
@@ -4415,162 +4162,50 @@
 <field name="Range">0 1</field>
 <field name="Increment">0.01</field>
 </param>
-<param humanName="Tilt minimum angle for vectored yaw" name="Q_TILT_YAW_ANGLE" documentation="This is the angle of the tilt servos when in VTOL mode and at minimum output. This needs to be set for Q_TILT_TYPE=3 to enable vectored control for yaw of tricopter tilt quadplanes.">
-<field name="Range">0 30</field>
-</param>
-<param humanName="Tailsitter vector thrust gain power" name="Q_TAILSIT_VHPOW" documentation="This controls the amount of extra pitch given to the vectored control when at high pitch errors">
-<field name="Range">0 4</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="MAVLink type identifier" name="Q_MAV_TYPE" documentation="This controls the mavlink type given in HEARTBEAT messages. For some GCS types a particular setting will be needed for correct operation.">
-<values>
-<value code="0">AUTO</value>
-<value code="1">FIXED_WING</value>
-<value code="2">QUADROTOR</value>
-<value code="3">COAXIAL</value>
-<value code="4">HELICOPTER</value>
-<value code="7">AIRSHIP</value>
-<value code="8">FREE_BALLOON</value>
-<value code="9">ROCKET</value>
-<value code="10">GROUND_ROVER</value>
-<value code="11">SURFACE_BOAT</value>
-<value code="12">SUBMARINE</value>
-<value code="16">FLAPPING_WING</value>
-<value code="17">KITE</value>
-<value code="19">VTOL_DUOROTOR</value>
-<value code="20">VTOL_QUADROTOR</value>
-<value code="21">VTOL_TILTROTOR</value>
-</values>
-</param>
-<param humanName="quadplane options" name="Q_OPTIONS" documentation="This provides a set of additional control options for quadplanes. LevelTransition means that the wings should be held level to within LEVEL_ROLL_LIMIT degrees during transition to fixed wing flight. If AllowFWTakeoff bit is not set then fixed wing takeoff on quadplanes will instead perform a VTOL takeoff. If AllowFWLand bit is not set then fixed wing land on quadplanes will instead perform a VTOL land.">
-<field name="Bitmask">0:LevelTransition,1:AllowFWTakeoff,2:AllowFWLand</field>
-</param>
-<param humanName="Transition deceleration" name="Q_TRANS_DECEL" documentation="This is deceleration rate that will be used in calculating the stopping distance when transitioning from fixed wing flight to multicopter flight." user="Standard">
-<field name="Range">0.2 5</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s/s</field>
-<field name="UnitText">meters per square second</field>
-</param>
-</parameters>
-<parameters name="Q_A_">
-<param humanName="Yaw target slew rate" name="Q_A_SLEW_YAW" documentation="Maximum rate the yaw target can be updated in Loiter, RTL, Auto flight modes" user="Advanced">
-<field name="Range">500 18000</field>
-<field name="Increment">100</field>
-<field name="Units">cdeg/s</field>
-<field name="UnitText">centidegrees per second</field>
-</param>
-<param humanName="Acceleration Max for Yaw" name="Q_A_ACCEL_Y_MAX" documentation="Maximum acceleration in yaw axis" user="Advanced">
-<field name="Range">0 72000</field>
-<values>
-<value code="0">Disabled</value>
-<value code=" 9000">VerySlow</value>
-<value code=" 18000">Slow</value>
-<value code=" 36000">Medium</value>
-<value code=" 54000">Fast</value>
-</values>
-<field name="Increment">1000</field>
-<field name="Units">cdeg/s/s</field>
-<field name="UnitText">centidegrees per square second</field>
-</param>
-<param humanName="Rate Feedforward Enable" name="Q_A_RATE_FF_ENAB" documentation="Controls whether body-frame rate feedfoward is enabled or disabled" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="Acceleration Max for Roll" name="Q_A_ACCEL_R_MAX" documentation="Maximum acceleration in roll axis" user="Advanced">
-<field name="Range">0 180000</field>
-<values>
-<value code="0">Disabled</value>
-<value code=" 30000">VerySlow</value>
-<value code=" 72000">Slow</value>
-<value code=" 108000">Medium</value>
-<value code=" 162000">Fast</value>
-</values>
-<field name="Increment">1000</field>
-<field name="Units">cdeg/s/s</field>
-<field name="UnitText">centidegrees per square second</field>
-</param>
-<param humanName="Acceleration Max for Pitch" name="Q_A_ACCEL_P_MAX" documentation="Maximum acceleration in pitch axis" user="Advanced">
-<field name="Range">0 180000</field>
-<values>
-<value code="0">Disabled</value>
-<value code=" 30000">VerySlow</value>
-<value code=" 72000">Slow</value>
-<value code=" 108000">Medium</value>
-<value code=" 162000">Fast</value>
-</values>
-<field name="Increment">1000</field>
-<field name="Units">cdeg/s/s</field>
-<field name="UnitText">centidegrees per square second</field>
-</param>
-<param humanName="Angle Boost" name="Q_A_ANGLE_BOOST" documentation="Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="Roll axis angle controller P gain" name="Q_A_ANG_RLL_P" documentation="Roll axis angle controller P gain.  Converts the error between the desired roll angle and actual angle to a desired roll rate" user="Standard">
-<field name="Range">3.000 12.000</field>
-</param>
-<param humanName="Pitch axis angle controller P gain" name="Q_A_ANG_PIT_P" documentation="Pitch axis angle controller P gain.  Converts the error between the desired pitch angle and actual angle to a desired pitch rate" user="Standard">
-<field name="Range">3.000 12.000</field>
-</param>
-<param humanName="Yaw axis angle controller P gain" name="Q_A_ANG_YAW_P" documentation="Yaw axis angle controller P gain.  Converts the error between the desired yaw angle and actual angle to a desired yaw rate" user="Standard">
-<field name="Range">3.000 6.000</field>
-</param>
-<param humanName="Angle Limit (to maintain altitude) Time Constant" name="Q_A_ANG_LIM_TC" documentation="Angle Limit (to maintain altitude) Time Constant" user="Advanced">
-<field name="Range">0.5 10.0</field>
-</param>
-<param humanName="Angular Velocity Max for Roll" name="Q_A_RATE_R_MAX" documentation="Maximum angular velocity in roll axis" user="Advanced">
-<field name="Range">0 1080</field>
-<values>
-<value code="0">Disabled</value>
-<value code=" 360">Slow</value>
-<value code=" 720">Medium</value>
-<value code=" 1080">Fast</value>
-</values>
-<field name="Increment">1</field>
-<field name="Units">deg/s</field>
-<field name="UnitText">degrees per second</field>
-</param>
-<param humanName="Angular Velocity Max for Pitch" name="Q_A_RATE_P_MAX" documentation="Maximum angular velocity in pitch axis" user="Advanced">
-<field name="Range">0 1080</field>
-<values>
-<value code="0">Disabled</value>
-<value code=" 360">Slow</value>
-<value code=" 720">Medium</value>
-<value code=" 1080">Fast</value>
-</values>
-<field name="Increment">1</field>
-<field name="Units">deg/s</field>
-<field name="UnitText">degrees per second</field>
+<param humanName="Tilt minimum angle for vectored yaw" name="Q_TILT_YAW_ANGLE" documentation="This is the angle of the tilt servos when in VTOL mode and at minimum output. This needs to be set for Q_TILT_TYPE=3 to enable vectored control for yaw of tricopter tilt quadplanes.">
+<field name="Range">0 30</field>
 </param>
-<param humanName="Angular Velocity Max for Pitch" name="Q_A_RATE_Y_MAX" documentation="Maximum angular velocity in pitch axis" user="Advanced">
-<field name="Range">0 1080</field>
+<param humanName="Tailsitter vector thrust gain power" name="Q_TAILSIT_VHPOW" documentation="This controls the amount of extra pitch given to the vectored control when at high pitch errors">
+<field name="Range">0 4</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="MAVLink type identifier" name="Q_MAV_TYPE" documentation="This controls the mavlink type given in HEARTBEAT messages. For some GCS types a particular setting will be needed for correct operation.">
 <values>
-<value code="0">Disabled</value>
-<value code=" 360">Slow</value>
-<value code=" 720">Medium</value>
-<value code=" 1080">Fast</value>
+<value code="0">AUTO</value>
+<value code="1">FIXED_WING</value>
+<value code="2">QUADROTOR</value>
+<value code="3">COAXIAL</value>
+<value code="4">HELICOPTER</value>
+<value code="7">AIRSHIP</value>
+<value code="8">FREE_BALLOON</value>
+<value code="9">ROCKET</value>
+<value code="10">GROUND_ROVER</value>
+<value code="11">SURFACE_BOAT</value>
+<value code="12">SUBMARINE</value>
+<value code="16">FLAPPING_WING</value>
+<value code="17">KITE</value>
+<value code="19">VTOL_DUOROTOR</value>
+<value code="20">VTOL_QUADROTOR</value>
+<value code="21">VTOL_TILTROTOR</value>
 </values>
-<field name="Increment">1</field>
-<field name="Units">deg/s</field>
-<field name="UnitText">degrees per second</field>
 </param>
-<param humanName="Attitude control input time constant (aka smoothing)" name="Q_A_INPUT_TC" documentation="Attitude control input time constant.  Low numbers lead to sharper response, higher numbers to softer response" user="Standard">
-<field name="Range">0 1</field>
-<field name="Values">0.5:Very Soft, 0.2:Soft, 0.15:Medium, 0.1:Crisp, 0.05:Very Crisp</field>
-<field name="Increment">0.01</field>
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
+<param humanName="quadplane options" name="Q_OPTIONS" documentation="This provides a set of additional control options for quadplanes. LevelTransition means that the wings should be held level to within LEVEL_ROLL_LIMIT degrees during transition to fixed wing flight. If AllowFWTakeoff is disabled then fixed wing takeoff on quadplanes will instead perform a VTOL takeoff. If AllowFWLand is disabled then fixed wing land on quadplanes will instead perform a VTOL land.">
+<field name="Bitmask">0:LevelTransition,1:AllowFWTakeoff,2:AllowFWLand</field>
+</param>
+<param humanName="Transition deceleration" name="Q_TRANS_DECEL" documentation="This is deceleration rate that will be used in calculating the stopping distance when transitioning from fixed wing flight to multicopter flight." user="Standard">
+<field name="Range">0.2 5</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
 </param>
+</parameters>
+<parameters name="Q_A_">
 <param humanName="Roll axis rate controller P gain" name="Q_A_RAT_RLL_P" documentation="Roll axis rate controller P gain.  Converts the difference between desired roll rate and actual roll rate into a motor speed output" user="Standard">
-<field name="Range">0.05 0.5</field>
+<field name="Range">0.08 0.30</field>
 <field name="Increment">0.005</field>
 </param>
 <param humanName="Roll axis rate controller I gain" name="Q_A_RAT_RLL_I" documentation="Roll axis rate controller I gain.  Corrects long-term difference in desired roll rate vs actual roll rate" user="Standard">
-<field name="Range">0.01 2.0</field>
+<field name="Range">0.01 0.5</field>
 <field name="Increment">0.01</field>
 </param>
 <param humanName="Roll axis rate controller I gain maximum" name="Q_A_RAT_RLL_IMAX" documentation="Roll axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
@@ -4594,11 +4229,11 @@
 <field name="UnitText">hertz</field>
 </param>
 <param humanName="Pitch axis rate controller P gain" name="Q_A_RAT_PIT_P" documentation="Pitch axis rate controller P gain.  Converts the difference between desired pitch rate and actual pitch rate into a motor speed output" user="Standard">
-<field name="Range">0.05 0.50</field>
+<field name="Range">0.08 0.30</field>
 <field name="Increment">0.005</field>
 </param>
 <param humanName="Pitch axis rate controller I gain" name="Q_A_RAT_PIT_I" documentation="Pitch axis rate controller I gain.  Corrects long-term difference in desired pitch rate vs actual pitch rate" user="Standard">
-<field name="Range">0.01 2.0</field>
+<field name="Range">0.01 0.5</field>
 <field name="Increment">0.01</field>
 </param>
 <param humanName="Pitch axis rate controller I gain maximum" name="Q_A_RAT_PIT_IMAX" documentation="Pitch axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
@@ -4622,11 +4257,11 @@
 <field name="UnitText">hertz</field>
 </param>
 <param humanName="Yaw axis rate controller P gain" name="Q_A_RAT_YAW_P" documentation="Yaw axis rate controller P gain.  Converts the difference between desired yaw rate and actual yaw rate into a motor speed output" user="Standard">
-<field name="Range">0.10 2.50</field>
+<field name="Range">0.10 0.50</field>
 <field name="Increment">0.005</field>
 </param>
 <param humanName="Yaw axis rate controller I gain" name="Q_A_RAT_YAW_I" documentation="Yaw axis rate controller I gain.  Corrects long-term difference in desired yaw rate vs actual yaw rate" user="Standard">
-<field name="Range">0.010 1.0</field>
+<field name="Range">0.010 0.05</field>
 <field name="Increment">0.01</field>
 </param>
 <param humanName="Yaw axis rate controller I gain maximum" name="Q_A_RAT_YAW_IMAX" documentation="Yaw axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
@@ -4644,7 +4279,7 @@
 <field name="Increment">0.001</field>
 </param>
 <param humanName="Yaw axis rate controller input frequency in Hz" name="Q_A_RAT_YAW_FILT" documentation="Yaw axis rate controller input frequency in Hz" user="Standard">
-<field name="Range">1 10</field>
+<field name="Range">1 100</field>
 <field name="Increment">1</field>
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
@@ -4656,45 +4291,7 @@
 <field name="Range">0.5 0.9</field>
 </param>
 <param humanName="Throttle Mix Manual" name="Q_A_THR_MIX_MAN" documentation="Throttle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle)" user="Advanced">
-<field name="Range">0.1 0.9</field>
-</param>
-</parameters>
-<parameters name="Q_LOIT_">
-<param humanName="Loiter Angle Max" name="Q_LOIT_ANG_MAX" documentation="Loiter maximum lean angle. Set to zero for 2/3 of PSC_ANGLE_MAX or ANGLE_MAX" user="Advanced">
-<field name="Range">0 45</field>
-<field name="Increment">1</field>
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-</param>
-<param humanName="Loiter Horizontal Maximum Speed" name="Q_LOIT_SPEED" documentation="Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode" user="Standard">
-<field name="Range">20 2000</field>
-<field name="Increment">50</field>
-<field name="Units">cm/s</field>
-<field name="UnitText">centimeters per second</field>
-</param>
-<param humanName="Loiter maximum correction acceleration" name="Q_LOIT_ACC_MAX" documentation="Loiter maximum correction acceleration in cm/s/s.  Higher values cause the copter to correct position errors more aggressively." user="Advanced">
-<field name="Range">100 981</field>
-<field name="Increment">1</field>
-<field name="Units">cm/s/s</field>
-<field name="UnitText">centimeters per square second</field>
-</param>
-<param humanName="Loiter braking acceleration" name="Q_LOIT_BRK_ACCEL" documentation="Loiter braking acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered." user="Advanced">
-<field name="Range">25 250</field>
-<field name="Increment">1</field>
-<field name="Units">cm/s/s</field>
-<field name="UnitText">centimeters per square second</field>
-</param>
-<param humanName="Loiter braking jerk" name="Q_LOIT_BRK_JERK" documentation="Loiter braking jerk in cm/s/s/s. Higher values will remove braking faster if the pilot moves the sticks during a braking manuver." user="Advanced">
-<field name="Range">500 5000</field>
-<field name="Increment">1</field>
-<field name="Units">cm/s/s/s</field>
-<field name="UnitText">centimeters per cubic second</field>
-</param>
-<param humanName="Loiter brake start delay (in seconds)" name="Q_LOIT_BRK_DELAY" documentation="Loiter brake start delay (in seconds)" user="Advanced">
-<field name="Range">0 2</field>
-<field name="Increment">0.1</field>
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
+<field name="Range">0.5 0.9</field>
 </param>
 </parameters>
 <parameters name="Q_M_">
@@ -4724,16 +4321,12 @@
 <field name="Units">A</field>
 <field name="UnitText">ampere</field>
 </param>
-<param humanName="Output PWM type" name="Q_M_PWM_TYPE" documentation="This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output" user="Advanced">
+<param humanName="Output PWM type" name="Q_M_PWM_TYPE" documentation="This selects the output PWM type, allowing for normal PWM continuous output, OneShot or brushed motor output" user="Advanced">
 <values>
 <value code="0">Normal</value>
 <value code="1">OneShot</value>
 <value code="2">OneShot125</value>
 <value code="3">Brushed</value>
-<value code="4">DShot150</value>
-<value code="5">DShot300</value>
-<value code="6">DShot600</value>
-<value code="7">DShot1200</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -4790,12 +4383,6 @@
 <field name="Range">0 5</field>
 <field name="Increment">0.1</field>
 </param>
-<param humanName="Battery compensation index" name="Q_M_BAT_IDX" documentation="Which battery monitor should be used for doing compensation" user="Advanced">
-<values>
-<value code="0">First battery</value>
-<value code=" 1">Second battery</value>
-</values>
-</param>
 </parameters>
 <parameters name="Q_P_">
 <param humanName="XY Acceleration filter cutoff frequency" name="Q_P__ACC_XY_FILT" documentation="Lower values will slow the response of the navigation controller and reduce twitchiness" user="Advanced">
@@ -4804,69 +4391,6 @@
 <field name="Units">Hz</field>
 <field name="UnitText">hertz</field>
 </param>
-<param humanName="Position (vertical) controller P gain" name="Q_P__POSZ_P" documentation="Position (vertical) controller P gain.  Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller" user="Standard">
-<field name="Range">1.000 3.000</field>
-</param>
-<param humanName="Velocity (vertical) controller P gain" name="Q_P__VELZ_P" documentation="Velocity (vertical) controller P gain.  Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller" user="Standard">
-<field name="Range">1.000 8.000</field>
-</param>
-<param humanName="Acceleration (vertical) controller P gain" name="Q_P__ACCZ_P" documentation="Acceleration (vertical) controller P gain.  Converts the difference between desired vertical acceleration and actual acceleration into a motor output" user="Standard">
-<field name="Range">0.500 1.500</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Acceleration (vertical) controller I gain" name="Q_P__ACCZ_I" documentation="Acceleration (vertical) controller I gain.  Corrects long-term difference in desired vertical acceleration and actual acceleration" user="Standard">
-<field name="Range">0.000 3.000</field>
-</param>
-<param humanName="Acceleration (vertical) controller I gain maximum" name="Q_P__ACCZ_IMAX" documentation="Acceleration (vertical) controller I gain maximum.  Constrains the maximum pwm that the I term will generate" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Units">d%</field>
-<field name="UnitText">decipercent</field>
-</param>
-<param humanName="Acceleration (vertical) controller D gain" name="Q_P__ACCZ_D" documentation="Acceleration (vertical) controller D gain.  Compensates for short-term change in desired vertical acceleration vs actual acceleration" user="Standard">
-<field name="Range">0.000 0.400</field>
-</param>
-<param humanName="Acceleration (vertical) controller filter" name="Q_P__ACCZ_FILT" documentation="Filter applied to acceleration to reduce noise.  Lower values reduce noise but add delay." user="Standard">
-<field name="Range">1.000 100.000</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="Position (horizonal) controller P gain" name="Q_P__POSXY_P" documentation="Position controller P gain.  Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller" user="Standard">
-<field name="Range">0.500 2.000</field>
-</param>
-<param humanName="Velocity (horizontal) P gain" name="Q_P__VELXY_P" documentation="Velocity (horizontal) P gain.  Converts the difference between desired velocity to a target acceleration" user="Advanced">
-<field name="Range">0.1 6.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Velocity (horizontal) I gain" name="Q_P__VELXY_I" documentation="Velocity (horizontal) I gain.  Corrects long-term difference in desired velocity to a target acceleration" user="Advanced">
-<field name="Range">0.02 1.00</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Velocity (horizontal) D gain" name="Q_P__VELXY_D" documentation="Velocity (horizontal) D gain.  Corrects short-term changes in velocity" user="Advanced">
-<field name="Range">0.00 1.00</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Velocity (horizontal) integrator maximum" name="Q_P__VELXY_IMAX" documentation="Velocity (horizontal) integrator maximum.  Constrains the target acceleration that the I gain will output" user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s/s</field>
-<field name="UnitText">centimeters per square second</field>
-</param>
-<param humanName="Velocity (horizontal) input filter" name="Q_P__VELXY_FILT" documentation="Velocity (horizontal) input filter.  This filter (in hz) is applied to the input for P and I terms" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="Velocity (horizontal) input filter" name="Q_P__VELXY_D_FILT" documentation="Velocity (horizontal) input filter.  This filter (in hz) is applied to the input for P and I terms" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="Position Control Angle Max" name="Q_P__ANGLE_MAX" documentation="Maximum lean angle autopilot can request.  Set to zero to use ANGLE_MAX parameter value" user="Advanced">
-<field name="Range">0 45</field>
-<field name="Increment">1</field>
-<field name="Units">deg</field>
-<field name="UnitText">degrees</field>
-</param>
 </parameters>
 <parameters name="Q_WP_">
 <param humanName="Waypoint Horizontal Speed Target" name="Q_WP_SPEED" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission" user="Standard">
@@ -4893,6 +4417,12 @@
 <field name="Units">cm/s</field>
 <field name="UnitText">centimeters per second</field>
 </param>
+<param humanName="Loiter Horizontal Maximum Speed" name="Q_WP_LOIT_SPEED" documentation="Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode" user="Standard">
+<field name="Range">20 2000</field>
+<field name="Increment">50</field>
+<field name="Units">cm/s</field>
+<field name="UnitText">centimeters per second</field>
+</param>
 <param humanName="Waypoint Acceleration " name="Q_WP_ACCEL" documentation="Defines the horizontal acceleration in cm/s/s used during missions" user="Standard">
 <field name="Range">50 500</field>
 <field name="Increment">10</field>
@@ -4905,7 +4435,25 @@
 <field name="Units">cm/s/s</field>
 <field name="UnitText">centimeters per square second</field>
 </param>
-<param humanName="Waypoint missions use rangefinder for terrain following" name="Q_WP_RFND_USE" documentation="This controls if waypoint missions use rangefinder for terrain following" user="Advanced">
+<param humanName="Loiter maximum jerk" name="Q_WP_LOIT_JERK" documentation="Loiter maximum jerk in cm/s/s/s" user="Advanced">
+<field name="Range">500 5000</field>
+<field name="Increment">1</field>
+<field name="Units">cm/s/s/s</field>
+<field name="UnitText">centimeters per cubic second</field>
+</param>
+<param humanName="Loiter maximum acceleration" name="Q_WP_LOIT_MAXA" documentation="Loiter maximum acceleration in cm/s/s.  Higher values cause the copter to accelerate and stop more quickly." user="Advanced">
+<field name="Range">100 981</field>
+<field name="Increment">1</field>
+<field name="Units">cm/s/s</field>
+<field name="UnitText">centimeters per square second</field>
+</param>
+<param humanName="Loiter minimum acceleration" name="Q_WP_LOIT_MINA" documentation="Loiter minimum acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered, but cause a larger jerk when the copter stops." user="Advanced">
+<field name="Range">25 250</field>
+<field name="Increment">1</field>
+<field name="Units">cm/s/s</field>
+<field name="UnitText">centimeters per square second</field>
+</param>
+<param humanName="Use rangefinder for terrain following" name="Q_WP_RFND_USE" documentation="This controls the use of a rangefinder for terrain following" user="Advanced">
 <values>
 <value code="0">Disable</value>
 <value code="1">Enable</value>
@@ -4927,13 +4475,6 @@
 </values>
 </param>
 </parameters>
-<parameters name="RC">
-<param humanName="RC override timeout" name="RC_OVERRIDE_TIME" documentation="Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides" user="Advanced">
-<field name="Range">0.0 120.0</field>
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
-</param>
-</parameters>
 <parameters name="RC10_">
 <param humanName="RC min PWM" name="RC10_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
@@ -5468,20 +5009,18 @@
 <value code="-1">Disabled</value>
 <value code="13">APM2 A9 pin</value>
 <value code="47">APM1 relay</value>
-<value code="49">BB Blue GP0 pin 4</value>
 <value code="50">Pixhawk AUXOUT1</value>
 <value code="51">Pixhawk AUXOUT2</value>
 <value code="52">Pixhawk AUXOUT3</value>
 <value code="53">Pixhawk AUXOUT4</value>
 <value code="54">Pixhawk AUXOUT5</value>
 <value code="55">Pixhawk AUXOUT6</value>
-<value code="57">BB Blue GP0 pin 3</value>
 <value code="111">PX4 FMU Relay1</value>
 <value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1/BB Blue GP0 pin 6</value>
+<value code="113">PX4IO Relay1</value>
 <value code="114">PX4IO Relay2</value>
 <value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2/BB Blue GP0 pin 5</value>
+<value code="116">PX4IO ACC2</value>
 </values>
 </param>
 <param humanName="Second Relay Pin" name="RELAY_PIN2" documentation="Digital pin number for 2nd relay control." user="Standard">
@@ -5489,20 +5028,18 @@
 <value code="-1">Disabled</value>
 <value code="13">APM2 A9 pin</value>
 <value code="47">APM1 relay</value>
-<value code="49">BB Blue GP0 pin 4</value>
 <value code="50">Pixhawk AUXOUT1</value>
 <value code="51">Pixhawk AUXOUT2</value>
 <value code="52">Pixhawk AUXOUT3</value>
 <value code="53">Pixhawk AUXOUT4</value>
 <value code="54">Pixhawk AUXOUT5</value>
 <value code="55">Pixhawk AUXOUT6</value>
-<value code="57">BB Blue GP0 pin 3</value>
 <value code="111">PX4 FMU Relay1</value>
 <value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1/BB Blue GP0 pin 6</value>
+<value code="113">PX4IO Relay1</value>
 <value code="114">PX4IO Relay2</value>
 <value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2/BB Blue GP0 pin 5</value>
+<value code="116">PX4IO ACC2</value>
 </values>
 </param>
 <param humanName="Third Relay Pin" name="RELAY_PIN3" documentation="Digital pin number for 3rd relay control." user="Standard">
@@ -5510,20 +5047,18 @@
 <value code="-1">Disabled</value>
 <value code="13">APM2 A9 pin</value>
 <value code="47">APM1 relay</value>
-<value code="49">BB Blue GP0 pin 4</value>
 <value code="50">Pixhawk AUXOUT1</value>
 <value code="51">Pixhawk AUXOUT2</value>
 <value code="52">Pixhawk AUXOUT3</value>
 <value code="53">Pixhawk AUXOUT4</value>
 <value code="54">Pixhawk AUXOUT5</value>
 <value code="55">Pixhawk AUXOUT6</value>
-<value code="57">BB Blue GP0 pin 3</value>
 <value code="111">PX4 FMU Relay1</value>
 <value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1/BB Blue GP0 pin 6</value>
+<value code="113">PX4IO Relay1</value>
 <value code="114">PX4IO Relay2</value>
 <value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2/BB Blue GP0 pin 5</value>
+<value code="116">PX4IO ACC2</value>
 </values>
 </param>
 <param humanName="Fourth Relay Pin" name="RELAY_PIN4" documentation="Digital pin number for 4th relay control." user="Standard">
@@ -5531,23 +5066,21 @@
 <value code="-1">Disabled</value>
 <value code="13">APM2 A9 pin</value>
 <value code="47">APM1 relay</value>
-<value code="49">BB Blue GP0 pin 4</value>
 <value code="50">Pixhawk AUXOUT1</value>
 <value code="51">Pixhawk AUXOUT2</value>
 <value code="52">Pixhawk AUXOUT3</value>
 <value code="53">Pixhawk AUXOUT4</value>
 <value code="54">Pixhawk AUXOUT5</value>
 <value code="55">Pixhawk AUXOUT6</value>
-<value code="57">BB Blue GP0 pin 3</value>
 <value code="111">PX4 FMU Relay1</value>
 <value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1/BB Blue GP0 pin 6</value>
+<value code="113">PX4IO Relay1</value>
 <value code="114">PX4IO Relay2</value>
 <value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2/BB Blue GP0 pin 5</value>
+<value code="116">PX4IO ACC2</value>
 </values>
 </param>
-<param humanName="Default relay state" name="RELAY_DEFAULT" documentation="The state of the relay on boot." user="Standard">
+<param humanName="Default relay state" name="RELAY_DEFAULT" documentation="The state of the relay on boot. " user="Standard">
 <values>
 <value code="0">Off</value>
 <value code="1">On</value>
@@ -5605,13 +5138,9 @@
 <value code="11">uLanding</value>
 <value code="12">LeddarOne</value>
 <value code="13">MaxbotixSerial</value>
-<value code="14">TeraRangerI2C</value>
+<value code="14">TrOneI2C</value>
 <value code="15">LidarLiteV3-I2C</value>
 <value code="16">VL53L0X</value>
-<value code="17">NMEA</value>
-<value code="18">WASP-LRF</value>
-<value code="19">BenewakeTF02</value>
-<value code="20">BenewakeTFmini</value>
 </values>
 </param>
 <param humanName="Rangefinder pin" name="RNGFND_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
@@ -5743,13 +5272,9 @@
 <value code="11">uLanding</value>
 <value code="12">LeddarOne</value>
 <value code="13">MaxbotixSerial</value>
-<value code="14">TeraRangerI2C</value>
+<value code="14">TrOneI2C</value>
 <value code="15">LidarLiteV3-I2C</value>
 <value code="16">VL53L0X</value>
-<value code="17">NMEA</value>
-<value code="18">WASP-LRF</value>
-<value code="19">BenewakeTF02</value>
-<value code="20">BenewakeTFmini</value>
 </values>
 </param>
 <param humanName="Rangefinder pin" name="RNGFND2_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Advanced">
@@ -5876,13 +5401,9 @@
 <value code="11">uLanding</value>
 <value code="12">LeddarOne</value>
 <value code="13">MaxbotixSerial</value>
-<value code="14">TeraRangerI2C</value>
+<value code="14">TrOneI2C</value>
 <value code="15">LidarLiteV3-I2C</value>
 <value code="16">VL53L0X</value>
-<value code="17">NMEA</value>
-<value code="18">WASP-LRF</value>
-<value code="19">BenewakeTF02</value>
-<value code="20">BenewakeTFmini</value>
 </values>
 </param>
 <param humanName="Rangefinder pin" name="RNGFND3_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Advanced">
@@ -6009,13 +5530,9 @@
 <value code="11">uLanding</value>
 <value code="12">LeddarOne</value>
 <value code="13">MaxbotixSerial</value>
-<value code="14">TeraRangerI2C</value>
+<value code="14">TrOneI2C</value>
 <value code="15">LidarLiteV3-I2C</value>
 <value code="16">VL53L0X</value>
-<value code="17">NMEA</value>
-<value code="18">WASP-LRF</value>
-<value code="19">BenewakeTF02</value>
-<value code="20">BenewakeTFmini</value>
 </values>
 </param>
 <param humanName="Rangefinder pin" name="RNGFND4_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Advanced">
@@ -6128,98 +5645,6 @@
 </values>
 </param>
 </parameters>
-<parameters name="RNGFND2_">
-<param humanName="Moving Average Range" name="RNGFND2_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Moving Median Filter" name="RNGFND2_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Frequency" name="RNGFND2_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
-<field name="Range">0 10000</field>
-</param>
-<param humanName="Multi-pulse averages" name="RNGFND2_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Sensitivity threshold" name="RNGFND2_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
-<field name="Range">-1 255</field>
-</param>
-<param humanName="Baud rate" name="RNGFND2_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
-<values>
-<value code="0">Low Speed</value>
-<value code="1">High Speed</value>
-</values>
-</param>
-</parameters>
-<parameters name="RNGFND3_">
-<param humanName="Moving Average Range" name="RNGFND3_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Moving Median Filter" name="RNGFND3_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Frequency" name="RNGFND3_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
-<field name="Range">0 10000</field>
-</param>
-<param humanName="Multi-pulse averages" name="RNGFND3_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Sensitivity threshold" name="RNGFND3_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
-<field name="Range">-1 255</field>
-</param>
-<param humanName="Baud rate" name="RNGFND3_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
-<values>
-<value code="0">Low Speed</value>
-<value code="1">High Speed</value>
-</values>
-</param>
-</parameters>
-<parameters name="RNGFND4_">
-<param humanName="Moving Average Range" name="RNGFND4_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Moving Median Filter" name="RNGFND4_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Frequency" name="RNGFND4_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
-<field name="Range">0 10000</field>
-</param>
-<param humanName="Multi-pulse averages" name="RNGFND4_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Sensitivity threshold" name="RNGFND4_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
-<field name="Range">-1 255</field>
-</param>
-<param humanName="Baud rate" name="RNGFND4_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
-<values>
-<value code="0">Low Speed</value>
-<value code="1">High Speed</value>
-</values>
-</param>
-</parameters>
-<parameters name="RNGFND_">
-<param humanName="Moving Average Range" name="RNGFND_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Moving Median Filter" name="RNGFND_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Frequency" name="RNGFND_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
-<field name="Range">0 10000</field>
-</param>
-<param humanName="Multi-pulse averages" name="RNGFND_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
-<field name="Range">0 255</field>
-</param>
-<param humanName="Sensitivity threshold" name="RNGFND_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
-<field name="Range">-1 255</field>
-</param>
-<param humanName="Baud rate" name="RNGFND_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
-<values>
-<value code="0">Low Speed</value>
-<value code="1">High Speed</value>
-</values>
-</param>
-</parameters>
 <parameters name="RPM">
 <param humanName="RPM type" name="RPM_TYPE" documentation="What type of RPM sensor is connected" user="Standard">
 <values>
@@ -6290,9 +5715,8 @@
 <value code="11">Pixracer</value>
 <value code="13">Pixhawk ADC4</value>
 <value code="14">Pixhawk ADC3</value>
-<value code="15">Pixhawk ADC6</value>
+<value code="15"> Pixhawk ADC6</value>
 <value code="103">Pixhawk SBUS</value>
-<value code="15">Pixhawk2 ADC</value>
 </values>
 </param>
 <param humanName="Receiver RSSI voltage low" name="RSSI_PIN_LOW" documentation="This is the voltage value that the radio receiver will put on the RSSI_ANA_PIN when the signal strength is the weakest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn't necessarily a lower value than RSSI_PIN_HIGH. " user="Standard">
@@ -6328,7 +5752,7 @@
 <value code="3">ShowOverruns</value>
 </values>
 </param>
-<param humanName="Scheduling main loop rate" name="SCHED_LOOP_RATE" documentation="This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart. Values over 400 are considered highly experimental." user="Advanced">
+<param humanName="Scheduling main loop rate" name="SCHED_LOOP_RATE" documentation="This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart" user="Advanced">
 <values>
 <value code="50">50Hz</value>
 <value code="100">100Hz</value>
@@ -6375,14 +5799,11 @@
 <value code=" 5">GPS</value>
 <value code=" 7">Alexmos Gimbal Serial</value>
 <value code=" 8">SToRM32 Gimbal Serial</value>
-<value code=" 9">Rangefinder</value>
+<value code=" 9">Lidar</value>
 <value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
 <value code=" 11">Lidar360</value>
+<value code=" 12">Aerotenna uLanding</value>
 <value code=" 13">Beacon</value>
-<value code=" 14">Volz servo out</value>
-<value code=" 15">SBus servo out</value>
-<value code=" 16">ESC Telemetry</value>
-<value code=" 17">Devo Telemetry</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -6412,14 +5833,11 @@
 <value code=" 5">GPS</value>
 <value code=" 7">Alexmos Gimbal Serial</value>
 <value code=" 8">SToRM32 Gimbal Serial</value>
-<value code=" 9">Rangefinder</value>
+<value code=" 9">Lidar</value>
 <value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
 <value code=" 11">Lidar360</value>
+<value code=" 12">Aerotenna uLanding</value>
 <value code=" 13">Beacon</value>
-<value code=" 14">Volz servo out</value>
-<value code=" 15">SBus servo out</value>
-<value code=" 16">ESC Telemetry</value>
-<value code=" 17">Devo Telemetry</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -6449,14 +5867,11 @@
 <value code=" 5">GPS</value>
 <value code=" 7">Alexmos Gimbal Serial</value>
 <value code=" 8">SToRM32 Gimbal Serial</value>
-<value code=" 9">Rangefinder</value>
+<value code=" 9">Lidar</value>
 <value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
 <value code=" 11">Lidar360</value>
+<value code=" 12">Aerotenna uLanding</value>
 <value code=" 13">Beacon</value>
-<value code=" 14">Volz servo out</value>
-<value code=" 15">SBus servo out</value>
-<value code=" 16">ESC Telemetry</value>
-<value code=" 17">Devo Telemetry</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -6486,14 +5901,11 @@
 <value code=" 5">GPS</value>
 <value code=" 7">Alexmos Gimbal Serial</value>
 <value code=" 8">SToRM32 Gimbal Serial</value>
-<value code=" 9">Rangefinder</value>
+<value code=" 9">Lidar</value>
 <value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
 <value code=" 11">Lidar360</value>
+<value code=" 12">Aerotenna uLanding</value>
 <value code=" 13">Beacon</value>
-<value code=" 14">Volz servo out</value>
-<value code=" 15">SBus servo out</value>
-<value code=" 16">ESC Telemetry</value>
-<value code=" 17">Devo Telemetry</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -6523,14 +5935,11 @@
 <value code=" 5">GPS</value>
 <value code=" 7">Alexmos Gimbal Serial</value>
 <value code=" 8">SToRM32 Gimbal Serial</value>
-<value code=" 9">Rangefinder</value>
+<value code=" 9">Lidar</value>
 <value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
 <value code=" 11">Lidar360</value>
+<value code=" 12">Aerotenna uLanding</value>
 <value code=" 13">Beacon</value>
-<value code=" 14">Volz servo out</value>
-<value code=" 15">SBus servo out</value>
-<value code=" 16">ESC Telemetry</value>
-<value code=" 17">Devo Telemetry</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
@@ -6566,7 +5975,7 @@
 </parameters>
 <parameters name="SERVO10_">
 <param humanName="Minimum PWM" name="SERVO10_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">500 2200</field>
+<field name="Range">800 2200</field>
 <field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
@@ -6665,13 +6074,12 @@
 <value code="83">Motor10</value>
 <value code="84">Motor11</value>
 <value code="85">Motor12</value>
-<value code="88">Winch</value>
 </values>
 </param>
 </parameters>
 <parameters name="SERVO11_">
 <param humanName="Minimum PWM" name="SERVO11_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">500 2200</field>
+<field name="Range">800 2200</field>
 <field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
@@ -6770,13 +6178,12 @@
 <value code="83">Motor10</value>
 <value code="84">Motor11</value>
 <value code="85">Motor12</value>
-<value code="88">Winch</value>
 </values>
 </param>
 </parameters>
 <parameters name="SERVO12_">
 <param humanName="Minimum PWM" name="SERVO12_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">500 2200</field>
+<field name="Range">800 2200</field>
 <field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
@@ -6875,13 +6282,12 @@
 <value code="83">Motor10</value>
 <value code="84">Motor11</value>
 <value code="85">Motor12</value>
-<value code="88">Winch</value>
 </values>
 </param>
 </parameters>
 <parameters name="SERVO13_">
 <param humanName="Minimum PWM" name="SERVO13_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">500 2200</field>
+<field name="Range">800 2200</field>
 <field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
@@ -6980,13 +6386,12 @@
 <value code="83">Motor10</value>
 <value code="84">Motor11</value>
 <value code="85">Motor12</value>
-<value code="88">Winch</value>
 </values>
 </param>
 </parameters>
 <parameters name="SERVO14_">
 <param humanName="Minimum PWM" name="SERVO14_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">500 2200</field>
+<field name="Range">800 2200</field>
 <field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
@@ -7085,13 +6490,12 @@
 <value code="83">Motor10</value>
 <value code="84">Motor11</value>
 <value code="85">Motor12</value>
-<value code="88">Winch</value>
 </values>
 </param>
 </parameters>
 <parameters name="SERVO15_">
 <param humanName="Minimum PWM" name="SERVO15_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">500 2200</field>
+<field name="Range">800 2200</field>
 <field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
@@ -7190,13 +6594,12 @@
 <value code="83">Motor10</value>
 <value code="84">Motor11</value>
 <value code="85">Motor12</value>
-<value code="88">Winch</value>
 </values>
 </param>
 </parameters>
 <parameters name="SERVO16_">
 <param humanName="Minimum PWM" name="SERVO16_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">500 2200</field>
+<field name="Range">800 2200</field>
 <field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
@@ -7295,13 +6698,12 @@
 <value code="83">Motor10</value>
 <value code="84">Motor11</value>
 <value code="85">Motor12</value>
-<value code="88">Winch</value>
 </values>
 </param>
 </parameters>
 <parameters name="SERVO1_">
 <param humanName="Minimum PWM" name="SERVO1_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">500 2200</field>
+<field name="Range">800 2200</field>
 <field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
@@ -7400,13 +6802,12 @@
 <value code="83">Motor10</value>
 <value code="84">Motor11</value>
 <value code="85">Motor12</value>
-<value code="88">Winch</value>
 </values>
 </param>
 </parameters>
 <parameters name="SERVO2_">
 <param humanName="Minimum PWM" name="SERVO2_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">500 2200</field>
+<field name="Range">800 2200</field>
 <field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
@@ -7505,13 +6906,12 @@
 <value code="83">Motor10</value>
 <value code="84">Motor11</value>
 <value code="85">Motor12</value>
-<value code="88">Winch</value>
 </values>
 </param>
 </parameters>
 <parameters name="SERVO3_">
 <param humanName="Minimum PWM" name="SERVO3_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">500 2200</field>
+<field name="Range">800 2200</field>
 <field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
@@ -7610,13 +7010,12 @@
 <value code="83">Motor10</value>
 <value code="84">Motor11</value>
 <value code="85">Motor12</value>
-<value code="88">Winch</value>
 </values>
 </param>
 </parameters>
 <parameters name="SERVO4_">
 <param humanName="Minimum PWM" name="SERVO4_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">500 2200</field>
+<field name="Range">800 2200</field>
 <field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
@@ -7715,13 +7114,12 @@
 <value code="83">Motor10</value>
 <value code="84">Motor11</value>
 <value code="85">Motor12</value>
-<value code="88">Winch</value>
 </values>
 </param>
 </parameters>
 <parameters name="SERVO5_">
 <param humanName="Minimum PWM" name="SERVO5_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">500 2200</field>
+<field name="Range">800 2200</field>
 <field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
@@ -7820,13 +7218,12 @@
 <value code="83">Motor10</value>
 <value code="84">Motor11</value>
 <value code="85">Motor12</value>
-<value code="88">Winch</value>
 </values>
 </param>
 </parameters>
 <parameters name="SERVO6_">
 <param humanName="Minimum PWM" name="SERVO6_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">500 2200</field>
+<field name="Range">800 2200</field>
 <field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
@@ -7925,13 +7322,12 @@
 <value code="83">Motor10</value>
 <value code="84">Motor11</value>
 <value code="85">Motor12</value>
-<value code="88">Winch</value>
 </values>
 </param>
 </parameters>
 <parameters name="SERVO7_">
 <param humanName="Minimum PWM" name="SERVO7_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">500 2200</field>
+<field name="Range">800 2200</field>
 <field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
@@ -8030,13 +7426,12 @@
 <value code="83">Motor10</value>
 <value code="84">Motor11</value>
 <value code="85">Motor12</value>
-<value code="88">Winch</value>
 </values>
 </param>
 </parameters>
 <parameters name="SERVO8_">
 <param humanName="Minimum PWM" name="SERVO8_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">500 2200</field>
+<field name="Range">800 2200</field>
 <field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
@@ -8135,13 +7530,12 @@
 <value code="83">Motor10</value>
 <value code="84">Motor11</value>
 <value code="85">Motor12</value>
-<value code="88">Winch</value>
 </values>
 </param>
 </parameters>
 <parameters name="SERVO9_">
 <param humanName="Minimum PWM" name="SERVO9_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">500 2200</field>
+<field name="Range">800 2200</field>
 <field name="Increment">1</field>
 <field name="Units">PWM</field>
 <field name="UnitText">PWM in microseconds</field>
@@ -8240,74 +7634,9 @@
 <value code="83">Motor10</value>
 <value code="84">Motor11</value>
 <value code="85">Motor12</value>
-<value code="88">Winch</value>
-</values>
-</param>
-</parameters>
-<parameters name="SERVO_BLH_">
-<param humanName="Channel Bitmask" name="SERVO_BLH_MASK" documentation="Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any)" user="Advanced">
-<field name="Bitmask">0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16</field>
-</param>
-<param humanName="auto-enable for multicopter motors" name="SERVO_BLH_AUTO" documentation="If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="internal test of BLHeli interface" name="SERVO_BLH_TEST" documentation="Setting SERVO_BLH_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC. The debug output is displayed on the USB console." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">TestMotor1</value>
-<value code="2">TestMotor2</value>
-<value code="3">TestMotor3</value>
-<value code="4">TestMotor4</value>
-<value code="5">TestMotor5</value>
-<value code="6">TestMotor6</value>
-<value code="7">TestMotor7</value>
-<value code="8">TestMotor8</value>
-</values>
-</param>
-<param humanName="BLHeli protocol timeout" name="SERVO_BLH_TMOUT" documentation="This sets the inactivity timeout for the BLHeli protocol in seconds. If no packets are received in this time normal MAVLink operations are resumed. A value of 0 means no timeout" user="Standard">
-<field name="Range">0 300</field>
-<field name="Units">s</field>
-<field name="UnitText">seconds</field>
-</param>
-<param humanName="BLHeli telemetry rate" name="SERVO_BLH_TRATE" documentation="This sets the rate in Hz for requesting telemetry from ESCs. It is the rate per ESC. Setting to zero disables telemetry requests" user="Standard">
-<field name="Range">0 500</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-<param humanName="BLHeli debug level" name="SERVO_BLH_DEBUG" documentation="When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Output type override" name="SERVO_BLH_OTYPE" documentation="When set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group." user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">OneShot</value>
-<value code="2">OneShot125</value>
-<value code="3">Brushed</value>
-<value code="4">DShot150</value>
-<value code="5">DShot300</value>
-<value code="6">DShot600</value>
-<value code="7">DShot1200</value>
 </values>
 </param>
 </parameters>
-<parameters name="SERVO_SBUS_">
-<param humanName="SBUS default output rate" name="SERVO_SBUS_RATE" documentation="This sets the SBUS output frame rate in Hz." user="Advanced">
-<field name="Range">25 250</field>
-<field name="Units">Hz</field>
-<field name="UnitText">hertz</field>
-</param>
-</parameters>
-<parameters name="SERVO_VOLZ_">
-<param humanName="Channel Bitmask" name="SERVO_VOLZ_MASK" documentation="Enable of volz servo protocol to specific channels" user="Standard">
-<field name="Bitmask">0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16</field>
-</param>
-</parameters>
 <parameters name="SOAR_">
 <param humanName="Is the soaring mode enabled or not" name="SOAR_ENABLE" documentation="Toggles the soaring mode on and off" user="Advanced">
 <values>
diff --git a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.2.xml b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.9.xml
similarity index 60%
rename from src/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.2.xml
rename to src/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.9.xml
index 5b725046df3777703c6ead9c10cfd77e2e581dfc..0a5b4ddc4f1077177ca92836f1df3a20df9f2b18 100644
--- a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.2.xml
+++ b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.9.xml
@@ -5,21 +5,12 @@
         <parameters name="ArduPlane">
 <param humanName="Eeprom format version number" name="ArduPlane:FORMAT_VERSION" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
 </param>
-<param humanName="Software Type" name="ArduPlane:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
 <param humanName="MAVLink system ID of this vehicle" name="ArduPlane:SYSID_THISMAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
 <field name="Range">1 255</field>
 </param>
 <param humanName="Ground station MAVLink system ID" name="ArduPlane:SYSID_MYGCS" documentation="The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match." user="Advanced">
 <field name="Range">1 255</field>
 </param>
-<param humanName="CLI Enable" name="ArduPlane:CLI_ENABLED" documentation="This enables/disables the checking for three carriage returns on telemetry links on startup to enter the diagnostics command line interface" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
 <param humanName="Autotune level" name="ArduPlane:AUTOTUNE_LEVEL" documentation="Level of aggressiveness for autotune. When autotune is run a lower AUTOTUNE_LEVEL will result in a 'softer' tune, with less aggressive gains. For most users a level of 6 is recommended." user="Standard">
 <field name="Range">1 10</field>
 <field name="Increment">1</field>
@@ -27,10 +18,11 @@
 <param humanName="Telemetry startup delay " name="ArduPlane:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Standard">
 <field name="Range">0 30</field>
 <field name="Increment">1</field>
-<field name="Units">seconds</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
 </param>
 <param humanName="GCS PID tuning mask" name="ArduPlane:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
-<field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
+<field name="Bitmask">0:Roll,1:Pitch,2:Yaw,3:Steering,4:Landing</field>
 </param>
 <param humanName="Rudder Mix" name="ArduPlane:KFF_RDDRMIX" documentation="The amount of rudder mix to apply during aileron movement 0 = 0 %, 1 = 100%" user="Standard">
 <field name="Range">0 1</field>
@@ -43,17 +35,20 @@
 <param humanName="Low throttle pitch down trim " name="ArduPlane:STAB_PITCH_DOWN" documentation="This controls the amount of down pitch to add in FBWA and AUTOTUNE modes when at low throttle. No down trim is added when throttle is above TRIM_THROTTLE. Below TRIM_THROTTLE downtrim is added in proportion to the amount the throttle is below TRIM_THROTTLE. At zero throttle the full downpitch specified in this parameter is added. This parameter is meant to help keep airspeed up when flying in FBWA mode with low throttle, such as when on a landing approach, without relying on an airspeed sensor. A value of 2 degrees is good for many planes, although a higher value may be needed for high drag aircraft." user="Advanced">
 <field name="Range">0 15</field>
 <field name="Increment">0.1</field>
-<field name="Units">Degrees</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
 </param>
 <param humanName="Glide slope minimum" name="ArduPlane:GLIDE_SLOPE_MIN" documentation="This controls the minimum altitude change for a waypoint before a glide slope will be used instead of an immediate altitude change. The default value is 15 meters, which helps to smooth out waypoint missions where small altitude changes happen near waypoints. If you don't want glide slopes to be used in missions then you can set this to zero, which will disable glide slope calculations. Otherwise you can set it to a minimum number of meters of altitude error to the destination waypoint before a glide slope will be used to change altitude." user="Advanced">
 <field name="Range">0 1000</field>
 <field name="Increment">1</field>
-<field name="Units">meters</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
 <param humanName="Glide slope threshold" name="ArduPlane:GLIDE_SLOPE_THR" documentation="This controls the height above the glide slope the plane may be before rebuilding a glide slope. This is useful for smoothing out an autotakeoff" user="Advanced">
 <field name="Range">0 100</field>
 <field name="Increment">1</field>
-<field name="Units">meters</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
 <param humanName="Stick Mixing" name="ArduPlane:STICK_MIXING" documentation='When enabled, this adds user stick input to the control surfaces in auto modes, allowing the user to have some degree of flight control without changing modes.  There are two types of stick mixing available. If you set STICK_MIXING to 1 then it will use "fly by wire" mixing, which controls the roll and pitch in the same way that the FBWA mode does. This is the safest option if you usually fly ArduPlane in FBWA or FBWB mode. If you set STICK_MIXING to 2 then it will enable direct mixing mode, which is what the STABILIZE mode uses. That will allow for much more extreme maneuvers while in AUTO mode.' user="Advanced">
 <values>
@@ -72,55 +67,70 @@
 <field name="Range">0 30</field>
 <field name="Increment">0.1</field>
 <field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
 </param>
 <param humanName="Takeoff throttle min acceleration" name="ArduPlane:TKOFF_THR_MINACC" documentation="Minimum forward acceleration in m/s/s before arming the ground speed check in auto-takeoff. This is meant to be used for hand launches. Setting this value to 0 disables the acceleration test which means the ground speed check will always be armed which could allow GPS velocity jumps to start the engine. For hand launches and bungee launches this should be set to around 15." user="User">
 <field name="Range">0 30</field>
 <field name="Increment">0.1</field>
 <field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
 </param>
 <param humanName="Takeoff throttle delay" name="ArduPlane:TKOFF_THR_DELAY" documentation="This parameter sets the time delay (in 1/10ths of a second) that the ground speed check is delayed after the forward acceleration check controlled by TKOFF_THR_MINACC has passed. For hand launches with pusher propellers it is essential that this is set to a value of no less than 2 (0.2 seconds) to ensure that the aircraft is safely clear of the throwers arm before the motor can start. For bungee launches a larger value can be used (such as 30) to give time for the bungee to release from the aircraft before the motor is started." user="User">
 <field name="Range">0 127</field>
 <field name="Increment">1</field>
-<field name="Units">0.1 seconds</field>
+<field name="Units">ds</field>
+<field name="UnitText">deciseconds</field>
 </param>
 <param humanName="Takeoff tail dragger elevator" name="ArduPlane:TKOFF_TDRAG_ELEV" documentation="This parameter sets the amount of elevator to apply during the initial stage of a takeoff. It is used to hold the tail wheel of a taildragger on the ground during the initial takeoff stage to give maximum steering. This option should be combined with the TKOFF_TDRAG_SPD1 option and the GROUND_STEER_ALT option along with tuning of the ground steering controller. A value of zero means to bypass the initial &quot;tail hold&quot; stage of takeoff. Set to zero for hand and catapult launch. For tail-draggers you should normally set this to 100, meaning full up elevator during the initial stage of takeoff. For most tricycle undercarriage aircraft a value of zero will work well, but for some tricycle aircraft a small negative value (say around -20 to -30) will apply down elevator which will hold the nose wheel firmly on the ground during initial acceleration. Only use a negative value if you find that the nosewheel doesn't grip well during takeoff. Too much down elevator on a tricycle undercarriage may cause instability in steering as the plane pivots around the nosewheel. Add down elevator 10 percent at a time." user="User">
 <field name="Range">-100 100</field>
 <field name="Increment">1</field>
-<field name="Units">Percent</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
 </param>
 <param humanName="Takeoff tail dragger speed1" name="ArduPlane:TKOFF_TDRAG_SPD1" documentation='This parameter sets the airspeed at which to stop holding the tail down and transition to rudder control of steering on the ground. When TKOFF_TDRAG_SPD1 is reached the pitch of the aircraft will be held level until TKOFF_ROTATE_SPD is reached, at which point the takeoff pitch specified in the mission will be used to "rotate" the pitch for takeoff climb. Set TKOFF_TDRAG_SPD1 to zero to go straight to rotation. This should be set to zero for hand launch and catapult launch. It should also be set to zero for tricycle undercarriages unless you are using the method above to genetly hold the nose wheel down. For tail dragger aircraft it should be set just below the stall speed.' user="User">
 <field name="Range">0 30</field>
 <field name="Increment">0.1</field>
 <field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
 </param>
 <param humanName="Takeoff rotate speed" name="ArduPlane:TKOFF_ROTATE_SPD" documentation='This parameter sets the airspeed at which the aircraft will "rotate", setting climb pitch specified in the mission. If TKOFF_ROTATE_SPD is zero then the climb pitch will be used as soon as takeoff is started. For hand launch and catapult launches a TKOFF_ROTATE_SPD of zero should be set. For all ground launches TKOFF_ROTATE_SPD should be set above the stall speed, usually by about 10 to 30 percent' user="User">
 <field name="Range">0 30</field>
 <field name="Increment">0.1</field>
 <field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
 </param>
-<param humanName="Takeoff throttle slew rate" name="ArduPlane:TKOFF_THR_SLEW" documentation="This parameter sets the slew rate for the throttle during auto takeoff. When this is zero the THR_SLEWRATE parameter is used during takeoff. For rolling takeoffs it can be a good idea to set a lower slewrate for takeoff to give a slower acceleration which can improve ground steering control. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on takeoff. Values below 20 are not recommended as they may cause the plane to try to climb out with too little throttle." user="User">
-<field name="Range">0 127</field>
+<param humanName="Takeoff throttle slew rate" name="ArduPlane:TKOFF_THR_SLEW" documentation="This parameter sets the slew rate for the throttle during auto takeoff. When this is zero the THR_SLEWRATE parameter is used during takeoff. For rolling takeoffs it can be a good idea to set a lower slewrate for takeoff to give a slower acceleration which can improve ground steering control. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on takeoff. Values below 20 are not recommended as they may cause the plane to try to climb out with too little throttle. A value of -1 means no limit on slew rate in takeoff." user="User">
+<field name="Range">-1 127</field>
 <field name="Increment">1</field>
-<field name="Units">percent</field>
+<field name="Units">%/s</field>
+<field name="UnitText">percent per second</field>
 </param>
 <param humanName="Takeoff pitch limit reduction" name="ArduPlane:TKOFF_PLIM_SEC" documentation="This parameter reduces the pitch minimum limit of an auto-takeoff just a few seconds before it reaches the target altitude. This reduces overshoot by allowing the flight controller to start leveling off a few seconds before reaching the target height. When set to zero, the mission pitch min is enforced all the way to and through the target altitude, otherwise the pitch min slowly reduces to zero in the final segment. This is the pitch_min, not the demand. The flight controller should still be commanding to gain altitude to finish the takeoff but with this param it is not forcing it higher than it wants to be." user="Advanced">
 <field name="Range">0 10</field>
 <field name="Increment">0.5</field>
-<field name="Units">seconds</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
 </param>
 <param humanName="Takeoff flap percentage" name="ArduPlane:TKOFF_FLAP_PCNT" documentation="The amount of flaps (as a percentage) to apply in automatic takeoff" user="Advanced">
 <field name="Range">0 100</field>
-<field name="Units">Percent</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
 </param>
 <param humanName="FBWA taildragger channel" name="ArduPlane:FBWA_TDRAG_CHAN" documentation="This is a RC input channel which when it goes above 1700 enables FBWA taildragger takeoff mode. It should be assigned to a momentary switch. Once this feature is enabled it will stay enabled until the aircraft goes above TKOFF_TDRAG_SPD1 airspeed, changes mode, or the pitch goes above the initial pitch when this is engaged or goes below 0 pitch. When enabled the elevator will be forced to TKOFF_TDRAG_ELEV. This option allows for easier takeoffs on taildraggers in FBWA mode, and also makes it easier to test auto-takeoff steering handling in FBWA. Setting it to 0 disables this option." user="Standard">
 </param>
 <param humanName="Level flight roll limit" name="ArduPlane:LEVEL_ROLL_LIMIT" documentation="This controls the maximum bank angle in degrees during flight modes where level flight is desired, such as in the final stages of landing, and during auto takeoff. This should be a small angle (such as 5 degrees) to prevent a wing hitting the runway during takeoff or landing. Setting this to zero will completely disable heading hold on auto takeoff and final landing approach." user="User">
 <field name="Range">0 45</field>
 <field name="Increment">1</field>
-<field name="Units">degrees</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
 </param>
-<param humanName="Bitmask for when to allow negative reverse thrust" name="ArduPlane:USE_REV_THRUST" documentation="Typically THR_MIN will be clipped to zero unless reverse thrust is available. Since you may not want negative thrust available at all times this bitmask allows THR_MIN to go below 0 while executing certain auto-mission commands." user="Advanced">
+<param humanName="Bitmask for when to allow negative reverse thrust" name="ArduPlane:USE_REV_THRUST" documentation="This controls when to use reverse thrust. If set to zero then reverse thrust is never used. If set to a non-zero value then the bits correspond to flight stages where reverse thrust may be used. Note that reverse thrust is only ever auto-enabled in auto-throttle modes. In modes where throttle control is pilot controlled the ability to do reverse thrust is controlled by throttle stick input. The most commonly used value for USE_REV_THRUST is 2, which means AUTO_LAND only. That enables reverse thrust in the landing stage of AUTO mode. Another common choice is 1, which means to use reverse thrust in all auto flight stages." user="Advanced">
 <field name="Bitmask">0:AUTO_ALWAYS,1:AUTO_LAND,2:AUTO_LOITER_TO_ALT,3:AUTO_LOITER_ALL,4:AUTO_WAYPOINTS,5:LOITER,6:RTL,7:CIRCLE,8:CRUISE,9:FBWB,10:GUIDED</field>
+<values>
+<value code="0">Never</value>
+<value code="1">AutoAlways</value>
+<value code="2">AutoLanding</value>
+</values>
 </param>
 <param humanName="Navigation controller selection" name="ArduPlane:NAV_CONTROLLER" documentation="Which navigation controller to enable. Currently the only navigation controller available is L1. From time to time other experimental controllers will be added which are selected using this parameter." user="Standard">
 <values>
@@ -136,27 +146,32 @@
 <param humanName="Altitude offset" name="ArduPlane:ALT_OFFSET" documentation="This is added to the target altitude in automatic flight. It can be used to add a global altitude offset to a mission" user="Advanced">
 <field name="Range">-32767 32767</field>
 <field name="Increment">1</field>
-<field name="Units">Meters</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
 <param humanName="Waypoint Radius" name="ArduPlane:WP_RADIUS" documentation='Defines the maximum distance from a waypoint that when crossed indicates the waypoint may be complete. To avoid the aircraft looping around the waypoint in case it misses by more than the WP_RADIUS an additional check is made to see if the aircraft has crossed a "finish line" passing through the waypoint and perpendicular to the flight path from the previous waypoint. If that finish line is crossed then the waypoint is considered complete. Note that the navigation controller may decide to turn later than WP_RADIUS before a waypoint, based on how sharp the turn is and the speed of the aircraft. It is safe to set WP_RADIUS much larger than the usual turn radius of your aircraft and the navigation controller will work out when to turn. If you set WP_RADIUS too small then you will tend to overshoot the turns.' user="Standard">
 <field name="Range">1 32767</field>
 <field name="Increment">1</field>
-<field name="Units">Meters</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
 <param humanName="Waypoint Maximum Radius" name="ArduPlane:WP_MAX_RADIUS" documentation='Sets the maximum distance to a waypoint for the waypoint to be considered complete. This overrides the "cross the finish line" logic that is normally used to consider a waypoint complete. For normal AUTO behaviour this parameter should be set to zero. Using a non-zero value is only recommended when it is critical that the aircraft does approach within the given radius, and should loop around until it has done so. This can cause the aircraft to loop forever if its turn radius is greater than the maximum radius set.' user="Standard">
 <field name="Range">0 32767</field>
 <field name="Increment">1</field>
-<field name="Units">Meters</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
 <param humanName="Waypoint Loiter Radius" name="ArduPlane:WP_LOITER_RAD" documentation="Defines the distance from the waypoint center, the plane will maintain during a loiter. If you set this value to a negative number then the default loiter direction will be counter-clockwise instead of clockwise." user="Standard">
 <field name="Range">-32767 32767</field>
 <field name="Increment">1</field>
-<field name="Units">Meters</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
 <param humanName="RTL loiter radius" name="ArduPlane:RTL_RADIUS" documentation="Defines the radius of the loiter circle when in RTL mode. If this is zero then WP_LOITER_RAD is used. If the radius is negative then a counter-clockwise is used. If positive then a clockwise loiter is used." user="Standard">
 <field name="Range">-32767 32767</field>
 <field name="Increment">1</field>
-<field name="Units">Meters</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
 <param humanName="Action on geofence breach" name="ArduPlane:FENCE_ACTION" documentation="What to do on fence breach. If this is set to 0 then no action is taken, and geofencing is disabled. If this is set to 1 then the plane will enter GUIDED mode, with the target waypoint as the fence return point. If this is set to 2 then the fence breach is reported to the ground station, but no other action is taken. If set to 3 then the plane enters guided mode but the pilot retains manual throttle control. If set to 4 the plane enters RTL mode, with the target waypoint as the closest rally point (or home point if there are no rally points)." user="Standard">
 <values>
@@ -174,17 +189,20 @@
 <param humanName="Fence Minimum Altitude" name="ArduPlane:FENCE_MINALT" documentation="Minimum altitude allowed before geofence triggers" user="Standard">
 <field name="Range">0 32767</field>
 <field name="Increment">1</field>
-<field name="Units">meters</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
 <param humanName="Fence Maximum Altitude" name="ArduPlane:FENCE_MAXALT" documentation="Maximum altitude allowed before geofence triggers" user="Standard">
 <field name="Range">0 32767</field>
 <field name="Increment">1</field>
-<field name="Units">meters</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
 <param humanName="Fence Return Altitude" name="ArduPlane:FENCE_RETALT" documentation="Altitude the aircraft will transit to when a fence breach occurs.  If FENCE_RETALT is &lt;= 0 then the midpoint between FENCE_MAXALT and FENCE_MINALT is used, unless FENCE_MAXALT &lt; FENCE_MINALT.  If FENCE_MAXALT &lt; FENCE_MINALT AND FENCE_RETALT is &lt;= 0 then ALT_HOLD_RTL is the altitude used on a fence breach." user="Standard">
 <field name="Range">0 32767</field>
 <field name="Increment">1</field>
-<field name="Units">meters</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
 <param humanName="Fence automatic enable" name="ArduPlane:FENCE_AUTOENABLE" documentation="When set to 1, geofence automatically enables after an auto takeoff and automatically disables at the beginning of an auto landing.  When on the ground before takeoff the fence is disabled.  When set to 2, the fence autoenables after an auto takeoff, but only disables the fence floor during landing. It is highly recommended to not use this option for line of sight flying and use a fence enable channel instead." user="Standard">
 <values>
@@ -209,11 +227,13 @@
 <field name="Range">5 100</field>
 <field name="Increment">1</field>
 <field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
 </param>
 <param humanName="Maximum Airspeed" name="ArduPlane:ARSPD_FBW_MAX" documentation="This is the maximum airspeed that you want to allow for your airframe in auto-throttle modes. You should ensure that this value is sufficiently above the ARSPD_FBW_MIN value to allow for a sufficient flight envelope to accurately control altitude using airspeed. A value at least 50% above ARSPD_FBW_MIN is recommended." user="Standard">
 <field name="Range">5 100</field>
 <field name="Increment">1</field>
 <field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
 </param>
 <param humanName="Fly By Wire elevator reverse" name="ArduPlane:FBWB_ELEV_REV" documentation="Reverse sense of elevator in FBWB and CRUISE modes. When set to 0 up elevator (pulling back on the stick) means to lower altitude. When set to 1, up elevator means to raise altitude." user="Standard">
 <values>
@@ -229,37 +249,44 @@
 </param>
 <param humanName="Terrain lookahead" name="ArduPlane:TERRAIN_LOOKAHD" documentation="This controls how far ahead the terrain following code looks to ensure it stays above upcoming terrain. A value of zero means no lookahead, so the controller will track only the terrain directly below the aircraft. The lookahead will never extend beyond the next waypoint when in AUTO mode." user="Standard">
 <field name="Range">0 10000</field>
-<field name="Units">meters</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
 <param humanName="Fly By Wire B altitude change rate" name="ArduPlane:FBWB_CLIMB_RATE" documentation="This sets the rate in m/s at which FBWB and CRUISE modes will change its target altitude for full elevator deflection. Note that the actual climb rate of the aircraft can be lower than this, depending on your airspeed and throttle control settings. If you have this parameter set to the default value of 2.0, then holding the elevator at maximum deflection for 10 seconds would change the target altitude by 20 meters." user="Standard">
 <field name="Range">1 10</field>
 <field name="Increment">0.1</field>
 <field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
 </param>
 <param humanName="Minimum Throttle" name="ArduPlane:THR_MIN" documentation="The minimum throttle setting (as a percentage) which the autopilot will apply. For the final stage of an automatic landing this is always zero. If your ESC supports reverse, use a negative value to configure for reverse thrust." user="Standard">
 <field name="Range">-100 100</field>
 <field name="Increment">1</field>
-<field name="Units">Percent</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
 </param>
 <param humanName="Maximum Throttle" name="ArduPlane:THR_MAX" documentation="The maximum throttle setting (as a percentage) which the autopilot will apply." user="Standard">
 <field name="Range">0 100</field>
 <field name="Increment">1</field>
-<field name="Units">Percent</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
 </param>
 <param humanName="Maximum Throttle for takeoff" name="ArduPlane:TKOFF_THR_MAX" documentation="The maximum throttle setting during automatic takeoff. If this is zero then THR_MAX is used for takeoff as well." user="Advanced">
 <field name="Range">0 100</field>
 <field name="Increment">1</field>
-<field name="Units">Percent</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
 </param>
-<param humanName="Throttle slew rate" name="ArduPlane:THR_SLEWRATE" documentation="maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second." user="Standard">
+<param humanName="Throttle slew rate" name="ArduPlane:THR_SLEWRATE" documentation="maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second. Note that the minimum throttle change is 1 microsecond per loop, which provides a lower limit on the throttle slew rate, especially for quadplanes that run at 300 loops per second by default." user="Standard">
 <field name="Range">0 127</field>
 <field name="Increment">1</field>
-<field name="Units">Percent</field>
+<field name="Units">%/s</field>
+<field name="UnitText">percent per second</field>
 </param>
 <param humanName="Flap slew rate" name="ArduPlane:FLAP_SLEWRATE" documentation="maximum percentage change in flap output per second. A setting of 25 means to not change the flap by more than 25% of the full flap range in one second. A value of 0 means no rate limiting." user="Advanced">
 <field name="Range">0 100</field>
 <field name="Increment">1</field>
-<field name="Units">Percent</field>
+<field name="Units">%/s</field>
+<field name="UnitText">percent per second</field>
 </param>
 <param humanName="Throttle suppress manual passthru" name="ArduPlane:THR_SUPP_MAN" documentation="When throttle is suppressed in auto mode it is normally forced to zero. If you enable this option, then while suppressed it will be manual throttle. This is useful on petrol engines to hold the idle throttle manually while waiting for takeoff" user="Advanced">
 <values>
@@ -273,20 +300,21 @@
 <value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Throttle Failsafe Enable" name="ArduPlane:THR_FAILSAFE" documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel" user="Standard">
+<param humanName="Throttle and RC Failsafe Enable" name="ArduPlane:THR_FAILSAFE" documentation="This enables failsafe on loss of RC input. How this is detected depends on the type of RC receiver being used. For older radios an input below the THR_FS_VALUE is used to trigger failsafe. For newer radios the failsafe trigger is part of the protocol between the autopilot and receiver." user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Throttle Failsafe Value" name="ArduPlane:THR_FS_VALUE" documentation="The PWM level on channel 3 below which throttle failsafe triggers" user="Standard">
+<param humanName="Throttle Failsafe Value" name="ArduPlane:THR_FS_VALUE" documentation="The PWM level on the throttle input channel below which throttle failsafe triggers. Note that this should be well below the normal minimum for your throttle channel." user="Standard">
 <field name="Range">925 2200</field>
 <field name="Increment">1</field>
 </param>
 <param humanName="Throttle cruise percentage" name="ArduPlane:TRIM_THROTTLE" documentation="The target percentage of throttle to apply for normal flight" user="Standard">
 <field name="Range">0 100</field>
 <field name="Increment">1</field>
-<field name="Units">Percent</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
 </param>
 <param humanName="Throttle nudge enable" name="ArduPlane:THROTTLE_NUDGE" documentation="When enabled, this uses the throttle input in auto-throttle modes to 'nudge' the throttle or airspeed to higher or lower values. When you have an airspeed sensor the nudge affects the target airspeed, so that throttle inputs above 50% will increase the target airspeed from TRIM_ARSPD_CM up to a maximum of ARSPD_FBW_MAX. When no airspeed sensor is enabled the throttle nudge will push up the target throttle for throttle inputs above 50%." user="Standard">
 <values>
@@ -294,17 +322,19 @@
 <value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Short failsafe action" name="ArduPlane:FS_SHORT_ACTN" documentation="The action to take on a short (FS_SHORT_TIMEOUT) failsafe event. A short failsafe even can be triggered either by loss of RC control (see THR_FS_VALUE) or by loss of GCS control (see FS_GCS_ENABL). If in CIRCLE or RTL mode this parameter is ignored. A short failsafe event in stabilization and manual modes will cause an change to CIRCLE mode if FS_SHORT_ACTN is 0 or 1, and a change to FBWA mode if FS_SHORT_ACTN is 2. In all other modes (AUTO, GUIDED and LOITER) a short failsafe event will cause no mode change is FS_SHORT_ACTN is set to 0, will cause a change to CIRCLE mode if set to 1 and will change to FBWA mode if set to 2. Please see the documentation for FS_LONG_ACTN for the behaviour after FS_LONG_TIMEOUT seconds of failsafe." user="Standard">
+<param humanName="Short failsafe action" name="ArduPlane:FS_SHORT_ACTN" documentation="The action to take on a short (FS_SHORT_TIMEOUT) failsafe event. A short failsafe even can be triggered either by loss of RC control (see THR_FS_VALUE) or by loss of GCS control (see FS_GCS_ENABL). If in CIRCLE or RTL mode this parameter is ignored. A short failsafe event in stabilization and manual modes will cause an change to CIRCLE mode if FS_SHORT_ACTN is 0 or 1, and a change to FBWA mode if FS_SHORT_ACTN is 2. In all other modes (AUTO, GUIDED and LOITER) a short failsafe event will cause no mode change if FS_SHORT_ACTN is set to 0, will cause a change to CIRCLE mode if set to 1 and will change to FBWA mode if set to 2. Please see the documentation for FS_LONG_ACTN for the behaviour after FS_LONG_TIMEOUT seconds of failsafe." user="Standard">
 <values>
 <value code="0">CIRCLE/no change(if already in AUTO|GUIDED|LOITER)</value>
 <value code="1">CIRCLE</value>
 <value code="2">FBWA</value>
+<value code="3">Disable</value>
 </values>
 </param>
 <param humanName="Short failsafe timeout" name="ArduPlane:FS_SHORT_TIMEOUT" documentation="The time in seconds that a failsafe condition has to persist before a short failsafe event will occur. This defaults to 1.5 seconds" user="Standard">
 <field name="Range">1 100</field>
 <field name="Increment">0.5</field>
-<field name="Units">seconds</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
 </param>
 <param humanName="Long failsafe action" name="ArduPlane:FS_LONG_ACTN" documentation="The action to take on a long (FS_LONG_TIMEOUT seconds) failsafe event. If the aircraft was in a stabilization or manual mode when failsafe started and a long failsafe occurs then it will change to RTL mode if FS_LONG_ACTN is 0 or 1, and will change to FBWA if FS_LONG_ACTN is set to 2. If the aircraft was in an auto mode (such as AUTO or GUIDED) when the failsafe started then it will continue in the auto mode if FS_LONG_ACTN is set to 0, will change to RTL mode if FS_LONG_ACTN is set to 1 and will change to FBWA mode if FS_LONG_ACTN is set to 2. If FS_LONG_ACTION is set to 3, the parachute will be deployed (make sure the chute is configured and enabled). " user="Standard">
 <values>
@@ -317,17 +347,10 @@
 <param humanName="Long failsafe timeout" name="ArduPlane:FS_LONG_TIMEOUT" documentation="The time in seconds that a failsafe condition has to persist before a long failsafe event will occur. This defaults to 5 seconds." user="Standard">
 <field name="Range">1 300</field>
 <field name="Increment">0.5</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Failsafe battery voltage" name="ArduPlane:FS_BATT_VOLTAGE" documentation="Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe. If the battery voltage drops below this voltage continuously for 10 seconds then the plane will switch to RTL mode." user="Standard">
-<field name="Increment">0.1</field>
-<field name="Units">Volts</field>
-</param>
-<param humanName="Failsafe battery milliAmpHours" name="ArduPlane:FS_BATT_MAH" documentation="Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe. If the battery remaining drops below this level then the plane will switch to RTL mode immediately." user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
 </param>
-<param humanName="GCS failsafe enable" name="ArduPlane:FS_GCS_ENABL" documentation="Enable ground control station telemetry failsafe. Failsafe will trigger after FS_LONG_TIMEOUT seconds of no MAVLink heartbeat messages. There are two possible enabled settings. Seeing FS_GCS_ENABL to 1 means that GCS failsafe will be triggered when the aircraft has not received a MAVLink HEARTBEAT message. Setting FS_GCS_ENABL to 2 means that GCS failsafe will be triggered on either a loss of HEARTBEAT messages, or a RADIO_STATUS message from a MAVLink enabled 3DR radio indicating that the ground station is not receiving status updates from the aircraft, which is indicated by the RADIO_STATUS.remrssi field being zero (this may happen if you have a one way link due to asymmetric noise on the ground station and aircraft radios).Setting FS_GCS_ENABL to 3 means that GCS failsafe will be triggered by Heartbeat(like option one), but only in AUTO mode. WARNING: Enabling this option opens up the possibility of your plane going into failsafe mode and running the motor on the ground it it loses contact with your ground station. If this option is enabled on an electric plane then you should enable ARMING_REQUIRED." user="Standard">
+<param humanName="GCS failsafe enable" name="ArduPlane:FS_GCS_ENABL" documentation="Enable ground control station telemetry failsafe. Failsafe will trigger after FS_LONG_TIMEOUT seconds of no MAVLink heartbeat messages. There are three possible enabled settings. Seeing FS_GCS_ENABL to 1 means that GCS failsafe will be triggered when the aircraft has not received a MAVLink HEARTBEAT message. Setting FS_GCS_ENABL to 2 means that GCS failsafe will be triggered on either a loss of HEARTBEAT messages, or a RADIO_STATUS message from a MAVLink enabled 3DR radio indicating that the ground station is not receiving status updates from the aircraft, which is indicated by the RADIO_STATUS.remrssi field being zero (this may happen if you have a one way link due to asymmetric noise on the ground station and aircraft radios).Setting FS_GCS_ENABL to 3 means that GCS failsafe will be triggered by Heartbeat(like option one), but only in AUTO mode. WARNING: Enabling this option opens up the possibility of your plane going into failsafe mode and running the motor on the ground it it loses contact with your ground station. If this option is enabled on an electric plane then you should enable ARMING_REQUIRED." user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">Heartbeat</value>
@@ -501,27 +524,32 @@
 <param humanName="Maximum Bank Angle" name="ArduPlane:LIM_ROLL_CD" documentation="The maximum commanded bank angle in either direction" user="Standard">
 <field name="Range">0 9000</field>
 <field name="Increment">1</field>
-<field name="Units">centi-Degrees</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
 </param>
 <param humanName="Maximum Pitch Angle" name="ArduPlane:LIM_PITCH_MAX" documentation="The maximum commanded pitch up angle" user="Standard">
 <field name="Range">0 9000</field>
 <field name="Increment">1</field>
-<field name="Units">centi-Degrees</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
 </param>
 <param humanName="Minimum Pitch Angle" name="ArduPlane:LIM_PITCH_MIN" documentation="The minimum commanded pitch down angle" user="Standard">
 <field name="Range">-9000 0</field>
 <field name="Increment">1</field>
-<field name="Units">centi-Degrees</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
 </param>
 <param humanName="ACRO mode roll rate" name="ArduPlane:ACRO_ROLL_RATE" documentation="The maximum roll rate at full stick deflection in ACRO mode" user="Standard">
 <field name="Range">10 500</field>
 <field name="Increment">1</field>
-<field name="Units">degrees/second</field>
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
 </param>
 <param humanName="ACRO mode pitch rate" name="ArduPlane:ACRO_PITCH_RATE" documentation="The maximum pitch rate at full stick deflection in ACRO mode" user="Standard">
 <field name="Range">10 500</field>
 <field name="Increment">1</field>
-<field name="Units">degrees/second</field>
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
 </param>
 <param humanName="ACRO mode attitude locking" name="ArduPlane:ACRO_LOCKING" documentation="Enable attitude locking when sticks are released" user="Standard">
 <values>
@@ -532,69 +560,21 @@
 <param humanName="Ground steer altitude" name="ArduPlane:GROUND_STEER_ALT" documentation="Altitude at which to use the ground steering controller on the rudder. If non-zero then the STEER2SRV controller will be used to control the rudder for altitudes within this limit of the home altitude." user="Standard">
 <field name="Range">-100 100</field>
 <field name="Increment">0.1</field>
-<field name="Units">Meters</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
 <param humanName="Ground steer rate" name="ArduPlane:GROUND_STEER_DPS" documentation="Ground steering rate in degrees per second for full rudder stick deflection" user="Advanced">
 <field name="Range">10 360</field>
 <field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Automatic trim adjustment" name="ArduPlane:TRIM_AUTO" documentation="Set RC trim PWM levels to current levels when switching away from manual mode. When this option is enabled and you change from MANUAL to any other mode then the APM will take the current position of the control sticks as the trim values for aileron, elevator and rudder. It will use those to set RC1_TRIM, RC2_TRIM and RC4_TRIM. This option is disabled by default as if a pilot is not aware of this option and changes from MANUAL to another mode while control inputs are not centered then the trim could be changed to a dangerously bad value. You can enable this option to assist with trimming your plane, by enabling it before takeoff then switching briefly to MANUAL in flight, and seeing how the plane reacts. You can then switch back to FBWA, trim the surfaces then again test MANUAL mode. Each time you switch from MANUAL the APM will take your control inputs as the new trim. After you have good trim on your aircraft you can disable TRIM_AUTO for future flights." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Elevon mixing" name="ArduPlane:ELEVON_MIXING" documentation="This enables an older form of elevon mixing which is now deprecated. Please see the ELEVON_OUTPUT option for setting up elevons. The ELEVON_MIXING option should be set to 0 for elevon planes except for backwards compatibility with older setups." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
 </param>
-<param humanName="Elevon reverse" name="ArduPlane:ELEVON_REVERSE" documentation="Reverse elevon mixing" user="User">
+<param humanName="Automatic trim adjustment" name="ArduPlane:TRIM_AUTO" documentation="Set RC trim PWM levels to current levels when switching away from manual mode. When this option is enabled and you change from MANUAL to any other mode then the APM will take the current position of the control sticks as the trim values for aileron, elevator and rudder. It will use those to set the SERVOn_TRIM values and the RCn_TRIM values. This option is disabled by default as if a pilot is not aware of this option and changes from MANUAL to another mode while control inputs are not centered then the trim could be changed to a dangerously bad value. You can enable this option to assist with trimming your plane, by enabling it before takeoff then switching briefly to MANUAL in flight, and seeing how the plane reacts. You can then switch back to FBWA, trim the surfaces then again test MANUAL mode. Each time you switch from MANUAL the APM will take your control inputs as the new trim. After you have good trim on your aircraft you can disable TRIM_AUTO for future flights. You should also see the newer and much safer SERVO_AUTO_TRIM parameter." user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Elevon reverse" name="ArduPlane:ELEVON_CH1_REV" documentation="Reverse elevon channel 1" user="User">
-<values>
-<value code="-1">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Elevon reverse" name="ArduPlane:ELEVON_CH2_REV" documentation="Reverse elevon channel 2" user="User">
-<values>
-<value code="-1">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="VTail output" name="ArduPlane:VTAIL_OUTPUT" documentation="Enable VTail output in software. If enabled then the APM will provide software VTail mixing on the elevator and rudder channels. There are 8 different mixing modes available, which refer to the 8 ways the elevator can be mapped to the two VTail servos. Please also see the MIXING_GAIN parameter for the output gain of the mixer." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">UpUp</value>
-<value code="2">UpDown</value>
-<value code="3">DownUp</value>
-<value code="4">DownDown</value>
-<value code="5">UpUpSwap</value>
-<value code="6">UpDownSwap</value>
-<value code="7">DownUpSwap</value>
-<value code="8">DownDownSwap</value>
-</values>
-</param>
-<param humanName="Elevon output" name="ArduPlane:ELEVON_OUTPUT" documentation="Enable software elevon output mixer. If enabled then the APM will provide software elevon mixing on the aileron and elevator channels. There are 8 different mixing modes available, which refer to the 8 ways the elevator can be mapped to the two elevon servos. Please also see the MIXING_GAIN parameter for the output gain of the mixer." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">UpUp</value>
-<value code="2">UpDown</value>
-<value code="3">DownUp</value>
-<value code="4">DownDown</value>
-<value code="5">UpUpSwap</value>
-<value code="6">UpDownSwap</value>
-<value code="7">DownUpSwap</value>
-<value code="8">DownDownSwap</value>
-</values>
-</param>
 <param humanName="Mixing Gain" name="ArduPlane:MIXING_GAIN" documentation="The gain for the Vtail and elevon output mixers. The default is 0.5, which ensures that the mixer doesn't saturate, allowing both input channels to go to extremes while retaining control over the output. Hardware mixers often have a 1.0 gain, which gives more servo throw, but can saturate. If you don't have enough throw on your servos with VTAIL_OUTPUT or ELEVON_OUTPUT enabled then you can raise the gain using MIXING_GAIN. The mixer allows outputs in the range 900 to 2100 microseconds." user="User">
 <field name="Range">0.5 1.2</field>
 </param>
@@ -606,13 +586,16 @@
 </param>
 <param humanName="Mixing Offset" name="ArduPlane:MIXING_OFFSET" documentation="The offset for the Vtail and elevon output mixers, as a percentage. This can be used in combination with MIXING_GAIN to configure how the control surfaces respond to input. The response to aileron or elevator input can be increased by setting this parameter to a positive or negative value. A common usage is to enter a positive value to increase the aileron response of the elevons of a flying wing. The default value of zero will leave the aileron-input response equal to the elevator-input response." user="User">
 <field name="Range">-1000 1000</field>
-<field name="Units">percent</field>
+<field name="Units">d%</field>
+<field name="UnitText">decipercent</field>
 </param>
 <param humanName="Differential spoilers rudder rate" name="ArduPlane:DSPOILR_RUD_RATE" documentation="Sets the amount of deflection that the rudder output will apply to the differential spoilers, as a percentage. The default value of 100 results in full rudder applying full deflection. A value of 0 will result in the differential spoilers exactly following the elevons (no rudder effect)." user="User">
-<field name="Range">-1000 1000</field>
-<field name="Units">percent</field>
+<field name="Range">-100 100</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
 </param>
 <param humanName="Num Resets" name="ArduPlane:SYS_NUM_RESETS" documentation="Number of APM board resets" user="Advanced">
+<field name="ReadOnly">True</field>
 </param>
 <param humanName="Log bitmask" name="ArduPlane:LOG_BITMASK" documentation="Bitmap of what log types to enable in dataflash. This values is made up of the sum of each of the log types you want to be saved on dataflash. On a PX4 or Pixhawk the large storage size of a microSD card means it is usually best just to enable all log types by setting this to 65535. On APM2 the smaller 4 MByte dataflash means you need to be more selective in your logging or you may run out of log space while flying (in which case it will wrap and overwrite the start of the log). The individual bits are ATTITUDE_FAST=1, ATTITUDE_MEDIUM=2, GPS=4, PerformanceMonitoring=8, ControlTuning=16, NavigationTuning=32, Mode=64, IMU=128, Commands=256, Battery=512, Compass=1024, TECS=2048, Camera=4096, RCandServo=8192, Sonar=16384, Arming=32768, FullLogs=65535" user="Advanced">
 <field name="Bitmask">0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:MODE,7:IMU,8:CMD,9:CURRENT,10:COMPASS,11:TECS,12:CAMERA,13:RC,14:SONAR,15:ARM/DISARM,19:IMU_RAW</field>
@@ -627,21 +610,27 @@
 </param>
 <param humanName="Target airspeed" name="ArduPlane:TRIM_ARSPD_CM" documentation="Airspeed in cm/s to aim for when airspeed is enabled in auto mode. This is a calibrated (apparent) airspeed." user="User">
 <field name="Units">cm/s</field>
+<field name="UnitText">centimeters per second</field>
 </param>
 <param humanName="speed used for speed scaling calculations" name="ArduPlane:SCALING_SPEED" documentation="Airspeed in m/s to use when calculating surface speed scaling. Note that changing this value will affect all PID values" user="Advanced">
 <field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
 </param>
 <param humanName="Minimum ground speed" name="ArduPlane:MIN_GNDSPD_CM" documentation="Minimum ground speed in cm/s when under airspeed control" user="Advanced">
 <field name="Units">cm/s</field>
+<field name="UnitText">centimeters per second</field>
 </param>
 <param humanName="Pitch angle offset" name="ArduPlane:TRIM_PITCH_CD" documentation="offset to add to pitch - used for in-flight pitch trimming. It is recommended that instead of using this parameter you level your plane correctly on the ground for good flight attitude." user="Advanced">
-<field name="Units">centi-Degrees</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
 </param>
 <param humanName="RTL altitude" name="ArduPlane:ALT_HOLD_RTL" documentation="Return to launch target altitude. This is the relative altitude the plane will aim for and loiter at when returning home. If this is negative (usually -1) then the plane will use the current altitude at the time of entering RTL. Note that when transiting to a Rally Point the altitude of the Rally Point is used instead of ALT_HOLD_RTL." user="User">
-<field name="Units">centimeters</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
 </param>
 <param humanName="Minimum altitude for FBWB mode" name="ArduPlane:ALT_HOLD_FBWCM" documentation="This is the minimum altitude in centimeters that FBWB and CRUISE modes will allow. If you attempt to descend below this altitude then the plane will level off. A value of zero means no limit." user="User">
-<field name="Units">centimeters</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
 </param>
 <param humanName="Enable Compass" name="ArduPlane:MAG_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1." user="Standard">
 <values>
@@ -649,38 +638,29 @@
 <value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Flap input channel" name="ArduPlane:FLAP_IN_CHANNEL" documentation="An RC input channel to use for flaps control. If this is set to a RC channel number then that channel will be used for manual flaps control. When enabled, the percentage of flaps is taken as the percentage travel from the TRIM value of the channel to the MIN value of the channel. A value above the TRIM values will give inverse flaps (spoilers). This option needs to be enabled in conjunction with a FUNCTION setting on an output channel to one of the flap functions. When a FLAP_IN_CHANNEL is combined with auto-flaps the higher of the two flap percentages is taken. You must also enable a FLAPERON_OUTPUT flaperon mixer setting if using flaperons." user="User">
-</param>
-<param humanName="Flaperon output" name="ArduPlane:FLAPERON_OUTPUT" documentation="Enable flaperon output in software. If enabled then the APM will provide software flaperon mixing on the FLAPERON1 and FLAPERON2 output channels specified using the FUNCTION on two auxiliary channels. There are 8 different mixing modes available, which refer to the 8 ways the flap and aileron outputs can be mapped to the two flaperon servos. Please also see the MIXING_GAIN parameter for the output gain of the mixer. FLAPERON_OUTPUT cannot be combined with ELEVON_OUTPUT or ELEVON_MIXING." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">UpUp</value>
-<value code="2">UpDown</value>
-<value code="3">DownUp</value>
-<value code="4">DownDown</value>
-<value code="5">UpUpSwap</value>
-<value code="6">UpDownSwap</value>
-<value code="7">DownUpSwap</value>
-<value code="8">DownDownSwap</value>
-</values>
+<param humanName="Flap input channel" name="ArduPlane:FLAP_IN_CHANNEL" documentation="An RC input channel to use for flaps control. If this is set to a RC channel number then that channel will be used for manual flaps control. When enabled, the percentage of flaps is taken as the percentage travel from the TRIM value of the channel to the MIN value of the channel. A value above the TRIM values will give inverse flaps (spoilers). This option needs to be enabled in conjunction with a FUNCTION setting on an output channel to one of the flap functions. When a FLAP_IN_CHANNEL is combined with auto-flaps the higher of the two flap percentages is taken." user="User">
 </param>
 <param humanName="Flap 1 percentage" name="ArduPlane:FLAP_1_PERCNT" documentation="The percentage change in flap position when FLAP_1_SPEED is reached. Use zero to disable flaps" user="Advanced">
 <field name="Range">0 100</field>
-<field name="Units">Percent</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
 </param>
 <param humanName="Flap 1 speed" name="ArduPlane:FLAP_1_SPEED" documentation="The speed in meters per second at which to engage FLAP_1_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED" user="Advanced">
 <field name="Range">0 100</field>
 <field name="Increment">1</field>
 <field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
 </param>
 <param humanName="Flap 2 percentage" name="ArduPlane:FLAP_2_PERCNT" documentation="The percentage change in flap position when FLAP_2_SPEED is reached. Use zero to disable flaps" user="Advanced">
 <field name="Range">0 100</field>
-<field name="Units">Percent</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
 </param>
 <param humanName="Flap 2 speed" name="ArduPlane:FLAP_2_SPEED" documentation="The speed in meters per second at which to engage FLAP_2_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED" user="Advanced">
 <field name="Range">0 100</field>
 <field name="Increment">1</field>
 <field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
 </param>
 <param humanName="PX4IO override channel" name="ArduPlane:OVERRIDE_CHAN" documentation="If set to a non-zero value then this is an RC input channel number to use for giving PX4IO manual control in case the main FMU microcontroller on a PX4 or Pixhawk fails. When this RC input channel goes above 1750 the FMU microcontroller will no longer be involved in controlling the servos and instead the PX4IO microcontroller will directly control the servos. Note that PX4IO manual control will be automatically activated if the FMU crashes for any reason. This parameter allows you to test for correct manual behaviour without actually crashing the FMU. This parameter is can be set to a non-zero value either for ground testing purposes or for giving the effect of an external override control board. Please also see the docs on OVERRIDE_SAFETY. Note that you may set OVERRIDE_CHAN to the same channel as FLTMODE_CH to get PX4IO based override when in flight mode 6. Note that when override is triggered due to a FMU crash the 6 auxiliary output channels on Pixhawk will no longer be updated, so all the flight controls you need must be assigned to the first 8 channels." user="Advanced">
 </param>
@@ -704,6 +684,7 @@
 <value code="0">Disabled</value>
 <value code="1">Enabled</value>
 </values>
+<field name="RebootRequired">True</field>
 </param>
 <param humanName="HIL Servos enable" name="ArduPlane:HIL_SERVOS" documentation="This controls whether real servo controls are used in HIL mode. If you enable this then the APM will control the real servos in HIL mode. If disabled it will report servo values, but will not output to the real servos. Be careful that your motor and propeller are not connected if you enable this option." user="Advanced">
 <values>
@@ -714,7 +695,8 @@
 <param humanName="Limit of error in HIL attitude before reset" name="ArduPlane:HIL_ERR_LIMIT" documentation="This controls the maximum error in degrees on any axis before HIL will reset the DCM attitude to match the HIL_STATE attitude. This limit will prevent poor timing on HIL from causing a major attitude error. If the value is zero then no limit applies." user="Advanced">
 <field name="Range">0 90</field>
 <field name="Increment">0.1</field>
-<field name="Units">degrees</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
 </param>
 <param humanName="RTL auto land" name="ArduPlane:RTL_AUTOLAND" documentation="Automatically begin landing sequence after arriving at RTL location. This requires the addition of a DO_LAND_START mission item, which acts as a marker for the start of a landing sequence. The closest landing sequence will be chosen to the current location. " user="Standard">
 <values>
@@ -723,15 +705,10 @@
 <value code="2">Enable - go directly to landing sequence</value>
 </values>
 </param>
-<param humanName="RC Trims auto set at start." name="ArduPlane:RC_TRIM_AT_START" documentation="Automatically set roll/pitch trim from Tx at ground start. This makes the assumption that the RC transmitter has not been altered since trims were last captured." user="Standard">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
 <param humanName="Crash Deceleration Threshold" name="ArduPlane:CRASH_ACC_THRESH" documentation="X-Axis deceleration threshold to notify the crash detector that there was a possible impact which helps disarm the motor quickly after a crash. This value should be much higher than normal negative x-axis forces during normal flight, check flight log files to determine the average IMU.x values for your aircraft and motor type. Higher value means less sensative (triggers on higher impact). For electric planes that don't vibrate much during fight a value of 25 is good (that's about 2.5G). For petrol/nitro planes you'll want a higher value. Set to 0 to disable the collision detector." user="Advanced">
-<field name="Values">10 127</field>
+<field name="Range">10 127</field>
 <field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
 </param>
 <param humanName="Crash Detection" name="ArduPlane:CRASH_DETECT" documentation="Automatically detect a crash during AUTO flight and perform the bitmask selected action(s). Disarm will turn off motor for safety and to help against burning out ESC and motor. Setting the mode to manual will help save the servos from burning out by overexerting if the aircraft crashed in an odd orientation such as upsidedown. Set to 0 to disable crash detection." user="Advanced">
 <field name="Bitmask">0:Disarm</field>
@@ -744,1592 +721,1443 @@
 <value code="1">Enabled</value>
 </values>
 </param>
-</parameters>
-<parameters name="ArduCopter">
-<param humanName="Eeprom format version number" name="ArduCopter:SYSID_SW_MREV" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="Software Type" name="ArduCopter:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
-<field name="ReadOnly">True</field>
+<param humanName="GCS sysid enforcement" name="ArduPlane:SYSID_ENFORCE" documentation="This controls whether packets from other than the expected GCS system ID will be accepted" user="Advanced">
 <values>
-<value code="0">ArduPlane</value>
-<value code="4">AntennaTracker</value>
-<value code="10">Copter</value>
-<value code="20">Rover</value>
+<value code="0">NotEnforced</value>
+<value code="1">Enforced</value>
 </values>
 </param>
-<param humanName="MAVLink system ID of this vehicle" name="ArduCopter:SYSID_THISMAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
-<field name="Range">1 255</field>
+<param humanName="rudder differential thrust gain" name="ArduPlane:RUDD_DT_GAIN" documentation="gain control from rudder to differential thrust" user="Standard">
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
 </param>
-<param humanName="My ground station number" name="ArduCopter:SYSID_MYGCS" documentation="Allows restricting radio overrides to only come from my ground station" user="Advanced">
+<param humanName="Manual R/C pass-through mask" name="ArduPlane:MANUAL_RCMASK" documentation="Mask of R/C channels to pass directly to corresponding output channel when in MANUAL mode. When in any mode except MANUAL the channels selected with this option behave normally. This parameter is designed to allow for complex mixing strategies to be used for MANUAL flight using transmitter based mixing. Note that when this option is used you need to be very careful with pre-flight checks to ensure that the output is correct both in MANUAL and non-MANUAL modes." user="Advanced">
+<field name="Bitmask">0:Chan1,1:Chan2,2:Chan3,3:Chan4,4:Chan5,5:Chan6,6:Chan7,7:Chan8,8:Chan9,9:Chan10,10:Chan11,11:Chan12,12:Chan13,13:Chan14,14:Chan15,15:Chan16</field>
+</param>
+<param humanName="Home reset altitude threshold" name="ArduPlane:HOME_RESET_ALT" documentation="When the aircraft is within this altitude of the home waypoint, while disarmed it will automatically update the home position. Set to 0 to continously reset it." user="Advanced">
+<field name="Range">-1 127</field>
 <values>
-<value code="255">Mission Planner and DroidPlanner</value>
-<value code=" 252"> AP Planner 2</value>
+<value code="-1">Never reset</value>
+<value code="0">Always reset</value>
 </values>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
-<param humanName="CLI Enable" name="ArduCopter:CLI_ENABLED" documentation="This enables/disables the checking for three carriage returns on telemetry links on startup to enter the diagnostics command line interface" user="Advanced">
+</parameters>
+</vehicles><libraries><parameters name="ADSB_">
+<param humanName="Enable ADSB" name="ADSB_ENABLE" documentation="Enable ADS-B" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Throttle filter cutoff" name="ArduCopter:PILOT_THR_FILT" documentation="Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable" user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">.5</field>
-<field name="Units">Hz</field>
+<param humanName="ADSB vehicle list size" name="ADSB_LIST_MAX" documentation="ADSB list size of nearest vehicles. Longer lists take longer to refresh with lower SRx_ADSB values." user="Advanced">
+<field name="Range">1 100</field>
 </param>
-<param humanName="Pilot takeoff altitude" name="ArduCopter:PILOT_TKOFF_ALT" documentation="Altitude that altitude control modes will climb to when a takeoff is triggered with the throttle stick." user="Standard">
-<field name="Range">0.0 1000.0</field>
-<field name="Increment">10</field>
-<field name="Units">Centimeters</field>
+<param humanName="ADSB vehicle list radius filter" name="ADSB_LIST_RADIUS" documentation="ADSB vehicle list radius filter. Vehicles detected outside this radius will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations." user="Advanced">
+<field name="Range">1 100000</field>
 </param>
-<param humanName="Takeoff trigger deadzone" name="ArduCopter:PILOT_TKOFF_DZ" documentation="Offset from mid stick at which takeoff is triggered" user="Standard">
-<field name="Range">0.0 500.0</field>
-<field name="Increment">10</field>
+<param humanName="ICAO_ID vehicle identification number" name="ADSB_ICAO_ID" documentation="ICAO_ID unique vehicle identification number of this aircraft. This is a integer limited to 24bits. If set to 0 then one will be randomly generated. If set to -1 then static information is not sent, transceiver is assumed pre-programmed." user="Advanced">
+<field name="Range">-1 16777215</field>
 </param>
-<param humanName="Throttle stick behavior" name="ArduCopter:PILOT_THR_BHV" documentation="Bitmask containing various throttle stick options. Add up the values for options that you want." user="Standard">
-<field name="Bitmask">0:Feedback from mid stick,1:High throttle cancels landing,2:Disarm on land detection</field>
+<param humanName="Emitter type" name="ADSB_EMIT_TYPE" documentation="ADSB classification for the type of vehicle emitting the transponder signal. Default value is 14 (UAV)." user="Advanced">
 <values>
-<value code="0">None</value>
-<value code="1">Feedback from mid stick</value>
-<value code="2">High throttle cancels landing</value>
-<value code="4">Disarm on land detection</value>
+<value code="0">NoInfo</value>
+<value code="1">Light</value>
+<value code="2">Small</value>
+<value code="3">Large</value>
+<value code="4">HighVortexlarge</value>
+<value code="5">Heavy</value>
+<value code="6">HighlyManuv</value>
+<value code="7">Rotocraft</value>
+<value code="8">RESERVED</value>
+<value code="9">Glider</value>
+<value code="10">LightAir</value>
+<value code="11">Parachute</value>
+<value code="12">UltraLight</value>
+<value code="13">RESERVED</value>
+<value code="14">UAV</value>
+<value code="15">Space</value>
+<value code="16">RESERVED</value>
+<value code="17">EmergencySurface</value>
+<value code="18">ServiceSurface</value>
+<value code="19">PointObstacle</value>
 </values>
 </param>
-<param humanName="Telemetry startup delay" name="ArduCopter:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Advanced">
-<field name="Range">0 30</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="GCS PID tuning mask" name="ArduCopter:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
-<field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
+<param humanName="Aircraft length and width" name="ADSB_LEN_WIDTH" documentation="Aircraft length and width dimension options in Length and Width in meters. In most cases, use a value of 1 for smallest size." user="Advanced">
 <values>
-<value code="0">None</value>
-<value code="1">Roll</value>
-<value code="2">Pitch</value>
-<value code="4">Yaw</value>
+<value code="0">NO_DATA</value>
+<value code="1">L15W23</value>
+<value code="2">L25W28P5</value>
+<value code="3">L25W34</value>
+<value code="4">L35W33</value>
+<value code="5">L35W38</value>
+<value code="6">L45W39P5</value>
+<value code="7">L45W45</value>
+<value code="8">L55W45</value>
+<value code="9">L55W52</value>
+<value code="10">L65W59P5</value>
+<value code="11">L65W67</value>
+<value code="12">L75W72P5</value>
+<value code="13">L75W80</value>
+<value code="14">L85W80</value>
+<value code="15">L85W90</value>
 </values>
 </param>
-<param humanName="RTL Altitude" name="ArduCopter:RTL_ALT" documentation="The minimum relative altitude the model will move to before Returning to Launch.  Set to zero to return at current altitude." user="Standard">
-<field name="Range">0 8000</field>
-<field name="Increment">1</field>
-<field name="Units">Centimeters</field>
-</param>
-<param humanName="RTL cone slope" name="ArduCopter:RTL_CONE_SLOPE" documentation="Defines a cone above home which determines maximum climb" user="Standard">
-<field name="Range">0.5 10.0</field>
+<param humanName="GPS antenna lateral offset" name="ADSB_OFFSET_LAT" documentation="GPS antenna lateral offset. This describes the physical location offest from center of the GPS antenna on the aircraft." user="Advanced">
 <values>
-<value code="0">Disabled</value>
-<value code="1">Shallow</value>
-<value code="3">Steep</value>
+<value code="0">NoData</value>
+<value code="1">Left2m</value>
+<value code="2">Left4m</value>
+<value code="3">Left6m</value>
+<value code="4">Center</value>
+<value code="5">Right2m</value>
+<value code="6">Right4m</value>
+<value code="7">Right6m</value>
 </values>
-<field name="Increment">.1</field>
-</param>
-<param humanName="RTL speed" name="ArduCopter:RTL_SPEED" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain horizontally while flying home. If this is set to zero, WPNAV_SPEED will be used instead." user="Standard">
-<field name="Range">0 2000</field>
-<field name="Increment">50</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Rangefinder gain" name="ArduCopter:RNGFND_GAIN" documentation="Used to adjust the speed with which the target altitude is changed when objects are sensed below the copter" user="Standard">
-<field name="Range">0.01 2.0</field>
-<field name="Increment">0.01</field>
 </param>
-<param humanName="Battery Failsafe Enable" name="ArduCopter:FS_BATT_ENABLE" documentation="Controls whether failsafe will be invoked when battery voltage or current runs low" user="Standard">
+<param humanName="GPS antenna longitudinal offset" name="ADSB_OFFSET_LON" documentation="GPS antenna longitudinal offset. This is usually set to 1, Applied By Sensor" user="Advanced">
 <values>
-<value code="0">Disabled</value>
-<value code="1">Land</value>
-<value code="2">RTL</value>
+<value code="0">NO_DATA</value>
+<value code="1">AppliedBySensor</value>
 </values>
 </param>
-<param humanName="Failsafe battery voltage" name="ArduCopter:FS_BATT_VOLTAGE" documentation="Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe. If the battery voltage drops below this voltage then the copter will RTL" user="Standard">
-<field name="Increment">0.1</field>
-<field name="Units">Volts</field>
-</param>
-<param humanName="Failsafe battery milliAmpHours" name="ArduCopter:FS_BATT_MAH" documentation="Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe. If the battery remaining drops below this level then the copter will RTL" user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
-</param>
-<param humanName="Ground Station Failsafe Enable" name="ArduCopter:FS_GCS_ENABLE" documentation="Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. NB. The GCS Failsafe is only active when RC_OVERRIDE is being used to control the vehicle." user="Standard">
+<param humanName="Transceiver RF selection" name="ADSB_RF_SELECT" documentation="Transceiver RF selection for Rx enable and/or Tx enable. This only effects devices that can Tx and Rx. Rx-only devices override this to always be Rx-only." user="Advanced">
 <values>
 <value code="0">Disabled</value>
-<value code="1">Enabled always RTL</value>
-<value code="2">Enabled Continue with Mission in Auto Mode</value>
+<value code="1">Rx-Only</value>
+<value code="2">Tx-Only</value>
+<value code="3">Rx and Tx Enabled</value>
 </values>
 </param>
-<param humanName="GPS Hdop Good" name="ArduCopter:GPS_HDOP_GOOD" documentation="GPS Hdop value at or below this value represent a good position.  Used for pre-arm checks" user="Advanced">
-<field name="Range">100 900</field>
+<param humanName="Squawk code" name="ADSB_SQUAWK" documentation="VFR squawk (Mode 3/A) code is a pre-programmed default code when the pilot is flying VFR and not in contact with ATC. In the USA, the VFR squawk code is octal 1200 (hex 0x280, decimal 640) and in most parts of Europe the VFR squawk code is octal 7000. If an invalid octal number is set then it will be reset to 1200." user="Advanced">
+<field name="Units">octal</field>
+<field name="UnitText">octal</field>
 </param>
-<param humanName="Compass enable/disable" name="ArduCopter:MAG_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass" user="Standard">
+<param humanName="RF capabilities" name="ADSB_RF_CAPABLE" documentation="Describes your hardware RF In/Out capabilities." user="Advanced">
+<field name="Bitmask">0:UAT_in,1:1090ES_in,2:UAT_out,3:1090ES_out</field>
 <values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
+<value code="0">Unknown</value>
+<value code="1">Rx UAT only</value>
+<value code="3">Rx UAT and 1090ES</value>
+<value code="7">Rx&amp;Tx UAT and 1090ES</value>
 </values>
 </param>
-<param humanName="Super Simple Mode" name="ArduCopter:SUPER_SIMPLE" documentation="Bitmask to enable Super Simple mode for some flight modes. Setting this to Disabled(0) will disable Super Simple Mode" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Mode1</value>
-<value code="2">Mode2</value>
-<value code="3">Mode1+2</value>
-<value code="4">Mode3</value>
-<value code="5">Mode1+3</value>
-<value code="6">Mode2+3</value>
-<value code="7">Mode1+2+3</value>
-<value code="8">Mode4</value>
-<value code="9">Mode1+4</value>
-<value code="10">Mode2+4</value>
-<value code="11">Mode1+2+4</value>
-<value code="12">Mode3+4</value>
-<value code="13">Mode1+3+4</value>
-<value code="14">Mode2+3+4</value>
-<value code="15">Mode1+2+3+4</value>
-<value code="16">Mode5</value>
-<value code="17">Mode1+5</value>
-<value code="18">Mode2+5</value>
-<value code="19">Mode1+2+5</value>
-<value code="20">Mode3+5</value>
-<value code="21">Mode1+3+5</value>
-<value code="22">Mode2+3+5</value>
-<value code="23">Mode1+2+3+5</value>
-<value code="24">Mode4+5</value>
-<value code="25">Mode1+4+5</value>
-<value code="26">Mode2+4+5</value>
-<value code="27">Mode1+2+4+5</value>
-<value code="28">Mode3+4+5</value>
-<value code="29">Mode1+3+4+5</value>
-<value code="30">Mode2+3+4+5</value>
-<value code="31">Mode1+2+3+4+5</value>
-<value code="32">Mode6</value>
-<value code="33">Mode1+6</value>
-<value code="34">Mode2+6</value>
-<value code="35">Mode1+2+6</value>
-<value code="36">Mode3+6</value>
-<value code="37">Mode1+3+6</value>
-<value code="38">Mode2+3+6</value>
-<value code="39">Mode1+2+3+6</value>
-<value code="40">Mode4+6</value>
-<value code="41">Mode1+4+6</value>
-<value code="42">Mode2+4+6</value>
-<value code="43">Mode1+2+4+6</value>
-<value code="44">Mode3+4+6</value>
-<value code="45">Mode1+3+4+6</value>
-<value code="46">Mode2+3+4+6</value>
-<value code="47">Mode1+2+3+4+6</value>
-<value code="48">Mode5+6</value>
-<value code="49">Mode1+5+6</value>
-<value code="50">Mode2+5+6</value>
-<value code="51">Mode1+2+5+6</value>
-<value code="52">Mode3+5+6</value>
-<value code="53">Mode1+3+5+6</value>
-<value code="54">Mode2+3+5+6</value>
-<value code="55">Mode1+2+3+5+6</value>
-<value code="56">Mode4+5+6</value>
-<value code="57">Mode1+4+5+6</value>
-<value code="58">Mode2+4+5+6</value>
-<value code="59">Mode1+2+4+5+6</value>
-<value code="60">Mode3+4+5+6</value>
-<value code="61">Mode1+3+4+5+6</value>
-<value code="62">Mode2+3+4+5+6</value>
-<value code="63">Mode1+2+3+4+5+6</value>
-</values>
-</param>
-<param humanName="RTL Final Altitude" name="ArduCopter:RTL_ALT_FINAL" documentation="This is the altitude the vehicle will move to as the final stage of Returning to Launch or after completing a mission.  Set to zero to land." user="Standard">
-<field name="Range">-1 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Centimeters</field>
-</param>
-<param humanName="RTL minimum climb" name="ArduCopter:RTL_CLIMB_MIN" documentation="The vehicle will climb this many cm during the initial climb portion of the RTL" user="Standard">
-<field name="Range">0 3000</field>
-<field name="Increment">10</field>
-<field name="Units">Centimeters</field>
-</param>
-<param humanName="Yaw behaviour during missions" name="ArduCopter:WP_YAW_BEHAVIOR" documentation="Determines how the autopilot controls the yaw during missions and RTL" user="Standard">
-<values>
-<value code="0">Never change yaw</value>
-<value code=" 1">Face next waypoint</value>
-<value code=" 2">Face next waypoint except RTL</value>
-<value code=" 3">Face along GPS course</value>
-</values>
+</parameters>
+<parameters name="AFS_">
+<param humanName="Enable Advanced Failsafe" name="AFS_ENABLE" documentation="This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect" user="Advanced">
 </param>
-<param humanName="RTL loiter time" name="ArduCopter:RTL_LOIT_TIME" documentation="Time (in milliseconds) to loiter above home before beginning final descent" user="Standard">
-<field name="Range">0 60000</field>
-<field name="Increment">1000</field>
-<field name="Units">ms</field>
+<param humanName="Manual Pin" name="AFS_MAN_PIN" documentation="This sets a digital output pin to set high when in manual mode" user="Advanced">
 </param>
-<param humanName="Land speed" name="ArduCopter:LAND_SPEED" documentation="The descent speed for the final stage of landing in cm/s" user="Standard">
-<field name="Range">30 200</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s</field>
+<param humanName="Heartbeat Pin" name="AFS_HB_PIN" documentation="This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination." user="Advanced">
 </param>
-<param humanName="Land speed high" name="ArduCopter:LAND_SPEED_HIGH" documentation="The descent speed for the first stage of landing in cm/s. If this is zero then WPNAV_SPEED_DN is used" user="Standard">
-<field name="Range">0 500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s</field>
+<param humanName="Comms Waypoint" name="AFS_WP_COMMS" documentation="Waypoint number to navigate to on comms loss" user="Advanced">
 </param>
-<param humanName="Pilot maximum vertical speed" name="ArduCopter:PILOT_VELZ_MAX" documentation="The maximum vertical velocity the pilot may request in cm/s" user="Standard">
-<field name="Range">50 500</field>
-<field name="Increment">10</field>
-<field name="Units">Centimeters/Second</field>
+<param humanName="GPS Loss Waypoint" name="AFS_GPS_LOSS" documentation="Waypoint number to navigate to on GPS lock loss" user="Advanced">
 </param>
-<param humanName="Pilot vertical acceleration" name="ArduCopter:PILOT_ACCEL_Z" documentation="The vertical acceleration used when pilot is controlling the altitude" user="Standard">
-<field name="Range">50 500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s/s</field>
+<param humanName="Force Terminate" name="AFS_TERMINATE" documentation="Can be set in flight to force termination of the heartbeat signal" user="Advanced">
 </param>
-<param humanName="Throttle Failsafe Enable" name="ArduCopter:FS_THR_ENABLE" documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled always RTL</value>
-<value code="2">Enabled Continue with Mission in Auto Mode</value>
-<value code="3">Enabled always LAND</value>
-</values>
+<param humanName="Terminate action" name="AFS_TERM_ACTION" documentation="This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup APM to handle it here. Please consult the wiki for more information on the possible values of the parameter" user="Advanced">
 </param>
-<param humanName="Throttle Failsafe Value" name="ArduCopter:FS_THR_VALUE" documentation="The PWM level on channel 3 below which throttle failsafe triggers" user="Standard">
-<field name="Range">925 1100</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
+<param humanName="Terminate Pin" name="AFS_TERM_PIN" documentation="This sets a digital output pin to set high on flight termination" user="Advanced">
 </param>
-<param humanName="Throttle deadzone" name="ArduCopter:THR_DZ" documentation="The deadzone above and below mid throttle.  Used in AltHold, Loiter, PosHold flight modes" user="Standard">
-<field name="Range">0 300</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Flight Mode 1" name="ArduCopter:FLTMODE1" documentation="Flight mode when Channel 5 pwm is &lt;= 1230" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-<value code="18">Throw</value>
-<value code="19">Avoid_ADSB</value>
-<value code="20">Guided_NoGPS</value>
-<value code="21">SmartRTL</value>
-</values>
-</param>
-<param humanName="Flight Mode 2" name="ArduCopter:FLTMODE2" documentation="Flight mode when Channel 5 pwm is &gt;1230, &lt;= 1360" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-<value code="18">Throw</value>
-<value code="19">Avoid_ADSB</value>
-<value code="20">Guided_NoGPS</value>
-<value code="21">SmartRTL</value>
-</values>
-</param>
-<param humanName="Flight Mode 3" name="ArduCopter:FLTMODE3" documentation="Flight mode when Channel 5 pwm is &gt;1360, &lt;= 1490" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-<value code="18">Throw</value>
-<value code="19">Avoid_ADSB</value>
-<value code="20">Guided_NoGPS</value>
-<value code="21">SmartRTL</value>
-</values>
-</param>
-<param humanName="Flight Mode 4" name="ArduCopter:FLTMODE4" documentation="Flight mode when Channel 5 pwm is &gt;1490, &lt;= 1620" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-<value code="18">Throw</value>
-<value code="19">Avoid_ADSB</value>
-<value code="20">Guided_NoGPS</value>
-<value code="21">SmartRTL</value>
-</values>
-</param>
-<param humanName="Flight Mode 5" name="ArduCopter:FLTMODE5" documentation="Flight mode when Channel 5 pwm is &gt;1620, &lt;= 1749" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-<value code="18">Throw</value>
-<value code="19">Avoid_ADSB</value>
-<value code="20">Guided_NoGPS</value>
-<value code="21">SmartRTL</value>
-</values>
-</param>
-<param humanName="Flight Mode 6" name="ArduCopter:FLTMODE6" documentation="Flight mode when Channel 5 pwm is &gt;=1750" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-<value code="18">Throw</value>
-<value code="19">Avoid_ADSB</value>
-<value code="20">Guided_NoGPS</value>
-<value code="21">SmartRTL</value>
-</values>
-</param>
-<param humanName="Simple mode bitmask" name="ArduCopter:SIMPLE" documentation="Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode)" user="Advanced">
-</param>
-<param humanName="Log bitmask" name="ArduCopter:LOG_BITMASK" documentation="4 byte bitmap of log types to enable" user="Standard">
-<field name="Bitmask">0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,17:MOTBATT,18:IMU_FAST,19:IMU_RAW</field>
-<values>
-<value code="830">Default</value>
-<value code="894">Default+RCIN</value>
-<value code="958">Default+IMU</value>
-<value code="1854">Default+Motors</value>
-<value code="-6146">NearlyAll-AC315</value>
-<value code="45054">NearlyAll</value>
-<value code="131071">All+FastATT</value>
-<value code="262142">All+MotBatt</value>
-<value code="393214">All+FastIMU</value>
-<value code="397310">All+FastIMU+PID</value>
-<value code="655358">All+FullIMU</value>
-<value code="0">Disabled</value>
-</values>
-</param>
-<param humanName="ESC Calibration" name="ArduCopter:ESC_CALIBRATION" documentation="Controls whether ArduCopter will enter ESC calibration on the next restart.  Do not adjust this parameter manually." user="Advanced">
-<values>
-<value code="0">Normal Start-up</value>
-<value code=" 1">Start-up in ESC Calibration mode if throttle high</value>
-<value code=" 2">Start-up in ESC Calibration mode regardless of throttle</value>
-<value code=" 3">Start-up and automatically calibrate ESCs</value>
-<value code=" 9">Disabled</value>
-</values>
-</param>
-<param humanName="Channel 6 Tuning" name="ArduCopter:TUNE" documentation="Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Stab Roll/Pitch kP</value>
-<value code="4">Rate Roll/Pitch kP</value>
-<value code="5">Rate Roll/Pitch kI</value>
-<value code="21">Rate Roll/Pitch kD</value>
-<value code="3">Stab Yaw kP</value>
-<value code="6">Rate Yaw kP</value>
-<value code="26">Rate Yaw kD</value>
-<value code="14">Altitude Hold kP</value>
-<value code="7">Throttle Rate kP</value>
-<value code="34">Throttle Accel kP</value>
-<value code="35">Throttle Accel kI</value>
-<value code="36">Throttle Accel kD</value>
-<value code="42">Loiter Speed</value>
-<value code="12">Loiter Pos kP</value>
-<value code="22">Velocity XY kP</value>
-<value code="28">Velocity XY kI</value>
-<value code="10">WP Speed</value>
-<value code="25">Acro RollPitch kP</value>
-<value code="40">Acro Yaw kP</value>
-<value code="13">Heli Ext Gyro</value>
-<value code="17">OF Loiter kP</value>
-<value code="18">OF Loiter kI</value>
-<value code="19">OF Loiter kD</value>
-<value code="38">Declination</value>
-<value code="39">Circle Rate</value>
-<value code="41">RangeFinder Gain</value>
-<value code="46">Rate Pitch kP</value>
-<value code="47">Rate Pitch kI</value>
-<value code="48">Rate Pitch kD</value>
-<value code="49">Rate Roll kP</value>
-<value code="50">Rate Roll kI</value>
-<value code="51">Rate Roll kD</value>
-<value code="52">Rate Pitch FF</value>
-<value code="53">Rate Roll FF</value>
-<value code="54">Rate Yaw FF</value>
-</values>
-</param>
-<param humanName="Tuning minimum" name="ArduCopter:TUNE_LOW" documentation="The minimum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob" user="Standard">
-<field name="Range">0 32767</field>
+<param humanName="AMSL limit" name="AFS_AMSL_LIMIT" documentation="This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
-<param humanName="Tuning maximum" name="ArduCopter:TUNE_HIGH" documentation="The maximum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob" user="Standard">
-<field name="Range">0 32767</field>
+<param humanName="Error margin for GPS based AMSL limit" name="AFS_AMSL_ERR_GPS" documentation="This sets margin for error in GPS derived altitude limit. This error margin is only used if the barometer has failed. If the barometer fails then the GPS will be used to enforce the AMSL_LIMIT, but this margin will be subtracted from the AMSL_LIMIT first, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached. OBC users should set this to comply with their D2 safety case. A value of -1 will mean that barometer failure will lead to immediate termination." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
-<param humanName="Frame Type (+, X, V, etc)" name="ArduCopter:FRAME_TYPE" documentation="Controls motor mixing for multicopters.  Not used for Tri or Traditional Helicopters." user="Standard">
-<values>
-<value code="0">Plus</value>
-<value code=" 1">X</value>
-<value code=" 2">V</value>
-<value code=" 3">H</value>
-<value code=" 4">V-Tail</value>
-<value code=" 5">A-Tail</value>
-<value code=" 10">Y6B</value>
-</values>
+<param humanName="QNH pressure" name="AFS_QNH_PRESSURE" documentation="This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit. A value of zero disables the altitude limit." user="Advanced">
+<field name="Units">mbar</field>
+<field name="UnitText">millibar</field>
 </param>
-<param humanName="Channel 7 option" name="ArduCopter:CH7_OPT" documentation="Select which function is performed when CH7 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 15">Sprayer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">Gripper</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 34">Relay2 On/Off</value>
-<value code=" 35">Relay3 On/Off</value>
-<value code=" 36">Relay4 On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-<value code=" 37">Throw</value>
-<value code=" 38">Avoidance</value>
-<value code=" 39">PrecLoiter</value>
-<value code=" 40">Object Avoidance</value>
-<value code=" 41">ArmDisarm</value>
-</values>
-</param>
-<param humanName="Channel 8 option" name="ArduCopter:CH8_OPT" documentation="Select which function is performed when CH8 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 15">Sprayer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">Gripper</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 34">Relay2 On/Off</value>
-<value code=" 35">Relay3 On/Off</value>
-<value code=" 36">Relay4 On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-<value code=" 37">Throw</value>
-<value code=" 38">Avoidance</value>
-<value code=" 39">PrecLoiter</value>
-<value code=" 40">Object Avoidance</value>
-<value code=" 41">ArmDisarm</value>
-</values>
-</param>
-<param humanName="Channel 9 option" name="ArduCopter:CH9_OPT" documentation="Select which function is performed when CH9 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 15">Sprayer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">Gripper</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 34">Relay2 On/Off</value>
-<value code=" 35">Relay3 On/Off</value>
-<value code=" 36">Relay4 On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-<value code=" 37">Throw</value>
-<value code=" 38">Avoidance</value>
-<value code=" 39">PrecLoiter</value>
-<value code=" 40">Object Avoidance</value>
-<value code=" 41">ArmDisarm</value>
-</values>
-</param>
-<param humanName="Channel 10 option" name="ArduCopter:CH10_OPT" documentation="Select which function is performed when CH10 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 15">Sprayer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">Gripper</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 34">Relay2 On/Off</value>
-<value code=" 35">Relay3 On/Off</value>
-<value code=" 36">Relay4 On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-<value code=" 37">Throw</value>
-<value code=" 38">Avoidance</value>
-<value code=" 39">PrecLoiter</value>
-<value code=" 40">Object Avoidance</value>
-<value code=" 41">ArmDisarm</value>
-</values>
-</param>
-<param humanName="Channel 11 option" name="ArduCopter:CH11_OPT" documentation="Select which function is performed when CH11 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 15">Sprayer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">Gripper</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 34">Relay2 On/Off</value>
-<value code=" 35">Relay3 On/Off</value>
-<value code=" 36">Relay4 On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-<value code=" 37">Throw</value>
-<value code=" 38">Avoidance</value>
-<value code=" 39">PrecLoiter</value>
-<value code=" 40">Object Avoidance</value>
-<value code=" 41">ArmDisarm</value>
-</values>
-</param>
-<param humanName="Channel 12 option" name="ArduCopter:CH12_OPT" documentation="Select which function is performed when CH12 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 15">Sprayer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">Gripper</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 34">Relay2 On/Off</value>
-<value code=" 35">Relay3 On/Off</value>
-<value code=" 36">Relay4 On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-<value code=" 37">Throw</value>
-<value code=" 38">Avoidance</value>
-<value code=" 39">PrecLoiter</value>
-<value code=" 40">Object Avoidance</value>
-<value code=" 41">ArmDisarm</value>
-</values>
-</param>
-<param humanName="Disarm delay" name="ArduCopter:DISARM_DELAY" documentation="Delay before automatic disarm in seconds. A value of zero disables auto disarm." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Units">Seconds</field>
+<param humanName="Maximum number of GPS loss events" name="AFS_MAX_GPS_LOSS" documentation="Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events." user="Advanced">
 </param>
-<param humanName="Angle Max" name="ArduCopter:ANGLE_MAX" documentation="Maximum lean angle in all flight modes" user="Advanced">
-<field name="Range">1000 8000</field>
-<field name="Units">Centi-degrees</field>
+<param humanName="Maximum number of comms loss events" name="AFS_MAX_COM_LOSS" documentation="Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events." user="Advanced">
 </param>
-<param humanName="RC Feel Roll/Pitch" name="ArduCopter:RC_FEEL_RP" documentation="RC feel for roll/pitch which controls vehicle response to user input with 0 being extremely soft and 100 being crisp" user="Standard">
-<field name="Range">0 100</field>
-<values>
-<value code="0">Very Soft</value>
-<value code=" 25">Soft</value>
-<value code=" 50">Medium</value>
-<value code=" 75">Crisp</value>
-<value code=" 100">Very Crisp</value>
-</values>
-<field name="Increment">10</field>
+<param humanName="Enable geofence Advanced Failsafe" name="AFS_GEOFENCE" documentation="This enables the geofence part of the AFS. Will only be in effect if AFS_ENABLE is also 1" user="Advanced">
 </param>
-<param humanName="PosHold braking rate" name="ArduCopter:PHLD_BRAKE_RATE" documentation="PosHold flight mode's rotation rate during braking in deg/sec" user="Advanced">
-<field name="Range">4 12</field>
-<field name="Units">deg/sec</field>
+<param humanName="Enable RC Advanced Failsafe" name="AFS_RC" documentation="This enables the RC part of the AFS. Will only be in effect if AFS_ENABLE is also 1" user="Advanced">
 </param>
-<param humanName="PosHold braking angle max" name="ArduCopter:PHLD_BRAKE_ANGLE" documentation="PosHold flight mode's max lean angle during braking in centi-degrees" user="Advanced">
-<field name="Range">2000 4500</field>
-<field name="Units">Centi-degrees</field>
+<param humanName="Enable RC Termination only in manual control modes" name="AFS_RC_MAN_ONLY" documentation="If this parameter is set to 1, then an RC loss will only cause the plane to terminate in manual control modes. If it is 0, then the plane will terminate in any flight mode." user="Advanced">
 </param>
-<param humanName="Land repositioning" name="ArduCopter:LAND_REPOSITION" documentation="Enables user input during LAND mode, the landing phase of RTL, and auto mode landings." user="Advanced">
-<values>
-<value code="0">No repositioning</value>
-<value code=" 1">Repositioning</value>
-</values>
+<param humanName="Enable dual loss terminate due to failure of both GCS and GPS simultaneously" name="AFS_DUAL_LOSS" documentation='This enables the dual loss termination part of the AFS system. If this parameter is 1 and both GPS and the ground control station fail simultaneously, this will be considered a "dual loss" and cause termination.' user="Advanced">
 </param>
-<param humanName="EKF Failsafe Action" name="ArduCopter:FS_EKF_ACTION" documentation="Controls the action that will be taken when an EKF failsafe is invoked" user="Advanced">
-<values>
-<value code="1">Land</value>
-<value code=" 2">AltHold</value>
-<value code=" 3">Land even in Stabilize</value>
-</values>
+<param humanName="RC failure time" name="AFS_RC_FAIL_TIME" documentation="This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be (1.5). Use 0 to disable." user="Advanced">
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
 </param>
-<param humanName="EKF failsafe variance threshold" name="ArduCopter:FS_EKF_THRESH" documentation="Allows setting the maximum acceptable compass and velocity variance" user="Advanced">
-<field name="Values">0.6:Strict, 0.8:Default, 1.0:Relaxed</field>
+</parameters>
+<parameters name="AHRS_">
+<param humanName="AHRS GPS gain" name="AHRS_GPS_GAIN" documentation="This controls how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0." user="Advanced">
+<field name="Range">0.0 1.0</field>
+<field name="Increment">.01</field>
 </param>
-<param humanName="Crash check enable" name="ArduCopter:FS_CRASH_CHECK" documentation="This enables automatic crash checking. When enabled the motors will disarm if a crash is detected." user="Advanced">
+<param humanName="AHRS use GPS for navigation" name="AHRS_GPS_USE" documentation="This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight. Currently this affects only the DCM-based AHRS: the EKF uses GPS whenever it is available." user="Advanced">
 <values>
 <value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="ESC Update Speed" name="ArduCopter:RC_SPEED" documentation="This is the speed in Hertz that your ESCs will receive updates" user="Advanced">
-<field name="Range">50 490</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Acro Roll and Pitch P gain" name="ArduCopter:ACRO_RP_P" documentation="Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode.  Higher values mean faster rate of rotation." user="Standard">
-<field name="Range">1 10</field>
-</param>
-<param humanName="Acro Yaw P gain" name="ArduCopter:ACRO_YAW_P" documentation="Converts pilot yaw input into a desired rate of rotation in ACRO, Stabilize and SPORT modes.  Higher values mean faster rate of rotation." user="Standard">
-<field name="Range">1 10</field>
-</param>
-<param humanName="Acro Balance Roll" name="ArduCopter:ACRO_BAL_ROLL" documentation="rate at which roll angle returns to level in acro mode.  A higher value causes the vehicle to return to level faster." user="Advanced">
-<field name="Range">0 3</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Acro Balance Pitch" name="ArduCopter:ACRO_BAL_PITCH" documentation="rate at which pitch angle returns to level in acro mode.  A higher value causes the vehicle to return to level faster." user="Advanced">
-<field name="Range">0 3</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Acro Trainer" name="ArduCopter:ACRO_TRAINER" documentation="Type of trainer used in acro mode" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Leveling</value>
-<value code="2">Leveling and Limited</value>
-</values>
+<param humanName="Yaw P" name="AHRS_YAW_P" documentation="This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly." user="Advanced">
+<field name="Range">0.1 0.4</field>
+<field name="Increment">.01</field>
 </param>
-<param humanName="Acro Roll/Pitch Expo" name="ArduCopter:ACRO_RP_EXPO" documentation="Acro roll/pitch Expo to allow faster rotation when stick at edges" user="Advanced">
-<field name="Range">-0.5 1.0</field>
-<values>
-<value code="0">Disabled</value>
-<value code="0.1">Very Low</value>
-<value code="0.2">Low</value>
-<value code="0.3">Medium</value>
-<value code="0.4">High</value>
-<value code="0.5">Very High</value>
-</values>
+<param humanName="AHRS RP_P" name="AHRS_RP_P" documentation="This controls how fast the accelerometers correct the attitude" user="Advanced">
+<field name="Range">0.1 0.4</field>
+<field name="Increment">.01</field>
 </param>
-<param humanName="Velocity (horizontal) P gain" name="ArduCopter:VEL_XY_P" documentation="Velocity (horizontal) P gain.  Converts the difference between desired velocity to a target acceleration" user="Advanced">
-<field name="Range">0.1 6.0</field>
-<field name="Increment">0.1</field>
+<param humanName="Maximum wind" name="AHRS_WIND_MAX" documentation="This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is." user="Advanced">
+<field name="Range">0 127</field>
+<field name="Increment">1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
 </param>
-<param humanName="Velocity (horizontal) I gain" name="ArduCopter:VEL_XY_I" documentation="Velocity (horizontal) I gain.  Corrects long-term difference in desired velocity to a target acceleration" user="Advanced">
-<field name="Range">0.02 1.00</field>
+<param humanName="AHRS Trim Roll" name="AHRS_TRIM_X" documentation="Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right." user="Standard">
+<field name="Range">-0.1745 +0.1745</field>
 <field name="Increment">0.01</field>
+<field name="Units">rad</field>
+<field name="UnitText">radians</field>
 </param>
-<param humanName="Velocity (horizontal) integrator maximum" name="ArduCopter:VEL_XY_IMAX" documentation="Velocity (horizontal) integrator maximum.  Constrains the target acceleration that the I gain will output" user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Velocity (vertical) P gain" name="ArduCopter:VEL_Z_P" documentation="Velocity (vertical) P gain.  Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller" user="Standard">
-<field name="Range">1.000 8.000</field>
-</param>
-<param humanName="Throttle acceleration controller P gain" name="ArduCopter:ACCEL_Z_P" documentation="Throttle acceleration controller P gain.  Converts the difference between desired vertical acceleration and actual acceleration into a motor output" user="Standard">
-<field name="Range">0.500 1.500</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Throttle acceleration controller I gain" name="ArduCopter:ACCEL_Z_I" documentation="Throttle acceleration controller I gain.  Corrects long-term difference in desired vertical acceleration and actual acceleration" user="Standard">
-<field name="Range">0.000 3.000</field>
-</param>
-<param humanName="Throttle acceleration controller I gain maximum" name="ArduCopter:ACCEL_Z_IMAX" documentation="Throttle acceleration controller I gain maximum.  Constrains the maximum pwm that the I term will generate" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Throttle acceleration controller D gain" name="ArduCopter:ACCEL_Z_D" documentation="Throttle acceleration controller D gain.  Compensates for short-term change in desired vertical acceleration vs actual acceleration" user="Standard">
-<field name="Range">0.000 0.400</field>
-</param>
-<param humanName="Throttle acceleration filter" name="ArduCopter:ACCEL_Z_FILT" documentation="Filter applied to acceleration to reduce noise.  Lower values reduce noise but add delay." user="Standard">
-<field name="Range">1.000 100.000</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Position (vertical) controller P gain" name="ArduCopter:POS_Z_P" documentation="Position (vertical) controller P gain.  Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller" user="Standard">
-<field name="Range">1.000 3.000</field>
+<param humanName="AHRS Trim Pitch" name="AHRS_TRIM_Y" documentation="Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back." user="Standard">
+<field name="Range">-0.1745 +0.1745</field>
+<field name="Increment">0.01</field>
+<field name="Units">rad</field>
+<field name="UnitText">radians</field>
 </param>
-<param humanName="Position (horizonal) controller P gain" name="ArduCopter:POS_XY_P" documentation="Loiter position controller P gain.  Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller" user="Standard">
-<field name="Range">0.500 2.000</field>
+<param humanName="AHRS Trim Yaw" name="AHRS_TRIM_Z" documentation="Not Used" user="Advanced">
+<field name="Range">-0.1745 +0.1745</field>
+<field name="Increment">0.01</field>
+<field name="Units">rad</field>
+<field name="UnitText">radians</field>
 </param>
-<param humanName="Autotune axis bitmask" name="ArduCopter:AUTOTUNE_AXES" documentation="1-byte bitmap of axes to autotune" user="Standard">
-<field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
+<param humanName="Board Orientation" name="AHRS_ORIENTATION" documentation="Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle." user="Advanced">
 <values>
-<value code="7">All</value>
-<value code="1">Roll Only</value>
-<value code="2">Pitch Only</value>
-<value code="4">Yaw Only</value>
-<value code="3">Roll and Pitch</value>
-<value code="5">Roll and Yaw</value>
-<value code="6">Pitch and Yaw</value>
+<value code="0">None</value>
+<value code="1">Yaw45</value>
+<value code="2">Yaw90</value>
+<value code="3">Yaw135</value>
+<value code="4">Yaw180</value>
+<value code="5">Yaw225</value>
+<value code="6">Yaw270</value>
+<value code="7">Yaw315</value>
+<value code="8">Roll180</value>
+<value code="9">Roll180Yaw45</value>
+<value code="10">Roll180Yaw90</value>
+<value code="11">Roll180Yaw135</value>
+<value code="12">Pitch180</value>
+<value code="13">Roll180Yaw225</value>
+<value code="14">Roll180Yaw270</value>
+<value code="15">Roll180Yaw315</value>
+<value code="16">Roll90</value>
+<value code="17">Roll90Yaw45</value>
+<value code="18">Roll90Yaw90</value>
+<value code="19">Roll90Yaw135</value>
+<value code="20">Roll270</value>
+<value code="21">Roll270Yaw45</value>
+<value code="22">Roll270Yaw90</value>
+<value code="23">Roll270Yaw135</value>
+<value code="24">Pitch90</value>
+<value code="25">Pitch270</value>
+<value code="26">Pitch180Yaw90</value>
+<value code="27">Pitch180Yaw270</value>
+<value code="28">Roll90Pitch90</value>
+<value code="29">Roll180Pitch90</value>
+<value code="30">Roll270Pitch90</value>
+<value code="31">Roll90Pitch180</value>
+<value code="32">Roll270Pitch180</value>
+<value code="33">Roll90Pitch270</value>
+<value code="34">Roll180Pitch270</value>
+<value code="35">Roll270Pitch270</value>
+<value code="36">Roll90Pitch180Yaw90</value>
+<value code="37">Roll90Yaw270</value>
+<value code="38">Yaw293Pitch68Roll180</value>
+<value code="39">Pitch315</value>
+<value code="40">Roll90Pitch315</value>
+<value code="100">Custom</value>
 </values>
 </param>
-<param humanName="Autotune aggressiveness" name="ArduCopter:AUTOTUNE_AGGR" documentation="Autotune aggressiveness. Defines the bounce back used to detect size of the D term." user="Standard">
-<field name="Range">0.05 0.10</field>
+<param humanName="AHRS Velocity Complementary Filter Beta Coefficient" name="AHRS_COMP_BETA" documentation="This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less." user="Advanced">
+<field name="Range">0.001 0.5</field>
+<field name="Increment">.01</field>
 </param>
-<param humanName="AutoTune minimum D" name="ArduCopter:AUTOTUNE_MIN_D" documentation="Defines the minimum D gain" user="Standard">
-<field name="Range">0.001 0.006</field>
+<param humanName="AHRS GPS Minimum satellites" name="AHRS_GPS_MINSATS" documentation="Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers." user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
 </param>
-<param humanName="Start motors before throwing is detected" name="ArduCopter:THROW_MOT_START" documentation="Used by THROW mode. Controls whether motors will run at the speed set by THR_MIN or will be stopped when armed and waiting for the throw." user="Standard">
+<param humanName="Use NavEKF Kalman filter for attitude and position estimation" name="AHRS_EKF_TYPE" documentation="This controls which NavEKF Kalman filter version is used for attitude and position estimation" user="Advanced">
 <values>
-<value code="0">Stopped</value>
-<value code="1">Running</value>
+<value code="0">Disabled</value>
+<value code="2">Enable EKF2</value>
+<value code="3">Enable EKF3</value>
 </values>
 </param>
-<param humanName="Terrain Following use control" name="ArduCopter:TERRAIN_FOLLOW" documentation="This enables terrain following for RTL and LAND flight modes. To use this option TERRAIN_ENABLE must be 1 and the GCS must  support sending terrain data to the aircraft.  In RTL the RTL_ALT will be considered a height above the terrain.  In LAND mode the vehicle will slow to LAND_SPEED 10m above terrain (instead of 10m above home).  This parameter does not affect AUTO and Guided which use a per-command flag to determine if the height is above-home, absolute or above-terrain." user="Standard">
-<values>
-<value code="0">Do Not Use in RTL and Land</value>
-<value code="1">Use in RTL and Land</value>
-</values>
+<param humanName="Board orientation roll offset" name="AHRS_CUSTOM_ROLL" documentation="Autopilot mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
+<field name="Range">-180 180</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
 </param>
-<param humanName="Minimum navigation altitude" name="ArduCopter:WP_NAVALT_MIN" documentation="This is the altitude in meters above which for navigation can begin. This applies in auto takeoff and auto landing." user="Standard">
-<field name="Range">0 5</field>
+<param humanName="Board orientation pitch offset" name="AHRS_CUSTOM_PIT" documentation="Autopilot mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
+<field name="Range">-180 180</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
 </param>
-<param humanName="Throw mode's follow up mode" name="ArduCopter:THROW_NEXTMODE" documentation="Vehicle will switch to this mode after the throw is successfully completed.  Default is to stay in throw mode (18)" user="Standard">
-<values>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="6">RTL</value>
-<value code="9">Land</value>
-<value code="17">Brake</value>
-<value code="18">Throw</value>
-</values>
+<param humanName="Board orientation yaw offset" name="AHRS_CUSTOM_YAW" documentation="Autopilot mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
+<field name="Range">-180 180</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
 </param>
-<param humanName="Type of Type" name="ArduCopter:THROW_TYPE" documentation="Used by THROW mode. Specifies whether Copter is thrown upward or dropped." user="Standard">
+</parameters>
+<parameters name="ARMING_">
+<param humanName="Rudder Arming" name="ARMING_RUDDER" documentation="Control arm/disarm by rudder input. When enabled arming is done with right rudder, disarming with left rudder. Rudder arming only works in manual throttle modes with throttle at zero +- deadzone (RCx_DZ)" user="Advanced">
 <values>
-<value code="0">Upward Throw</value>
-<value code="1">Drop</value>
+<value code="0">Disabled</value>
+<value code="1">ArmingOnly</value>
+<value code="2">ArmOrDisarm</value>
 </values>
 </param>
-<param humanName="Ground Effect Compensation Enable/Disable" name="ArduCopter:GND_EFFECT_COMP" documentation="Ground Effect Compensation Enable/Disable" user="Advanced">
+<param humanName="Require Arming Motors " name="ARMING_REQUIRE" documentation="Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately).  If 1, require rudder stick or GCS arming before arming motors and sends the minimum throttle PWM value to the throttle channel when disarmed.  If 2, require rudder stick or GCS arming and send 0 PWM to throttle channel when disarmed. See the ARMING_CHECK_* parameters to see what checks are done before arming. Note, if setting this parameter to 0 a reboot is required to arm the plane.  Also note, even with this parameter at 0, if ARMING_CHECK parameter is not also zero the plane may fail to arm throttle at boot due to a pre-arm check failure." user="Advanced">
 <values>
 <value code="0">Disabled</value>
-<value code="1">Enabled</value>
+<value code="1">THR_MIN PWM when disarmed</value>
+<value code="2">0 PWM when disarmed</value>
 </values>
 </param>
-<param humanName="Development options" name="ArduCopter:DEV_OPTIONS" documentation="Bitmask of developer options. The meanings of the bit fields in this parameter may vary at any time. Developers should check the source code for current meaning" user="Advanced">
-<field name="Bitmask">0:ADSBMavlinkProcessing</field>
-</param>
-<param humanName="Acro Yaw Expo" name="ArduCopter:ACRO_Y_EXPO" documentation="Acro yaw expo to allow faster rotation when stick at edges" user="Advanced">
-<field name="Range">-0.5 1.0</field>
+<param humanName="Arm Checks to Peform (bitmask)" name="ARMING_CHECK" documentation="Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. The default is no checks, allowing arming at any time. You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72. For most users it is recommended that you set this to 1 to enable all checks." user="Standard">
+<field name="Bitmask">0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC Channels,7:Board voltage,8:Battery Level,9:Airspeed,10:Logging Available,11:Hardware safety switch,12:GPS Configuration</field>
 <values>
-<value code="0">Disabled</value>
-<value code="0.1">Very Low</value>
-<value code="0.2">Low</value>
-<value code="0.3">Medium</value>
-<value code="0.4">High</value>
-<value code="0.5">Very High</value>
+<value code="0">None</value>
+<value code="1">All</value>
+<value code="2">Barometer</value>
+<value code="4">Compass</value>
+<value code="8">GPS Lock</value>
+<value code="16">INS(INertial Sensors - accels &amp; gyros)</value>
+<value code="32">Parameters(unused)</value>
+<value code="64">RC Channels</value>
+<value code="128">Board voltage</value>
+<value code="256">Battery Level</value>
+<value code="512">Airspeed</value>
+<value code="1024">LoggingAvailable</value>
+<value code="2048">Hardware safety switch</value>
+<value code="4096">GPS configuration</value>
 </values>
 </param>
-<param humanName="Acro Thr Mid" name="ArduCopter:ACRO_THR_MID" documentation="Acro Throttle Mid" user="Advanced">
-<field name="Range">0 1</field>
+<param humanName="Accelerometer error threshold" name="ARMING_ACCTHRESH" documentation="Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal." user="Advanced">
+<field name="Range">0.25 3.0</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
 </param>
-<param humanName="Frame Class" name="ArduCopter:FRAME_CLASS" documentation="Controls major frame class for multicopter component" user="Standard">
-<values>
-<value code="0">Undefined</value>
-<value code=" 1">Quad</value>
-<value code=" 2">Hexa</value>
-<value code=" 3">Octa</value>
-<value code=" 4">OctaQuad</value>
-<value code=" 5">Y6</value>
-<value code=" 6">Heli</value>
-<value code=" 7">Tri</value>
-<value code=" 8">SingleCopter</value>
-<value code=" 9">CoaxCopter</value>
-</values>
+<param humanName="Arming voltage minimum on the first battery" name="ARMING_VOLT_MIN" documentation="The minimum voltage of the first battery required to arm, 0 disables the check" user="Standard">
+<field name="Increment">0.1 </field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
 </param>
-</parameters>
-<parameters name="AntennaTracker">
-<param humanName="Eeprom format version number" name="AntennaTracker:FORMAT_VERSION" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
+<param humanName="Arming voltage minimum on the second battery" name="ARMING_VOLT2_MIN" documentation="The minimum voltage of the second battery required to arm, 0 disables the check" user="Standard">
+<field name="Increment">0.1 </field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
 </param>
-<param humanName="Software Type" name="AntennaTracker:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
-<field name="ReadOnly">True</field>
+</parameters>
+<parameters name="ARSPD">
+<param humanName="Airspeed type" name="ARSPD_TYPE" documentation="Type of airspeed sensor" user="Standard">
 <values>
-<value code="0">ArduPlane</value>
-<value code="4">AntennaTracker</value>
-<value code="10">Copter</value>
-<value code="20">Rover</value>
+<value code="0">None</value>
+<value code="1">I2C-MS4525D0</value>
+<value code="2">Analog</value>
+<value code="3">I2C-MS5525</value>
+<value code="4">I2C-MS5525 (0x76)</value>
+<value code="5">I2C-MS5525 (0x77)</value>
+<value code="6">I2C-SDP3X</value>
 </values>
 </param>
-<param humanName="MAVLink system ID of this vehicle" name="AntennaTracker:SYSID_THISMAV" documentation="Allows setting an individual system id for this vehicle to distinguish it from others on the same network" user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="Ground station MAVLink system ID" name="AntennaTracker:SYSID_MYGCS" documentation="The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match." user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="Target vehicle's MAVLink system ID" name="AntennaTracker:SYSID_TARGET" documentation="The identifier of the vehicle being tracked. This should be zero (to auto detect) or be the same as the SYSID_THISMAV parameter of the vehicle being tracked." user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="Enable Compass" name="AntennaTracker:MAG_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1." user="Standard">
+<param humanName="Airspeed use" name="ARSPD_USE" documentation="use airspeed for flight control. When set to 0 airspeed sensor can be logged and displayed on a GCS but won't be used for flight. When set to 1 it will be logged and used. When set to 2 it will be only used when the throttle is zero, which can be useful in gliders with airspeed sensors behind a propeller" user="Standard">
 <values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
+<value code="0">Don't Use</value>
+<value code="1">use</value>
+<value code="2">UseWhenZeroThrottle</value>
 </values>
 </param>
-<param humanName="Time for yaw to slew through its full range" name="AntennaTracker:YAW_SLEW_TIME" documentation="This controls how rapidly the tracker will change the servo output for yaw. It is set as the number of seconds to do a full rotation. You can use this parameter to slow the trackers movements, which may help with some types of trackers. A value of zero will allow for unlimited servo movement per update." user="Standard">
-<field name="Range">0 20</field>
+<param humanName="Airspeed offset" name="ARSPD_OFFSET" documentation="Airspeed calibration offset" user="Advanced">
 <field name="Increment">0.1</field>
-<field name="Units">seconds</field>
 </param>
-<param humanName="Time for pitch to slew through its full range" name="AntennaTracker:PITCH_SLEW_TIME" documentation="This controls how rapidly the tracker will change the servo output for pitch. It is set as the number of seconds to do a full range of pitch movement. You can use this parameter to slow the trackers movements, which may help with some types of trackers. A value of zero will allow for unlimited servo movement per update." user="Standard">
-<field name="Range">0 20</field>
+<param humanName="Airspeed ratio" name="ARSPD_RATIO" documentation="Airspeed calibration ratio" user="Advanced">
 <field name="Increment">0.1</field>
-<field name="Units">seconds</field>
 </param>
-<param humanName="Speed at which to rotate in scan mode" name="AntennaTracker:SCAN_SPEED" documentation="This controls how rapidly the tracker will move the servos in SCAN mode" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
+<param humanName="Airspeed pin" name="ARSPD_PIN" documentation="The pin number that the airspeed sensor is connected to for analog sensors. Set to 15 on the Pixhawk for the analog airspeed port. " user="Advanced">
 </param>
-<param humanName="Minimum time to apply a yaw reversal" name="AntennaTracker:MIN_REVERSE_TIME" documentation="When the tracker detects it has reached the limit of servo movement in yaw it will reverse and try moving to the other extreme of yaw. This parameter controls the minimum time it should reverse for. It is used to cope with trackers that have a significant lag in movement to ensure they do move all the way around." user="Standard">
-<field name="Range">0 20</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
+<param humanName="Automatic airspeed ratio calibration" name="ARSPD_AUTOCAL" documentation="If this is enabled then the APM will automatically adjust the ARSPD_RATIO during flight, based upon an estimation filter using ground speed and true airspeed. The automatic calibration will save the new ratio to EEPROM every 2 minutes if it changes by more than 5%. This option should be enabled for a calibration flight then disabled again when calibration is complete. Leaving it enabled all the time is not recommended." user="Advanced">
 </param>
-<param humanName="Initial Latitude before GPS lock" name="AntennaTracker:START_LATITUDE" documentation="Combined with START_LONGITUDE this parameter allows for an initial position of the tracker to be set. This position will be used until the GPS gets lock. It can also be used to run a stationary tracker with no GPS attached." user="Standard">
-<field name="Range">-90 90</field>
-<field name="Increment">0.000001</field>
-<field name="Units">degrees</field>
+<param humanName="Control pitot tube order" name="ARSPD_TUBE_ORDER" documentation="This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the top connector on the sensor needs to be the dynamic pressure. If set to 1 then the bottom connector needs to be the dynamic pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft it receiving excessive pressure on the static port, which would otherwise be seen as a positive airspeed." user="Advanced">
 </param>
-<param humanName="Initial Longitude before GPS lock" name="AntennaTracker:START_LONGITUDE" documentation="Combined with START_LATITUDE this parameter allows for an initial position of the tracker to be set. This position will be used until the GPS gets lock. It can also be used to run a stationary tracker with no GPS attached." user="Standard">
-<field name="Range">-180 180</field>
-<field name="Increment">0.000001</field>
-<field name="Units">degrees</field>
+<param humanName="Skip airspeed calibration on startup" name="ARSPD_SKIP_CAL" documentation="This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot." user="Advanced">
+<values>
+<value code="0">Disable</value>
+<value code="1">Enable</value>
+</values>
 </param>
-<param humanName="Delay before first servo movement from trim" name="AntennaTracker:STARTUP_DELAY" documentation="This parameter can be used to force the servos to their trim value for a time on startup. This can help with some servo types" user="Standard">
-<field name="Range">0 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
+<param humanName="The PSI range of the device" name="ARSPD_PSI_RANGE" documentation="This parameter allows you to to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device" user="Advanced">
 </param>
-<param humanName="Type of servo system being used for pitch" name="AntennaTracker:SERVO_PITCH_TYPE" documentation="This allows selection of position servos or on/off servos for pitch" user="Standard">
+<param humanName="Airspeed I2C bus" name="ARSPD_BUS" documentation="The bus number of the I2C bus to look for the sensor on" user="Advanced">
 <values>
-<value code="0">Position</value>
-<value code="1">OnOff</value>
-<value code="2">ContinuousRotation</value>
+<value code="0">Bus0(internal)</value>
+<value code="1">Bus1(external)</value>
+<value code="2">Bus2(auxillary)</value>
 </values>
 </param>
-<param humanName="Type of servo system being used for yaw" name="AntennaTracker:SERVO_YAW_TYPE" documentation="This allows selection of position servos or on/off servos for yaw" user="Standard">
+<param humanName="Primary airspeed sensor" name="ARSPD_PRIMARY" documentation="This selects which airspeed sensor will be the primary if multiple sensors are found" user="Advanced">
 <values>
-<value code="0">Position</value>
-<value code="1">OnOff</value>
-<value code="2">ContinuousRotation</value>
+<value code="0">FirstSensor</value>
+<value code="1">2ndSensor</value>
 </values>
 </param>
-<param humanName="Yaw rate for on/off servos" name="AntennaTracker:ONOFF_YAW_RATE" documentation="Rate of change of yaw in degrees/second for on/off servos" user="Standard">
-<field name="Range">0 50</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Pitch rate for on/off servos" name="AntennaTracker:ONOFF_PITCH_RATE" documentation="Rate of change of pitch in degrees/second for on/off servos" user="Standard">
-<field name="Range">0 50</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Yaw minimum movement time" name="AntennaTracker:ONOFF_YAW_MINT" documentation="Minimum amount of time in seconds to move in yaw" user="Standard">
-<field name="Range">0 2</field>
-<field name="Increment">0.01</field>
-<field name="Units">seconds</field>
+<param humanName="Second Airspeed type" name="ARSPD2_TYPE" documentation="Type of 2nd airspeed sensor" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">I2C-MS4525D0</value>
+<value code="2">Analog</value>
+<value code="3">I2C-MS5525</value>
+<value code="4">I2C-MS5525 (0x76)</value>
+<value code="5">I2C-MS5525 (0x77)</value>
+<value code="6">I2C-SDP3X</value>
+</values>
 </param>
-<param humanName="Pitch minimum movement time" name="AntennaTracker:ONOFF_PITCH_MINT" documentation="Minimim amount of time in seconds to move in pitch" user="Standard">
-<field name="Range">0 2</field>
-<field name="Increment">0.01</field>
-<field name="Units">seconds</field>
+<param humanName="Enable use of 2nd airspeed sensor" name="ARSPD2_USE" documentation="use airspeed for flight control. When set to 0 airspeed sensor can be logged and displayed on a GCS but won't be used for flight. When set to 1 it will be logged and used. When set to 2 it will be only used when the throttle is zero, which can be useful in gliders with airspeed sensors behind a propeller" user="Standard">
+<values>
+<value code="0">Don't Use</value>
+<value code="1">use</value>
+<value code="2">UseWhenZeroThrottle</value>
+</values>
 </param>
-<param humanName="Yaw trim" name="AntennaTracker:YAW_TRIM" documentation="Amount of extra yaw to add when tracking. This allows for small adjustments for an out of trim compass." user="Standard">
-<field name="Range">-10 10</field>
+<param humanName="Airspeed offset for 2nd airspeed sensor" name="ARSPD2_OFFSET" documentation="Airspeed calibration offset" user="Advanced">
 <field name="Increment">0.1</field>
-<field name="Units">degrees</field>
 </param>
-<param humanName="Pitch trim" name="AntennaTracker:PITCH_TRIM" documentation="Amount of extra pitch to add when tracking. This allows for small adjustments for a badly calibrated barometer." user="Standard">
-<field name="Range">-10 10</field>
+<param humanName="Airspeed ratio for 2nd airspeed sensor" name="ARSPD2_RATIO" documentation="Airspeed calibration ratio" user="Advanced">
 <field name="Increment">0.1</field>
-<field name="Units">degrees</field>
 </param>
-<param humanName="Yaw Angle Range" name="AntennaTracker:YAW_RANGE" documentation="Yaw axis total range of motion in degrees" user="Standard">
-<field name="Range">0 360</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees</field>
+<param humanName="Airspeed pin for 2nd airspeed sensor" name="ARSPD2_PIN" documentation="The pin number that the airspeed sensor is connected to for analog sensors. Set to 15 on the Pixhawk for the analog airspeed port. " user="Advanced">
 </param>
-<param humanName="Distance minimum to target" name="AntennaTracker:DISTANCE_MIN" documentation="Tracker will track targets at least this distance away" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
+<param humanName="Automatic airspeed ratio calibration for 2nd airspeed sensor" name="ARSPD2_AUTOCAL" documentation="If this is enabled then the APM will automatically adjust the ARSPD_RATIO during flight, based upon an estimation filter using ground speed and true airspeed. The automatic calibration will save the new ratio to EEPROM every 2 minutes if it changes by more than 5%. This option should be enabled for a calibration flight then disabled again when calibration is complete. Leaving it enabled all the time is not recommended." user="Advanced">
+</param>
+<param humanName="Control pitot tube order of 2nd airspeed sensor" name="ARSPD2_TUBE_ORDR" documentation="This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the top connector on the sensor needs to be the dynamic pressure. If set to 1 then the bottom connector needs to be the dynamic pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft it receiving excessive pressure on the static port, which would otherwise be seen as a positive airspeed." user="Advanced">
 </param>
-<param humanName="Altitude Source" name="AntennaTracker:ALT_SOURCE" documentation="What provides altitude information for vehicle. Vehicle only assumes tracker has same altitude as vehicle's home" user="Standard">
+<param humanName="Skip airspeed calibration on startup for 2nd sensor" name="ARSPD2_SKIP_CAL" documentation="This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot." user="Advanced">
 <values>
-<value code="0">Barometer</value>
-<value code="1">GPS</value>
-<value code="2">GPS vehicle only</value>
+<value code="0">Disable</value>
+<value code="1">Enable</value>
 </values>
 </param>
-<param humanName="Mavlink Update Rate" name="AntennaTracker:MAV_UPDATE_RATE" documentation="The rate at which Mavlink updates position and baro data" user="Standard">
-<field name="Range">1 10</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Minimum Pitch Angle" name="AntennaTracker:PITCH_MIN" documentation="The lowest angle the pitch can reach" user="Standard">
-<field name="Range">-90 0</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
+<param humanName="The PSI range of the device for 2nd sensor" name="ARSPD2_PSI_RANGE" documentation="This parameter allows you to to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device" user="Advanced">
 </param>
-<param humanName="Maximum Pitch Angle" name="AntennaTracker:PITCH_MAX" documentation="The highest angle the pitch can reach" user="Standard">
-<field name="Range">0 90</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
+<param humanName="Airspeed I2C bus for 2nd sensor" name="ARSPD2_BUS" documentation="The bus number of the I2C bus to look for the sensor on" user="Advanced">
+<values>
+<value code="0">Bus0(internal)</value>
+<value code="1">Bus1(external)</value>
+<value code="2">Bus2(auxillary)</value>
+</values>
 </param>
-<param humanName="Log bitmask" name="AntennaTracker:LOG_BITMASK" documentation="4 byte bitmap of log types to enable" user="Standard">
-<field name="Bitmask">0:ATTITUDE,1:GPS,2:RCIN,3:IMU,4:RCOUT,5:COMPASS</field>
+</parameters>
+<parameters name="AVD_">
+<param humanName="Enable Avoidance using ADSB" name="AVD_ENABLE" documentation="Enable Avoidance using ADSB" user="Advanced">
 <values>
-<value code="63">Default</value>
 <value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Pitch axis controller P gain" name="AntennaTracker:PITCH2SRV_P" documentation="Pitch axis controller P gain.  Converts the difference between desired pitch angle and actual pitch angle into a pitch servo pwm change" user="Standard">
-<field name="Range">0.0 3.0</field>
-<field name="Increment">0.01</field>
+<param humanName="Recovery behaviour after a fail event" name="AVD_F_RCVRY" documentation="Determines what the aircraft will do after a fail event is resolved" user="Advanced">
+<values>
+<value code="0">Remain in AVOID_ADSB</value>
+<value code="1">Resume previous flight mode</value>
+<value code="2">RTL</value>
+<value code="3">Resume if AUTO else Loiter</value>
+</values>
 </param>
-<param humanName="Pitch axis controller I gain" name="AntennaTracker:PITCH2SRV_I" documentation="Pitch axis controller I gain.  Corrects long-term difference in desired pitch angle vs actual pitch angle" user="Standard">
-<field name="Range">0.0 3.0</field>
-<field name="Increment">0.01</field>
+<param humanName="Maximum number of obstacles to track" name="AVD_OBS_MAX" documentation="Maximum number of obstacles to track" user="Advanced">
 </param>
-<param humanName="Pitch axis controller I gain maximum" name="AntennaTracker:PITCH2SRV_IMAX" documentation="Pitch axis controller I gain maximum.  Constrains the maximum pwm change that the I gain will output" user="Standard">
-<field name="Range">0 4000</field>
-<field name="Increment">10</field>
-<field name="Units">Percent*10</field>
+<param humanName="Time Horizon Warn" name="AVD_W_TIME" documentation="Aircraft velocity vectors are multiplied by this time to determine closest approach.  If this results in an approach closer than W_DIST_XY or W_DIST_Z then W_ACTION is undertaken (assuming F_ACTION is not undertaken)" user="Advanced">
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
 </param>
-<param humanName="Pitch axis controller D gain" name="AntennaTracker:PITCH2SRV_D" documentation="Pitch axis controller D gain.  Compensates for short-term change in desired pitch angle vs actual pitch angle" user="Standard">
-<field name="Range">0.001 0.1</field>
-<field name="Increment">0.001</field>
+<param humanName="Time Horizon Fail" name="AVD_F_TIME" documentation="Aircraft velocity vectors are multiplied by this time to determine closest approach.  If this results in an approach closer than F_DIST_XY or F_DIST_Z then F_ACTION is undertaken" user="Advanced">
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
 </param>
-<param humanName="Yaw axis controller P gain" name="AntennaTracker:YAW2SRV_P" documentation="Yaw axis controller P gain.  Converts the difference between desired yaw angle (heading) and actual yaw angle into a yaw servo pwm change" user="Standard">
-<field name="Range">0.0 3.0</field>
-<field name="Increment">0.01</field>
+<param humanName="Distance Warn XY" name="AVD_W_DIST_XY" documentation="Closest allowed projected distance before W_ACTION is undertaken" user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
-<param humanName="Yaw axis controller I gain" name="AntennaTracker:YAW2SRV_I" documentation="Yaw axis controller I gain.  Corrects long-term difference in desired yaw angle (heading) vs actual yaw angle" user="Standard">
-<field name="Range">0.0 3.0</field>
-<field name="Increment">0.01</field>
+<param humanName="Distance Fail XY" name="AVD_F_DIST_XY" documentation="Closest allowed projected distance before F_ACTION is undertaken" user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
-<param humanName="Yaw axis controller I gain maximum" name="AntennaTracker:YAW2SRV_IMAX" documentation="Yaw axis controller I gain maximum.  Constrains the maximum pwm change that the I gain will output" user="Standard">
-<field name="Range">0 4000</field>
-<field name="Increment">10</field>
-<field name="Units">Percent*10</field>
+<param humanName="Distance Warn Z" name="AVD_W_DIST_Z" documentation="Closest allowed projected distance before BEHAVIOUR_W is undertaken" user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
-<param humanName="Yaw axis controller D gain" name="AntennaTracker:YAW2SRV_D" documentation="Yaw axis controller D gain.  Compensates for short-term change in desired yaw angle (heading) vs actual yaw angle" user="Standard">
-<field name="Range">0.001 0.1</field>
-<field name="Increment">0.001</field>
+<param humanName="Distance Fail Z" name="AVD_F_DIST_Z" documentation="Closest allowed projected distance before BEHAVIOUR_F is undertaken" user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
-<param humanName="Number of loaded mission items" name="AntennaTracker:CMD_TOTAL" documentation="Set to 1 if HOME location has been loaded by the ground station. Do not change this manually." user="Advanced">
-<field name="Range">1 255</field>
+<param humanName="ADS-B avoidance minimum altitude" name="AVD_F_ALT_MIN" documentation="Minimum altitude for ADS-B avoidance. If the vehicle is below this altitude, no avoidance action will take place. Useful to prevent ADS-B avoidance from activating while below the tree line or around structures. Default of 0 is no minimum." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
 </parameters>
-<parameters name="APMrover2">
-<param humanName="Eeprom format version number" name="APMrover2:FORMAT_VERSION" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
+<parameters name="BATT2_">
+<param humanName="Battery monitoring" name="BATT2_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="3">Analog Voltage Only</value>
+<value code="4">Analog Voltage and Current</value>
+<value code="5">Solo</value>
+<value code="6">Bebop</value>
+<value code="7">SMBus-Maxell</value>
+<value code="8">UAVCAN-BatteryInfo</value>
+<value code="9">BLHeli ESC</value>
+</values>
+<field name="RebootRequired">True</field>
 </param>
-<param humanName="Software Type" name="APMrover2:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
-<field name="ReadOnly">True</field>
+<param humanName="Battery Voltage sensing pin" name="BATT2_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. On the PX4-v1 it should be set to 100. On the Pixhawk, Pixracer and NAVIO boards it should be set to 2, Pixhawk2 Power2 is 13." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 0">A0</value>
+<value code=" 1">A1</value>
+<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 13">Pixhawk2_PM2</value>
+<value code=" 100">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
 </param>
-<param humanName="Log bitmask" name="APMrover2:LOG_BITMASK" documentation="Bitmap of what log types to enable in dataflash. This values is made up of the sum of each of the log types you want to be saved on dataflash. On a PX4 or Pixhawk the large storage size of a microSD card means it is usually best just to enable all log types by setting this to 65535. On APM2 the smaller 4 MByte dataflash means you need to be more selective in your logging or you may run out of log space while flying (in which case it will wrap and overwrite the start of the log). The individual bits are ATTITUDE_FAST=1, ATTITUDE_MEDIUM=2, GPS=4, PerformanceMonitoring=8, ControlTuning=16, NavigationTuning=32, Mode=64, IMU=128, Commands=256, Battery=512, Compass=1024, TECS=2048, Camera=4096, RCandServo=8192, Sonar=16384, Arming=32768, FullLogs=65535" user="Advanced">
-<field name="Bitmask">0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:MODE,7:IMU,8:CMD,9:CURRENT,10:COMPASS,11:TECS,12:CAMERA,13:RC,14:SONAR,15:ARM/DISARM,19:IMU_RAW</field>
+<param humanName="Battery Current sensing pin" name="BATT2_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. On the PX4-v1 it should be set to 101. On the Pixhawk, Pixracer and NAVIO boards it should be set to 3, Pixhawk2 Power2 is 14." user="Standard">
 <values>
-<value code="0">Disabled</value>
-<value code="5190">APM2-Default</value>
-<value code="65535">PX4/Pixhawk-Default</value>
+<value code="-1">Disabled</value>
+<value code=" 1">A1</value>
+<value code=" 2">A2</value>
+<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 14">Pixhawk2_PM2</value>
+<value code=" 101">PX4-v1</value>
 </values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Voltage Multiplier" name="BATT2_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+<param humanName="Amps per volt" name="BATT2_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+<field name="Units">A/V</field>
+<field name="UnitText">ampere per volt</field>
+</param>
+<param humanName="AMP offset" name="BATT2_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery capacity" name="BATT2_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Maximum allowed power (Watts)" name="BATT2_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">W</field>
+<field name="UnitText">watt</field>
 </param>
-<param humanName="Num Resets" name="APMrover2:SYS_NUM_RESETS" documentation="Number of APM board resets" user="Advanced">
+<param humanName="Battery serial number" name="BATT2_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
 </param>
-<param humanName="Reset Switch Channel" name="APMrover2:RST_SWITCH_CH" documentation="RC channel to use to reset to last flight mode after geofence takeover." user="Advanced">
+<param humanName="Low voltage timeout" name="BATT2_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+<field name="Range">0 120</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
 </param>
-<param humanName="Initial driving mode" name="APMrover2:INITIAL_MODE" documentation="This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver. Usually used in combination with when AUTO_TRIGGER_PIN or AUTO_KICKSTART." user="Advanced">
+<param humanName="Failsafe voltage source" name="BATT2_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
 <values>
-<value code="0">MANUAL</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">AUTO</value>
-<value code="11">RTL</value>
-<value code="15">GUIDED</value>
+<value code="0">Raw Voltage</value>
+<value code=" 1">Sag Compensated Voltage</value>
 </values>
 </param>
-<param humanName="MAVLink system ID of this vehicle" name="APMrover2:SYSID_THIS_MAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
-<field name="Range">1 255</field>
+<param humanName="Low battery voltage" name="BATT2_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
 </param>
-<param humanName="MAVLink ground station ID" name="APMrover2:SYSID_MYGCS" documentation="The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match." user="Advanced">
-<field name="Range">1 255</field>
+<param humanName="Low battery capacity" name="BATT2_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Critical battery voltage" name="BATT2_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery critical capacity" name="BATT2_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2__FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
 </param>
-<param humanName="CLI Enable" name="APMrover2:CLI_ENABLED" documentation="This enables/disables the checking for three carriage returns on telemetry links on startup to enter the diagnostics command line interface" user="Advanced">
+<param humanName="Low battery failsafe action" name="BATT2_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
 <values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
+<value code="0">None</value>
 </values>
 </param>
-<param humanName="Telemetry startup delay" name="APMrover2:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Standard">
-<field name="Range">0 30</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="GCS PID tuning mask" name="APMrover2:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
-<field name="Bitmask">0:Steering,1:Throttle</field>
+<param humanName="Critical battery failsafe action" name="BATT2_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
 <values>
 <value code="0">None</value>
-<value code="1">Steering</value>
-<value code="2">Throttle</value>
 </values>
 </param>
-<param humanName="Enable Compass" name="APMrover2:MAG_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1." user="Standard">
+</parameters>
+<parameters name="BATT_">
+<param humanName="Battery monitoring" name="BATT_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
 <values>
 <value code="0">Disabled</value>
-<value code="1">Enabled</value>
+<value code="3">Analog Voltage Only</value>
+<value code="4">Analog Voltage and Current</value>
+<value code="5">Solo</value>
+<value code="6">Bebop</value>
+<value code="7">SMBus-Maxell</value>
+<value code="8">UAVCAN-BatteryInfo</value>
+<value code="9">BLHeli ESC</value>
 </values>
+<field name="RebootRequired">True</field>
 </param>
-<param humanName="Auto mode trigger pin" name="APMrover2:AUTO_TRIGGER_PIN" documentation="pin number to use to enable the throttle in auto mode. If set to -1 then don't use a trigger, otherwise this is a pin number which if held low in auto mode will enable the motor to run. If the switch is released while in AUTO then the motor will stop again. This can be used in combination with INITIAL_MODE to give a 'press button to start' rover with no receiver." user="standard">
+<param humanName="Battery Voltage sensing pin" name="BATT_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. On the PX4-v1 it should be set to 100. On the Pixhawk, Pixracer and NAVIO boards it should be set to 2, Pixhawk2 Power2 is 13." user="Standard">
 <values>
 <value code="-1">Disabled</value>
-<value code="0">APM TriggerPin0</value>
-<value code="1">APM TriggerPin1</value>
-<value code="2">APM TriggerPin2</value>
-<value code="3">APM TriggerPin3</value>
-<value code="4">APM TriggerPin4</value>
-<value code="5">APM TriggerPin5</value>
-<value code="6">APM TriggerPin6</value>
-<value code="7">APM TriggerPin7</value>
-<value code="8">APM TriggerPin8</value>
-<value code="50">Pixhawk TriggerPin50</value>
-<value code="51">Pixhawk TriggerPin51</value>
-<value code="52">Pixhawk TriggerPin52</value>
-<value code="53">Pixhawk TriggerPin53</value>
-<value code="54">Pixhawk TriggerPin54</value>
-<value code="55">Pixhawk TriggerPin55</value>
-</values>
-</param>
-<param humanName="Auto mode trigger kickstart acceleration" name="APMrover2:AUTO_KICKSTART" documentation="X acceleration in meters/second/second to use to trigger the motor start in auto mode. If set to zero then auto throttle starts immediately when the mode switch happens, otherwise the rover waits for the X acceleration to go above this value before it will start the motor" user="standard">
-<field name="Range">0 20</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s/s</field>
+<value code=" 0">A0</value>
+<value code=" 1">A1</value>
+<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 13">Pixhawk2_PM2</value>
+<value code=" 100">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
 </param>
-<param humanName="Target cruise speed in auto modes" name="APMrover2:CRUISE_SPEED" documentation="The target speed in auto missions." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
+<param humanName="Battery Current sensing pin" name="BATT_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. On the PX4-v1 it should be set to 101. On the Pixhawk, Pixracer and NAVIO boards it should be set to 3, Pixhawk2 Power2 is 14." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 1">A1</value>
+<value code=" 2">A2</value>
+<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 14">Pixhawk2_PM2</value>
+<value code=" 101">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
 </param>
-<param humanName="Target speed reduction while turning" name="APMrover2:SPEED_TURN_GAIN" documentation="The percentage to reduce the throttle while turning. If this is 100% then the target speed is not reduced while turning. If this is 50% then the target speed is reduced in proportion to the turn rate, with a reduction of 50% when the steering is maximally deflected." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">percent</field>
+<param humanName="Voltage Multiplier" name="BATT_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
 </param>
-<param humanName="Distance to turn to start reducing speed" name="APMrover2:SPEED_TURN_DIST" documentation="The distance to the next turn at which the rover reduces its target speed by the SPEED_TURN_GAIN" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
+<param humanName="Amps per volt" name="BATT_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+<field name="Units">A/V</field>
+<field name="UnitText">ampere per volt</field>
 </param>
-<param humanName="Percentage braking to apply" name="APMrover2:BRAKING_PERCENT" documentation="The maximum reverse throttle braking percentage to apply when cornering" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">percent</field>
+<param humanName="AMP offset" name="BATT_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
 </param>
-<param humanName="Speed error at which to apply braking" name="APMrover2:BRAKING_SPEEDERR" documentation="The amount of overspeed error at which to start applying braking" user="Standard">
-<field name="Range">0 100</field>
+<param humanName="Battery capacity" name="BATT_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Maximum allowed power (Watts)" name="BATT_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
 <field name="Increment">1</field>
-<field name="Units">m/s</field>
+<field name="Units">W</field>
+<field name="UnitText">watt</field>
 </param>
-<param humanName="Pivot turn angle" name="APMrover2:PIVOT_TURN_ANGLE" documentation="Navigation angle threshold in degrees to switch to pivot steering when SKID_STEER_OUT is 1. This allows you to setup a skid steering rover to turn on the spot in auto mode when the angle it needs to turn it greater than this angle. An angle of zero means to disable pivot turning. Note that you will probably also want to set a low value for WP_RADIUS to get neat turns." user="Standard">
-<field name="Range">0 360</field>
+<param humanName="Battery serial number" name="BATT_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+<param humanName="Low voltage timeout" name="BATT_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+<field name="Range">0 120</field>
 <field name="Increment">1</field>
-<field name="Units">degrees</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
 </param>
-<param humanName="Channel 7 option" name="APMrover2:CH7_OPTION" documentation="What to do use channel 7 for" user="Standard">
+<param humanName="Failsafe voltage source" name="BATT_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
 <values>
-<value code="0">Nothing</value>
-<value code="1">LearnWaypoint</value>
+<value code="0">Raw Voltage</value>
+<value code=" 1">Sag Compensated Voltage</value>
 </values>
 </param>
-<param humanName="Minimum Throttle" name="APMrover2:THR_MIN" documentation="The minimum throttle setting to which the autopilot will apply. This is mostly useful for rovers with internal combustion motors, to prevent the motor from cutting out in auto mode." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
+<param humanName="Low battery voltage" name="BATT_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
 </param>
-<param humanName="Maximum Throttle" name="APMrover2:THR_MAX" documentation="The maximum throttle setting to which the autopilot will apply. This can be used to prevent overheating a ESC or motor on an electric rover." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
+<param humanName="Low battery capacity" name="BATT_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
 </param>
-<param humanName="Base throttle percentage in auto" name="APMrover2:CRUISE_THROTTLE" documentation="The base throttle percentage to use in auto mode. The CRUISE_SPEED parameter controls the target speed, but the rover starts with the CRUISE_THROTTLE setting as the initial estimate for how much throttle is needed to achieve that speed. It then adjusts the throttle based on how fast the rover is actually going." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
+<param humanName="Critical battery voltage" name="BATT_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
 </param>
-<param humanName="Throttle slew rate" name="APMrover2:THR_SLEWRATE" documentation="maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second. A value of zero means no limit. A value of 100 means the throttle can change over its full range in one second. Note that for some NiMH powered rovers setting a lower value like 40 or 50 may be worthwhile as the sudden current demand on the battery of a big rise in throttle may cause a brownout." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
+<param humanName="Battery critical capacity" name="BATT_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT__FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
 </param>
-<param humanName="Skid steering output" name="APMrover2:SKID_STEER_OUT" documentation="Set this to 1 for skid steering controlled rovers (tank track style). When enabled, servo1 is used for the left track control, servo3 is used for right track control" user="Standard">
+<param humanName="Low battery failsafe action" name="BATT_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
 <values>
-<value code="0">Disabled</value>
-<value code=" 1">SkidSteeringOutput</value>
+<value code="0">None</value>
 </values>
 </param>
-<param humanName="Skid steering input" name="APMrover2:SKID_STEER_IN" documentation="Set this to 1 for skid steering input rovers (tank track style in RC controller). When enabled, servo1 is used for the left track control, servo3 is used for right track control" user="Standard">
+<param humanName="Critical battery failsafe action" name="BATT_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
 <values>
-<value code="0">Disabled</value>
-<value code=" 1">SkidSteeringInput</value>
+<value code="0">None</value>
 </values>
 </param>
-<param humanName="Failsafe Action" name="APMrover2:FS_ACTION" documentation="What to do on a failsafe event" user="Standard">
+</parameters>
+<parameters name="BRD_">
+<param humanName="Auxiliary pin config" name="BRD_PWM_COUNT" documentation="Controls number of FMU outputs which are setup for PWM. All unassigned pins can be used for GPIO" user="Advanced">
 <values>
-<value code="0">Nothing</value>
-<value code="1">RTL</value>
-<value code="2">HOLD</value>
+<value code="0">No PWMs</value>
+<value code="1">One PWMs</value>
+<value code="2">Two PWMs</value>
+<value code="3">Three PWMs</value>
+<value code="4">Four PWMs</value>
+<value code="5">Five PWMs</value>
+<value code="6">Six PWMs</value>
+<value code="7">Seven PWMs</value>
+<value code="8">Eight PWMs</value>
 </values>
+<field name="RebootRequired">True</field>
 </param>
-<param humanName="Failsafe timeout" name="APMrover2:FS_TIMEOUT" documentation="How long a failsafe event need to happen for before we trigger the failsafe action" user="Standard">
-<field name="Units">seconds</field>
-</param>
-<param humanName="Throttle Failsafe Enable" name="APMrover2:FS_THR_ENABLE" documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel to a low value. This can be used to detect the RC transmitter going out of range. Failsafe will be triggered when the throttle channel goes below the FS_THR_VALUE for FS_TIMEOUT seconds." user="Standard">
+<param humanName="Serial 1 flow control" name="BRD_SER1_RTSCTS" documentation="Enable flow control on serial 1 (telemetry 1) on Pixhawk. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled." user="Advanced">
 <values>
 <value code="0">Disabled</value>
 <value code="1">Enabled</value>
+<value code="2">Auto</value>
 </values>
+<field name="RebootRequired">True</field>
 </param>
-<param humanName="Throttle Failsafe Value" name="APMrover2:FS_THR_VALUE" documentation="The PWM level on the throttle channel below which throttle failsafe triggers." user="Standard">
-<field name="Range">925 1100</field>
-<field name="Increment">1</field>
+<param humanName="Serial 2 flow control" name="BRD_SER2_RTSCTS" documentation="Enable flow control on serial 2 (telemetry 2) on Pixhawk and STATE. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+<value code="2">Auto</value>
+</values>
+<field name="RebootRequired">True</field>
 </param>
-<param humanName="GCS failsafe enable" name="APMrover2:FS_GCS_ENABLE" documentation="Enable ground control station telemetry failsafe. When enabled the Rover will execute the FS_ACTION when it fails to receive MAVLink heartbeat packets for FS_TIMEOUT seconds." user="Standard">
+<param humanName="Enable use of safety arming switch" name="BRD_SAFETYENABLE" documentation="This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message." user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">Enabled</value>
 </values>
+<field name="RebootRequired">True</field>
 </param>
-<param humanName="Crash check action" name="APMrover2:FS_CRASH_CHECK" documentation="What to do on a crash event. When enabled the rover will go to hold if a crash is detected." user="Standard">
+<param humanName=" SBUS output rate" name="BRD_SBUS_OUT" documentation="This sets the SBUS output frame rate in Hz" user="Advanced">
 <values>
 <value code="0">Disabled</value>
-<value code="1">HOLD</value>
-<value code="2">HoldAndDisarm</value>
+<value code="1">50Hz</value>
+<value code="2">75Hz</value>
+<value code="3">100Hz</value>
+<value code="4">150Hz</value>
+<value code="5">200Hz</value>
+<value code="6">250Hz</value>
+<value code="7">300Hz</value>
 </values>
+<field name="RebootRequired">True</field>
 </param>
-<param humanName="Rangefinder trigger distance" name="APMrover2:RNGFND_TRIGGR_CM" documentation="The distance from an obstacle in centimeters at which the rangefinder triggers a turn to avoid the obstacle" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
+<param humanName="User-defined serial number" name="BRD_SERIAL_NUM" documentation="User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot" user="Standard">
+<field name="Range">-32768 32767</field>
 </param>
-<param humanName="Rangefinder trigger angle" name="APMrover2:RNGFND_TURN_ANGL" documentation="The course deviation in degrees to apply while avoiding an obstacle detected with the rangefinder. A positive number means to turn right, and a negative angle means to turn left." user="Standard">
-<field name="Range">-45 45</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
+<param humanName="Channels to which ignore the safety switch state" name="BRD_SAFETY_MASK" documentation="A bitmask which controls what channels can move while the safety switch has not been pressed" user="Advanced">
+<field name="Bitmask">0:Ch1,1:Ch2,2:Ch3,3:Ch4,4:Ch5,5:Ch6,6:Ch7,7:Ch8,8:Ch9,9:Ch10,10:Ch11,11:Ch12,12:Ch13,13:Ch14</field>
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+<field name="RebootRequired">True</field>
 </param>
-<param humanName="Rangefinder turn time" name="APMrover2:RNGFND_TURN_TIME" documentation="The amount of time in seconds to apply the RNGFND_TURN_ANGL after detecting an obstacle." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
+<param humanName="Target IMU temperature" name="BRD_IMU_TARGTEMP" documentation="This sets the target IMU temperature for boards with controllable IMU heating units. DO NOT SET -1 on The Cube. A value of -1 sets PH1 behaviour " user="Advanced">
+<field name="Range">-1 80</field>
+<field name="Units">degC</field>
+<field name="UnitText">degrees Celsius</field>
 </param>
-<param humanName="Rangefinder debounce count" name="APMrover2:RNGFND_DEBOUNCE" documentation="The number of 50Hz rangefinder hits needed to trigger an obstacle avoidance event. If you get a lot of false sonar events then raise this number, but if you make it too large then it will cause lag in detecting obstacles, which could cause you go hit the obstacle." user="Standard">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
+<param humanName="Board type" name="BRD_TYPE" documentation="This allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4)" user="Advanced">
+<values>
+<value code="0">AUTO</value>
+<value code="1">PX4V1</value>
+<value code="2">Pixhawk</value>
+<value code="3">Cube/Pixhawk2</value>
+<value code="4">Pixracer</value>
+<value code="5">PixhawkMini</value>
+<value code="6">Pixhawk2Slim</value>
+<value code="7">VRBrain 5.1</value>
+<value code="8">VRBrain 5.2</value>
+<value code="9">VR Micro Brain 5.1</value>
+<value code="10">VR Micro Brain 5.2</value>
+<value code="11">VRBrain Core 1.0</value>
+<value code="12">VRBrain 5.4</value>
+<value code="13">Intel Aero FC</value>
+<value code="20">AUAV2.1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Enable IO co-processor" name="BRD_IO_ENABLE" documentation="This allows for the IO co-processor on FMUv1 and FMUv2 to be disabled" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+<field name="RebootRequired">True</field>
 </param>
-<param humanName="Learning channel" name="APMrover2:LEARN_CH" documentation="RC Channel to use for learning waypoints" user="Advanced">
+<param humanName="Options for safety button behavior" name="BRD_SAFETYOPTION" documentation="This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed" user="Standard">
+<field name="Bitmask">0:ActiveForSafetyEnable,1:ActiveForSafetyDisable,2:ActiveWhenArmed</field>
 </param>
-<param humanName="Mode channel" name="APMrover2:MODE_CH" documentation="RC Channel to use for driving mode control" user="Advanced">
+<param humanName="microSD slowdown" name="BRD_SD_SLOWDOWN" documentation="This is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used." user="Advanced">
+<field name="Range">0 32</field>
+<field name="Increment">1</field>
 </param>
-<param humanName="Mode1" name="APMrover2:MODE1" documentation="Driving mode for switch position 1 (910 to 1230 and above 2049)" user="Standard">
+</parameters>
+<parameters name="BRD_RADIO">
+<param humanName="Set type of direct attached radio" name="BRD_RADIO_TYPE" documentation="This enables support for direct attached radio receivers" user="Advanced">
 <values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
+<value code="0">None</value>
+<value code="1">CYRF6936</value>
 </values>
 </param>
-<param humanName="Mode2" name="APMrover2:MODE2" documentation="Driving mode for switch position 2 (1231 to 1360)" user="Standard">
+<param humanName="protocol" name="BRD_RADIO_PROT" documentation="Select air protocol" user="Advanced">
 <values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
+<value code="0">Auto</value>
+<value code="1">DSM2</value>
+<value code="2">DSMX</value>
 </values>
 </param>
-<param humanName="Mode3" name="APMrover2:MODE3" documentation="Driving mode for switch position 3 (1361 to 1490)" user="Standard">
+<param humanName="debug level" name="BRD_RADIO_DEBUG" documentation="radio debug level" user="Advanced">
+<field name="Range">0 4</field>
+</param>
+<param humanName="disable receive CRC" name="BRD_RADIO_DISCRC" documentation="disable receive CRC (for debug)" user="Advanced">
 <values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
+<value code="0">NotDisabled</value>
+<value code="1">Disabled</value>
 </values>
 </param>
-<param humanName="Mode4" name="APMrover2:MODE4" documentation="Driving mode for switch position 4 (1491 to 1620)" user="Standard">
+<param humanName="RSSI signal strength" name="BRD_RADIO_SIGCH" documentation="Channel to show receive RSSI signal strength, or zero for disabled" user="Advanced">
+<field name="Range">0 16</field>
+</param>
+<param humanName="Packet rate channel" name="BRD_RADIO_PPSCH" documentation="Channel to show received packet-per-second rate, or zero for disabled" user="Advanced">
+<field name="Range">0 16</field>
+</param>
+<param humanName="Enable telemetry" name="BRD_RADIO_TELEM" documentation="If this is non-zero then telemetry packets will be sent over DSM" user="Advanced">
 <values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Mode5" name="APMrover2:MODE5" documentation="Driving mode for switch position 5 (1621 to 1749)" user="Standard">
+<param humanName="Telemetry Transmit power" name="BRD_RADIO_TXPOW" documentation="Set telemetry transmit power. This is the power level (from 1 to 8) for telemetry packets sent from the RX to the TX" user="Advanced">
+<field name="Range">1 8</field>
+</param>
+<param humanName="Put radio into FCC test mode" name="BRD_RADIO_FCCTST" documentation="If this is enabled then the radio will continuously transmit as required for FCC testing. The transmit channel is set by the value of the parameter. The radio will not work for RC input while this is enabled" user="Advanced">
 <values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
+<value code="0">Disabled</value>
+<value code="1">MinChannel</value>
+<value code="2">MidChannel</value>
+<value code="3">MaxChannel</value>
+<value code="4">MinChannelCW</value>
+<value code="5">MidChannelCW</value>
+<value code="6">MaxChannelCW</value>
 </values>
 </param>
-<param humanName="Mode6" name="APMrover2:MODE6" documentation="Driving mode for switch position 6 (1750 to 2049)" user="Standard">
+<param humanName="Stick input mode" name="BRD_RADIO_STKMD" documentation="This selects between different stick input modes. The default is mode2, which has throttle on the left stick and pitch on the right stick. You can instead set mode1, which has throttle on the right stick and pitch on the left stick." user="Advanced">
 <values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
+<value code="1">Mode1</value>
+<value code="2">Mode2</value>
 </values>
 </param>
-<param humanName="Waypoint radius" name="APMrover2:WP_RADIUS" documentation="The distance in meters from a waypoint when we consider the waypoint has been reached. This determines when the rover will turn along the next waypoint path." user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Turning maximum G force" name="APMrover2:TURN_MAX_G" documentation="The maximum turning acceleration (in units of gravities) that the rover can handle while remaining stable. The navigation code will keep the lateral acceleration below this level to avoid rolling over or slipping the wheels in turns" user="Standard">
-<field name="Range">0.2 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">gravities</field>
-</param>
-</parameters>
-</vehicles><libraries><parameters name="ADSB_">
-<param humanName="Enable ADSB" name="ADSB_ENABLE" documentation="Enable ADS-B" user="Standard">
+<param humanName="Set radio to factory test channel" name="BRD_RADIO_TESTCH" documentation="This sets the radio to a fixed test channel for factory testing. Using a fixed channel avoids the need for binding in factory testing." user="Advanced">
 <values>
 <value code="0">Disabled</value>
-<value code="1">Enabled</value>
+<value code="1">TestChan1</value>
+<value code="2">TestChan2</value>
+<value code="3">TestChan3</value>
+<value code="4">TestChan4</value>
+<value code="5">TestChan5</value>
+<value code="6">TestChan6</value>
+<value code="7">TestChan7</value>
+<value code="8">TestChan8</value>
 </values>
 </param>
-<param humanName="ADSB vehicle list size" name="ADSB_LIST_MAX" documentation="ADSB list size of nearest vehicles. Longer lists take longer to refresh with lower SRx_ADSB values." user="Advanced">
-<field name="Range">1 100</field>
+<param humanName="RSSI value channel for telemetry data on transmitter" name="BRD_RADIO_TSIGCH" documentation="Channel to show telemetry RSSI value as received by TX" user="Advanced">
+<field name="Range">0 16</field>
 </param>
-<param humanName="ADSB vehicle list radius filter" name="ADSB_LIST_RADIUS" documentation="ADSB vehicle list radius filter. Vehicles detected outside this radius will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations." user="Advanced">
-<field name="Range">1 100000</field>
+<param humanName="Telemetry PPS channel" name="BRD_RADIO_TPPSCH" documentation="Channel to show telemetry packets-per-second value, as received at TX" user="Advanced">
+<field name="Range">0 16</field>
 </param>
-<param humanName="ICAO_ID vehicle identifaction number" name="ADSB_ICAO_ID" documentation="ICAO_ID unique vehicle identifaction number of this aircraft. This is a integer limited to 24bits. If set to 0 then one will be randomly generated. If set to -1 then static information is not sent, transceiver is assumed pre-programmed." user="Advanced">
-<field name="Range">-1 16777215</field>
+<param humanName="Transmitter transmit power" name="BRD_RADIO_TXMAX" documentation="Set transmitter maximum transmit power (from 1 to 8)" user="Advanced">
+<field name="Range">1 8</field>
 </param>
-<param humanName="Emitter type" name="ADSB_EMIT_TYPE" documentation="ADSB classification for the type of vehicle emitting the transponder signal. Default value is 14 (UAV)." user="Advanced">
+<param humanName="Transmitter buzzer adjustment" name="BRD_RADIO_BZOFS" documentation="Set transmitter buzzer note adjustment (adjust frequency up)" user="Advanced">
+<field name="Range">0 40</field>
+</param>
+<param humanName="Auto-bind time" name="BRD_RADIO_ABTIME" documentation="When non-zero this sets the time with no transmitter packets before we start looking for auto-bind packets." user="Advanced">
+<field name="Range">0 120</field>
+</param>
+<param humanName="Auto-bind level" name="BRD_RADIO_ABLVL" documentation="This sets the minimum RSSI of an auto-bind packet for it to be accepted. This should be set so that auto-bind will only happen at short range to minimise the change of an auto-bind happening accidentially" user="Advanced">
+<field name="Range">0 31</field>
+</param>
+</parameters>
+<parameters name="BRD_RTC">
+<param humanName="Allowed sources of RTC time" name="BRD_RTC_TYPES" documentation="Specifies which sources of UTC time will be accepted" user="Advanced">
+<field name="Bitmask">0:GPS,1:MAVLINK_SYSTEM_TIME,2:HW</field>
+</param>
+</parameters>
+<parameters name="BTN_">
+<param humanName="Enable button reporting" name="BTN_ENABLE" documentation="This enables the button checking module. When this is disabled the parameters for setting button inputs are not visible" user="Advanced">
 <values>
-<value code="0">NoInfo</value>
-<value code="1">Light</value>
-<value code="2">Small</value>
-<value code="3">Large</value>
-<value code="4">HighVortexlarge</value>
-<value code="5">Heavy</value>
-<value code="6">HighlyManuv</value>
-<value code="7">Rotocraft</value>
-<value code="8">RESERVED</value>
-<value code="9">Glider</value>
-<value code="10">LightAir</value>
-<value code="11">Parachute</value>
-<value code="12">UltraLight</value>
-<value code="13">RESERVED</value>
-<value code="14">UAV</value>
-<value code="15">Space</value>
-<value code="16">RESERVED</value>
-<value code="17">EmergencySurface</value>
-<value code="18">ServiceSurface</value>
-<value code="19">PointObstacle</value>
+<value code="0">Disabled</value>
+<value code=" 1">Enabled</value>
 </values>
 </param>
-<param humanName="Aircraft length and width" name="ADSB_LEN_WIDTH" documentation="Aircraft length and width dimension options in Length and Width in meters. In most cases, use a value of 1 for smallest size." user="Advanced">
+<param humanName="First button Pin" name="BTN_PIN1" documentation="Digital pin number for first button input. " user="Standard">
 <values>
-<value code="0">NO_DATA</value>
-<value code="1">L15W23</value>
-<value code="2">L25W28P5</value>
-<value code="3">L25W34</value>
-<value code="4">L35W33</value>
-<value code="5">L35W38</value>
-<value code="6">L45W39P5</value>
-<value code="7">L45W45</value>
-<value code="8">L55W45</value>
-<value code="9">L55W52</value>
-<value code="10">L65W59P5</value>
-<value code="11">L65W67</value>
-<value code="12">L75W72P5</value>
-<value code="13">L75W80</value>
-<value code="14">L85W80</value>
-<value code="15">L85W90</value>
+<value code="-1">Disabled</value>
+<value code="50">Pixhawk AUXOUT1</value>
+<value code="51">Pixhawk AUXOUT2</value>
+<value code="52">Pixhawk AUXOUT3</value>
+<value code="53">Pixhawk AUXOUT4</value>
+<value code="54">Pixhawk AUXOUT5</value>
+<value code="55">Pixhawk AUXOUT6</value>
+<value code="111">PX4 FMU Relay1</value>
+<value code="112">PX4 FMU Relay2</value>
+<value code="113">PX4IO Relay1</value>
+<value code="114">PX4IO Relay2</value>
+<value code="115">PX4IO ACC1</value>
+<value code="116">PX4IO ACC2</value>
 </values>
 </param>
-<param humanName="GPS antenna lateral offset" name="ADSB_OFFSET_LAT" documentation="GPS antenna lateral offset. This describes the physical location offest from center of the GPS antenna on the aircraft." user="Advanced">
+<param humanName="Second button Pin" name="BTN_PIN2" documentation="Digital pin number for second button input. " user="Standard">
 <values>
-<value code="0">NoData</value>
-<value code="1">Left2m</value>
-<value code="2">Left4m</value>
-<value code="3">Left6m</value>
-<value code="4">Center</value>
-<value code="5">Right2m</value>
-<value code="6">Right4m</value>
-<value code="7">Right6m</value>
+<value code="-1">Disabled</value>
+<value code="50">Pixhawk AUXOUT1</value>
+<value code="51">Pixhawk AUXOUT2</value>
+<value code="52">Pixhawk AUXOUT3</value>
+<value code="53">Pixhawk AUXOUT4</value>
+<value code="54">Pixhawk AUXOUT5</value>
+<value code="55">Pixhawk AUXOUT6</value>
+<value code="111">PX4 FMU Relay1</value>
+<value code="112">PX4 FMU Relay2</value>
+<value code="113">PX4IO Relay1</value>
+<value code="114">PX4IO Relay2</value>
+<value code="115">PX4IO ACC1</value>
+<value code="116">PX4IO ACC2</value>
 </values>
 </param>
-<param humanName="GPS antenna longitudinal offset" name="ADSB_OFFSET_LON" documentation="GPS antenna longitudinal offset. This is usually set to 1, Applied By Sensor" user="Advanced">
+<param humanName="Third button Pin" name="BTN_PIN3" documentation="Digital pin number for third button input. " user="Standard">
 <values>
-<value code="0">NO_DATA</value>
-<value code="1">AppliedBySensor</value>
+<value code="-1">Disabled</value>
+<value code="50">Pixhawk AUXOUT1</value>
+<value code="51">Pixhawk AUXOUT2</value>
+<value code="52">Pixhawk AUXOUT3</value>
+<value code="53">Pixhawk AUXOUT4</value>
+<value code="54">Pixhawk AUXOUT5</value>
+<value code="55">Pixhawk AUXOUT6</value>
+<value code="111">PX4 FMU Relay1</value>
+<value code="112">PX4 FMU Relay2</value>
+<value code="113">PX4IO Relay1</value>
+<value code="114">PX4IO Relay2</value>
+<value code="115">PX4IO ACC1</value>
+<value code="116">PX4IO ACC2</value>
 </values>
 </param>
-<param humanName="Transceiver RF selection" name="ADSB_RF_SELECT" documentation="Transceiver RF selection for Rx enable and/or Tx enable." user="Advanced">
+<param humanName="Fourth button Pin" name="BTN_PIN4" documentation="Digital pin number for fourth button input. " user="Standard">
 <values>
-<value code="0">Disabled</value>
-<value code="1">Rx-Only</value>
-<value code="2">Tx-Only</value>
-<value code="3">Rx and Tx Enabled</value>
+<value code="-1">Disabled</value>
+<value code="50">Pixhawk AUXOUT1</value>
+<value code="51">Pixhawk AUXOUT2</value>
+<value code="52">Pixhawk AUXOUT3</value>
+<value code="53">Pixhawk AUXOUT4</value>
+<value code="54">Pixhawk AUXOUT5</value>
+<value code="55">Pixhawk AUXOUT6</value>
+<value code="111">PX4 FMU Relay1</value>
+<value code="112">PX4 FMU Relay2</value>
+<value code="113">PX4IO Relay1</value>
+<value code="114">PX4IO Relay2</value>
+<value code="115">PX4IO ACC1</value>
+<value code="116">PX4IO ACC2</value>
 </values>
 </param>
+<param humanName="Report send time" name="BTN_REPORT_SEND" documentation="The duration in seconds that a BUTTON_CHANGE report is repeatedly sent to the GCS regarding a button changing state. Note that the BUTTON_CHANGE message is MAVLink2 only." user="Standard">
+<field name="Range">0 3600</field>
+</param>
 </parameters>
-<parameters name="AFS_">
-<param humanName="Enable Advanced Failsafe" name="AFS_ENABLE" documentation="This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect" user="Advanced">
+<parameters name="CAM_">
+<param humanName="Camera shutter (trigger) type" name="CAM_TRIGG_TYPE" documentation="how to trigger the camera to take a picture" user="Standard">
+<values>
+<value code="0">Servo</value>
+<value code="1">Relay</value>
+</values>
 </param>
-<param humanName="Manual Pin" name="AFS_MAN_PIN" documentation="This sets a digital output pin to set high when in manual mode" user="Advanced">
+<param humanName="Duration that shutter is held open" name="CAM_DURATION" documentation="How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)" user="Standard">
+<field name="Range">0 50</field>
+<field name="Units">ds</field>
+<field name="UnitText">deciseconds</field>
 </param>
-<param humanName="Heartbeat Pin" name="AFS_HB_PIN" documentation="This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination." user="Advanced">
+<param humanName="Servo ON PWM value" name="CAM_SERVO_ON" documentation="PWM value in microseconds to move servo to when shutter is activated" user="Standard">
+<field name="Range">1000 2000</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Comms Waypoint" name="AFS_WP_COMMS" documentation="Waypoint number to navigate to on comms loss" user="Advanced">
+<param humanName="Servo OFF PWM value" name="CAM_SERVO_OFF" documentation="PWM value in microseconds to move servo to when shutter is deactivated" user="Standard">
+<field name="Range">1000 2000</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="GPS Loss Waypoint" name="AFS_GPS_LOSS" documentation="Waypoint number to navigate to on GPS lock loss" user="Advanced">
+<param humanName="Camera trigger distance" name="CAM_TRIGG_DIST" documentation="Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the GPS position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight." user="Standard">
+<field name="Range">0 1000</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
-<param humanName="Force Terminate" name="AFS_TERMINATE" documentation="Can be set in flight to force termination of the heartbeat signal" user="Advanced">
+<param humanName="Relay ON value" name="CAM_RELAY_ON" documentation="This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera" user="Standard">
+<values>
+<value code="0">Low</value>
+<value code="1">High</value>
+</values>
 </param>
-<param humanName="Terminate action" name="AFS_TERM_ACTION" documentation="This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup APM to handle it here. If set to 0 (which is the default) then no extra action is taken. If set to the magic value 42 then the plane will deliberately crash itself by setting maximum throws on all surfaces, and zero throttle" user="Advanced">
+<param humanName="Minimum time between photos" name="CAM_MIN_INTERVAL" documentation="Postpone shooting if previous picture was taken less than preset time(ms) ago." user="Standard">
+<field name="Range">0 10000</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
 </param>
-<param humanName="Terminate Pin" name="AFS_TERM_PIN" documentation="This sets a digital output pin to set high on flight termination" user="Advanced">
+<param humanName="Maximum photo roll angle." name="CAM_MAX_ROLL" documentation="Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll)." user="Standard">
+<field name="Range">0 180</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
 </param>
-<param humanName="AMSL limit" name="AFS_AMSL_LIMIT" documentation="This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit." user="Advanced">
-<field name="Units">meters</field>
+<param humanName="Camera feedback pin" name="CAM_FEEDBACK_PIN" documentation="pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. See also the CAM_FEEDBACK_POL option. If using AUX4 pin on a Pixhawk then a fast capture method is used that allows for the trigger time to be as short as one microsecond." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">PX4 AUX1</value>
+<value code="51">PX4 AUX2</value>
+<value code="52">PX4 AUX3</value>
+<value code="53">PX4 AUX4(fast capture)</value>
+<value code="54">PX4 AUX5</value>
+<value code="55">PX4 AUX6</value>
+</values>
+<field name="RebootRequired">True</field>
 </param>
-<param humanName="Error margin for GPS based AMSL limit" name="AFS_AMSL_ERR_GPS" documentation="This sets margin for error in GPS derived altitude limit. This error margin is only used if the barometer has failed. If the barometer fails then the GPS will be used to enforce the AMSL_LIMIT, but this margin will be subtracted from the AMSL_LIMIT first, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached. OBC users should set this to comply with their D2 safety case. A value of -1 will mean that barometer failure will lead to immediate termination." user="Advanced">
-<field name="Units">meters</field>
+<param humanName="Camera feedback pin polarity" name="CAM_FEEDBACK_POL" documentation="Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low" user="Standard">
+<values>
+<value code="0">TriggerLow</value>
+<value code="1">TriggerHigh</value>
+</values>
 </param>
-<param humanName="QNH pressure" name="AFS_QNH_PRESSURE" documentation="This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit. A value of zero disables the altitude limit." user="Advanced">
-<field name="Units">millibar</field>
+<param humanName="Distance-trigging in AUTO mode only" name="CAM_AUTO_ONLY" documentation="When enabled, trigging by distance is done in AUTO mode only." user="Standard">
+<values>
+<value code="0">Always</value>
+<value code="1">Only when in AUTO</value>
+</values>
 </param>
-<param humanName="Maximum number of GPS loss events" name="AFS_MAX_GPS_LOSS" documentation="Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events." user="Advanced">
+</parameters>
+<parameters name="CAN_D1_">
+<param humanName="Enable use of specific protocol over virtual driver" name="CAN_D1_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">UAVCAN</value>
+</values>
+<field name="RebootRequired">True</field>
 </param>
-<param humanName="Maximum number of comms loss events" name="AFS_MAX_COM_LOSS" documentation="Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events." user="Advanced">
+</parameters>
+<parameters name="CAN_D1_UC_">
+<param humanName="UAVCAN node that is used for this network" name="CAN_D1_UC_NODE" documentation="UAVCAN node should be set implicitly" user="Advanced">
+<field name="Range">1 250</field>
 </param>
-<param humanName="Enable geofence Advanced Failsafe" name="AFS_GEOFENCE" documentation="This enables the geofence part of the AFS. Will only be in effect if AFS_ENABLE is also 1" user="Advanced">
+<param humanName="RC Out channels to be transmitted as servo over UAVCAN" name="CAN_D1_UC_SRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over UAVCAN" user="Advanced">
+<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</field>
 </param>
-<param humanName="Enable RC Advanced Failsafe" name="AFS_RC" documentation="This enables the RC part of the AFS. Will only be in effect if AFS_ENABLE is also 1" user="Advanced">
+<param humanName="RC Out channels to be transmitted as ESC over UAVCAN" name="CAN_D1_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN" user="Advanced">
+<field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
 </param>
-<param humanName="Enable RC Termination only in manual control modes" name="AFS_RC_MAN_ONLY" documentation="If this parameter is set to 1, then an RC loss will only cause the plane to terminate in manual control modes. If it is 0, then the plane will terminate in any flight mode." user="Advanced">
+<param humanName="Servo output rate" name="CAN_D1_UC_SRV_RT" documentation="Maximum transmit rate for servo outputs" user="Advanced">
+<field name="Range">1 200</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
-<param humanName="Enable dual loss terminate due to failure of both GCS and GPS simultaneously" name="AFS_DUAL_LOSS" documentation='This enables the dual loss termination part of the AFS system. If this parameter is 1 and both GPS and the ground control station fail simultaneously, this will be considered a "dual loss" and cause termination.' user="Advanced">
+</parameters>
+<parameters name="CAN_D2_">
+<param humanName="Enable use of specific protocol over virtual driver" name="CAN_D2_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">UAVCAN</value>
+</values>
+<field name="RebootRequired">True</field>
 </param>
-<param humanName="RC failure time" name="AFS_RC_FAIL_TIME" documentation="This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be (1.5). Use 0 to disable." user="Advanced">
-<field name="Units">seconds</field>
+</parameters>
+<parameters name="CAN_D2_UC_">
+<param humanName="UAVCAN node that is used for this network" name="CAN_D2_UC_NODE" documentation="UAVCAN node should be set implicitly" user="Advanced">
+<field name="Range">1 250</field>
+</param>
+<param humanName="RC Out channels to be transmitted as servo over UAVCAN" name="CAN_D2_UC_SRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over UAVCAN" user="Advanced">
+<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</field>
+</param>
+<param humanName="RC Out channels to be transmitted as ESC over UAVCAN" name="CAN_D2_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN" user="Advanced">
+<field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
+</param>
+<param humanName="Servo output rate" name="CAN_D2_UC_SRV_RT" documentation="Maximum transmit rate for servo outputs" user="Advanced">
+<field name="Range">1 200</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
 </parameters>
-<parameters name="AHRS_">
-<param humanName="AHRS GPS gain" name="AHRS_GPS_GAIN" documentation="This controls how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0." user="Advanced">
-<field name="Range">0.0 1.0</field>
-<field name="Increment">.01</field>
+<parameters name="CAN_D3_">
+<param humanName="Enable use of specific protocol over virtual driver" name="CAN_D3_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">UAVCAN</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+</parameters>
+<parameters name="CAN_D3_UC_">
+<param humanName="UAVCAN node that is used for this network" name="CAN_D3_UC_NODE" documentation="UAVCAN node should be set implicitly" user="Advanced">
+<field name="Range">1 250</field>
+</param>
+<param humanName="RC Out channels to be transmitted as servo over UAVCAN" name="CAN_D3_UC_SRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over UAVCAN" user="Advanced">
+<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</field>
+</param>
+<param humanName="RC Out channels to be transmitted as ESC over UAVCAN" name="CAN_D3_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN" user="Advanced">
+<field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
+</param>
+<param humanName="Servo output rate" name="CAN_D3_UC_SRV_RT" documentation="Maximum transmit rate for servo outputs" user="Advanced">
+<field name="Range">1 200</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
-<param humanName="AHRS use GPS for navigation" name="AHRS_GPS_USE" documentation="This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight." user="Advanced">
+</parameters>
+<parameters name="CAN_P1_">
+<param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P1_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
 <values>
 <value code="0">Disabled</value>
-<value code="1">Enabled</value>
+<value code="1">First driver</value>
+<value code="2">Second driver</value>
 </values>
+<field name="RebootRequired">True</field>
 </param>
-<param humanName="Yaw P" name="AHRS_YAW_P" documentation="This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly." user="Advanced">
-<field name="Range">0.1 0.4</field>
-<field name="Increment">.01</field>
+<param humanName="Bitrate of CAN interface" name="CAN_P1_BITRATE" documentation="Bit rate can be set up to from 10000 to 1000000" user="Advanced">
+<field name="Range">10000 1000000</field>
 </param>
-<param humanName="AHRS RP_P" name="AHRS_RP_P" documentation="This controls how fast the accelerometers correct the attitude" user="Advanced">
-<field name="Range">0.1 0.4</field>
-<field name="Increment">.01</field>
+<param humanName="Level of debug for CAN devices" name="CAN_P1_DEBUG" documentation="Enabling this option will provide debug messages" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Major messages</value>
+<value code="2">All messages</value>
+</values>
 </param>
-<param humanName="Maximum wind" name="AHRS_WIND_MAX" documentation="This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
+</parameters>
+<parameters name="CAN_P2_">
+<param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P2_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">First driver</value>
+<value code="2">Second driver</value>
+</values>
+<field name="RebootRequired">True</field>
 </param>
-<param humanName="AHRS Trim Roll" name="AHRS_TRIM_X" documentation="Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right." user="Standard">
-<field name="Range">-0.1745 +0.1745</field>
-<field name="Increment">0.01</field>
-<field name="Units">Radians</field>
+<param humanName="Bitrate of CAN interface" name="CAN_P2_BITRATE" documentation="Bit rate can be set up to from 10000 to 1000000" user="Advanced">
+<field name="Range">10000 1000000</field>
 </param>
-<param humanName="AHRS Trim Pitch" name="AHRS_TRIM_Y" documentation="Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back." user="Standard">
-<field name="Range">-0.1745 +0.1745</field>
-<field name="Increment">0.01</field>
-<field name="Units">Radians</field>
+<param humanName="Level of debug for CAN devices" name="CAN_P2_DEBUG" documentation="Enabling this option will provide debug messages" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Major messages</value>
+<value code="2">All messages</value>
+</values>
 </param>
-<param humanName="AHRS Trim Yaw" name="AHRS_TRIM_Z" documentation="Not Used" user="Advanced">
-<field name="Range">-0.1745 +0.1745</field>
-<field name="Increment">0.01</field>
-<field name="Units">Radians</field>
+</parameters>
+<parameters name="CAN_P3_">
+<param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P3_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">First driver</value>
+<value code="2">Second driver</value>
+</values>
+<field name="RebootRequired">True</field>
 </param>
-<param humanName="Board Orientation" name="AHRS_ORIENTATION" documentation="Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle." user="Advanced">
+<param humanName="Bitrate of CAN interface" name="CAN_P3_BITRATE" documentation="Bit rate can be set up to from 10000 to 1000000" user="Advanced">
+<field name="Range">10000 1000000</field>
+</param>
+<param humanName="Level of debug for CAN devices" name="CAN_P3_DEBUG" documentation="Enabling this option will provide debug messages" user="Advanced">
 <values>
-<value code="0">None</value>
-<value code="1">Yaw45</value>
-<value code="2">Yaw90</value>
-<value code="3">Yaw135</value>
-<value code="4">Yaw180</value>
-<value code="5">Yaw225</value>
-<value code="6">Yaw270</value>
-<value code="7">Yaw315</value>
-<value code="8">Roll180</value>
-<value code="9">Roll180Yaw45</value>
-<value code="10">Roll180Yaw90</value>
-<value code="11">Roll180Yaw135</value>
-<value code="12">Pitch180</value>
-<value code="13">Roll180Yaw225</value>
-<value code="14">Roll180Yaw270</value>
-<value code="15">Roll180Yaw315</value>
+<value code="0">Disabled</value>
+<value code="1">Major messages</value>
+<value code="2">All messages</value>
+</values>
+</param>
+</parameters>
+<parameters name="CHUTE_">
+<param humanName="Parachute release enabled or disabled" name="CHUTE_ENABLED" documentation="Parachute release enabled or disabled" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Parachute release mechanism type (relay or servo)" name="CHUTE_TYPE" documentation="Parachute release mechanism type (relay or servo)" user="Standard">
+<values>
+<value code="0">First Relay</value>
+<value code="1">Second Relay</value>
+<value code="2">Third Relay</value>
+<value code="3">Fourth Relay</value>
+<value code="10">Servo</value>
+</values>
+</param>
+<param humanName="Parachute Servo ON PWM value" name="CHUTE_SERVO_ON" documentation="Parachute Servo PWM value in microseconds when parachute is released" user="Standard">
+<field name="Range">1000 2000</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo OFF PWM value" name="CHUTE_SERVO_OFF" documentation="Parachute Servo PWM value in microseconds when parachute is not released" user="Standard">
+<field name="Range">1000 2000</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Parachute min altitude in meters above home" name="CHUTE_ALT_MIN" documentation="Parachute min altitude above home.  Parachute will not be released below this altitude.  0 to disable alt check." user="Standard">
+<field name="Range">0 32000</field>
+<field name="Increment">1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Parachute release delay" name="CHUTE_DELAY_MS" documentation="Delay in millseconds between motor stop and chute release" user="Standard">
+<field name="Range">0 5000</field>
+<field name="Increment">1</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+</param>
+</parameters>
+<parameters name="COMPASS_">
+<param humanName="Compass offsets in milligauss on the X axis" name="COMPASS_OFS_X" documentation="Offset to be added to the compass x-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Compass offsets in milligauss on the Y axis" name="COMPASS_OFS_Y" documentation="Offset to be added to the compass y-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Compass offsets in milligauss on the Z axis" name="COMPASS_OFS_Z" documentation="Offset to be added to the compass z-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Compass declination" name="COMPASS_DEC" documentation="An angle to compensate between the true north and magnetic north" user="Standard">
+<field name="Range">-3.142 3.142</field>
+<field name="Increment">0.01</field>
+<field name="Units">rad</field>
+<field name="UnitText">radians</field>
+</param>
+<param humanName="Learn compass offsets automatically" name="COMPASS_LEARN" documentation="Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Internal-Learning</value>
+<value code="2">EKF-Learning</value>
+</values>
+</param>
+<param humanName="Use compass for yaw" name="COMPASS_USE" documentation="Enable or disable the use of the compass (instead of the GPS) for determining heading" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Auto Declination" name="COMPASS_AUTODEC" documentation="Enable or disable the automatic calculation of the declination based on gps location" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Motor interference compensation type" name="COMPASS_MOTCT" documentation="Set motor interference compensation type to disabled, throttle or current.  Do not change manually." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Use Throttle</value>
+<value code="2">Use Current</value>
+</values>
+</param>
+<param humanName="Motor interference compensation for body frame X axis" name="COMPASS_MOT_X" documentation="Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Motor interference compensation for body frame Y axis" name="COMPASS_MOT_Y" documentation="Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Motor interference compensation for body frame Z axis" name="COMPASS_MOT_Z" documentation="Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Compass orientation" name="COMPASS_ORIENT" documentation="The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used." user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">Yaw45</value>
+<value code="2">Yaw90</value>
+<value code="3">Yaw135</value>
+<value code="4">Yaw180</value>
+<value code="5">Yaw225</value>
+<value code="6">Yaw270</value>
+<value code="7">Yaw315</value>
+<value code="8">Roll180</value>
+<value code="9">Roll180Yaw45</value>
+<value code="10">Roll180Yaw90</value>
+<value code="11">Roll180Yaw135</value>
+<value code="12">Pitch180</value>
+<value code="13">Roll180Yaw225</value>
+<value code="14">Roll180Yaw270</value>
+<value code="15">Roll180Yaw315</value>
+<value code="16">Roll90</value>
+<value code="17">Roll90Yaw45</value>
+<value code="18">Roll90Yaw90</value>
+<value code="19">Roll90Yaw135</value>
+<value code="20">Roll270</value>
+<value code="21">Roll270Yaw45</value>
+<value code="22">Roll270Yaw90</value>
+<value code="23">Roll270Yaw135</value>
+<value code="24">Pitch90</value>
+<value code="25">Pitch270</value>
+<value code="26">Pitch180Yaw90</value>
+<value code="27">Pitch180Yaw270</value>
+<value code="28">Roll90Pitch90</value>
+<value code="29">Roll180Pitch90</value>
+<value code="30">Roll270Pitch90</value>
+<value code="31">Roll90Pitch180</value>
+<value code="32">Roll270Pitch180</value>
+<value code="33">Roll90Pitch270</value>
+<value code="34">Roll180Pitch270</value>
+<value code="35">Roll270Pitch270</value>
+<value code="36">Roll90Pitch180Yaw90</value>
+<value code="37">Roll90Yaw270</value>
+<value code="38">Yaw293Pitch68Roll180</value>
+<value code="39">Pitch315</value>
+<value code="40">Roll90Pitch315</value>
+</values>
+</param>
+<param humanName="Compass is attached via an external cable" name="COMPASS_EXTERNAL" documentation="Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
+<values>
+<value code="0">Internal</value>
+<value code="1">External</value>
+<value code="2">ForcedExternal</value>
+</values>
+</param>
+<param humanName="Compass2 offsets in milligauss on the X axis" name="COMPASS_OFS2_X" documentation="Offset to be added to compass2's x-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Compass2 offsets in milligauss on the Y axis" name="COMPASS_OFS2_Y" documentation="Offset to be added to compass2's y-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Compass2 offsets in milligauss on the Z axis" name="COMPASS_OFS2_Z" documentation="Offset to be added to compass2's z-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Motor interference compensation to compass2 for body frame X axis" name="COMPASS_MOT2_X" documentation="Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Motor interference compensation to compass2 for body frame Y axis" name="COMPASS_MOT2_Y" documentation="Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Motor interference compensation to compass2 for body frame Z axis" name="COMPASS_MOT2_Z" documentation="Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Choose primary compass" name="COMPASS_PRIMARY" documentation="If more than one compass is available, this selects which compass is the primary. When external compasses are connected, they will be ordered first. NOTE: If no external compass is attached, this parameter is ignored." user="Advanced">
+<values>
+<value code="0">FirstCompass</value>
+<value code="1">SecondCompass</value>
+<value code="2">ThirdCompass</value>
+</values>
+</param>
+<param humanName="Compass3 offsets in milligauss on the X axis" name="COMPASS_OFS3_X" documentation="Offset to be added to compass3's x-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Compass3 offsets in milligauss on the Y axis" name="COMPASS_OFS3_Y" documentation="Offset to be added to compass3's y-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Compass3 offsets in milligauss on the Z axis" name="COMPASS_OFS3_Z" documentation="Offset to be added to compass3's z-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Motor interference compensation to compass3 for body frame X axis" name="COMPASS_MOT3_X" documentation="Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Motor interference compensation to compass3 for body frame Y axis" name="COMPASS_MOT3_Y" documentation="Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Motor interference compensation to compass3 for body frame Z axis" name="COMPASS_MOT3_Z" documentation="Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Compass device id" name="COMPASS_DEV_ID" documentation="Compass device id.  Automatically detected, do not set manually" user="Advanced">
+</param>
+<param humanName="Compass2 device id" name="COMPASS_DEV_ID2" documentation="Second compass's device id.  Automatically detected, do not set manually" user="Advanced">
+</param>
+<param humanName="Compass3 device id" name="COMPASS_DEV_ID3" documentation="Third compass's device id.  Automatically detected, do not set manually" user="Advanced">
+</param>
+<param humanName="Compass2 used for yaw" name="COMPASS_USE2" documentation="Enable or disable the second compass for determining heading." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Compass2 orientation" name="COMPASS_ORIENT2" documentation="The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used." user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">Yaw45</value>
+<value code="2">Yaw90</value>
+<value code="3">Yaw135</value>
+<value code="4">Yaw180</value>
+<value code="5">Yaw225</value>
+<value code="6">Yaw270</value>
+<value code="7">Yaw315</value>
+<value code="8">Roll180</value>
+<value code="9">Roll180Yaw45</value>
+<value code="10">Roll180Yaw90</value>
+<value code="11">Roll180Yaw135</value>
+<value code="12">Pitch180</value>
+<value code="13">Roll180Yaw225</value>
+<value code="14">Roll180Yaw270</value>
+<value code="15">Roll180Yaw315</value>
 <value code="16">Roll90</value>
 <value code="17">Roll90Yaw45</value>
 <value code="18">Roll90Yaw90</value>
@@ -2337,7 +2165,7 @@
 <value code="20">Roll270</value>
 <value code="21">Roll270Yaw45</value>
 <value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw136</value>
+<value code="23">Roll270Yaw135</value>
 <value code="24">Pitch90</value>
 <value code="25">Pitch270</value>
 <value code="26">Pitch180Yaw90</value>
@@ -2352,3105 +2180,4376 @@
 <value code="35">Roll270Pitch270</value>
 <value code="36">Roll90Pitch180Yaw90</value>
 <value code="37">Roll90Yaw270</value>
+<value code="38">Yaw293Pitch68Roll180</value>
+<value code="39">Pitch315</value>
+<value code="40">Roll90Pitch315</value>
+</values>
+</param>
+<param humanName="Compass2 is attached via an external cable" name="COMPASS_EXTERN2" documentation="Configure second compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
+<values>
+<value code="0">Internal</value>
+<value code="1">External</value>
+<value code="2">ForcedExternal</value>
+</values>
+</param>
+<param humanName="Compass3 used for yaw" name="COMPASS_USE3" documentation="Enable or disable the third compass for determining heading." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="AHRS Velocity Complementary Filter Beta Coefficient" name="AHRS_COMP_BETA" documentation="This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less." user="Advanced">
-<field name="Range">0.001 0.5</field>
-<field name="Increment">.01</field>
+<param humanName="Compass3 orientation" name="COMPASS_ORIENT3" documentation="The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used." user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">Yaw45</value>
+<value code="2">Yaw90</value>
+<value code="3">Yaw135</value>
+<value code="4">Yaw180</value>
+<value code="5">Yaw225</value>
+<value code="6">Yaw270</value>
+<value code="7">Yaw315</value>
+<value code="8">Roll180</value>
+<value code="9">Roll180Yaw45</value>
+<value code="10">Roll180Yaw90</value>
+<value code="11">Roll180Yaw135</value>
+<value code="12">Pitch180</value>
+<value code="13">Roll180Yaw225</value>
+<value code="14">Roll180Yaw270</value>
+<value code="15">Roll180Yaw315</value>
+<value code="16">Roll90</value>
+<value code="17">Roll90Yaw45</value>
+<value code="18">Roll90Yaw90</value>
+<value code="19">Roll90Yaw135</value>
+<value code="20">Roll270</value>
+<value code="21">Roll270Yaw45</value>
+<value code="22">Roll270Yaw90</value>
+<value code="23">Roll270Yaw135</value>
+<value code="24">Pitch90</value>
+<value code="25">Pitch270</value>
+<value code="26">Pitch180Yaw90</value>
+<value code="27">Pitch180Yaw270</value>
+<value code="28">Roll90Pitch90</value>
+<value code="29">Roll180Pitch90</value>
+<value code="30">Roll270Pitch90</value>
+<value code="31">Roll90Pitch180</value>
+<value code="32">Roll270Pitch180</value>
+<value code="33">Roll90Pitch270</value>
+<value code="34">Roll180Pitch270</value>
+<value code="35">Roll270Pitch270</value>
+<value code="36">Roll90Pitch180Yaw90</value>
+<value code="37">Roll90Yaw270</value>
+<value code="38">Yaw293Pitch68Roll180</value>
+<value code="39">Pitch315</value>
+<value code="40">Roll90Pitch315</value>
+</values>
+</param>
+<param humanName="Compass3 is attached via an external cable" name="COMPASS_EXTERN3" documentation="Configure third compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
+<values>
+<value code="0">Internal</value>
+<value code="1">External</value>
+<value code="2">ForcedExternal</value>
+</values>
+</param>
+<param humanName="Compass soft-iron diagonal X component" name="COMPASS_DIA_X" documentation="DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass soft-iron diagonal Y component" name="COMPASS_DIA_Y" documentation="DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass soft-iron diagonal Z component" name="COMPASS_DIA_Z" documentation="DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass soft-iron off-diagonal X component" name="COMPASS_ODI_X" documentation="ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass soft-iron off-diagonal Y component" name="COMPASS_ODI_Y" documentation="ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass soft-iron off-diagonal Z component" name="COMPASS_ODI_Z" documentation="ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass2 soft-iron diagonal X component" name="COMPASS_DIA2_X" documentation="DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass2 soft-iron diagonal Y component" name="COMPASS_DIA2_Y" documentation="DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass2 soft-iron diagonal Z component" name="COMPASS_DIA2_Z" documentation="DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass2 soft-iron off-diagonal X component" name="COMPASS_ODI2_X" documentation="ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass2 soft-iron off-diagonal Y component" name="COMPASS_ODI2_Y" documentation="ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass2 soft-iron off-diagonal Z component" name="COMPASS_ODI2_Z" documentation="ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass3 soft-iron diagonal X component" name="COMPASS_DIA3_X" documentation="DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass3 soft-iron diagonal Y component" name="COMPASS_DIA3_Y" documentation="DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass3 soft-iron diagonal Z component" name="COMPASS_DIA3_Z" documentation="DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass3 soft-iron off-diagonal X component" name="COMPASS_ODI3_X" documentation="ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass3 soft-iron off-diagonal Y component" name="COMPASS_ODI3_Y" documentation="ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass3 soft-iron off-diagonal Z component" name="COMPASS_ODI3_Z" documentation="ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass calibration fitness" name="COMPASS_CAL_FIT" documentation="This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value." user="Advanced">
+<field name="Range">4 32</field>
+<values>
+<value code="4">Very Strict</value>
+<value code="8">Strict</value>
+<value code="16">Default</value>
+<value code="32">Relaxed</value>
+</values>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Compass maximum offset" name="COMPASS_OFFS_MAX" documentation="This sets the maximum allowed compass offset in calibration and arming checks" user="Advanced">
+<field name="Range">500 3000</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Compass disable driver type mask" name="COMPASS_TYPEMASK" documentation="This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup" user="Advanced">
+<field name="Bitmask">0:HMC5883,1:LSM303D,2:AK8963,3:BMM150,4:LSM9DS1,5:LIS3MDL,6:AK09916,7:IST8310,8:ICM20948,9:MMC3416,11:UAVCAN,12:QMC5883</field>
+</param>
+<param humanName="Range in which sample is accepted" name="COMPASS_FLTR_RNG" documentation="This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.">
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Automatically check orientation" name="COMPASS_AUTO_ROT" documentation="When enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected.">
+<values>
+<value code="0">Disabled</value>
+<value code="1">CheckOnly</value>
+<value code="2">CheckAndFix</value>
+</values>
+</param>
+</parameters>
+<parameters name="COMPASS_PMOT">
+<param humanName="per-motor compass correction enable" name="COMPASS_PMOT_EN" documentation="This enables per-motor compass corrections" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="per-motor exponential correction" name="COMPASS_PMOT_EXP" documentation="This is the exponential correction for the power output of the motor for per-motor compass correction" user="Advanced">
+<field name="Range">0 2</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Compass per-motor1 X" name="COMPASS_PMOT1_X" documentation="Compensation for X axis of motor1" user="Advanced">
+</param>
+<param humanName="Compass per-motor1 Y" name="COMPASS_PMOT1_Y" documentation="Compensation for Y axis of motor1" user="Advanced">
+</param>
+<param humanName="Compass per-motor1 Z" name="COMPASS_PMOT1_Z" documentation="Compensation for Z axis of motor1" user="Advanced">
+</param>
+<param humanName="Compass per-motor2 X" name="COMPASS_PMOT2_X" documentation="Compensation for X axis of motor2" user="Advanced">
+</param>
+<param humanName="Compass per-motor2 Y" name="COMPASS_PMOT2_Y" documentation="Compensation for Y axis of motor2" user="Advanced">
+</param>
+<param humanName="Compass per-motor2 Z" name="COMPASS_PMOT2_Z" documentation="Compensation for Z axis of motor2" user="Advanced">
+</param>
+<param humanName="Compass per-motor3 X" name="COMPASS_PMOT3_X" documentation="Compensation for X axis of motor3" user="Advanced">
+</param>
+<param humanName="Compass per-motor3 Y" name="COMPASS_PMOT3_Y" documentation="Compensation for Y axis of motor3" user="Advanced">
+</param>
+<param humanName="Compass per-motor3 Z" name="COMPASS_PMOT3_Z" documentation="Compensation for Z axis of motor3" user="Advanced">
+</param>
+<param humanName="Compass per-motor4 X" name="COMPASS_PMOT4_X" documentation="Compensation for X axis of motor4" user="Advanced">
+</param>
+<param humanName="Compass per-motor4 Y" name="COMPASS_PMOT4_Y" documentation="Compensation for Y axis of motor4" user="Advanced">
+</param>
+<param humanName="Compass per-motor4 Z" name="COMPASS_PMOT4_Z" documentation="Compensation for Z axis of motor4" user="Advanced">
+</param>
+</parameters>
+<parameters name="EK2_">
+<param humanName="Enable EKF2" name="EK2_ENABLE" documentation="This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code=" 1">Enabled</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="GPS mode control" name="EK2_GPS_TYPE" documentation="This controls use of GPS measurements : 0 = use 3D velocity &amp; 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors." user="Advanced">
+<values>
+<value code="0">GPS 3D Vel and 2D Pos</value>
+<value code=" 1">GPS 2D vel and 2D pos</value>
+<value code=" 2">GPS 2D pos</value>
+<value code=" 3">No GPS</value>
+</values>
+</param>
+<param humanName="GPS horizontal velocity measurement noise (m/s)" name="EK2_VELNE_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements." user="Advanced">
+<field name="Range">0.05 5.0</field>
+<field name="Increment">0.05</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="GPS vertical velocity measurement noise (m/s)" name="EK2_VELD_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements." user="Advanced">
+<field name="Range">0.05 5.0</field>
+<field name="Increment">0.05</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="GPS velocity innovation gate size" name="EK2_VEL_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="GPS horizontal position measurement noise (m)" name="EK2_POSNE_M_NSE" documentation="This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements." user="Advanced">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="GPS position measurement gate size" name="EK2_POS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="GPS glitch radius gate size (m)" name="EK2_GLITCH_RAD" documentation="This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position." user="Advanced">
+<field name="Range">10 100</field>
+<field name="Increment">5</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="GPS measurement delay (msec)" name="EK2_GPS_DELAY" documentation="This is the number of msec that the GPS measurements lag behind the inertial measurements." user="Advanced">
+<field name="Range">0 250</field>
+<field name="Increment">10</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Primary altitude sensor source" name="EK2_ALT_SOURCE" documentation='Primary height sensor used by the EKF. If the selected option cannot be used, baro is used. 1 uses the range finder and only with optical flow navigation (EK2_GPS_TYPE = 3), Do not use "1" for terrain following. NOTE: the EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground.' user="Advanced">
+<values>
+<value code="0">Use Baro</value>
+<value code=" 1">Use Range Finder</value>
+<value code=" 2">Use GPS</value>
+<value code=" 3">Use Range Beacon</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Altitude measurement noise (m)" name="EK2_ALT_M_NSE" documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors." user="Advanced">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Height measurement gate size" name="EK2_HGT_I_GATE" documentation="This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Height measurement delay (msec)" name="EK2_HGT_DELAY" documentation="This is the number of msec that the Height measurements lag behind the inertial measurements." user="Advanced">
+<field name="Range">0 250</field>
+<field name="Increment">10</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Magnetometer measurement noise (Gauss)" name="EK2_MAG_M_NSE" documentation="This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
+<field name="Range">0.01 0.5</field>
+<field name="Increment">0.01</field>
+<field name="Units">Gauss</field>
+<field name="UnitText">gauss</field>
+</param>
+<param humanName="Magnetometer default fusion mode" name="EK2_MAG_CAL" documentation="This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK2_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK2_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK2_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK2_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter." user="Advanced">
+<values>
+<value code="0">When flying</value>
+<value code="1">When manoeuvring</value>
+<value code="2">Never</value>
+<value code="3">After first climb yaw reset</value>
+<value code="4">Always</value>
+</values>
+</param>
+<param humanName="Magnetometer measurement gate size" name="EK2_MAG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Equivalent airspeed measurement noise (m/s)" name="EK2_EAS_M_NSE" documentation="This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements." user="Advanced">
+<field name="Range">0.5 5.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Airspeed measurement gate size" name="EK2_EAS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Range finder measurement noise (m)" name="EK2_RNG_M_NSE" documentation="This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Range finder measurement gate size" name="EK2_RNG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Maximum valid optical flow rate" name="EK2_MAX_FLOW" documentation="This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter" user="Advanced">
+<field name="Range">1.0 4.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Optical flow measurement noise (rad/s)" name="EK2_FLOW_M_NSE" documentation="This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
+<field name="Range">0.05 1.0</field>
+<field name="Increment">0.05</field>
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Optical Flow measurement gate size" name="EK2_FLOW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Optical Flow measurement delay (msec)" name="EK2_FLOW_DELAY" documentation="This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
+<field name="Range">0 127</field>
+<field name="Increment">10</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Rate gyro noise (rad/s)" name="EK2_GYRO_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more." user="Advanced">
+<field name="Range">0.0001 0.1</field>
+<field name="Increment">0.0001</field>
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Accelerometer noise (m/s^2)" name="EK2_ACC_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more." user="Advanced">
+<field name="Range">0.01 1.0</field>
+<field name="Increment">0.01</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Rate gyro bias stability (rad/s/s)" name="EK2_GBIAS_P_NSE" documentation="This state  process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier." user="Advanced">
+<field name="Range">0.00001 0.001</field>
+<field name="Units">rad/s/s</field>
+<field name="UnitText">radians per square second</field>
+</param>
+<param humanName="Rate gyro scale factor stability (1/s)" name="EK2_GSCL_P_NSE" documentation="This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier." user="Advanced">
+<field name="Range">0.000001 0.001</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Accelerometer bias stability (m/s^3)" name="EK2_ABIAS_P_NSE" documentation="This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier." user="Advanced">
+<field name="Range">0.00001 0.001</field>
+<field name="Units">m/s/s/s</field>
+<field name="UnitText">meters per cubic second</field>
+</param>
+<param humanName="Wind velocity process noise (m/s^2)" name="EK2_WIND_P_NSE" documentation="This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier." user="Advanced">
+<field name="Range">0.01 1.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Height rate to wind process noise scaler" name="EK2_WIND_PSCALE" documentation="This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser." user="Advanced">
+<field name="Range">0.0 1.0</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="GPS preflight check" name="EK2_GPS_CHECK" documentation="This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat." user="Advanced">
+<field name="Bitmask">0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed</field>
+</param>
+<param humanName="Bitmask of active IMUs" name="EK2_IMU_MASK" documentation="1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start." user="Advanced">
+<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="GPS accuracy check scaler (%)" name="EK2_CHECK_SCALE" documentation="This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error." user="Advanced">
+<field name="Range">50 200</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Non-GPS operation position uncertainty (m)" name="EK2_NOAID_M_NSE" documentation="This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors." user="Advanced">
+<field name="Range">0.5 50.0</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="EKF sensor logging IMU mask" name="EK2_LOG_MASK" documentation="This sets the IMU mask of sensors to do full logging for" user="Advanced">
+<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Yaw measurement noise (rad)" name="EK2_YAW_M_NSE" documentation="This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements." user="Advanced">
+<field name="Range">0.05 1.0</field>
+<field name="Increment">0.05</field>
+<field name="Units">rad</field>
+<field name="UnitText">radians</field>
+</param>
+<param humanName="Yaw measurement gate size" name="EK2_YAW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Output complementary filter time constant (centi-sec)" name="EK2_TAU_OUTPUT" documentation="Sets the time constant of the output complementary filter/predictor in centi-seconds." user="Advanced">
+<field name="Range">10 50</field>
+<field name="Increment">5</field>
+<field name="Units">cs</field>
+<field name="UnitText">centiseconds</field>
+</param>
+<param humanName="Earth magnetic field process noise (gauss/s)" name="EK2_MAGE_P_NSE" documentation="This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier." user="Advanced">
+<field name="Range">0.00001 0.01</field>
+<field name="Units">Gauss/s</field>
+<field name="UnitText">gauss per second</field>
+</param>
+<param humanName="Body magnetic field process noise (gauss/s)" name="EK2_MAGB_P_NSE" documentation="This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier." user="Advanced">
+<field name="Range">0.00001 0.01</field>
+<field name="Units">Gauss/s</field>
+<field name="UnitText">gauss per second</field>
+</param>
+<param humanName="Range finder switch height percentage" name="EK2_RNG_USE_HGT" documentation="Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). Set to -1 when EK2_ALT_SOURCE is not set to range finder.  This is not for terrain following." user="Advanced">
+<field name="Range">-1 70</field>
+<field name="Increment">1</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Maximum terrain gradient" name="EK2_TERR_GRAD" documentation="Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference" user="Advanced">
+<field name="Range">0 0.2</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Range beacon measurement noise (m)" name="EK2_BCN_M_NSE" documentation="This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Range beacon measurement gate size" name="EK2_BCN_I_GTE" documentation="This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Range beacon measurement delay (msec)" name="EK2_BCN_DELAY" documentation="This is the number of msec that the range beacon measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
+<field name="Range">0 127</field>
+<field name="Increment">10</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Range finder max ground speed" name="EK2_RNG_USE_SPD" documentation="The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value." user="Advanced">
+<field name="Range">2.0 6.0</field>
+<field name="Increment">0.5</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Bitmask of active EKF cores that will always use heading fusion" name="EK2_MAG_MASK" documentation="1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely." user="Advanced">
+<field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Bitmask control of EKF reference height correction" name="EK2_OGN_HGT_MASK" documentation="When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default)." user="Advanced">
+<field name="Bitmask">0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position</field>
+<field name="RebootRequired">True</field>
+</param>
+</parameters>
+<parameters name="EK3_">
+<param humanName="Enable EKF3" name="EK3_ENABLE" documentation="This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code=" 1">Enabled</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="GPS mode control" name="EK3_GPS_TYPE" documentation="This controls use of GPS measurements : 0 = use 3D velocity &amp; 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors." user="Advanced">
+<values>
+<value code="0">GPS 3D Vel and 2D Pos</value>
+<value code=" 1">GPS 2D vel and 2D pos</value>
+<value code=" 2">GPS 2D pos</value>
+<value code=" 3">No GPS</value>
+</values>
+</param>
+<param humanName="GPS horizontal velocity measurement noise (m/s)" name="EK3_VELNE_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements." user="Advanced">
+<field name="Range">0.05 5.0</field>
+<field name="Increment">0.05</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="GPS vertical velocity measurement noise (m/s)" name="EK3_VELD_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements." user="Advanced">
+<field name="Range">0.05 5.0</field>
+<field name="Increment">0.05</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="GPS velocity innovation gate size" name="EK3_VEL_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="GPS horizontal position measurement noise (m)" name="EK3_POSNE_M_NSE" documentation="This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements." user="Advanced">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="GPS position measurement gate size" name="EK3_POS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="GPS glitch radius gate size (m)" name="EK3_GLITCH_RAD" documentation="This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position." user="Advanced">
+<field name="Range">10 100</field>
+<field name="Increment">5</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Primary altitude sensor source" name="EK3_ALT_SOURCE" documentation='Primary height sensor used by the EKF. If the selected option cannot be used, baro is used. 1 uses the range finder and only with optical flow navigation (EK2_GPS_TYPE = 3), Do not use "1" for terrain following. NOTE: the EK3_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground.' user="Advanced">
+<values>
+<value code="0">Use Baro</value>
+<value code=" 1">Use Range Finder</value>
+<value code=" 2">Use GPS</value>
+<value code=" 3">Use Range Beacon</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Altitude measurement noise (m)" name="EK3_ALT_M_NSE" documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors." user="Advanced">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Height measurement gate size" name="EK3_HGT_I_GATE" documentation="This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Height measurement delay (msec)" name="EK3_HGT_DELAY" documentation="This is the number of msec that the Height measurements lag behind the inertial measurements." user="Advanced">
+<field name="Range">0 250</field>
+<field name="Increment">10</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Magnetometer measurement noise (Gauss)" name="EK3_MAG_M_NSE" documentation="This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
+<field name="Range">0.01 0.5</field>
+<field name="Increment">0.01</field>
+<field name="Units">Gauss</field>
+<field name="UnitText">gauss</field>
+</param>
+<param humanName="Magnetometer default fusion mode" name="EK3_MAG_CAL" documentation="This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK3_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK3_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK3_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK3_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK3_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter." user="Advanced">
+<values>
+<value code="0">When flying</value>
+<value code="1">When manoeuvring</value>
+<value code="2">Never</value>
+<value code="3">After first climb yaw reset</value>
+<value code="4">Always</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Magnetometer measurement gate size" name="EK3_MAG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Equivalent airspeed measurement noise (m/s)" name="EK3_EAS_M_NSE" documentation="This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements." user="Advanced">
+<field name="Range">0.5 5.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Airspeed measurement gate size" name="EK3_EAS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Range finder measurement noise (m)" name="EK3_RNG_M_NSE" documentation="This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Range finder measurement gate size" name="EK3_RNG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Maximum valid optical flow rate" name="EK3_MAX_FLOW" documentation="This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter" user="Advanced">
+<field name="Range">1.0 4.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Optical flow measurement noise (rad/s)" name="EK3_FLOW_M_NSE" documentation="This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
+<field name="Range">0.05 1.0</field>
+<field name="Increment">0.05</field>
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Optical Flow measurement gate size" name="EK3_FLOW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Optical Flow measurement delay (msec)" name="EK3_FLOW_DELAY" documentation="This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
+<field name="Range">0 250</field>
+<field name="Increment">10</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Rate gyro noise (rad/s)" name="EK3_GYRO_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more." user="Advanced">
+<field name="Range">0.0001 0.1</field>
+<field name="Increment">0.0001</field>
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Accelerometer noise (m/s^2)" name="EK3_ACC_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more." user="Advanced">
+<field name="Range">0.01 1.0</field>
+<field name="Increment">0.01</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Rate gyro bias stability (rad/s/s)" name="EK3_GBIAS_P_NSE" documentation="This state  process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier." user="Advanced">
+<field name="Range">0.00001 0.001</field>
+<field name="Units">rad/s/s</field>
+<field name="UnitText">radians per square second</field>
+</param>
+<param humanName="Accelerometer bias stability (m/s^3)" name="EK3_ABIAS_P_NSE" documentation="This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier." user="Advanced">
+<field name="Range">0.00001 0.001</field>
+<field name="Units">m/s/s/s</field>
+<field name="UnitText">meters per cubic second</field>
+</param>
+<param humanName="Wind velocity process noise (m/s^2)" name="EK3_WIND_P_NSE" documentation="This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier." user="Advanced">
+<field name="Range">0.01 1.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Height rate to wind process noise scaler" name="EK3_WIND_PSCALE" documentation="This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser." user="Advanced">
+<field name="Range">0.0 1.0</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="GPS preflight check" name="EK3_GPS_CHECK" documentation="This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat." user="Advanced">
+<field name="Bitmask">0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed</field>
+</param>
+<param humanName="Bitmask of active IMUs" name="EK3_IMU_MASK" documentation="1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start." user="Advanced">
+<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="GPS accuracy check scaler (%)" name="EK3_CHECK_SCALE" documentation="This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error." user="Advanced">
+<field name="Range">50 200</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Non-GPS operation position uncertainty (m)" name="EK3_NOAID_M_NSE" documentation="This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors." user="Advanced">
+<field name="Range">0.5 50.0</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="EKF sensor logging IMU mask" name="EK3_LOG_MASK" documentation="This sets the IMU mask of sensors to do full logging for" user="Advanced">
+<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Yaw measurement noise (rad)" name="EK3_YAW_M_NSE" documentation="This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements." user="Advanced">
+<field name="Range">0.05 1.0</field>
+<field name="Increment">0.05</field>
+<field name="Units">rad</field>
+<field name="UnitText">radians</field>
+</param>
+<param humanName="Yaw measurement gate size" name="EK3_YAW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Output complementary filter time constant (centi-sec)" name="EK3_TAU_OUTPUT" documentation="Sets the time constant of the output complementary filter/predictor in centi-seconds." user="Advanced">
+<field name="Range">10 50</field>
+<field name="Increment">5</field>
+<field name="Units">cs</field>
+<field name="UnitText">centiseconds</field>
+</param>
+<param humanName="Earth magnetic field process noise (gauss/s)" name="EK3_MAGE_P_NSE" documentation="This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier." user="Advanced">
+<field name="Range">0.00001 0.01</field>
+<field name="Units">Gauss/s</field>
+<field name="UnitText">gauss per second</field>
+</param>
+<param humanName="Body magnetic field process noise (gauss/s)" name="EK3_MAGB_P_NSE" documentation="This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier." user="Advanced">
+<field name="Range">0.00001 0.01</field>
+<field name="Units">Gauss/s</field>
+<field name="UnitText">gauss per second</field>
+</param>
+<param humanName="Range finder switch height percentage" name="EK3_RNG_USE_HGT" documentation="Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). Set to -1 when EK3_ALT_SOURCE is not set to range finder.  This is not for terrain following." user="Advanced">
+<field name="Range">-1 70</field>
+<field name="Increment">1</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Maximum terrain gradient" name="EK3_TERR_GRAD" documentation="Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference" user="Advanced">
+<field name="Range">0 0.2</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Range beacon measurement noise (m)" name="EK3_BCN_M_NSE" documentation="This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Range beacon measurement gate size" name="EK3_BCN_I_GTE" documentation="This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Range beacon measurement delay (msec)" name="EK3_BCN_DELAY" documentation="This is the number of msec that the range beacon measurements lag behind the inertial measurements." user="Advanced">
+<field name="Range">0 250</field>
+<field name="Increment">10</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Range finder max ground speed" name="EK3_RNG_USE_SPD" documentation="The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value." user="Advanced">
+<field name="Range">2.0 6.0</field>
+<field name="Increment">0.5</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Accelerometer bias limit" name="EK3_ACC_BIAS_LIM" documentation="The accelerometer bias state will be limited to +- this value" user="Advanced">
+<field name="Range">0.5 2.5</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Bitmask of active EKF cores that will always use heading fusion" name="EK3_MAG_MASK" documentation="1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely." user="Advanced">
+<field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Bitmask control of EKF reference height correction" name="EK3_OGN_HGT_MASK" documentation="When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default)." user="Advanced">
+<field name="Bitmask">0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Visual odometry minimum velocity error" name="EK3_VIS_VERR_MIN" documentation="This is the 1-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX." user="Advanced">
+<field name="Range">0.05 0.5</field>
+<field name="Increment">0.05</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Visual odometry maximum velocity error" name="EK3_VIS_VERR_MAX" documentation="This is the 1-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX." user="Advanced">
+<field name="Range">0.5 5.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Wheel odometry velocity error" name="EK3_WENC_VERR" documentation="This is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused." user="Advanced">
+<field name="Range">0.01 1.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+</parameters>
+<parameters name="FLOW">
+<param humanName="Optical flow enable/disable" name="FLOW_ENABLE" documentation="Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code=" 1">Enabled</value>
+</values>
+</param>
+<param humanName="X axis optical flow scale factor correction" name="FLOW_FXSCALER" documentation="This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor." user="Standard">
+<field name="Range">-200 +200</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Y axis optical flow scale factor correction" name="FLOW_FYSCALER" documentation="This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor." user="Standard">
+<field name="Range">-200 +200</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Flow sensor yaw alignment" name="FLOW_ORIENT_YAW" documentation="Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle." user="Standard">
+<field name="Range">-18000 +18000</field>
+<field name="Increment">1</field>
+</param>
+<param humanName=" X position offset" name="FLOW_POS_X" documentation="X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Y position offset" name="FLOW_POS_Y" documentation="Y position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Z position offset" name="FLOW_POS_Z" documentation="Z position of the optical flow sensor focal point in body frame. Positive Z is down from the origin." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Address on the bus" name="FLOW_ADDR" documentation="This is used to select between multiple possible I2C addresses for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus." user="Advanced">
+<field name="Range">0 127</field>
+</param>
+</parameters>
+<parameters name="GND_">
+<param humanName="Absolute Pressure" name="GND_ABS_PRESS" documentation="calibrated ground pressure in Pascals" user="Advanced">
+<field name="ReadOnly">True</field>
+<field name="Volatile">True</field>
+<field name="Increment">1</field>
+<field name="Units">Pa</field>
+<field name="UnitText">pascal</field>
+</param>
+<param humanName="ground temperature" name="GND_TEMP" documentation="User provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature." user="Advanced">
+<field name="Volatile">True</field>
+<field name="Increment">1</field>
+<field name="Units">degC</field>
+<field name="UnitText">degrees Celsius</field>
+</param>
+<param humanName="altitude offset" name="GND_ALT_OFFSET" documentation="altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Primary barometer" name="GND_PRIMARY" documentation="This selects which barometer will be the primary if multiple barometers are found" user="Advanced">
+<values>
+<value code="0">FirstBaro</value>
+<value code="1">2ndBaro</value>
+<value code="2">3rdBaro</value>
+</values>
+</param>
+<param humanName="External baro bus" name="GND_EXT_BUS" documentation="This selects the bus number for looking for an I2C barometer" user="Advanced">
+<values>
+<value code="-1">Disabled</value>
+<value code="0">Bus0</value>
+<value code="1">Bus1</value>
+</values>
+</param>
+<param humanName="Specific Gravity (For water depth measurement)" name="GND_SPEC_GRAV" documentation="This sets the specific gravity of the fluid when flying an underwater ROV.">
+<field name="Values">1.0:Freshwater,1.024:Saltwater</field>
+</param>
+<param humanName="Absolute Pressure" name="GND_ABS_PRESS2" documentation="calibrated ground pressure in Pascals" user="Advanced">
+<field name="ReadOnly">True</field>
+<field name="Volatile">True</field>
+<field name="Increment">1</field>
+<field name="Units">Pa</field>
+<field name="UnitText">pascal</field>
+</param>
+<param humanName="Absolute Pressure" name="GND_ABS_PRESS3" documentation="calibrated ground pressure in Pascals" user="Advanced">
+<field name="ReadOnly">True</field>
+<field name="Volatile">True</field>
+<field name="Increment">1</field>
+<field name="Units">Pa</field>
+<field name="UnitText">pascal</field>
+</param>
+<param humanName="Range in which sample is accepted" name="GND_FLTR_RNG" documentation="This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.">
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+</parameters>
+<parameters name="GPS_">
+<param humanName="GPS type" name="GPS_TYPE" documentation="GPS type" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">AUTO</value>
+<value code="2">uBlox</value>
+<value code="3">MTK</value>
+<value code="4">MTK19</value>
+<value code="5">NMEA</value>
+<value code="6">SiRF</value>
+<value code="7">HIL</value>
+<value code="8">SwiftNav</value>
+<value code="9">UAVCAN</value>
+<value code="10">SBF</value>
+<value code="11">GSOF</value>
+<value code="13">ERB</value>
+<value code="14">MAV</value>
+<value code="15">NOVA</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="2nd GPS type" name="GPS_TYPE2" documentation="GPS type of 2nd GPS" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">AUTO</value>
+<value code="2">uBlox</value>
+<value code="3">MTK</value>
+<value code="4">MTK19</value>
+<value code="5">NMEA</value>
+<value code="6">SiRF</value>
+<value code="7">HIL</value>
+<value code="8">SwiftNav</value>
+<value code="9">UAVCAN</value>
+<value code="10">SBF</value>
+<value code="11">GSOF</value>
+<value code="13">ERB</value>
+<value code="14">MAV</value>
+<value code="15">NOVA</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Navigation filter setting" name="GPS_NAVFILTER" documentation="Navigation filter engine setting" user="Advanced">
+<values>
+<value code="0">Portable</value>
+<value code="2">Stationary</value>
+<value code="3">Pedestrian</value>
+<value code="4">Automotive</value>
+<value code="5">Sea</value>
+<value code="6">Airborne1G</value>
+<value code="7">Airborne2G</value>
+<value code="8">Airborne4G</value>
+</values>
+</param>
+<param humanName="Automatic Switchover Setting" name="GPS_AUTO_SWITCH" documentation="Automatic switchover to GPS reporting best lock" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">UseBest</value>
+<value code="2">Blend</value>
+</values>
+</param>
+<param humanName="Minimum Lock Type Accepted for DGPS" name="GPS_MIN_DGPS" documentation="Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode." user="Advanced">
+<values>
+<value code="0">Any</value>
+<value code="50">FloatRTK</value>
+<value code="100">IntegerRTK</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="SBAS Mode" name="GPS_SBAS_MODE" documentation="This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+<value code="2">NoChange</value>
+</values>
+</param>
+<param humanName="Minimum elevation" name="GPS_MIN_ELEV" documentation="This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default." user="Advanced">
+<field name="Range">-100 90</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Destination for GPS_INJECT_DATA MAVLink packets" name="GPS_INJECT_TO" documentation="The GGS can send raw serial packets to inject data to multiple GPSes." user="Advanced">
+<values>
+<value code="0">send to first GPS</value>
+<value code="1">send to 2nd GPS</value>
+<value code="127">send to all</value>
+</values>
+</param>
+<param humanName="Swift Binary Protocol Logging Mask" name="GPS_SBP_LOGMASK" documentation="Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged" user="Advanced">
+<values>
+<value code="0">None (0x0000)</value>
+<value code="-1">All (0xFFFF)</value>
+<value code="-256">External only (0xFF00)</value>
+</values>
+</param>
+<param humanName="Raw data logging" name="GPS_RAW_DATA" documentation="Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into dataflash log; on Septentrio this will log on the equipment's SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming" user="Advanced">
+<values>
+<value code="0">Ignore</value>
+<value code="1">Always log</value>
+<value code="2">Stop logging when disarmed (SBF only)</value>
+<value code="5">Only log every five samples (uBlox only)</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="GNSS system configuration" name="GPS_GNSS_MODE" documentation="Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
+<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS</field>
+<values>
+<value code="0">Leave as currently configured</value>
+<value code=" 1">GPS-NoSBAS</value>
+<value code=" 3">GPS+SBAS</value>
+<value code=" 4">Galileo-NoSBAS</value>
+<value code=" 6">Galileo+SBAS</value>
+<value code=" 8">Beidou</value>
+<value code=" 51">GPS+IMES+QZSS+SBAS (Japan Only)</value>
+<value code=" 64">GLONASS</value>
+<value code=" 66">GLONASS+SBAS</value>
+<value code=" 67">GPS+GLONASS+SBAS</value>
+</values>
+</param>
+<param humanName="Save GPS configuration" name="GPS_SAVE_CFG" documentation="Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above." user="Advanced">
+<values>
+<value code="0">Do not save config</value>
+<value code="1">Save config</value>
+<value code="2">Save only when needed</value>
+</values>
+</param>
+<param humanName="GNSS system configuration" name="GPS_GNSS_MODE2" documentation="Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
+<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS</field>
+<values>
+<value code="0">Leave as currently configured</value>
+<value code=" 1">GPS-NoSBAS</value>
+<value code=" 3">GPS+SBAS</value>
+<value code=" 4">Galileo-NoSBAS</value>
+<value code=" 6">Galileo+SBAS</value>
+<value code=" 8">Beidou</value>
+<value code=" 51">GPS+IMES+QZSS+SBAS (Japan Only)</value>
+<value code=" 64">GLONASS</value>
+<value code=" 66">GLONASS+SBAS</value>
+<value code=" 67">GPS+GLONASS+SBAS</value>
+</values>
+</param>
+<param humanName="Automatic GPS configuration" name="GPS_AUTO_CONFIG" documentation="Controls if the autopilot should automatically configure the GPS based on the parameters and default settings" user="Advanced">
+<values>
+<value code="0">Disables automatic configuration</value>
+<value code="1">Enable automatic configuration</value>
+</values>
+</param>
+<param humanName="GPS update rate in milliseconds" name="GPS_RATE_MS" documentation="Controls how often the GPS should provide a position update. Lowering below 5Hz is not allowed" user="Advanced">
+<field name="Range">50 200</field>
+<values>
+<value code="100">10Hz</value>
+<value code="125">8Hz</value>
+<value code="200">5Hz</value>
+</values>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+</param>
+<param humanName="GPS 2 update rate in milliseconds" name="GPS_RATE_MS2" documentation="Controls how often the GPS should provide a position update. Lowering below 5Hz is not allowed" user="Advanced">
+<field name="Range">50 200</field>
+<values>
+<value code="100">10Hz</value>
+<value code="125">8Hz</value>
+<value code="200">5Hz</value>
+</values>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+</param>
+<param humanName="Antenna X position offset" name="GPS_POS1_X" documentation="X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Antenna Y position offset" name="GPS_POS1_Y" documentation="Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Antenna Z position offset" name="GPS_POS1_Z" documentation="Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Antenna X position offset" name="GPS_POS2_X" documentation="X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Antenna Y position offset" name="GPS_POS2_Y" documentation="Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Antenna Z position offset" name="GPS_POS2_Z" documentation="Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="GPS delay in milliseconds" name="GPS_DELAY_MS" documentation="Controls the amount of GPS  measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type." user="Advanced">
+<field name="Range">0 250</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="GPS 2 delay in milliseconds" name="GPS_DELAY_MS2" documentation="Controls the amount of GPS  measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type." user="Advanced">
+<field name="Range">0 250</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Multi GPS Blending Mask" name="GPS_BLEND_MASK" documentation="Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2" user="Advanced">
+<field name="Bitmask">0:Horiz Pos,1:Vert Pos,2:Speed</field>
+</param>
+<param humanName="Blending time constant" name="GPS_BLEND_TC" documentation="Controls the slowest time constant applied to the calculation of GPS position and height offsets used to adjust different GPS receivers for steady state position differences." user="Advanced">
+<field name="Range">5.0 30.0</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+</parameters>
+<parameters name="GRIP_">
+<param humanName="Gripper Enable/Disable" name="GRIP_ENABLE" documentation="Gripper enable/disable" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code=" 1">Enabled</value>
+</values>
+</param>
+<param humanName="Gripper Type" name="GRIP_TYPE" documentation="Gripper enable/disable" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">Servo</value>
+<value code="2">EPM</value>
+</values>
+</param>
+<param humanName="Gripper Grab PWM" name="GRIP_GRAB" documentation="PWM value in microseconds sent to Gripper to initiate grabbing the cargo" user="Advanced">
+<field name="Range">1000 2000</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Gripper Release PWM" name="GRIP_RELEASE" documentation="PWM value in microseconds sent to Gripper to release the cargo" user="Advanced">
+<field name="Range">1000 2000</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Neutral PWM" name="GRIP_NEUTRAL" documentation="PWM value in microseconds sent to grabber when not grabbing or releasing" user="Advanced">
+<field name="Range">1000 2000</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Gripper Regrab interval" name="GRIP_REGRAB" documentation="Time in seconds that gripper will regrab the cargo to ensure grip has not weakened; 0 to disable" user="Advanced">
+<field name="Range">0 255</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="EPM UAVCAN Hardpoint ID" name="GRIP_UAVCAN_ID" documentation="Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface" user="Standard">
+<field name="Range">0 255</field>
+</param>
+</parameters>
+<parameters name="ICE_">
+<param humanName="Enable ICEngine control" name="ICE_ENABLE" documentation="This enables internal combusion engine control" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code=" 1">Enabled</value>
+</values>
+</param>
+<param humanName="Input channel for engine start" name="ICE_START_CHAN" documentation="This is an RC input channel for requesting engine start. Engine will try to start when channel is at or above 1700. Engine will stop when channel is at or below 1300. Between 1301 and 1699 the engine will not change state unless a MAVLink command or mission item commands a state change, or the vehicle is disamed." user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">Chan1</value>
+<value code="2">Chan2</value>
+<value code="3">Chan3</value>
+<value code="4">Chan4</value>
+<value code="5">Chan5</value>
+<value code="6">Chan6</value>
+<value code="7">Chan7</value>
+<value code="8">Chan8</value>
+<value code="9">Chan9</value>
+<value code="10">Chan10</value>
+<value code="11">Chan11</value>
+<value code="12">Chan12</value>
+<value code="13">Chan13</value>
+<value code="14">Chan14</value>
+<value code="15">Chan15</value>
+<value code="16">Chan16</value>
+</values>
+</param>
+<param humanName="Time to run starter" name="ICE_STARTER_TIME" documentation="This is the number of seconds to run the starter when trying to start the engine" user="Standard">
+<field name="Range">0.1 5</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Time to wait between starts" name="ICE_START_DELAY" documentation="Delay between start attempts" user="Standard">
+<field name="Range">1 10</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
 </param>
-<param humanName="AHRS GPS Minimum satellites" name="AHRS_GPS_MINSATS" documentation="Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers." user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">1</field>
+<param humanName="RPM threshold" name="ICE_RPM_THRESH" documentation="This is the measured RPM above which tne engine is considered to be running" user="Standard">
+<field name="Range">100 100000</field>
 </param>
-<param humanName="Use NavEKF Kalman filter for attitude and position estimation" name="AHRS_EKF_TYPE" documentation="This controls which NavEKF Kalman filter version is used for attitude and position estimation" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="2">Enable EKF2</value>
-<value code="3">Enable EKF3</value>
-</values>
+<param humanName="PWM value for ignition on" name="ICE_PWM_IGN_ON" documentation="This is the value sent to the ignition channel when on" user="Standard">
+<field name="Range">1000 2000</field>
 </param>
-</parameters>
-<parameters name="ARMING_">
-<param humanName="Require Arming Motors " name="ARMING_REQUIRE" documentation="Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately).  If 1, require rudder stick or GCS arming before arming motors and sends the minimum throttle PWM value to the throttle channel when disarmed.  If 2, require rudder stick or GCS arming and send 0 PWM to throttle channel when disarmed. See the ARMING_CHECK_* parameters to see what checks are done before arming. Note, if setting this parameter to 0 a reboot is required to arm the plane.  Also note, even with this parameter at 0, if ARMING_CHECK parameter is not also zero the plane may fail to arm throttle at boot due to a pre-arm check failure. This parameter is relevant for ArduPlane only." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">THR_MIN PWM when disarmed</value>
-<value code="2">0 PWM when disarmed</value>
-</values>
+<param humanName="PWM value for ignition off" name="ICE_PWM_IGN_OFF" documentation="This is the value sent to the ignition channel when off" user="Standard">
+<field name="Range">1000 2000</field>
+</param>
+<param humanName="PWM value for starter on" name="ICE_PWM_STRT_ON" documentation="This is the value sent to the starter channel when on" user="Standard">
+<field name="Range">1000 2000</field>
+</param>
+<param humanName="PWM value for starter off" name="ICE_PWM_STRT_OFF" documentation="This is the value sent to the starter channel when off" user="Standard">
+<field name="Range">1000 2000</field>
 </param>
-<param humanName="Arm Checks to Peform (bitmask)" name="ARMING_CHECK" documentation="Checks prior to arming motor. This is a bitmask of checks that will be performed befor allowing arming. The default is no checks, allowing arming at any time. You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72. For most users it is recommended that you set this to 1 to enable all checks." user="Standard">
-<field name="Bitmask">0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC,7:Board voltage,8:Battery Level,9:Airspeed,10:Logging Available,11:Hardware safety switch,12:GPS Configuration</field>
+<param humanName="RPM instance channel to use" name="ICE_RPM_CHAN" documentation="This is which of the RPM instances to use for detecting the RPM of the engine" user="Standard">
 <values>
 <value code="0">None</value>
-<value code="1">All</value>
-<value code="2">Barometer</value>
-<value code="4">Compass</value>
-<value code="8">GPS Lock</value>
-<value code="16">INS(INertial Sensors - accels &amp; gyros)</value>
-<value code="32">Parameters(unused)</value>
-<value code="64">RC Failsafe</value>
-<value code="128">Board voltage</value>
-<value code="256">Battery Level</value>
-<value code="512">Airspeed</value>
-<value code="1024">LoggingAvailable</value>
-<value code="2048">Hardware safety switch</value>
-<value code="4096">GPS configuration</value>
+<value code="1">RPM1</value>
+<value code="2">RPM2</value>
 </values>
 </param>
-<param humanName="Accelerometer error threshold" name="ARMING_ACCTHRESH" documentation="Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal." user="Advanced">
-<field name="Range">0.25 3.0</field>
+<param humanName="Throttle percentage for engine start" name="ICE_START_PCT" documentation="This is the percentage throttle output for engine start" user="Standard">
+<field name="Range">0 100</field>
+</param>
+</parameters>
+<parameters name="INS_">
+<param humanName="IMU Product ID" name="INS_PRODUCT_ID" documentation="unused" user="Advanced">
+</param>
+<param humanName="Gyro offsets of X axis" name="INS_GYROFFS_X" documentation="Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Gyro offsets of Y axis" name="INS_GYROFFS_Y" documentation="Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Gyro offsets of Z axis" name="INS_GYROFFS_Z" documentation="Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Gyro2 offsets of X axis" name="INS_GYR2OFFS_X" documentation="Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Gyro2 offsets of Y axis" name="INS_GYR2OFFS_Y" documentation="Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Gyro2 offsets of Z axis" name="INS_GYR2OFFS_Z" documentation="Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Gyro3 offsets of X axis" name="INS_GYR3OFFS_X" documentation="Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Gyro3 offsets of Y axis" name="INS_GYR3OFFS_Y" documentation="Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Gyro3 offsets of Z axis" name="INS_GYR3OFFS_Z" documentation="Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Accelerometer scaling of X axis" name="INS_ACCSCAL_X" documentation="Accelerometer scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
+</param>
+<param humanName="Accelerometer scaling of Y axis" name="INS_ACCSCAL_Y" documentation="Accelerometer scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
+</param>
+<param humanName="Accelerometer scaling of Z axis" name="INS_ACCSCAL_Z" documentation="Accelerometer scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
+</param>
+<param humanName="Accelerometer offsets of X axis" name="INS_ACCOFFS_X" documentation="Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
 <field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
 </param>
-<param humanName="Minimum arming voltage on the first battery" name="ARMING_MIN_VOLT" documentation="The minimum voltage on the first battery to arm, 0 disables the check.  This parameter is relevant for ArduPlane only." user="Standard">
-<field name="Increment">0.1 </field>
-<field name="Units">Volts</field>
+<param humanName="Accelerometer offsets of Y axis" name="INS_ACCOFFS_Y" documentation="Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
 </param>
-<param humanName="Minimum arming voltage on the second battery" name="ARMING_MIN_VOLT2" documentation="The minimum voltage on the first battery to arm, 0 disables the check. This parameter is relevant for ArduPlane only." user="Standard">
-<field name="Increment">0.1 </field>
-<field name="Units">Volts</field>
+<param humanName="Accelerometer offsets of Z axis" name="INS_ACCOFFS_Z" documentation="Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
 </param>
-</parameters>
-<parameters name="ARSPD_">
-<param humanName="Airspeed type" name="ARSPD_TYPE" documentation="Type of airspeed sensor" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">I2C-MS4525D0</value>
-<value code="2">Analog</value>
-<value code="3">I2C-MS5525</value>
-</values>
+<param humanName="Accelerometer2 scaling of X axis" name="INS_ACC2SCAL_X" documentation="Accelerometer2 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
 </param>
-<param humanName="Airspeed use" name="ARSPD_USE" documentation="use airspeed for flight control" user="Standard">
-<values>
-<value code="1">Use</value>
-<value code="0">Don't Use</value>
-</values>
+<param humanName="Accelerometer2 scaling of Y axis" name="INS_ACC2SCAL_Y" documentation="Accelerometer2 scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
 </param>
-<param humanName="Airspeed offset" name="ARSPD_OFFSET" documentation="Airspeed calibration offset" user="Advanced">
-<field name="Increment">0.1</field>
+<param humanName="Accelerometer2 scaling of Z axis" name="INS_ACC2SCAL_Z" documentation="Accelerometer2 scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
 </param>
-<param humanName="Airspeed ratio" name="ARSPD_RATIO" documentation="Airspeed calibration ratio" user="Advanced">
-<field name="Increment">0.1</field>
+<param humanName="Accelerometer2 offsets of X axis" name="INS_ACC2OFFS_X" documentation="Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
 </param>
-<param humanName="Airspeed pin" name="ARSPD_PIN" documentation="The pin number that the airspeed sensor is connected to for analog sensors. Set to 15 on the Pixhawk for the analog airspeed port. " user="Advanced">
+<param humanName="Accelerometer2 offsets of Y axis" name="INS_ACC2OFFS_Y" documentation="Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
 </param>
-<param humanName="Automatic airspeed ratio calibration" name="ARSPD_AUTOCAL" documentation="If this is enabled then the APM will automatically adjust the ARSPD_RATIO during flight, based upon an estimation filter using ground speed and true airspeed. The automatic calibration will save the new ratio to EEPROM every 2 minutes if it changes by more than 5%. This option should be enabled for a calibration flight then disabled again when calibration is complete. Leaving it enabled all the time is not recommended." user="Advanced">
+<param humanName="Accelerometer2 offsets of Z axis" name="INS_ACC2OFFS_Z" documentation="Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
 </param>
-<param humanName="Control pitot tube order" name="ARSPD_TUBE_ORDER" documentation="This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the top connector on the sensor needs to be the dynamic pressure. If set to 1 then the bottom connector needs to be the dynamic pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft it receiving excessive pressure on the static port, which would otherwise be seen as a positive airspeed." user="Advanced">
+<param humanName="Accelerometer3 scaling of X axis" name="INS_ACC3SCAL_X" documentation="Accelerometer3 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
 </param>
-<param humanName="Skip airspeed calibration on startup" name="ARSPD_SKIP_CAL" documentation="This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot." user="Advanced">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
+<param humanName="Accelerometer3 scaling of Y axis" name="INS_ACC3SCAL_Y" documentation="Accelerometer3 scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
 </param>
-<param humanName="The PSI range of the device" name="ARSPD_PSI_RANGE" documentation="This parameter allows you to to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device" user="Advanced">
+<param humanName="Accelerometer3 scaling of Z axis" name="INS_ACC3SCAL_Z" documentation="Accelerometer3 scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
 </param>
-<param humanName="Airspeed I2C bus" name="ARSPD_BUS" documentation="The bus number of the I2C bus to look for the sensor on" user="Advanced">
-<values>
-<value code="0">Bus0</value>
-<value code="1">Bus1</value>
-</values>
+<param humanName="Accelerometer3 offsets of X axis" name="INS_ACC3OFFS_X" documentation="Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
 </param>
-</parameters>
-<parameters name="ATC_">
-<param humanName="Yaw target slew rate" name="ATC_SLEW_YAW" documentation="Maximum rate the yaw target can be updated in Loiter, RTL, Auto flight modes" user="Advanced">
-<field name="Range">500 18000</field>
-<field name="Increment">100</field>
-<field name="Units">Centi-Degrees/Sec</field>
+<param humanName="Accelerometer3 offsets of Y axis" name="INS_ACC3OFFS_Y" documentation="Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
 </param>
-<param humanName="Acceleration Max for Yaw" name="ATC_ACCEL_Y_MAX" documentation="Maximum acceleration in yaw axis" user="Advanced">
-<field name="Range">0 72000</field>
+<param humanName="Accelerometer3 offsets of Z axis" name="INS_ACC3OFFS_Z" documentation="Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Gyro filter cutoff frequency" name="INS_GYRO_FILTER" documentation="Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)" user="Advanced">
+<field name="Range">0 127</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Accel filter cutoff frequency" name="INS_ACCEL_FILTER" documentation="Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)" user="Advanced">
+<field name="Range">0 127</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Use first IMU for attitude, velocity and position estimates" name="INS_USE" documentation="Use first IMU for attitude, velocity and position estimates" user="Advanced">
 <values>
 <value code="0">Disabled</value>
-<value code=" 18000">Slow</value>
-<value code=" 36000">Medium</value>
-<value code=" 54000">Fast</value>
+<value code="1">Enabled</value>
 </values>
-<field name="Increment">1000</field>
-<field name="Units">Centi-Degrees/Sec/Sec</field>
 </param>
-<param humanName="Rate Feedforward Enable" name="ATC_RATE_FF_ENAB" documentation="Controls whether body-frame rate feedfoward is enabled or disabled" user="Advanced">
+<param humanName="Use second IMU for attitude, velocity and position estimates" name="INS_USE2" documentation="Use second IMU for attitude, velocity and position estimates" user="Advanced">
 <values>
 <value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Acceleration Max for Roll" name="ATC_ACCEL_R_MAX" documentation="Maximum acceleration in roll axis" user="Advanced">
-<field name="Range">0 180000</field>
+<param humanName="Use third IMU for attitude, velocity and position estimates" name="INS_USE3" documentation="Use third IMU for attitude, velocity and position estimates" user="Advanced">
 <values>
 <value code="0">Disabled</value>
-<value code=" 72000">Slow</value>
-<value code=" 108000">Medium</value>
-<value code=" 162000">Fast</value>
+<value code="1">Enabled</value>
 </values>
-<field name="Increment">1000</field>
-<field name="Units">Centi-Degrees/Sec/Sec</field>
 </param>
-<param humanName="Acceleration Max for Pitch" name="ATC_ACCEL_P_MAX" documentation="Maximum acceleration in pitch axis" user="Advanced">
-<field name="Range">0 180000</field>
+<param humanName="Stillness threshold for detecting if we are moving" name="INS_STILL_THRESH" documentation="Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5" user="Advanced">
+<field name="Range">0.05 50</field>
+</param>
+<param humanName="Gyro Calibration scheme" name="INS_GYR_CAL" documentation="Conrols when automatic gyro calibration is performed" user="Advanced">
 <values>
-<value code="0">Disabled</value>
-<value code=" 72000">Slow</value>
-<value code=" 108000">Medium</value>
-<value code=" 162000">Fast</value>
+<value code="0">Never</value>
+<value code=" 1">Start-up only</value>
 </values>
-<field name="Increment">1000</field>
-<field name="Units">Centi-Degrees/Sec/Sec</field>
 </param>
-<param humanName="Angle Boost" name="ATC_ANGLE_BOOST" documentation="Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude" user="Advanced">
+<param humanName="Accel cal trim option" name="INS_TRIM_OPTION" documentation="Specifies how the accel cal routine determines the trims" user="Advanced">
 <values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
+<value code="0">Don't adjust the trims</value>
+<value code="1">Assume first orientation was level</value>
+<value code="2">Assume ACC_BODYFIX is perfectly aligned to the vehicle</value>
 </values>
 </param>
-<param humanName="Roll axis angle controller P gain" name="ATC_ANG_RLL_P" documentation="Roll axis angle controller P gain.  Converts the error between the desired roll angle and actual angle to a desired roll rate" user="Standard">
-<field name="Range">3.000 12.000</field>
-</param>
-<param humanName="Pitch axis angle controller P gain" name="ATC_ANG_PIT_P" documentation="Pitch axis angle controller P gain.  Converts the error between the desired pitch angle and actual angle to a desired pitch rate" user="Standard">
-<field name="Range">3.000 12.000</field>
-</param>
-<param humanName="Yaw axis angle controller P gain" name="ATC_ANG_YAW_P" documentation="Yaw axis angle controller P gain.  Converts the error between the desired yaw angle and actual angle to a desired yaw rate" user="Standard">
-<field name="Range">3.000 6.000</field>
-</param>
-<param humanName="Angle Limit (to maintain altitude) Time Constant" name="ATC_ANG_LIM_TC" documentation="Angle Limit (to maintain altitude) Time Constant" user="Advanced">
-<field name="Range">0.5 10.0</field>
-</param>
-<param humanName="Roll axis rate controller P gain" name="ATC_RAT_RLL_P" documentation="Roll axis rate controller P gain.  Converts the difference between desired roll rate and actual roll rate into a motor speed output" user="Standard">
-<field name="Range">0.08 0.30</field>
-<field name="Increment">0.005</field>
-</param>
-<param humanName="Roll axis rate controller I gain" name="ATC_RAT_RLL_I" documentation="Roll axis rate controller I gain.  Corrects long-term difference in desired roll rate vs actual roll rate" user="Standard">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
+<param humanName="Body-fixed accelerometer" name="INS_ACC_BODYFIX" documentation="The body-fixed accelerometer to be used for trim calculation" user="Advanced">
+<values>
+<value code="1">IMU 1</value>
+<value code="2">IMU 2</value>
+<value code="3">IMU 3</value>
+</values>
 </param>
-<param humanName="Roll axis rate controller I gain maximum" name="ATC_RAT_RLL_IMAX" documentation="Roll axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-<field name="Units">Percent</field>
+<param humanName="IMU accelerometer X position" name="INS_POS1_X" documentation="X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
-<param humanName="Roll axis rate controller D gain" name="ATC_RAT_RLL_D" documentation="Roll axis rate controller D gain.  Compensates for short-term change in desired roll rate vs actual roll rate" user="Standard">
-<field name="Range">0.0 0.02</field>
-<field name="Increment">0.001</field>
+<param humanName="IMU accelerometer Y position" name="INS_POS1_Y" documentation="Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
-<param humanName="Roll axis rate controller input frequency in Hz" name="ATC_RAT_RLL_FILT" documentation="Roll axis rate controller input frequency in Hz" user="Standard">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
+<param humanName="IMU accelerometer Z position" name="INS_POS1_Z" documentation="Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
-<param humanName="Pitch axis rate controller P gain" name="ATC_RAT_PIT_P" documentation="Pitch axis rate controller P gain.  Converts the difference between desired pitch rate and actual pitch rate into a motor speed output" user="Standard">
-<field name="Range">0.08 0.30</field>
-<field name="Increment">0.005</field>
+<param humanName="IMU accelerometer X position" name="INS_POS2_X" documentation="X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
-<param humanName="Pitch axis rate controller I gain" name="ATC_RAT_PIT_I" documentation="Pitch axis rate controller I gain.  Corrects long-term difference in desired pitch rate vs actual pitch rate" user="Standard">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
+<param humanName="IMU accelerometer Y position" name="INS_POS2_Y" documentation="Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
-<param humanName="Pitch axis rate controller I gain maximum" name="ATC_RAT_PIT_IMAX" documentation="Pitch axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-<field name="Units">Percent</field>
+<param humanName="IMU accelerometer Z position" name="INS_POS2_Z" documentation="Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
-<param humanName="Pitch axis rate controller D gain" name="ATC_RAT_PIT_D" documentation="Pitch axis rate controller D gain.  Compensates for short-term change in desired pitch rate vs actual pitch rate" user="Standard">
-<field name="Range">0.0 0.02</field>
-<field name="Increment">0.001</field>
+<param humanName="IMU accelerometer X position" name="INS_POS3_X" documentation="X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
-<param humanName="Pitch axis rate controller input frequency in Hz" name="ATC_RAT_PIT_FILT" documentation="Pitch axis rate controller input frequency in Hz" user="Standard">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
+<param humanName="IMU accelerometer Y position" name="INS_POS3_Y" documentation="Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
-<param humanName="Yaw axis rate controller P gain" name="ATC_RAT_YAW_P" documentation="Yaw axis rate controller P gain.  Converts the difference between desired yaw rate and actual yaw rate into a motor speed output" user="Standard">
-<field name="Range">0.10 0.50</field>
-<field name="Increment">0.005</field>
+<param humanName="IMU accelerometer Z position" name="INS_POS3_Z" documentation="Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
-<param humanName="Yaw axis rate controller I gain" name="ATC_RAT_YAW_I" documentation="Yaw axis rate controller I gain.  Corrects long-term difference in desired yaw rate vs actual yaw rate" user="Standard">
-<field name="Range">0.010 0.05</field>
-<field name="Increment">0.01</field>
+<param humanName="Gyro ID" name="INS_GYR_ID" documentation="Gyro sensor ID, taking into account its type, bus and instance" user="Advanced">
+<field name="ReadOnly">True</field>
 </param>
-<param humanName="Yaw axis rate controller I gain maximum" name="ATC_RAT_YAW_IMAX" documentation="Yaw axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-<field name="Units">Percent</field>
+<param humanName="Gyro2 ID" name="INS_GYR2_ID" documentation="Gyro2 sensor ID, taking into account its type, bus and instance" user="Advanced">
+<field name="ReadOnly">True</field>
 </param>
-<param humanName="Yaw axis rate controller D gain" name="ATC_RAT_YAW_D" documentation="Yaw axis rate controller D gain.  Compensates for short-term change in desired yaw rate vs actual yaw rate" user="Standard">
-<field name="Range">0.000 0.02</field>
-<field name="Increment">0.001</field>
+<param humanName="Gyro3 ID" name="INS_GYR3_ID" documentation="Gyro3 sensor ID, taking into account its type, bus and instance" user="Advanced">
+<field name="ReadOnly">True</field>
 </param>
-<param humanName="Yaw axis rate controller input frequency in Hz" name="ATC_RAT_YAW_FILT" documentation="Yaw axis rate controller input frequency in Hz" user="Standard">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
+<param humanName="Accelerometer ID" name="INS_ACC_ID" documentation="Accelerometer sensor ID, taking into account its type, bus and instance" user="Advanced">
+<field name="ReadOnly">True</field>
 </param>
-<param humanName="Throttle Mix Minimum" name="ATC_THR_MIX_MIN" documentation="Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)" user="Advanced">
-<field name="Range">0.1 0.25</field>
+<param humanName="Accelerometer2 ID" name="INS_ACC2_ID" documentation="Accelerometer2 sensor ID, taking into account its type, bus and instance" user="Advanced">
+<field name="ReadOnly">True</field>
 </param>
-<param humanName="Throttle Mix Maximum" name="ATC_THR_MIX_MAX" documentation="Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)" user="Advanced">
-<field name="Range">0.5 0.9</field>
+<param humanName="Accelerometer3 ID" name="INS_ACC3_ID" documentation="Accelerometer3 sensor ID, taking into account its type, bus and instance" user="Advanced">
+<field name="ReadOnly">True</field>
 </param>
-<param humanName="Throttle Mix Manual" name="ATC_THR_MIX_MAN" documentation="Throttle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle)" user="Advanced">
-<field name="Range">0.5 0.9</field>
+<param humanName="Fast sampling mask" name="INS_FAST_SAMPLE" documentation="Mask of IMUs to enable fast sampling on, if available" user="Advanced">
+<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU</field>
+<values>
+<value code="1">FirstIMUOnly</value>
+<value code="3">FirstAndSecondIMU</value>
+</values>
+</param>
+</parameters>
+<parameters name="INS_LOG_">
+<param humanName="sample count per batch" name="INS_LOG_BAT_CNT" documentation="Number of samples to take when logging streams of IMU sensor readings.  Will be rounded down to a multiple of 32." user="Advanced">
+<field name="Increment">32</field>
 </param>
-<param humanName="Piro Comp Enable" name="ATC_PIRO_COMP" documentation="Pirouette compensation enabled" user="Advanced">
+<param humanName="Sensor Bitmask" name="INS_LOG_BAT_MASK" documentation="Bitmap of which IMUs to log batch data for" user="Advanced">
+<field name="Bitmask">0:IMU1,1:IMU2,2:IMU3</field>
 <values>
-<value code="0">Disabled 1</value>
+<value code="0">None</value>
+<value code="1">First IMU</value>
+<value code="255">All</value>
 </values>
 </param>
-<param humanName="Hover Roll Trim" name="ATC_HOVR_ROL_TRM" documentation="Trim the hover roll angle to counter tail rotor thrust in a hover" user="Advanced">
-<field name="Range">0 1000</field>
-<field name="Units">Centi-Degrees</field>
+<param humanName="Batch Logging Options Mask" name="INS_LOG_BAT_OPT" documentation="Options for the BatchSampler" user="Advanced">
+<field name="Bitmask">0:Sensor-Rate Logging (sample at full sensor rate seen by AP)</field>
 </param>
-<param humanName="Roll axis rate controller P gain" name="ATC_RAT_RLL_P" documentation="Roll axis rate controller P gain.  Converts the difference between desired roll rate and actual roll rate into a motor speed output" user="Standard">
-<field name="Range">0.08 0.35</field>
-<field name="Increment">0.005</field>
+<param humanName="logging interval" name="INS_LOG_BAT_LGIN" documentation="Interval between pushing samples to the DataFlash log">
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="Increment">10</field>
 </param>
-<param humanName="Roll axis rate controller I gain" name="ATC_RAT_RLL_I" documentation="Roll axis rate controller I gain.  Corrects long-term difference in desired roll rate vs actual roll rate" user="Standard">
-<field name="Range">0.01 0.6</field>
-<field name="Increment">0.01</field>
+<param humanName="logging count" name="INS_LOG_BAT_LGCT" documentation="Number of samples to push to count every INS_LOG_BAT_LGIN">
+<field name="Increment">1</field>
 </param>
-<param humanName="Roll axis rate controller I gain maximum" name="ATC_RAT_RLL_IMAX" documentation="Roll axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
+</parameters>
+<parameters name="INS_NOTCH_">
+<param humanName="Enable" name="INS_NOTCH_ENABLE" documentation="Enable notch filter" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Roll axis rate controller D gain" name="ATC_RAT_RLL_D" documentation="Roll axis rate controller D gain.  Compensates for short-term change in desired roll rate vs actual roll rate" user="Standard">
-<field name="Range">0.001 0.03</field>
-<field name="Increment">0.001</field>
+<param humanName="Frequency" name="INS_NOTCH_FREQ" documentation="Notch center frequency in Hz" user="Advanced">
+<field name="Range">10 200</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
-<param humanName="Roll axis rate conroller input frequency in Hz" name="ATC_RAT_RLL_FILT" documentation="Roll axis rate conroller input frequency in Hz">
-<field name="Range">1 20</field>
-<field name="Increment">1</field>
+<param humanName="Bandwidth" name="INS_NOTCH_BW" documentation="Notch bandwidth in Hz" user="Advanced">
+<field name="Range">5 50</field>
 <field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
-<param humanName="Pitch axis rate controller P gain" name="ATC_RAT_PIT_P" documentation="Pitch axis rate controller P gain.  Converts the difference between desired pitch rate and actual pitch rate into a motor speed output" user="Standard">
-<field name="Range">0.08 0.35</field>
-<field name="Increment">0.005</field>
+<param humanName="Attenuation" name="INS_NOTCH_ATT" documentation="Notch attenuation in dB" user="Advanced">
+<field name="Range">5 30</field>
+<field name="Units">dB</field>
+<field name="UnitText">decibel</field>
 </param>
-<param humanName="Pitch axis rate controller I gain" name="ATC_RAT_PIT_I" documentation="Pitch axis rate controller I gain.  Corrects long-term difference in desired pitch rate vs actual pitch rate" user="Standard">
-<field name="Range">0.01 0.6</field>
-<field name="Increment">0.01</field>
+</parameters>
+<parameters name="LAND_">
+<param humanName="Landing slope re-calc threshold" name="LAND_SLOPE_RCALC" documentation="This parameter is used when using a rangefinder during landing for altitude correction from baro drift (RNGFND_LANDING=1) and the altitude correction indicates your altitude is lower than the intended slope path. This value is the threshold of the correction to re-calculate the landing approach slope. Set to zero to keep the original slope all the way down and any detected baro drift will be corrected by pitching/throttling up to snap back to resume the original slope path. Otherwise, when a rangefinder altitude correction exceeds this threshold it will trigger a slope re-calculate to give a shallower slope. This also smoothes out the approach when flying over objects such as trees. Recommend a value of 2m." user="Advanced">
+<field name="Range">0 5</field>
+<field name="Increment">0.5</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
-<param humanName="Pitch axis rate controller I gain maximum" name="ATC_RAT_PIT_IMAX" documentation="Pitch axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
+<param humanName="Landing auto-abort slope threshold" name="LAND_ABORT_DEG" documentation="This parameter is used when using a rangefinder during landing for altitude correction from baro drift (RNGFND_LANDING=1) and the altitude correction indicates your actual altitude is higher than the intended slope path. Normally it would pitch down steeply but that can result in a crash with high airspeed so this allows remembering the baro offset and self-abort the landing and come around for another landing with the correct baro offset applied for a perfect slope. An auto-abort go-around will only happen once, next attempt will not auto-abort again. This operation happens entirely automatically in AUTO mode. This value is the delta degrees threshold to trigger the go-around compared to the original slope. Example: if set to 5 deg and the mission planned slope is 15 deg then if the new slope is 21 then it will go-around. Set to 0 to disable. Requires LAND_SLOPE_RCALC &gt; 0." user="Advanced">
+<field name="Range">0 90</field>
+<field name="Increment">0.1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
 </param>
-<param humanName="Pitch axis rate controller D gain" name="ATC_RAT_PIT_D" documentation="Pitch axis rate controller D gain.  Compensates for short-term change in desired pitch rate vs actual pitch rate" user="Standard">
-<field name="Range">0.001 0.03</field>
-<field name="Increment">0.001</field>
+<param humanName="Landing Pitch" name="LAND_PITCH_CD" documentation="Used in autoland to give the minimum pitch in the final stage of landing (after the flare). This parameter can be used to ensure that the final landing attitude is appropriate for the type of undercarriage on the aircraft. Note that it is a minimum pitch only - the landing code will control pitch above this value to try to achieve the configured landing sink rate." user="Advanced">
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
 </param>
-<param humanName="Pitch axis rate conroller input frequency in Hz" name="ATC_RAT_PIT_FILT" documentation="Pitch axis rate conroller input frequency in Hz">
-<field name="Range">1 20</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
+<param humanName="Landing flare altitude" name="LAND_FLARE_ALT" documentation="Altitude in autoland at which to lock heading and flare to the LAND_PITCH_CD pitch. Note that this option is secondary to LAND_FLARE_SEC. For a good landing it preferable that the flare is triggered by LAND_FLARE_SEC." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
-<param humanName="Yaw axis rate controller P gain" name="ATC_RAT_YAW_P" documentation="Yaw axis rate controller P gain.  Converts the difference between desired yaw rate and actual yaw rate into a motor speed output" user="Standard">
-<field name="Range">0.180 0.60</field>
-<field name="Increment">0.005</field>
+<param humanName="Landing flare time" name="LAND_FLARE_SEC" documentation="Vertical time before landing point at which to lock heading and flare with the motor stopped. This is vertical time, and is calculated based solely on the current height above the ground and the current descent rate.  Set to 0 if you only wish to flare based on altitude (see LAND_FLARE_ALT)." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
 </param>
-<param humanName="Yaw axis rate controller I gain" name="ATC_RAT_YAW_I" documentation="Yaw axis rate controller I gain.  Corrects long-term difference in desired yaw rate vs actual yaw rate" user="Standard">
-<field name="Range">0.01 0.06</field>
-<field name="Increment">0.01</field>
+<param humanName="Landing pre-flare altitude" name="LAND_PF_ALT" documentation="Altitude to trigger pre-flare flight stage where LAND_PF_ARSPD controls airspeed. The pre-flare flight stage trigger works just like LAND_FLARE_ALT but higher. Disabled when LAND_PF_ARSPD is 0." user="Advanced">
+<field name="Range">0 30</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
-<param humanName="Yaw axis rate controller I gain maximum" name="ATC_RAT_YAW_IMAX" documentation="Yaw axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
+<param humanName="Landing pre-flare time" name="LAND_PF_SEC" documentation="Vertical time to ground to trigger pre-flare flight stage where LAND_PF_ARSPD controls airspeed. This pre-flare flight stage trigger works just like LAND_FLARE_SEC but earlier. Disabled when LAND_PF_ARSPD is 0." user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">0.1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
 </param>
-<param humanName="Yaw axis rate controller D gain" name="ATC_RAT_YAW_D" documentation="Yaw axis rate controller D gain.  Compensates for short-term change in desired yaw rate vs actual yaw rate" user="Standard">
-<field name="Range">0.000 0.02</field>
-<field name="Increment">0.001</field>
+<param humanName="Landing pre-flare airspeed" name="LAND_PF_ARSPD" documentation="Desired airspeed during pre-flare flight stage. This is useful to reduce airspeed just before the flare. Use 0 to disable." user="Advanced">
+<field name="Range">0 30</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
 </param>
-<param humanName="Yaw axis rate conroller input frequency in Hz" name="ATC_RAT_YAW_FILT" documentation="Yaw axis rate conroller input frequency in Hz">
-<field name="Range">1 20</field>
+<param humanName="Landing throttle slew rate" name="LAND_THR_SLEW" documentation="This parameter sets the slew rate for the throttle during auto landing. When this is zero the THR_SLEWRATE parameter is used during landing. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on landing. Values below 50 are not recommended as it may cause a stall when airspeed is low and you can not throttle up fast enough." user="User">
+<field name="Range">0 127</field>
 <field name="Increment">1</field>
-<field name="Units">Hz</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
 </param>
-</parameters>
-<parameters name="AVD_">
-<param humanName="Enable Avoidance using ADSB" name="AVD_ENABLE" documentation="Enable Avoidance using ADSB" user="Advanced">
+<param humanName="Landing disarm delay" name="LAND_DISARMDELAY" documentation="After a landing has completed using a LAND waypoint, automatically disarm after this many seconds have passed. Use 0 to not disarm." user="Advanced">
+<field name="Range">0 127</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Set servos to neutral after landing" name="LAND_THEN_NEUTRL" documentation="When enabled, after an autoland and auto-disarm via LAND_DISARMDELAY happens then set all servos to neutral. This is helpful when an aircraft has a rough landing upside down or a crazy angle causing the servos to strain." user="Advanced">
 <values>
 <value code="0">Disabled</value>
-<value code="1">Enabled</value>
+<value code=" 1">Servos to Neutral</value>
+<value code=" 2">Servos to Zero PWM</value>
 </values>
 </param>
-<param humanName="Recovery behaviour after a fail event" name="AVD_F_RCVRY" documentation="Determines what the aircraft will do after a fail event is resolved" user="Advanced">
+<param humanName="Landing abort using throttle" name="LAND_ABORT_THR" documentation="Allow a landing abort to trigger with a throttle &gt; 95%" user="Advanced">
 <values>
-<value code="0">Remain in AVOID_ADSB</value>
-<value code="1">Resume previous flight mode</value>
-<value code="2">RTL</value>
-<value code="3">Resume if AUTO else Loiter</value>
+<value code="0">Disabled</value>
+<value code=" 1">Enabled</value>
 </values>
 </param>
-<param humanName="Maximum number of obstacles to track" name="AVD_OBS_MAX" documentation="Maximum number of obstacles to track" user="Advanced">
+<param humanName="Landing flap percentage" name="LAND_FLAP_PERCNT" documentation="The amount of flaps (as a percentage) to apply in the landing approach and flare of an automatic landing" user="Advanced">
+<field name="Range">0 100</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
 </param>
-<param humanName="Time Horizon Warn" name="AVD_W_TIME" documentation="Aircraft velocity vectors are multiplied by this time to determine closest approach.  If this results in an approach closer than W_DIST_XY or W_DIST_Z then W_ACTION is undertaken (assuming F_ACTION is not undertaken)" user="Advanced">
-<field name="Units">seconds</field>
+<param humanName="Auto-landing type" name="LAND_TYPE" documentation="Specifies the auto-landing type to use" user="Standard">
+<values>
+<value code="0">Standard Glide Slope</value>
+<value code=" 1">Deepstall</value>
+</values>
 </param>
-<param humanName="Time Horizon Fail" name="AVD_F_TIME" documentation="Aircraft velocity vectors are multiplied by this time to determine closest approach.  If this results in an approach closer than F_DIST_XY or F_DIST_Z then F_ACTION is undertaken" user="Advanced">
-<field name="Units">seconds</field>
+</parameters>
+<parameters name="LAND_DS_">
+<param humanName="Deepstall forward velocity" name="LAND_DS_V_FWD" documentation="The forward velocity of the aircraft while stalled" user="Advanced">
+<field name="Range">0 20</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
 </param>
-<param humanName="Distance Warn XY" name="AVD_W_DIST_XY" documentation="Closest allowed projected distance before W_ACTION is undertaken" user="Advanced">
-<field name="Units">meters</field>
+<param humanName="Deepstall slope a" name="LAND_DS_SLOPE_A" documentation="The a component of distance = a*wind + b" user="Advanced">
 </param>
-<param humanName="Distance Fail XY" name="AVD_F_DIST_XY" documentation="Closest allowed projected distance before F_ACTION is undertaken" user="Advanced">
-<field name="Units">meters</field>
+<param humanName="Deepstall slope b" name="LAND_DS_SLOPE_B" documentation="The a component of distance = a*wind + b" user="Advanced">
 </param>
-<param humanName="Distance Warn Z" name="AVD_W_DIST_Z" documentation="Closest allowed projected distance before BEHAVIOUR_W is undertaken" user="Advanced">
-<field name="Units">meters</field>
+<param humanName="Deepstall approach extension" name="LAND_DS_APP_EXT" documentation="The forward velocity of the aircraft while stalled" user="Advanced">
+<field name="Range">10 200</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
-<param humanName="Distance Fail Z" name="AVD_F_DIST_Z" documentation="Closest allowed projected distance before BEHAVIOUR_F is undertaken" user="Advanced">
-<field name="Units">meters</field>
+<param humanName="Deepstall veloicty down" name="LAND_DS_V_DWN" documentation="The downward velocity of the aircraft while stalled" user="Advanced">
+<field name="Range">0 20</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
 </param>
-</parameters>
-<parameters name="AVOID_">
-<param humanName="Avoidance control enable/disable" name="AVOID_ENABLE" documentation="Enabled/disable stopping at fence" user="Standard">
-<field name="Bitmask">0:StopAtFence,1:UseProximitySensor</field>
-<values>
-<value code="0">None</value>
-<value code="1">StopAtFence</value>
-<value code="2">UseProximitySensor</value>
-<value code="3">All</value>
-</values>
+<param humanName="Deepstall slew speed" name="LAND_DS_SLEW_SPD" documentation="The speed at which the elevator slews to deepstall" user="Advanced">
+<field name="Range">0 2</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
 </param>
-<param humanName="Avoidance max lean angle in non-GPS flight modes" name="AVOID_ANGLE" documentation="Max lean angle used to avoid obstacles while in non-GPS modes" user="Standard">
-<field name="Range">0 4500</field>
+<param humanName="Deepstall elevator PWM" name="LAND_DS_ELEV_PWM" documentation="The PWM value in microseconds for the elevator at full deflection in deepstall" user="Advanced">
+<field name="Range">900 2100</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Avoidance distance maximum in non-GPS flight modes" name="AVOID_DIST_MAX" documentation="Distance from object at which obstacle avoidance will begin in non-GPS modes" user="Standard">
-<field name="Range">3 30</field>
-<field name="Units">meters</field>
+<param humanName="Deepstall enabled airspeed" name="LAND_DS_ARSP_MAX" documentation="The maximum aispeed where the deepstall steering controller is allowed to have control" user="Advanced">
+<field name="Range">5 20</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
 </param>
-</parameters>
-<parameters name="BATT">
-<param humanName="Battery monitoring" name="BATT_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="3">Analog Voltage Only</value>
-<value code="4">Analog Voltage and Current</value>
-<value code="5">Solo</value>
-<value code="6">Bebop</value>
-<value code="7">SMBus-Maxell</value>
-</values>
+<param humanName="Deepstall minimum derating airspeed" name="LAND_DS_ARSP_MIN" documentation="Deepstall lowest airspeed where the deepstall controller isn't allowed full control" user="Advanced">
+<field name="Range">5 20</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
 </param>
-<param humanName="Battery Voltage sensing pin" name="BATT_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100. On the Pixhawk powered from the PM connector it should be set to 2." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 0">A0</value>
-<value code=" 1">A1</value>
-<value code=" 2">Pixhawk</value>
-<value code=" 13">A13</value>
-<value code=" 100">PX4</value>
-</values>
+<param humanName="Deepstall L1 period" name="LAND_DS_L1" documentation="Deepstall L1 navigational controller period" user="Advanced">
+<field name="Range">5 50</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
-<param humanName="Battery Current sensing pin" name="BATT_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 1">A1</value>
-<value code=" 2">A2</value>
-<value code=" 3">Pixhawk</value>
-<value code=" 12">A12</value>
-<value code=" 101">PX4</value>
-</values>
+<param humanName="Deepstall L1 I gain" name="LAND_DS_L1_I" documentation="Deepstall L1 integratior gain" user="Advanced">
+<field name="Range">0 1</field>
 </param>
-<param humanName="Voltage Multiplier" name="BATT_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1." user="Advanced">
+<param humanName="Aileron landing gain scalaing" name="LAND_DS_AIL_SCL" documentation="A scalar to reduce or increase the aileron control" user="Advanced">
+<field name="Range">0 2.0</field>
 </param>
-<param humanName="Amps per volt" name="BATT_AMP_PERVOLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
-<field name="Units">Amps/Volt</field>
+</parameters>
+<parameters name="LAND_DS_DS_">
+<param humanName="PID Proportional Gain" name="LAND_DS_DS_P" documentation="P Gain which produces an output value that is proportional to the current error value">
 </param>
-<param humanName="AMP offset" name="BATT_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
-<field name="Units">Volts</field>
+<param humanName="PID Integral Gain" name="LAND_DS_DS_I" documentation="I Gain which produces an output that is proportional to both the magnitude and the duration of the error">
 </param>
-<param humanName="Battery capacity" name="BATT_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
+<param humanName="PID Derivative Gain" name="LAND_DS_DS_D" documentation="D Gain which produces an output that is proportional to the rate of change of the error">
 </param>
-<param humanName="Maximum allowed power (Watts)" name="BATT_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
-<field name="Increment">1</field>
-<field name="Units">Watts</field>
+<param humanName="PID Integral Maximum" name="LAND_DS_DS_IMAX" documentation="The maximum/minimum value that the I term can output">
 </param>
-<param humanName="Battery monitoring" name="BATT2_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+</parameters>
+<parameters name="LOG">
+<param humanName="DataFlash Backend Storage type" name="LOG_BACKEND_TYPE" documentation="0 for None, 1 for File, 2 for dataflash mavlink, 3 for both file and dataflash" user="Standard">
 <values>
-<value code="0">Disabled</value>
-<value code="3">Analog Voltage Only</value>
-<value code="4">Analog Voltage and Current</value>
-<value code="5">Solo</value>
-<value code="6">Bebop</value>
-<value code="7">SMBus-Maxell</value>
+<value code="0">None</value>
+<value code="1">File</value>
+<value code="2">MAVLink</value>
+<value code="3">BothFileAndMAVLink</value>
 </values>
 </param>
-<param humanName="Battery Voltage sensing pin" name="BATT2_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100. On the Pixhawk powered from the PM connector it should be set to 2." user="Standard">
+<param humanName="Maximum DataFlash File Backend buffer size (in kilobytes)" name="LOG_FILE_BUFSIZE" documentation='The DataFlash_File backend uses a buffer to store data before writing to the block device.  Raising this value may reduce "gaps" in your SD card logging.  This buffer size may be reduced depending on available memory.  PixHawk requires at least 4 kilobytes.  Maximum value available here is 64 kilobytes.' user="Standard">
+</param>
+<param humanName="Enable logging while disarmed" name="LOG_DISARMED" documentation="If LOG_DISARMED is set to 1 then logging will be enabled while disarmed. This can make for very large logfiles but can help a lot when tracking down startup issues" user="Standard">
 <values>
-<value code="-1">Disabled</value>
-<value code=" 0">A0</value>
-<value code=" 1">A1</value>
-<value code=" 2">Pixhawk</value>
-<value code=" 13">A13</value>
-<value code=" 100">PX4</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Battery Current sensing pin" name="BATT2_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3." user="Standard">
+<param humanName="Enable logging of information needed for Replay" name="LOG_REPLAY" documentation="If LOG_REPLAY is set to 1 then the EKF2 state estimator will log detailed information needed for diagnosing problems with the Kalman filter. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost" user="Standard">
 <values>
-<value code="-1">Disabled</value>
-<value code=" 1">A1</value>
-<value code=" 2">A2</value>
-<value code=" 3">Pixhawk</value>
-<value code=" 12">A12</value>
-<value code=" 101">PX4</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Voltage Multiplier" name="BATT2_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1." user="Advanced">
+<param humanName="Stop logging to current file on disarm" name="LOG_FILE_DSRMROT" documentation="When set, the current log file is closed when the vehicle is disarmed.  If LOG_DISARMED is set then a fresh log will be opened." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Amps per volt" name="BATT2_AMP_PERVOL" documentation="Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
-<field name="Units">Amps/Volt</field>
+<param humanName="Maximum DataFlash MAVLink Backend buffer size" name="LOG_MAV_BUFSIZE" documentation="Maximum amount of memory to allocate to DataFlash-over-mavlink" user="Advanced">
+<field name="Units">kB</field>
+<field name="UnitText">kilobytes</field>
 </param>
-<param humanName="AMP offset" name="BATT2_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
-<field name="Units">Volts</field>
+</parameters>
+<parameters name="MIS_">
+<param humanName="Total mission commands" name="MIS_TOTAL" documentation="The number of mission mission items that has been loaded by the ground station. Do not change this manually." user="Advanced">
+<field name="Range">0 32766</field>
+<field name="Increment">1</field>
 </param>
-<param humanName="Battery capacity" name="BATT2_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
+<param humanName="Mission Restart when entering Auto mode" name="MIS_RESTART" documentation="Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)" user="Advanced">
+<values>
+<value code="0">Resume Mission</value>
+<value code=" 1">Restart Mission</value>
+</values>
 </param>
-<param humanName="Maximum allowed current" name="BATT2_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
-<field name="Increment">1</field>
-<field name="Units">Amps</field>
+<param humanName="Mission options bitmask" name="MIS_OPTIONS" documentation="Bitmask of what options to use in missions." user="Advanced">
+<field name="Bitmask">0:Clear Mission on reboot</field>
 </param>
 </parameters>
-<parameters name="BCN">
-<param humanName="Beacon based position estimation device type" name="BCN_TYPE" documentation="What type of beacon based position estimation device is connected" user="Advanced">
+<parameters name="MNT">
+<param humanName="Mount default operating mode" name="MNT_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
 <values>
-<value code="0">None</value>
-<value code="1">Pozyx</value>
+<value code="0">Retracted</value>
+<value code="1">Neutral</value>
+<value code="2">MavLink Targeting</value>
+<value code="3">RC Targeting</value>
+<value code="4">GPS Point</value>
 </values>
 </param>
-<param humanName="Beacon origin's latitude" name="BCN_LATITUDE" documentation="Beacon origin's latitude" user="Advanced">
-<field name="Range">-90 90</field>
-<field name="Increment">0.000001</field>
-<field name="Units">degrees</field>
+<param humanName="Mount roll angle when in retracted position" name="MNT_RETRACT_X" documentation="Mount roll angle when in retracted position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
 </param>
-<param humanName="Beacon origin's longitude" name="BCN_LONGITUDE" documentation="Beacon origin's longitude" user="Advanced">
-<field name="Range">-180 180</field>
-<field name="Increment">0.000001</field>
-<field name="Units">degrees</field>
+<param humanName="Mount tilt/pitch angle when in retracted position" name="MNT_RETRACT_Y" documentation="Mount tilt/pitch angle when in retracted position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
 </param>
-<param humanName="Beacon origin's altitude above sealevel in meters" name="BCN_ALT" documentation="Beacon origin's altitude above sealevel in meters" user="Advanced">
-<field name="Range">0 10000</field>
+<param humanName="Mount yaw/pan angle when in retracted position" name="MNT_RETRACT_Z" documentation="Mount yaw/pan angle when in retracted position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Mount roll angle when in neutral position" name="MNT_NEUTRAL_X" documentation="Mount roll angle when in neutral position" user="Standard">
+<field name="Range">-180.00 179.99</field>
 <field name="Increment">1</field>
-<field name="Units">meters</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
 </param>
-<param humanName="Beacon systems rotation from north in degrees" name="BCN_ORIENT_YAW" documentation="Beacon systems rotation from north in degrees" user="Advanced">
-<field name="Range">-180 +180</field>
+<param humanName="Mount tilt/pitch angle when in neutral position" name="MNT_NEUTRAL_Y" documentation="Mount tilt/pitch angle when in neutral position" user="Standard">
+<field name="Range">-180.00 179.99</field>
 <field name="Increment">1</field>
-<field name="Units">degrees</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
 </param>
-</parameters>
-<parameters name="BRD_">
-<param humanName="Auxiliary pin config" name="BRD_PWM_COUNT" documentation="Control assigning of FMU pins to PWM output, timer capture and GPIO. All unassigned pins can be used for GPIO" user="Advanced">
-<values>
-<value code="0">No PWMs</value>
-<value code="2">Two PWMs</value>
-<value code="4">Four PWMs</value>
-<value code="6">Six PWMs</value>
-<value code="7">Three PWMs and One Capture</value>
-</values>
-<field name="RebootRequired">True</field>
+<param humanName="Mount pan/yaw angle when in neutral position" name="MNT_NEUTRAL_Z" documentation="Mount pan/yaw angle when in neutral position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
 </param>
-<param humanName="Serial 1 flow control" name="BRD_SER1_RTSCTS" documentation="Enable flow control on serial 1 (telemetry 1) on Pixhawk. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled." user="Advanced">
+<param humanName="Stabilize mount's roll angle" name="MNT_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">Enabled</value>
-<value code="2">Auto</value>
 </values>
-<field name="RebootRequired">True</field>
 </param>
-<param humanName="Serial 2 flow control" name="BRD_SER2_RTSCTS" documentation="Enable flow control on serial 2 (telemetry 2) on Pixhawk and PX4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup." user="Advanced">
+<param humanName="Stabilize mount's pitch/tilt angle" name="MNT_STAB_TILT" documentation="enable tilt/pitch stabilisation relative to Earth" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">Enabled</value>
-<value code="2">Auto</value>
 </values>
-<field name="RebootRequired">True</field>
 </param>
-<param humanName="Enable use of safety arming switch" name="BRD_SAFETYENABLE" documentation="This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message." user="Standard">
+<param humanName="Stabilize mount pan/yaw angle" name="MNT_STAB_PAN" documentation="enable pan/yaw stabilisation relative to Earth" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">Enabled</value>
 </values>
-<field name="RebootRequired">True</field>
 </param>
-<param humanName=" SBUS output rate" name="BRD_SBUS_OUT" documentation="This sets the SBUS output frame rate in Hz" user="Advanced">
+<param humanName="roll RC input channel" name="MNT_RC_IN_ROLL" documentation="0 for none, any other for the RC channel to be used to control roll movements" user="Standard">
 <values>
 <value code="0">Disabled</value>
-<value code="1">50Hz</value>
-<value code="2">75Hz</value>
-<value code="3">100Hz</value>
-<value code="4">150Hz</value>
-<value code="5">200Hz</value>
-<value code="6">250Hz</value>
-<value code="7">300Hz</value>
+<value code="5">RC5</value>
+<value code="6">RC6</value>
+<value code="7">RC7</value>
+<value code="8">RC8</value>
+<value code="9">RC9</value>
+<value code="10">RC10</value>
+<value code="11">RC11</value>
+<value code="12">RC12</value>
 </values>
-<field name="RebootRequired">True</field>
 </param>
-<param humanName="User-defined serial number" name="BRD_SERIAL_NUM" documentation="User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot" user="Standard">
-<field name="Range">-32767 32768</field>
+<param humanName="Minimum roll angle" name="MNT_ANGMIN_ROL" documentation="Minimum physical roll angular position of mount." user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
 </param>
-<param humanName=" Enable use of UAVCAN devices" name="BRD_CAN_ENABLE" documentation="Enabling this option on a Pixhawk enables UAVCAN devices. Note that this uses about 25k of memory" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code="2">Dynamic ID/Update</value>
-</values>
+<param humanName="Maximum roll angle" name="MNT_ANGMAX_ROL" documentation="Maximum physical roll angular position of the mount" user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
 </param>
-<param humanName="Channels to which ignore the safety switch state" name="BRD_SAFETY_MASK" documentation="A bitmask which controls what channels can move while the safety switch has not been pressed" user="Advanced">
-<field name="Bitmask">0:Ch1,1:Ch2,2:Ch3,3:Ch4,4:Ch5,5:Ch6,6:Ch7,7:Ch8,8:Ch9,9:Ch10,10:Ch11,11:Ch12,12:Ch13,13:Ch14</field>
+<param humanName="tilt (pitch) RC input channel" name="MNT_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
 <values>
 <value code="0">Disabled</value>
-<value code="1">Enabled</value>
+<value code="5">RC5</value>
+<value code="6">RC6</value>
+<value code="7">RC7</value>
+<value code="8">RC8</value>
+<value code="9">RC9</value>
+<value code="10">RC10</value>
+<value code="11">RC11</value>
+<value code="12">RC12</value>
 </values>
-<field name="RebootRequired">True</field>
 </param>
-<param humanName="Target IMU temperature" name="BRD_IMU_TARGTEMP" documentation="This sets the target IMU temperature for boards with controllable IMU heating units. A value of -1 disables heating." user="Advanced">
-<field name="Range">-1 80</field>
-<field name="Units">degreesC</field>
+<param humanName="Minimum tilt angle" name="MNT_ANGMIN_TIL" documentation="Minimum physical tilt (pitch) angular position of mount." user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
 </param>
-<param humanName="Board type" name="BRD_TYPE" documentation="This allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4)" user="Advanced">
-<values>
-<value code="0">AUTO</value>
-<value code="1">PX4V1</value>
-<value code="2">Pixhawk</value>
-<value code="3">Pixhawk2</value>
-<value code="4">Pixracer</value>
-<value code="5">PixhawkMini</value>
-<value code="6">Pixhawk2Slim</value>
-<value code="7">VRBrain 5.1</value>
-<value code="8">VRBrain 5.2</value>
-<value code="9">VR Micro Brain 5.1</value>
-<value code="10">VR Micro Brain 5.2</value>
-<value code="11">VRBrain Core 1.0</value>
-<value code="12">VRBrain 5.4</value>
-</values>
-<field name="RebootRequired">True</field>
+<param humanName="Maximum tilt angle" name="MNT_ANGMAX_TIL" documentation="Maximum physical tilt (pitch) angular position of the mount" user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
 </param>
-</parameters>
-<parameters name="BTN_">
-<param humanName="Enable button reporting" name="BTN_ENABLE" documentation="This enables the button checking module. When this is disabled the parameters for setting button inputs are not visible" user="Advanced">
+<param humanName="pan (yaw) RC input channel" name="MNT_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
 <values>
 <value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
+<value code="5">RC5</value>
+<value code="6">RC6</value>
+<value code="7">RC7</value>
+<value code="8">RC8</value>
+<value code="9">RC9</value>
+<value code="10">RC10</value>
+<value code="11">RC11</value>
+<value code="12">RC12</value>
 </values>
 </param>
-<param humanName="First button Pin" name="BTN_PIN1" documentation="Digital pin number for first button input. " user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
+<param humanName="Minimum pan angle" name="MNT_ANGMIN_PAN" documentation="Minimum physical pan (yaw) angular position of mount." user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
 </param>
-<param humanName="Second button Pin" name="BTN_PIN2" documentation="Digital pin number for second button input. " user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
+<param humanName="Maximum pan angle" name="MNT_ANGMAX_PAN" documentation="Maximum physical pan (yaw) angular position of the mount" user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
 </param>
-<param humanName="Third button Pin" name="BTN_PIN3" documentation="Digital pin number for third button input. " user="Standard">
+<param humanName="mount joystick speed" name="MNT_JSTICK_SPD" documentation="0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second." user="Standard">
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Roll stabilization lead time" name="MNT_LEAD_RLL" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
+<field name="Range">0.0 0.2</field>
+<field name="Increment">.005</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Pitch stabilization lead time" name="MNT_LEAD_PTCH" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
+<field name="Range">0.0 0.2</field>
+<field name="Increment">.005</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Mount Type" name="MNT_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
 <values>
-<value code="-1">Disabled</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
+<value code="0">None</value>
+<value code=" 1">Servo</value>
+<value code=" 2">3DR Solo</value>
+<value code=" 3">Alexmos Serial</value>
+<value code=" 4">SToRM32 MAVLink</value>
+<value code=" 5">SToRM32 Serial</value>
 </values>
+<field name="RebootRequired">True</field>
 </param>
-<param humanName="Fourth button Pin" name="BTN_PIN4" documentation="Digital pin number for fourth button input. " user="Standard">
+<param humanName="Mount default operating mode" name="MNT2_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
 <values>
-<value code="-1">Disabled</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
+<value code="0">Retracted</value>
+<value code="1">Neutral</value>
+<value code="2">MavLink Targeting</value>
+<value code="3">RC Targeting</value>
+<value code="4">GPS Point</value>
 </values>
 </param>
-<param humanName="Report send time" name="BTN_REPORT_SEND" documentation="The duration in seconds that a BUTTON_CHANGE report is repeatedly sent to the GCS regarding a button changing state. Note that the BUTTON_CHANGE message is MAVLink2 only." user="Standard">
-<field name="Range">0 3600</field>
+<param humanName="Mount2 roll angle when in retracted position" name="MNT2_RETRACT_X" documentation="Mount2 roll angle when in retracted position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
 </param>
-</parameters>
-<parameters name="CAM_">
-<param humanName="Camera shutter (trigger) type" name="CAM_TRIGG_TYPE" documentation="how to trigger the camera to take a picture" user="Standard">
-<values>
-<value code="0">Servo</value>
-<value code="1">Relay</value>
-</values>
+<param humanName="Mount2 tilt/pitch angle when in retracted position" name="MNT2_RETRACT_Y" documentation="Mount2 tilt/pitch angle when in retracted position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
 </param>
-<param humanName="Duration that shutter is held open" name="CAM_DURATION" documentation="How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)" user="Standard">
-<field name="Range">0 50</field>
-<field name="Units">deciseconds</field>
+<param humanName="Mount2 yaw/pan angle when in retracted position" name="MNT2_RETRACT_Z" documentation="Mount2 yaw/pan angle when in retracted position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
 </param>
-<param humanName="Servo ON PWM value" name="CAM_SERVO_ON" documentation="PWM value to move servo to when shutter is activated" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Units">pwm</field>
+<param humanName="Mount2 roll angle when in neutral position" name="MNT2_NEUTRAL_X" documentation="Mount2 roll angle when in neutral position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
 </param>
-<param humanName="Servo OFF PWM value" name="CAM_SERVO_OFF" documentation="PWM value to move servo to when shutter is deactivated" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Units">pwm</field>
+<param humanName="Mount2 tilt/pitch angle when in neutral position" name="MNT2_NEUTRAL_Y" documentation="Mount2 tilt/pitch angle when in neutral position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
 </param>
-<param humanName="Camera trigger distance" name="CAM_TRIGG_DIST" documentation="Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the GPS position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight." user="Standard">
-<field name="Range">0 1000</field>
-<field name="Units">meters</field>
+<param humanName="Mount2 pan/yaw angle when in neutral position" name="MNT2_NEUTRAL_Z" documentation="Mount2 pan/yaw angle when in neutral position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
 </param>
-<param humanName="Relay ON value" name="CAM_RELAY_ON" documentation="This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera" user="Standard">
+<param humanName="Stabilize Mount2's roll angle" name="MNT2_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
 <values>
-<value code="0">Low</value>
-<value code="1">High</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Minimum time between photos" name="CAM_MIN_INTERVAL" documentation="Postpone shooting if previous picture was taken less than preset time(ms) ago." user="Standard">
-<field name="Range">0 10000</field>
-<field name="Units">milliseconds</field>
-</param>
-<param humanName="Maximum photo roll angle." name="CAM_MAX_ROLL" documentation="Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll)." user="Standard">
-<field name="Range">0 180</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Camera feedback pin" name="CAM_FEEDBACK_PIN" documentation="pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. See also the CAM_FEEDBACK_POL option. If using AUX4 pin on a Pixhawk then a fast capture method is used that allows for the trigger time to be as short as one microsecond." user="Standard">
+<param humanName="Stabilize Mount2's pitch/tilt angle" name="MNT2_STAB_TILT" documentation="enable tilt/pitch stabilisation relative to Earth" user="Standard">
 <values>
-<value code="-1">Disabled</value>
-<value code="50">PX4 AUX1</value>
-<value code="51">PX4 AUX2</value>
-<value code="52">PX4 AUX3</value>
-<value code="53">PX4 AUX4(fast capture)</value>
-<value code="54">PX4 AUX5</value>
-<value code="55">PX4 AUX6</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Camera feedback pin polarity" name="CAM_FEEDBACK_POL" documentation="Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low" user="Standard">
+<param humanName="Stabilize mount2 pan/yaw angle" name="MNT2_STAB_PAN" documentation="enable pan/yaw stabilisation relative to Earth" user="Standard">
 <values>
-<value code="0">TriggerLow</value>
-<value code="1">TriggerHigh</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-</parameters>
-<parameters name="CHUTE_">
-<param humanName="Parachute release enabled or disabled" name="CHUTE_ENABLED" documentation="Parachute release enabled or disabled" user="Standard">
+<param humanName="Mount2's roll RC input channel" name="MNT2_RC_IN_ROLL" documentation="0 for none, any other for the RC channel to be used to control roll movements" user="Standard">
 <values>
 <value code="0">Disabled</value>
-<value code="1">Enabled</value>
+<value code="5">RC5</value>
+<value code="6">RC6</value>
+<value code="7">RC7</value>
+<value code="8">RC8</value>
+<value code="9">RC9</value>
+<value code="10">RC10</value>
+<value code="11">RC11</value>
+<value code="12">RC12</value>
 </values>
 </param>
-<param humanName="Parachute release mechanism type (relay or servo)" name="CHUTE_TYPE" documentation="Parachute release mechanism type (relay or servo)" user="Standard">
+<param humanName="Mount2's minimum roll angle" name="MNT2_ANGMIN_ROL" documentation="Mount2's minimum physical roll angular position" user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Mount2's maximum roll angle" name="MNT2_ANGMAX_ROL" documentation="Mount2's maximum physical roll angular position" user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Mount2's tilt (pitch) RC input channel" name="MNT2_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
 <values>
-<value code="0">First Relay</value>
-<value code="1">Second Relay</value>
-<value code="2">Third Relay</value>
-<value code="3">Fourth Relay</value>
-<value code="10">Servo</value>
+<value code="0">Disabled</value>
+<value code="5">RC5</value>
+<value code="6">RC6</value>
+<value code="7">RC7</value>
+<value code="8">RC8</value>
+<value code="9">RC9</value>
+<value code="10">RC10</value>
+<value code="11">RC11</value>
+<value code="12">RC12</value>
 </values>
 </param>
-<param humanName="Parachute Servo ON PWM value" name="CHUTE_SERVO_ON" documentation="Parachute Servo PWM value when parachute is released" user="Standard">
-<field name="Range">1000 2000</field>
+<param humanName="Mount2's minimum tilt angle" name="MNT2_ANGMIN_TIL" documentation="Mount2's minimum physical tilt (pitch) angular position" user="Standard">
+<field name="Range">-18000 17999</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
 </param>
-<param humanName="Servo OFF PWM value" name="CHUTE_SERVO_OFF" documentation="Parachute Servo PWM value when parachute is not released" user="Standard">
-<field name="Range">1000 2000</field>
+<param humanName="Mount2's maximum tilt angle" name="MNT2_ANGMAX_TIL" documentation="Mount2's maximum physical tilt (pitch) angular position" user="Standard">
+<field name="Range">-18000 17999</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
 </param>
-<param humanName="Parachute min altitude in meters above home" name="CHUTE_ALT_MIN" documentation="Parachute min altitude above home.  Parachute will not be released below this altitude.  0 to disable alt check." user="Standard">
-<field name="Range">0 32000</field>
+<param humanName="Mount2's pan (yaw) RC input channel" name="MNT2_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="5">RC5</value>
+<value code="6">RC6</value>
+<value code="7">RC7</value>
+<value code="8">RC8</value>
+<value code="9">RC9</value>
+<value code="10">RC10</value>
+<value code="11">RC11</value>
+<value code="12">RC12</value>
+</values>
+</param>
+<param humanName="Mount2's minimum pan angle" name="MNT2_ANGMIN_PAN" documentation="Mount2's minimum physical pan (yaw) angular position" user="Standard">
+<field name="Range">-18000 17999</field>
 <field name="Increment">1</field>
-<field name="Units">Meters</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
 </param>
-<param humanName="Parachute release delay" name="CHUTE_DELAY_MS" documentation="Delay in millseconds between motor stop and chute release" user="Standard">
-<field name="Range">0 5000</field>
+<param humanName="Mount2's maximum pan angle" name="MNT2_ANGMAX_PAN" documentation="MOunt2's maximum physical pan (yaw) angular position" user="Standard">
+<field name="Range">-18000 17999</field>
 <field name="Increment">1</field>
-<field name="Units">Milliseconds</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
 </param>
-</parameters>
-<parameters name="CIRCLE_">
-<param humanName="Circle Radius" name="CIRCLE_RADIUS" documentation="Defines the radius of the circle the vehicle will fly when in Circle flight mode" user="Standard">
-<field name="Range">0 10000</field>
-<field name="Increment">100</field>
-<field name="Units">cm</field>
+<param humanName="Mount2's Roll stabilization lead time" name="MNT2_LEAD_RLL" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
+<field name="Range">0.0 0.2</field>
+<field name="Increment">.005</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
 </param>
-<param humanName="Circle rate" name="CIRCLE_RATE" documentation="Circle mode's turn rate in deg/sec.  Positive to turn clockwise, negative for counter clockwise" user="Standard">
-<field name="Range">-90 90</field>
-<field name="Increment">1</field>
-<field name="Units">deg/s</field>
+<param humanName="Mount2's Pitch stabilization lead time" name="MNT2_LEAD_PTCH" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
+<field name="Range">0.0 0.2</field>
+<field name="Increment">.005</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
 </param>
-</parameters>
-<parameters name="COMPASS_">
-<param humanName="Compass offsets in milligauss on the X axis" name="COMPASS_OFS_X" documentation="Offset to be added to the compass x-axis values to compensate for metal in the frame" user="Advanced">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
+<param humanName="Mount2 Type" name="MNT2_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
+<values>
+<value code="0">None</value>
+<value code=" 1">Servo</value>
+<value code=" 2">3DR Solo</value>
+<value code=" 3">Alexmos Serial</value>
+<value code=" 4">SToRM32 MAVLink</value>
+<value code=" 5">SToRM32 Serial</value>
+</values>
 </param>
-<param humanName="Compass offsets in milligauss on the Y axis" name="COMPASS_OFS_Y" documentation="Offset to be added to the compass y-axis values to compensate for metal in the frame" user="Advanced">
-<field name="Range">-400 400</field>
+</parameters>
+<parameters name="NAVL1_">
+<param humanName="L1 control period" name="NAVL1_PERIOD" documentation="Period in seconds of L1 tracking loop. This parameter is the primary control for agressiveness of turns in auto mode. This needs to be larger for less responsive airframes. The default of 20 is quite conservative, but for most RC aircraft will lead to reasonable flight. For smaller more agile aircraft a value closer to 15 is appropriate, or even as low as 10 for some very agile aircraft. When tuning, change this value in small increments, as a value that is much too small (say 5 or 10 below the right value) can lead to very radical turns, and a risk of stalling." user="Standard">
+<field name="Range">1 60</field>
 <field name="Increment">1</field>
-<field name="Units">milligauss</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
 </param>
-<param humanName="Compass offsets in milligauss on the Z axis" name="COMPASS_OFS_Z" documentation="Offset to be added to the compass z-axis values to compensate for metal in the frame" user="Advanced">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
+<param humanName="L1 control damping ratio" name="NAVL1_DAMPING" documentation="Damping ratio for L1 control. Increase this in increments of 0.05 if you are getting overshoot in path tracking. You should not need a value below 0.7 or above 0.85." user="Advanced">
+<field name="Range">0.6 1.0</field>
+<field name="Increment">0.05</field>
 </param>
-<param humanName="Compass declination" name="COMPASS_DEC" documentation="An angle to compensate between the true north and magnetic north" user="Standard">
-<field name="Range">-3.142 3.142</field>
+<param humanName="L1 control crosstrack integrator gain" name="NAVL1_XTRACK_I" documentation="Crosstrack error integrator gain. This gain is applied to the crosstrack error to ensure it converges to zero. Set to zero to disable. Smaller values converge slower, higher values will cause crosstrack error oscillation." user="Advanced">
+<field name="Range">0 0.1</field>
 <field name="Increment">0.01</field>
-<field name="Units">Radians</field>
 </param>
-<param humanName="Learn compass offsets automatically" name="COMPASS_LEARN" documentation="Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle." user="Advanced">
+<param humanName="Loiter Radius Bank Angle Limit" name="NAVL1_LIM_BANK" documentation="The sealevel bank angle limit for a continous loiter. (Used to calculate airframe loading limits at higher altitudes). Setting to 0, will instead just scale the loiter radius directly" user="Advanced">
+<field name="Range">0 89</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+</parameters>
+<parameters name="NTF_">
+<param humanName="LED Brightness" name="NTF_LED_BRIGHT" documentation="Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting." user="Advanced">
 <values>
-<value code="0">Disabled</value>
-<value code="1">Internal-Learning</value>
-<value code="2">EKF-Learning</value>
+<value code="0">Off</value>
+<value code="1">Low</value>
+<value code="2">Medium</value>
+<value code="3">High</value>
 </values>
 </param>
-<param humanName="Use compass for yaw" name="COMPASS_USE" documentation="Enable or disable the use of the compass (instead of the GPS) for determining heading" user="Advanced">
+<param humanName="Buzzer enable" name="NTF_BUZZ_ENABLE" documentation="Enable or disable the buzzer. Only for Linux and PX4 based boards." user="Advanced">
 <values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
+<value code="0">Disable</value>
+<value code="1">Enable</value>
 </values>
 </param>
-<param humanName="Auto Declination" name="COMPASS_AUTODEC" documentation="Enable or disable the automatic calculation of the declination based on gps location" user="Advanced">
+<param humanName="Setup for MAVLink LED override" name="NTF_LED_OVERRIDE" documentation="This sets up the board RGB LED for override by MAVLink. Normal notify LED control is disabled" user="Advanced">
 <values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
+<value code="0">Disable</value>
+<value code="1">Enable</value>
 </values>
 </param>
-<param humanName="Motor interference compensation type" name="COMPASS_MOTCT" documentation="Set motor interference compensation type to disabled, throttle or current.  Do not change manually." user="Advanced">
+<param humanName="Type of on-board I2C display" name="NTF_DISPLAY_TYPE" documentation="This sets up the type of on-board I2C display. Disabled by default." user="Advanced">
 <values>
-<value code="0">Disabled</value>
-<value code="1">Use Throttle</value>
-<value code="2">Use Current</value>
+<value code="0">Disable</value>
+<value code="1">ssd1306</value>
+<value code="2">sh1106</value>
 </values>
 </param>
-<param humanName="Motor interference compensation for body frame X axis" name="COMPASS_MOT_X" documentation="Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference" user="Advanced">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
+<param humanName="OreoLED Theme" name="NTF_OREO_THEME" documentation="Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Aircraft</value>
+<value code="2">Rover</value>
+</values>
 </param>
-<param humanName="Motor interference compensation for body frame Y axis" name="COMPASS_MOT_Y" documentation="Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference" user="Advanced">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
+<param humanName="Buzzer pin" name="NTF_BUZZ_PIN" documentation="Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET!" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+</values>
 </param>
-<param humanName="Motor interference compensation for body frame Z axis" name="COMPASS_MOT_Z" documentation="Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference" user="Advanced">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
+<param humanName="LED Driver Types" name="NTF_LED_TYPES" documentation="Controls what types of LEDs will be enabled" user="Advanced">
+<field name="Bitmask">0:Build in LED, 1:Internal ToshibaLED, 2:External ToshibaLED, 3:External PCA9685, 4:Oreo LED, 5:UAVCAN, 6:NCP5623 External, 7:NCP5623 Internal</field>
 </param>
-<param humanName="Compass orientation" name="COMPASS_ORIENT" documentation="The orientation of the compass relative to the autopilot board. This will default to the right value for each board type, but can be changed if you have an external compass. See the documentation for your external compass for the right value. The correct orientation should give the X axis forward, the Y axis to the right and the Z axis down. So if your aircraft is pointing west it should show a positive value for the Y axis, and a value close to zero for the X axis. On a PX4 or Pixhawk with an external compass the correct value is zero if the compass is correctly oriented. NOTE: This orientation is combined with any AHRS_ORIENTATION setting." user="Advanced">
+</parameters>
+<parameters name="OSD">
+<param humanName="OSD type" name="OSD_TYPE" documentation="OSD type" user="Standard">
 <values>
 <value code="0">None</value>
-<value code="1">Yaw45</value>
-<value code="2">Yaw90</value>
-<value code="3">Yaw135</value>
-<value code="4">Yaw180</value>
-<value code="5">Yaw225</value>
-<value code="6">Yaw270</value>
-<value code="7">Yaw315</value>
-<value code="8">Roll180</value>
-<value code="9">Roll180Yaw45</value>
-<value code="10">Roll180Yaw90</value>
-<value code="11">Roll180Yaw135</value>
-<value code="12">Pitch180</value>
-<value code="13">Roll180Yaw225</value>
-<value code="14">Roll180Yaw270</value>
-<value code="15">Roll180Yaw315</value>
-<value code="16">Roll90</value>
-<value code="17">Roll90Yaw45</value>
-<value code="18">Roll90Yaw90</value>
-<value code="19">Roll90Yaw135</value>
-<value code="20">Roll270</value>
-<value code="21">Roll270Yaw45</value>
-<value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw136</value>
-<value code="24">Pitch90</value>
-<value code="25">Pitch270</value>
-<value code="26">Pitch180Yaw90</value>
-<value code="27">Pitch180Yaw270</value>
-<value code="28">Roll90Pitch90</value>
-<value code="29">Roll180Pitch90</value>
-<value code="30">Roll270Pitch90</value>
-<value code="31">Roll90Pitch180</value>
-<value code="32">Roll270Pitch180</value>
-<value code="33">Roll90Pitch270</value>
-<value code="34">Roll180Pitch270</value>
-<value code="35">Roll270Pitch270</value>
-<value code="36">Roll90Pitch180Yaw90</value>
-<value code="37">Roll90Yaw270</value>
-<value code="38">Yaw293Pitch68Roll90</value>
+<value code="1">MAX7456</value>
 </values>
+<field name="RebootRequired">True</field>
 </param>
-<param humanName="Compass is attached via an external cable" name="COMPASS_EXTERNAL" documentation="Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
+<param humanName="Screen switch transmitter channel" name="OSD_CHAN" documentation="This sets the channel used to switch different OSD screens." user="Standard">
 <values>
-<value code="0">Internal</value>
-<value code="1">External</value>
-<value code="2">ForcedExternal</value>
+<value code="0">Disable</value>
+<value code="5">Chan5</value>
+<value code="6">Chan6</value>
+<value code="7">Chan7</value>
+<value code="8">Chan8</value>
+<value code="9">Chan9</value>
+<value code="10">Chan10</value>
+<value code="11">Chan11</value>
+<value code="12">Chan12</value>
+<value code="13">Chan13</value>
+<value code="14">Chan14</value>
+<value code="15">Chan15</value>
+<value code="16">Chan16</value>
 </values>
 </param>
-<param humanName="Compass2 offsets in milligauss on the X axis" name="COMPASS_OFS2_X" documentation="Offset to be added to compass2's x-axis values to compensate for metal in the frame" user="Advanced">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
+<param humanName="OSD Options" name="OSD_OPTIONS" documentation="This sets options that change the display" user="Standard">
+<field name="Bitmask">0:UseDecimalPack, 1:InvertedWindPointer, 2:InvertedAHRoll</field>
 </param>
-<param humanName="Compass2 offsets in milligauss on the Y axis" name="COMPASS_OFS2_Y" documentation="Offset to be added to compass2's y-axis values to compensate for metal in the frame" user="Advanced">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
+<param humanName="OSD Font" name="OSD_FONT" documentation="This sets which OSD font to use. It is an integer from 0 to the number of fonts available" user="Standard">
+<field name="RebootRequired">True</field>
 </param>
-<param humanName="Compass2 offsets in milligauss on the Z axis" name="COMPASS_OFS2_Z" documentation="Offset to be added to compass2's z-axis values to compensate for metal in the frame" user="Advanced">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
+<param humanName="OSD vertical offset" name="OSD_V_OFFSET" documentation="Sets vertical offset of the osd inside image" user="Standard">
+<field name="Range">0 31</field>
+<field name="RebootRequired">True</field>
 </param>
-<param humanName="Motor interference compensation to compass2 for body frame X axis" name="COMPASS_MOT2_X" documentation="Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference" user="Advanced">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
+<param humanName="OSD horizontal offset" name="OSD_H_OFFSET" documentation="Sets horizontal offset of the osd inside image" user="Standard">
+<field name="Range">0 63</field>
+<field name="RebootRequired">True</field>
 </param>
-<param humanName="Motor interference compensation to compass2 for body frame Y axis" name="COMPASS_MOT2_Y" documentation="Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference" user="Advanced">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
+<param humanName="RSSI warn level (in %)" name="OSD_W_RSSI" documentation="Set level at which RSSI item will flash" user="Standard">
+<field name="Range">0 99</field>
 </param>
-<param humanName="Motor interference compensation to compass2 for body frame Z axis" name="COMPASS_MOT2_Z" documentation="Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference" user="Advanced">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
+<param humanName="NSAT warn level" name="OSD_W_NSAT" documentation="Set level at which NSAT item will flash" user="Standard">
+<field name="Range">1 30</field>
+</param>
+<param humanName="BAT_VOLT warn level" name="OSD_W_BATVOLT" documentation="Set level at which BAT_VOLT item will flash" user="Standard">
+<field name="Range">0 100</field>
 </param>
-<param humanName="Choose primary compass" name="COMPASS_PRIMARY" documentation="If more than one compass is available this selects which compass is the primary. Normally 0=External, 1=Internal. If no External compass is attached this parameter is ignored" user="Advanced">
+<param humanName="Display Units" name="OSD_UNITS" documentation="Sets the units to use in displaying items" user="Standard">
 <values>
-<value code="0">FirstCompass</value>
-<value code="1">SecondCompass</value>
-<value code="2">ThirdCompass</value>
+<value code="0">Metric</value>
+<value code="1">Imperial</value>
+<value code="2">SI</value>
+<value code="3">Aviation</value>
 </values>
 </param>
-<param humanName="Compass3 offsets in milligauss on the X axis" name="COMPASS_OFS3_X" documentation="Offset to be added to compass3's x-axis values to compensate for metal in the frame" user="Advanced">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
+<param humanName="Message display duration in seconds" name="OSD_MSG_TIME" documentation="Sets message duration seconds" user="Standard">
+<field name="Range">1 20</field>
 </param>
-<param humanName="Compass3 offsets in milligauss on the Y axis" name="COMPASS_OFS3_Y" documentation="Offset to be added to compass3's y-axis values to compensate for metal in the frame" user="Advanced">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
+</parameters>
+<parameters name="OSD1_">
+<param humanName="Enable screen" name="OSD1_ENABLE" documentation="Enable this screen" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Compass3 offsets in milligauss on the Z axis" name="COMPASS_OFS3_Z" documentation="Offset to be added to compass3's z-axis values to compensate for metal in the frame" user="Advanced">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
+<param humanName="Transmitter switch screen minimum pwm" name="OSD1_CHAN_MIN" documentation="This sets the PWM lower limit for this screen" user="Standard">
+<field name="Range">900 2100</field>
 </param>
-<param humanName="Motor interference compensation to compass3 for body frame X axis" name="COMPASS_MOT3_X" documentation="Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference" user="Advanced">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
+<param humanName="Transmitter switch screen maximum pwm" name="OSD1_CHAN_MAX" documentation="This sets the PWM upper limit for this screen" user="Standard">
+<field name="Range">900 2100</field>
 </param>
-<param humanName="Motor interference compensation to compass3 for body frame Y axis" name="COMPASS_MOT3_Y" documentation="Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference" user="Advanced">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
+</parameters>
+<parameters name="OSD1_ALTITUDE">
+<param humanName="Enable" name="OSD1_ALTITUDE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Motor interference compensation to compass3 for body frame Z axis" name="COMPASS_MOT3_Z" documentation="Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference" user="Advanced">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
+<param humanName="X position" name="OSD1_ALTITUDE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Compass device id" name="COMPASS_DEV_ID" documentation="Compass device id.  Automatically detected, do not set manually" user="Advanced">
+<param humanName="Y position" name="OSD1_ALTITUDE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_BATUSED">
+<param humanName="Enable" name="OSD1_BATUSED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_BATUSED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_BATUSED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_BATVOLT">
+<param humanName="Enable" name="OSD1_BATVOLT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Compass2 device id" name="COMPASS_DEV_ID2" documentation="Second compass's device id.  Automatically detected, do not set manually" user="Advanced">
+<param humanName="X position" name="OSD1_BATVOLT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Compass3 device id" name="COMPASS_DEV_ID3" documentation="Third compass's device id.  Automatically detected, do not set manually" user="Advanced">
+<param humanName="Y position" name="OSD1_BATVOLT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Compass2 used for yaw" name="COMPASS_USE2" documentation="Enable or disable the second compass for determining heading." user="Advanced">
+</parameters>
+<parameters name="OSD1_BLHAMPS">
+<param humanName="Enable" name="OSD1_BLHAMPS_EN" documentation="Enable setting" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Compass2 orientation" name="COMPASS_ORIENT2" documentation="The orientation of the second compass relative to the frame (if external) or autopilot board (if internal)." user="Advanced">
+<param humanName="X position" name="OSD1_BLHAMPS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_BLHAMPS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_BLHRPM">
+<param humanName="Enable" name="OSD1_BLHRPM_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="0">None</value>
-<value code="1">Yaw45</value>
-<value code="2">Yaw90</value>
-<value code="3">Yaw135</value>
-<value code="4">Yaw180</value>
-<value code="5">Yaw225</value>
-<value code="6">Yaw270</value>
-<value code="7">Yaw315</value>
-<value code="8">Roll180</value>
-<value code="9">Roll180Yaw45</value>
-<value code="10">Roll180Yaw90</value>
-<value code="11">Roll180Yaw135</value>
-<value code="12">Pitch180</value>
-<value code="13">Roll180Yaw225</value>
-<value code="14">Roll180Yaw270</value>
-<value code="15">Roll180Yaw315</value>
-<value code="16">Roll90</value>
-<value code="17">Roll90Yaw45</value>
-<value code="18">Roll90Yaw90</value>
-<value code="19">Roll90Yaw135</value>
-<value code="20">Roll270</value>
-<value code="21">Roll270Yaw45</value>
-<value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw136</value>
-<value code="24">Pitch90</value>
-<value code="25">Pitch270</value>
-<value code="26">Pitch180Yaw90</value>
-<value code="27">Pitch180Yaw270</value>
-<value code="28">Roll90Pitch90</value>
-<value code="29">Roll180Pitch90</value>
-<value code="30">Roll270Pitch90</value>
-<value code="31">Roll90Pitch180</value>
-<value code="32">Roll270Pitch180</value>
-<value code="33">Roll90Pitch270</value>
-<value code="34">Roll180Pitch270</value>
-<value code="35">Roll270Pitch270</value>
-<value code="36">Roll90Pitch180Yaw90</value>
-<value code="37">Roll90Yaw270</value>
-<value code="38">Yaw293Pitch68Roll90</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Compass2 is attached via an external cable" name="COMPASS_EXTERN2" documentation="Configure second compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
+<param humanName="X position" name="OSD1_BLHRPM_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_BLHRPM_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_BLHTEMP">
+<param humanName="Enable" name="OSD1_BLHTEMP_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="0">Internal</value>
-<value code="1">External</value>
-<value code="2">ForcedExternal</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Compass3 used for yaw" name="COMPASS_USE3" documentation="Enable or disable the third compass for determining heading." user="Advanced">
+<param humanName="X position" name="OSD1_BLHTEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_BLHTEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_CLIMBEFF">
+<param humanName="Enable" name="OSD1_CLIMBEFF_EN" documentation="Enable setting" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Compass3 orientation" name="COMPASS_ORIENT3" documentation="The orientation of the third compass relative to the frame (if external) or autopilot board (if internal)." user="Advanced">
+<param humanName="X position" name="OSD1_CLIMBEFF_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_CLIMBEFF_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_CURRENT">
+<param humanName="Enable" name="OSD1_CURRENT_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="0">None</value>
-<value code="1">Yaw45</value>
-<value code="2">Yaw90</value>
-<value code="3">Yaw135</value>
-<value code="4">Yaw180</value>
-<value code="5">Yaw225</value>
-<value code="6">Yaw270</value>
-<value code="7">Yaw315</value>
-<value code="8">Roll180</value>
-<value code="9">Roll180Yaw45</value>
-<value code="10">Roll180Yaw90</value>
-<value code="11">Roll180Yaw135</value>
-<value code="12">Pitch180</value>
-<value code="13">Roll180Yaw225</value>
-<value code="14">Roll180Yaw270</value>
-<value code="15">Roll180Yaw315</value>
-<value code="16">Roll90</value>
-<value code="17">Roll90Yaw45</value>
-<value code="18">Roll90Yaw90</value>
-<value code="19">Roll90Yaw135</value>
-<value code="20">Roll270</value>
-<value code="21">Roll270Yaw45</value>
-<value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw136</value>
-<value code="24">Pitch90</value>
-<value code="25">Pitch270</value>
-<value code="26">Pitch180Yaw90</value>
-<value code="27">Pitch180Yaw270</value>
-<value code="28">Roll90Pitch90</value>
-<value code="29">Roll180Pitch90</value>
-<value code="30">Roll270Pitch90</value>
-<value code="31">Roll90Pitch180</value>
-<value code="32">Roll270Pitch180</value>
-<value code="33">Roll90Pitch270</value>
-<value code="34">Roll180Pitch270</value>
-<value code="35">Roll270Pitch270</value>
-<value code="36">Roll90Pitch180Yaw90</value>
-<value code="37">Roll90Yaw270</value>
-<value code="38">Yaw293Pitch68Roll90</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Compass3 is attached via an external cable" name="COMPASS_EXTERN3" documentation="Configure third compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
+<param humanName="X position" name="OSD1_CURRENT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_CURRENT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_DIST">
+<param humanName="Enable" name="OSD1_DIST_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="0">Internal</value>
-<value code="1">External</value>
-<value code="2">ForcedExternal</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Compass soft-iron diagonal X component" name="COMPASS_DIA_X" documentation="DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
-</param>
-<param humanName="Compass soft-iron diagonal Y component" name="COMPASS_DIA_Y" documentation="DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+<param humanName="X position" name="OSD1_DIST_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Compass soft-iron diagonal Z component" name="COMPASS_DIA_Z" documentation="DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+<param humanName="Y position" name="OSD1_DIST_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Compass soft-iron off-diagonal X component" name="COMPASS_ODI_X" documentation="ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</parameters>
+<parameters name="OSD1_EFF">
+<param humanName="Enable" name="OSD1_EFF_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Compass soft-iron off-diagonal Y component" name="COMPASS_ODI_Y" documentation="ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+<param humanName="X position" name="OSD1_EFF_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Compass soft-iron off-diagonal Z component" name="COMPASS_ODI_Z" documentation="ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+<param humanName="Y position" name="OSD1_EFF_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Compass2 soft-iron diagonal X component" name="COMPASS_DIA2_X" documentation="DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</parameters>
+<parameters name="OSD1_FLTIME">
+<param humanName="Enable" name="OSD1_FLTIME_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Compass2 soft-iron diagonal Y component" name="COMPASS_DIA2_Y" documentation="DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+<param humanName="X position" name="OSD1_FLTIME_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Compass2 soft-iron diagonal Z component" name="COMPASS_DIA2_Z" documentation="DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+<param humanName="Y position" name="OSD1_FLTIME_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Compass2 soft-iron off-diagonal X component" name="COMPASS_ODI2_X" documentation="ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</parameters>
+<parameters name="OSD1_FLTMODE">
+<param humanName="Enable" name="OSD1_FLTMODE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Compass2 soft-iron off-diagonal Y component" name="COMPASS_ODI2_Y" documentation="ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+<param humanName="X position" name="OSD1_FLTMODE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Compass2 soft-iron off-diagonal Z component" name="COMPASS_ODI2_Z" documentation="ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+<param humanName="Y position" name="OSD1_FLTMODE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Compass3 soft-iron diagonal X component" name="COMPASS_DIA3_X" documentation="DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</parameters>
+<parameters name="OSD1_GPSLAT">
+<param humanName="Enable" name="OSD1_GPSLAT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Compass3 soft-iron diagonal Y component" name="COMPASS_DIA3_Y" documentation="DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+<param humanName="X position" name="OSD1_GPSLAT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Compass3 soft-iron diagonal Z component" name="COMPASS_DIA3_Z" documentation="DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+<param humanName="Y position" name="OSD1_GPSLAT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Compass3 soft-iron off-diagonal X component" name="COMPASS_ODI3_X" documentation="ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</parameters>
+<parameters name="OSD1_GPSLONG">
+<param humanName="Enable" name="OSD1_GPSLONG_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Compass3 soft-iron off-diagonal Y component" name="COMPASS_ODI3_Y" documentation="ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+<param humanName="X position" name="OSD1_GPSLONG_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Compass3 soft-iron off-diagonal Z component" name="COMPASS_ODI3_Z" documentation="ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+<param humanName="Y position" name="OSD1_GPSLONG_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Compass calibration fitness" name="COMPASS_CAL_FIT" documentation="This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value." user="Advanced">
-<field name="Range">4 32</field>
+</parameters>
+<parameters name="OSD1_GSPEED">
+<param humanName="Enable" name="OSD1_GSPEED_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="4">Very Strict</value>
-<value code="8">Strict</value>
-<value code="16">Default</value>
-<value code="32">Relaxed</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
-<field name="Increment">0.1</field>
+</param>
+<param humanName="X position" name="OSD1_GSPEED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_GSPEED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
 </parameters>
-<parameters name="EK2_">
-<param humanName="Enable EKF2" name="EK2_ENABLE" documentation="This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect." user="Advanced">
+<parameters name="OSD1_HDOP">
+<param humanName="Enable" name="OSD1_HDOP_EN" documentation="Enable setting" user="Standard">
 <values>
 <value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="GPS mode control" name="EK2_GPS_TYPE" documentation="This controls use of GPS measurements : 0 = use 3D velocity &amp; 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors." user="Advanced">
+<param humanName="X position" name="OSD1_HDOP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_HDOP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_HOME">
+<param humanName="Enable" name="OSD1_HOME_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="0">GPS 3D Vel and 2D Pos</value>
-<value code=" 1">GPS 2D vel and 2D pos</value>
-<value code=" 2">GPS 2D pos</value>
-<value code=" 3">No GPS</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="GPS horizontal velocity measurement noise (m/s)" name="EK2_VELNE_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements." user="Advanced">
-<field name="Range">0.05 5.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">m/s</field>
+<param humanName="X position" name="OSD1_HOME_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="GPS vertical velocity measurement noise (m/s)" name="EK2_VELD_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements." user="Advanced">
-<field name="Range">0.05 5.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">m/s</field>
+<param humanName="Y position" name="OSD1_HOME_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="GPS velocity innovation gate size" name="EK2_VEL_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
+</parameters>
+<parameters name="OSD1_HORIZON">
+<param humanName="Enable" name="OSD1_HORIZON_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="GPS horizontal position measurement noise (m)" name="EK2_POSNE_M_NSE" documentation="This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m</field>
+<param humanName="X position" name="OSD1_HORIZON_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="GPS position measurement gate size" name="EK2_POS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
+<param humanName="Y position" name="OSD1_HORIZON_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="GPS glitch radius gate size (m)" name="EK2_GLITCH_RAD" documentation="This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position." user="Advanced">
-<field name="Range">10 100</field>
-<field name="Increment">5</field>
-<field name="Units">m</field>
+</parameters>
+<parameters name="OSD1_MESSAGE">
+<param humanName="Enable" name="OSD1_MESSAGE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="GPS measurement delay (msec)" name="EK2_GPS_DELAY" documentation="This is the number of msec that the GPS measurements lag behind the inertial measurements." user="Advanced">
-<field name="Range">0 250</field>
-<field name="Increment">10</field>
-<field name="Units">milliseconds</field>
+<param humanName="X position" name="OSD1_MESSAGE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_MESSAGE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Primary altitude sensor source" name="EK2_ALT_SOURCE" documentation="This parameter controls the primary height sensor used by the EKF. If the selected option cannot be used, it will default to Baro as the primary height source. Setting 0 will use the baro altitude at all times. Setting 1 uses the range finder and is only available in combination with optical flow navigation (EK2_GPS_TYPE = 3). Setting 2 uses GPS. Setting 3 uses the range beacon data. NOTE - the EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground." user="Advanced">
+</parameters>
+<parameters name="OSD1_PITCH">
+<param humanName="Enable" name="OSD1_PITCH_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="0">Use Baro</value>
-<value code=" 1">Use Range Finder</value>
-<value code=" 2">Use GPS</value>
-<value code=" 3">Use Range Beacon</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Altitude measurement noise (m)" name="EK2_ALT_M_NSE" documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m</field>
+<param humanName="X position" name="OSD1_PITCH_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Height measurement gate size" name="EK2_HGT_I_GATE" documentation="This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
+<param humanName="Y position" name="OSD1_PITCH_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_ROLL">
+<param humanName="Enable" name="OSD1_ROLL_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Height measurement delay (msec)" name="EK2_HGT_DELAY" documentation="This is the number of msec that the Height measurements lag behind the inertial measurements." user="Advanced">
-<field name="Range">0 250</field>
-<field name="Increment">10</field>
-<field name="Units">milliseconds</field>
+<param humanName="X position" name="OSD1_ROLL_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Magnetometer measurement noise (Gauss)" name="EK2_MAG_M_NSE" documentation="This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
-<field name="Units">gauss</field>
+<param humanName="Y position" name="OSD1_ROLL_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Magnetometer calibration mode" name="EK2_MAG_CAL" documentation="EKF_MAG_CAL = 0 enables calibration when airborne and is the default setting for Plane users. EKF_MAG_CAL = 1 enables calibration when manoeuvreing. EKF_MAG_CAL = 2 prevents magnetometer calibration regardless of flight condition, is recommended if the external magnetic field is varying and is the default for rovers. EKF_MAG_CAL = 3 enables calibration when the first in-air field and yaw reset has completed and is the default for copters. EKF_MAG_CAL = 4 enables calibration all the time. This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states. This model is only suitable for use when the external magnetic field environment is stable." user="Advanced">
+</parameters>
+<parameters name="OSD1_RSSI">
+<param humanName="Enable" name="OSD1_RSSI_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="0">When flying</value>
-<value code="1">When manoeuvring</value>
-<value code="2">Never</value>
-<value code="3">After first climb yaw reset</value>
-<value code="4">Always</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Magnetometer measurement gate size" name="EK2_MAG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
+<param humanName="X position" name="OSD1_RSSI_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Equivalent airspeed measurement noise (m/s)" name="EK2_EAS_M_NSE" documentation="This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements." user="Advanced">
-<field name="Range">0.5 5.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
+<param humanName="Y position" name="OSD1_RSSI_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Airspeed measurement gate size" name="EK2_EAS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
+</parameters>
+<parameters name="OSD1_SATS">
+<param humanName="Enable" name="OSD1_SATS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Range finder measurement noise (m)" name="EK2_RNG_M_NSE" documentation="This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m</field>
+<param humanName="X position" name="OSD1_SATS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Range finder measurement gate size" name="EK2_RNG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
+<param humanName="Y position" name="OSD1_SATS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Maximum valid optical flow rate" name="EK2_MAX_FLOW" documentation="This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter" user="Advanced">
-<field name="Range">1.0 4.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">rad/s</field>
+</parameters>
+<parameters name="OSD1_STATS">
+<param humanName="Enable" name="OSD1_STATS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Optical flow measurement noise (rad/s)" name="EK2_FLOW_M_NSE" documentation="This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.05 1.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">rad/s</field>
+<param humanName="X position" name="OSD1_STATS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Optical Flow measurement gate size" name="EK2_FLOW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
+<param humanName="Y position" name="OSD1_STATS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Optical Flow measurement delay (msec)" name="EK2_FLOW_DELAY" documentation="This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
-<field name="Range">0 250</field>
-<field name="Increment">10</field>
-<field name="Units">milliseconds</field>
+</parameters>
+<parameters name="OSD1_TEMP">
+<param humanName="Enable" name="OSD1_TEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Rate gyro noise (rad/s)" name="EK2_GYRO_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more." user="Advanced">
-<field name="Range">0.0001 0.1</field>
-<field name="Increment">0.0001</field>
-<field name="Units">rad/s</field>
+<param humanName="X position" name="OSD1_TEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Accelerometer noise (m/s^2)" name="EK2_ACC_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more." user="Advanced">
-<field name="Range">0.01 1.0</field>
-<field name="Increment">0.01</field>
-<field name="Units">m/s/s</field>
+<param humanName="Y position" name="OSD1_TEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Rate gyro bias stability (rad/s/s)" name="EK2_GBIAS_P_NSE" documentation="This state  process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.00001 0.001</field>
-<field name="Units">rad/s/s</field>
+</parameters>
+<parameters name="OSD1_WAYPOINT">
+<param humanName="Enable" name="OSD1_WAYPOINT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Rate gyro scale factor stability (1/s)" name="EK2_GSCL_P_NSE" documentation="This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier." user="Advanced">
-<field name="Range">0.000001 0.001</field>
-<field name="Units">1/s</field>
+<param humanName="X position" name="OSD1_WAYPOINT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Accelerometer bias stability (m/s^3)" name="EK2_ABIAS_P_NSE" documentation="This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.00001 0.001</field>
-<field name="Units">m/s/s/s</field>
+<param humanName="Y position" name="OSD1_WAYPOINT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Wind velocity process noise (m/s^2)" name="EK2_WIND_P_NSE" documentation="This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier." user="Advanced">
-<field name="Range">0.01 1.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s/s</field>
+</parameters>
+<parameters name="OSD1_XTRACK">
+<param humanName="Enable" name="OSD1_XTRACK_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Height rate to wind process noise scaler" name="EK2_WIND_PSCALE" documentation="This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser." user="Advanced">
-<field name="Range">0.0 1.0</field>
-<field name="Increment">0.1</field>
+<param humanName="X position" name="OSD1_XTRACK_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="GPS preflight check" name="EK2_GPS_CHECK" documentation="This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat." user="Advanced">
-<field name="Bitmask">0:NSats,1:HDoP,2:speed error,3:horiz pos error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed</field>
+<param humanName="Y position" name="OSD1_XTRACK_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Bitmask of active IMUs" name="EK2_IMU_MASK" documentation="1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start." user="Advanced">
-<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
+</parameters>
+<parameters name="OSD2_">
+<param humanName="Enable screen" name="OSD2_ENABLE" documentation="Enable this screen" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="GPS accuracy check scaler (%)" name="EK2_CHECK_SCALE" documentation="This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error." user="Advanced">
-<field name="Range">50 200</field>
-<field name="Units">%</field>
+<param humanName="Transmitter switch screen minimum pwm" name="OSD2_CHAN_MIN" documentation="This sets the PWM lower limit for this screen" user="Standard">
+<field name="Range">900 2100</field>
 </param>
-<param humanName="Non-GPS operation position uncertainty (m)" name="EK2_NOAID_M_NSE" documentation="This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors." user="Advanced">
-<field name="Range">0.5 50.0</field>
-<field name="Units">m</field>
+<param humanName="Transmitter switch screen maximum pwm" name="OSD2_CHAN_MAX" documentation="This sets the PWM upper limit for this screen" user="Standard">
+<field name="Range">900 2100</field>
 </param>
-<param humanName="EKF sensor logging IMU mask" name="EK2_LOG_MASK" documentation="This sets the IMU mask of sensors to do full logging for" user="Advanced">
-<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
+</parameters>
+<parameters name="OSD2_ALTITUDE">
+<param humanName="Enable" name="OSD2_ALTITUDE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Yaw measurement noise (rad)" name="EK2_YAW_M_NSE" documentation="This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.05 1.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">rad</field>
+<param humanName="X position" name="OSD2_ALTITUDE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Yaw measurement gate size" name="EK2_YAW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
+<param humanName="Y position" name="OSD2_ALTITUDE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Output complementary filter time constant (centi-sec)" name="EK2_TAU_OUTPUT" documentation="Sets the time constant of the output complementary filter/predictor in centi-seconds." user="Advanced">
-<field name="Range">10 50</field>
-<field name="Increment">5</field>
-<field name="Units">cs</field>
+</parameters>
+<parameters name="OSD2_BATUSED">
+<param humanName="Enable" name="OSD2_BATUSED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Earth magnetic field process noise (gauss/s)" name="EK2_MAGE_P_NSE" documentation="This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier." user="Advanced">
-<field name="Range">0.00001 0.01</field>
-<field name="Units">gauss/s</field>
+<param humanName="X position" name="OSD2_BATUSED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Body magnetic field process noise (gauss/s)" name="EK2_MAGB_P_NSE" documentation="This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier." user="Advanced">
-<field name="Range">0.00001 0.01</field>
-<field name="Units">gauss/s</field>
+<param humanName="Y position" name="OSD2_BATUSED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Range finder switch height percentage" name="EK2_RNG_USE_HGT" documentation="The range finder will be used as the primary height source when below a specified percentage of the sensor maximum as set by the RNGFND_MAX_CM parameter. Set to -1 to prevent range finder use." user="Advanced">
-<field name="Range">-1 70</field>
-<field name="Increment">1</field>
-<field name="Units">%</field>
+</parameters>
+<parameters name="OSD2_BATVOLT">
+<param humanName="Enable" name="OSD2_BATVOLT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Maximum terrain gradient" name="EK2_TERR_GRAD" documentation="Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference" user="Advanced">
-<field name="Range">0 0.2</field>
-<field name="Increment">0.01</field>
+<param humanName="X position" name="OSD2_BATVOLT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Range beacon measurement noise (m)" name="EK2_BCN_M_NSE" documentation="This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m</field>
+<param humanName="Y position" name="OSD2_BATVOLT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Range beacon measurement gate size" name="EK2_BCN_I_GTE" documentation="This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
+</parameters>
+<parameters name="OSD2_BLHAMPS">
+<param humanName="Enable" name="OSD2_BLHAMPS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Range beacon measurement delay (msec)" name="EK2_BCN_DELAY" documentation="This is the number of msec that the range beacon measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
-<field name="Range">0 250</field>
-<field name="Increment">10</field>
-<field name="Units">milliseconds</field>
+<param humanName="X position" name="OSD2_BLHAMPS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Range finder max ground speed" name="EK2_RNG_USE_SPD" documentation="The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value." user="Advanced">
-<field name="Range">2.0 6.0</field>
-<field name="Increment">0.5</field>
-<field name="Units">m/s</field>
+<param humanName="Y position" name="OSD2_BLHAMPS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
 </parameters>
-<parameters name="EK3_">
-<param humanName="Enable EKF3" name="EK3_ENABLE" documentation="This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect." user="Advanced">
+<parameters name="OSD2_BLHRPM">
+<param humanName="Enable" name="OSD2_BLHRPM_EN" documentation="Enable setting" user="Standard">
 <values>
 <value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="GPS mode control" name="EK3_GPS_TYPE" documentation="This controls use of GPS measurements : 0 = use 3D velocity &amp; 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors." user="Advanced">
+<param humanName="X position" name="OSD2_BLHRPM_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_BLHRPM_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_BLHTEMP">
+<param humanName="Enable" name="OSD2_BLHTEMP_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="0">GPS 3D Vel and 2D Pos</value>
-<value code=" 1">GPS 2D vel and 2D pos</value>
-<value code=" 2">GPS 2D pos</value>
-<value code=" 3">No GPS</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="GPS horizontal velocity measurement noise (m/s)" name="EK3_VELNE_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements." user="Advanced">
-<field name="Range">0.05 5.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="GPS vertical velocity measurement noise (m/s)" name="EK3_VELD_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements." user="Advanced">
-<field name="Range">0.05 5.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">m/s</field>
+<param humanName="X position" name="OSD2_BLHTEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="GPS velocity innovation gate size" name="EK3_VEL_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
+<param humanName="Y position" name="OSD2_BLHTEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="GPS horizontal position measurement noise (m)" name="EK3_POSNE_M_NSE" documentation="This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m</field>
+</parameters>
+<parameters name="OSD2_CLIMBEFF">
+<param humanName="Enable" name="OSD2_CLIMBEFF_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="GPS position measurement gate size" name="EK3_POS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
+<param humanName="X position" name="OSD2_CLIMBEFF_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="GPS glitch radius gate size (m)" name="EK3_GLITCH_RAD" documentation="This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position." user="Advanced">
-<field name="Range">10 100</field>
-<field name="Increment">5</field>
-<field name="Units">m</field>
+<param humanName="Y position" name="OSD2_CLIMBEFF_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Primary altitude sensor source" name="EK3_ALT_SOURCE" documentation="This parameter controls the primary height sensor used by the EKF. If the selected option cannot be used, it will default to Baro as the primary height source. Setting 0 will use the baro altitude at all times. Setting 1 uses the range finder and is only available in combination with optical flow navigation (EK2_GPS_TYPE = 3). Setting 2 uses GPS. Setting 3 uses the range beacon data. NOTE - the EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground." user="Advanced">
+</parameters>
+<parameters name="OSD2_CURRENT">
+<param humanName="Enable" name="OSD2_CURRENT_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="0">Use Baro</value>
-<value code=" 1">Use Range Finder</value>
-<value code=" 2">Use GPS</value>
-<value code=" 3">Use Range Beacon</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Altitude measurement noise (m)" name="EK3_ALT_M_NSE" documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m</field>
+<param humanName="X position" name="OSD2_CURRENT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Height measurement gate size" name="EK3_HGT_I_GATE" documentation="This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
+<param humanName="Y position" name="OSD2_CURRENT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Height measurement delay (msec)" name="EK3_HGT_DELAY" documentation="This is the number of msec that the Height measurements lag behind the inertial measurements." user="Advanced">
-<field name="Range">0 250</field>
-<field name="Increment">10</field>
-<field name="Units">milliseconds</field>
-<field name="RebootRequired">True</field>
+</parameters>
+<parameters name="OSD2_DIST">
+<param humanName="Enable" name="OSD2_DIST_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Magnetometer measurement noise (Gauss)" name="EK3_MAG_M_NSE" documentation="This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
-<field name="Units">gauss</field>
+<param humanName="X position" name="OSD2_DIST_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Magnetometer calibration mode" name="EK3_MAG_CAL" documentation="EKF_MAG_CAL = 0 enables calibration when airborne and is the default setting for Plane users. EKF_MAG_CAL = 1 enables calibration when manoeuvreing. EKF_MAG_CAL = 2 prevents magnetometer calibration regardless of flight condition, is recommended if the external magnetic field is varying and is the default for rovers. EKF_MAG_CAL = 3 enables calibration when the first in-air field and yaw reset has completed and is the default for copters. EKF_MAG_CAL = 4 enables calibration all the time. This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states. This model is only suitable for use when the external magnetic field environment is stable." user="Advanced">
-<values>
-<value code="0">When flying</value>
-<value code="1">When manoeuvring</value>
-<value code="2">Never</value>
-<value code="3">After first climb yaw reset</value>
-<value code="4">Always</value>
+<param humanName="Y position" name="OSD2_DIST_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_EFF">
+<param humanName="Enable" name="OSD2_EFF_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Magnetometer measurement gate size" name="EK3_MAG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
+<param humanName="X position" name="OSD2_EFF_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Equivalent airspeed measurement noise (m/s)" name="EK3_EAS_M_NSE" documentation="This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements." user="Advanced">
-<field name="Range">0.5 5.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
+<param humanName="Y position" name="OSD2_EFF_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Airspeed measurement gate size" name="EK3_EAS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
+</parameters>
+<parameters name="OSD2_FLTIME">
+<param humanName="Enable" name="OSD2_FLTIME_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Range finder measurement noise (m)" name="EK3_RNG_M_NSE" documentation="This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m</field>
+<param humanName="X position" name="OSD2_FLTIME_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Range finder measurement gate size" name="EK3_RNG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
+<param humanName="Y position" name="OSD2_FLTIME_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Maximum valid optical flow rate" name="EK3_MAX_FLOW" documentation="This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter" user="Advanced">
-<field name="Range">1.0 4.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">rad/s</field>
+</parameters>
+<parameters name="OSD2_FLTMODE">
+<param humanName="Enable" name="OSD2_FLTMODE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Optical flow measurement noise (rad/s)" name="EK3_FLOW_M_NSE" documentation="This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.05 1.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">rad/s</field>
+<param humanName="X position" name="OSD2_FLTMODE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Optical Flow measurement gate size" name="EK3_FLOW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
+<param humanName="Y position" name="OSD2_FLTMODE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Optical Flow measurement delay (msec)" name="EK3_FLOW_DELAY" documentation="This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
-<field name="Range">0 250</field>
-<field name="Increment">10</field>
-<field name="Units">milliseconds</field>
-<field name="RebootRequired">True</field>
+</parameters>
+<parameters name="OSD2_GPSLAT">
+<param humanName="Enable" name="OSD2_GPSLAT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Rate gyro noise (rad/s)" name="EK3_GYRO_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more." user="Advanced">
-<field name="Range">0.0001 0.1</field>
-<field name="Increment">0.0001</field>
-<field name="Units">rad/s</field>
+<param humanName="X position" name="OSD2_GPSLAT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Accelerometer noise (m/s^2)" name="EK3_ACC_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more." user="Advanced">
-<field name="Range">0.01 1.0</field>
-<field name="Increment">0.01</field>
-<field name="Units">m/s/s</field>
+<param humanName="Y position" name="OSD2_GPSLAT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Rate gyro bias stability (rad/s/s)" name="EK3_GBIAS_P_NSE" documentation="This state  process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.00001 0.001</field>
-<field name="Units">rad/s/s</field>
+</parameters>
+<parameters name="OSD2_GPSLONG">
+<param humanName="Enable" name="OSD2_GPSLONG_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Accelerometer bias stability (m/s^3)" name="EK3_ABIAS_P_NSE" documentation="This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.00001 0.001</field>
-<field name="Units">m/s/s/s</field>
+<param humanName="X position" name="OSD2_GPSLONG_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Wind velocity process noise (m/s^2)" name="EK3_WIND_P_NSE" documentation="This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier." user="Advanced">
-<field name="Range">0.01 1.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s/s</field>
+<param humanName="Y position" name="OSD2_GPSLONG_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Height rate to wind process noise scaler" name="EK3_WIND_PSCALE" documentation="This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser." user="Advanced">
-<field name="Range">0.0 1.0</field>
-<field name="Increment">0.1</field>
+</parameters>
+<parameters name="OSD2_GSPEED">
+<param humanName="Enable" name="OSD2_GSPEED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="GPS preflight check" name="EK3_GPS_CHECK" documentation="This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat." user="Advanced">
-<field name="Bitmask">0:NSats,1:HDoP,2:speed error,3:horiz pos error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed</field>
+<param humanName="X position" name="OSD2_GSPEED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Bitmask of active IMUs" name="EK3_IMU_MASK" documentation="1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start." user="Advanced">
-<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
+<param humanName="Y position" name="OSD2_GSPEED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="GPS accuracy check scaler (%)" name="EK3_CHECK_SCALE" documentation="This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error." user="Advanced">
-<field name="Range">50 200</field>
-<field name="Units">%</field>
+</parameters>
+<parameters name="OSD2_HDOP">
+<param humanName="Enable" name="OSD2_HDOP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Non-GPS operation position uncertainty (m)" name="EK3_NOAID_M_NSE" documentation="This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors." user="Advanced">
-<field name="Range">0.5 50.0</field>
-<field name="Units">m</field>
+<param humanName="X position" name="OSD2_HDOP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="EKF sensor logging IMU mask" name="EK3_LOG_MASK" documentation="This sets the IMU mask of sensors to do full logging for" user="Advanced">
-<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
+<param humanName="Y position" name="OSD2_HDOP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Yaw measurement noise (rad)" name="EK3_YAW_M_NSE" documentation="This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.05 1.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">rad</field>
+</parameters>
+<parameters name="OSD2_HOME">
+<param humanName="Enable" name="OSD2_HOME_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Yaw measurement gate size" name="EK3_YAW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
+<param humanName="X position" name="OSD2_HOME_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Output complementary filter time constant (centi-sec)" name="EK3_TAU_OUTPUT" documentation="Sets the time constant of the output complementary filter/predictor in centi-seconds." user="Advanced">
-<field name="Range">10 50</field>
-<field name="Increment">5</field>
-<field name="Units">cs</field>
+<param humanName="Y position" name="OSD2_HOME_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Earth magnetic field process noise (gauss/s)" name="EK3_MAGE_P_NSE" documentation="This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier." user="Advanced">
-<field name="Range">0.00001 0.01</field>
-<field name="Units">gauss/s</field>
+</parameters>
+<parameters name="OSD2_HORIZON">
+<param humanName="Enable" name="OSD2_HORIZON_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Body magnetic field process noise (gauss/s)" name="EK3_MAGB_P_NSE" documentation="This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier." user="Advanced">
-<field name="Range">0.00001 0.01</field>
-<field name="Units">gauss/s</field>
+<param humanName="X position" name="OSD2_HORIZON_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Range finder switch height percentage" name="EK3_RNG_USE_HGT" documentation="The range finder will be used as the primary height source when below a specified percentage of the sensor maximum as set by the RNGFND_MAX_CM parameter. Set to -1 to prevent range finder use." user="Advanced">
-<field name="Range">-1 70</field>
-<field name="Increment">1</field>
-<field name="Units">%</field>
+<param humanName="Y position" name="OSD2_HORIZON_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Maximum terrain gradient" name="EK3_TERR_GRAD" documentation="Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference" user="Advanced">
-<field name="Range">0 0.2</field>
-<field name="Increment">0.01</field>
+</parameters>
+<parameters name="OSD2_MESSAGE">
+<param humanName="Enable" name="OSD2_MESSAGE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Range beacon measurement noise (m)" name="EK3_BCN_M_NSE" documentation="This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m</field>
+<param humanName="X position" name="OSD2_MESSAGE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Range beacon measurement gate size" name="EK3_BCN_I_GTE" documentation="This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
+<param humanName="Y position" name="OSD2_MESSAGE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Range beacon measurement delay (msec)" name="EK3_BCN_DELAY" documentation="This is the number of msec that the range beacon measurements lag behind the inertial measurements." user="Advanced">
-<field name="Range">0 250</field>
-<field name="Increment">10</field>
-<field name="Units">milliseconds</field>
-<field name="RebootRequired">True</field>
+</parameters>
+<parameters name="OSD2_PITCH">
+<param humanName="Enable" name="OSD2_PITCH_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Range finder max ground speed" name="EK3_RNG_USE_SPD" documentation="The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value." user="Advanced">
-<field name="Range">2.0 6.0</field>
-<field name="Increment">0.5</field>
-<field name="Units">m/s</field>
+<param humanName="X position" name="OSD2_PITCH_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Accelerometer bias limit" name="EK3_ACC_BIAS_LIM" documentation="The accelerometer bias state will be limited to +- this value" user="Advanced">
-<field name="Range">0.5 2.5</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s/s</field>
+<param humanName="Y position" name="OSD2_PITCH_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
 </parameters>
-<parameters name="FENCE_">
-<param humanName="Fence enable/disable" name="FENCE_ENABLE" documentation="Allows you to enable (1) or disable (0) the fence functionality" user="Standard">
+<parameters name="OSD2_ROLL">
+<param humanName="Enable" name="OSD2_ROLL_EN" documentation="Enable setting" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Fence Type" name="FENCE_TYPE" documentation="Enabled fence types held as bitmask" user="Standard">
-<field name="Bitmask">0:Altitude,1:Circle,2:Polygon</field>
+<param humanName="X position" name="OSD2_ROLL_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_ROLL_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_RSSI">
+<param humanName="Enable" name="OSD2_RSSI_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="0">None</value>
-<value code="1">Altitude</value>
-<value code="2">Circle</value>
-<value code="3">Altitude and Circle</value>
-<value code="4">Polygon</value>
-<value code="5">Altitude and Polygon</value>
-<value code="6">Circle and Polygon</value>
-<value code="7">All</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Fence Action" name="FENCE_ACTION" documentation="What action should be taken when fence is breached" user="Standard">
+<param humanName="X position" name="OSD2_RSSI_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_RSSI_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_SATS">
+<param humanName="Enable" name="OSD2_SATS_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="0">Report Only</value>
-<value code="1">RTL or Land</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Fence Maximum Altitude" name="FENCE_ALT_MAX" documentation="Maximum altitude allowed before geofence triggers" user="Standard">
-<field name="Range">10 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
+<param humanName="X position" name="OSD2_SATS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Circular Fence Radius" name="FENCE_RADIUS" documentation="Circle fence radius which when breached will cause an RTL" user="Standard">
-<field name="Range">30 10000</field>
-<field name="Units">Meters</field>
+<param humanName="Y position" name="OSD2_SATS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Fence Margin" name="FENCE_MARGIN" documentation="Distance that autopilot's should maintain from the fence to avoid a breach" user="Standard">
-<field name="Range">1 10</field>
-<field name="Units">Meters</field>
+</parameters>
+<parameters name="OSD2_STATS">
+<param humanName="Enable" name="OSD2_STATS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Fence polygon point total" name="FENCE_TOTAL" documentation="Number of polygon points saved in eeprom (do not update manually)" user="Standard">
-<field name="Range">1 20</field>
+<param humanName="X position" name="OSD2_STATS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_STATS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
 </parameters>
-<parameters name="FLOW">
-<param humanName="Optical flow enable/disable" name="FLOW_ENABLE" documentation="Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow" user="Standard">
+<parameters name="OSD2_TEMP">
+<param humanName="Enable" name="OSD2_TEMP_EN" documentation="Enable setting" user="Standard">
 <values>
 <value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="X axis optical flow scale factor correction" name="FLOW_FXSCALER" documentation="This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor." user="Standard">
-<field name="Range">-200 +200</field>
-<field name="Increment">1</field>
+<param humanName="X position" name="OSD2_TEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Y axis optical flow scale factor correction" name="FLOW_FYSCALER" documentation="This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor." user="Standard">
-<field name="Range">-200 +200</field>
-<field name="Increment">1</field>
+<param humanName="Y position" name="OSD2_TEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Flow sensor yaw alignment" name="FLOW_ORIENT_YAW" documentation="Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle." user="Standard">
-<field name="Range">-18000 +18000</field>
-<field name="Increment">1</field>
+</parameters>
+<parameters name="OSD2_WAYPOINT">
+<param humanName="Enable" name="OSD2_WAYPOINT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName=" X position offset" name="FLOW_POS_X" documentation="X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin." user="Advanced">
-<field name="Units">m</field>
+<param humanName="X position" name="OSD2_WAYPOINT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Y position offset" name="FLOW_POS_Y" documentation="Y position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin." user="Advanced">
-<field name="Units">m</field>
+<param humanName="Y position" name="OSD2_WAYPOINT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Z position offset" name="FLOW_POS_Z" documentation="Z position of the optical flow sensor focal point in body frame. Positive Z is down from the origin." user="Advanced">
-<field name="Units">m</field>
+</parameters>
+<parameters name="OSD2_XTRACK">
+<param humanName="Enable" name="OSD2_XTRACK_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="ID on the bus" name="FLOW_BUS_ID" documentation="This is used to select between multiple possible bus IDs for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus." user="Advanced">
-<field name="Range">0 255</field>
+<param humanName="X position" name="OSD2_XTRACK_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_XTRACK_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
 </parameters>
-<parameters name="GND_">
-<param humanName="Absolute Pressure" name="GND_ABS_PRESS" documentation="calibrated ground pressure in Pascals" user="Advanced">
-<field name="ReadOnly">True</field>
-<field name="Volatile">True</field>
-<field name="Increment">1</field>
-<field name="Units">pascals</field>
+<parameters name="OSD3_">
+<param humanName="Enable screen" name="OSD3_ENABLE" documentation="Enable this screen" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="ground temperature" name="GND_TEMP" documentation="calibrated ground temperature in degrees Celsius" user="Advanced">
-<field name="ReadOnly">True</field>
-<field name="Volatile">True</field>
-<field name="Increment">1</field>
-<field name="Units">degrees celsius</field>
+<param humanName="Transmitter switch screen minimum pwm" name="OSD3_CHAN_MIN" documentation="This sets the PWM lower limit for this screen" user="Standard">
+<field name="Range">900 2100</field>
 </param>
-<param humanName="altitude offset" name="GND_ALT_OFFSET" documentation="altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed." user="Advanced">
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
+<param humanName="Transmitter switch screen maximum pwm" name="OSD3_CHAN_MAX" documentation="This sets the PWM upper limit for this screen" user="Standard">
+<field name="Range">900 2100</field>
 </param>
-<param humanName="Primary barometer" name="GND_PRIMARY" documentation="This selects which barometer will be the primary if multiple barometers are found" user="Advanced">
+</parameters>
+<parameters name="OSD3_ALTITUDE">
+<param humanName="Enable" name="OSD3_ALTITUDE_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="0">FirstBaro</value>
-<value code="1">2ndBaro</value>
-<value code="2">3rdBaro</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="External baro bus" name="GND_EXT_BUS" documentation="This selects the bus number for looking for an I2C barometer" user="Advanced">
+<param humanName="X position" name="OSD3_ALTITUDE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_ALTITUDE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_BATUSED">
+<param humanName="Enable" name="OSD3_BATUSED_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="-1">Disabled</value>
-<value code="0">Bus0</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
+<param humanName="X position" name="OSD3_BATUSED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_BATUSED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
 </parameters>
-<parameters name="GPS_">
-<param humanName="GPS type" name="GPS_TYPE" documentation="GPS type" user="Advanced">
+<parameters name="OSD3_BATVOLT">
+<param humanName="Enable" name="OSD3_BATVOLT_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="0">None</value>
-<value code="1">AUTO</value>
-<value code="2">uBlox</value>
-<value code="3">MTK</value>
-<value code="4">MTK19</value>
-<value code="5">NMEA</value>
-<value code="6">SiRF</value>
-<value code="7">HIL</value>
-<value code="8">SwiftNav</value>
-<value code="9">PX4-UAVCAN</value>
-<value code="10">SBF</value>
-<value code="11">GSOF</value>
-<value code="12">QURT</value>
-<value code="13">ERB</value>
-<value code="14">MAV</value>
-<value code="15">NOVA</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
-<field name="RebootRequired">True</field>
 </param>
-<param humanName="2nd GPS type" name="GPS_TYPE2" documentation="GPS type of 2nd GPS" user="Advanced">
+<param humanName="X position" name="OSD3_BATVOLT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_BATVOLT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_BLHAMPS">
+<param humanName="Enable" name="OSD3_BLHAMPS_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="0">None</value>
-<value code="1">AUTO</value>
-<value code="2">uBlox</value>
-<value code="3">MTK</value>
-<value code="4">MTK19</value>
-<value code="5">NMEA</value>
-<value code="6">SiRF</value>
-<value code="7">HIL</value>
-<value code="8">SwiftNav</value>
-<value code="9">PX4-UAVCAN</value>
-<value code="10">SBF</value>
-<value code="11">GSOF</value>
-<value code="12">QURT</value>
-<value code="13">ERB</value>
-<value code="14">MAV</value>
-<value code="15">NOVA</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
-<field name="RebootRequired">True</field>
 </param>
-<param humanName="Navigation filter setting" name="GPS_NAVFILTER" documentation="Navigation filter engine setting" user="Advanced">
+<param humanName="X position" name="OSD3_BLHAMPS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_BLHAMPS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_BLHRPM">
+<param humanName="Enable" name="OSD3_BLHRPM_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="0">Portable</value>
-<value code="2">Stationary</value>
-<value code="3">Pedestrian</value>
-<value code="4">Automotive</value>
-<value code="5">Sea</value>
-<value code="6">Airborne1G</value>
-<value code="7">Airborne2G</value>
-<value code="8">Airborne4G</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Automatic Switchover Setting" name="GPS_AUTO_SWITCH" documentation="Automatic switchover to GPS reporting best lock" user="Advanced">
+<param humanName="X position" name="OSD3_BLHRPM_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_BLHRPM_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_BLHTEMP">
+<param humanName="Enable" name="OSD3_BLHTEMP_EN" documentation="Enable setting" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Minimum Lock Type Accepted for DGPS" name="GPS_MIN_DGPS" documentation="Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode." user="Advanced">
+<param humanName="X position" name="OSD3_BLHTEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_BLHTEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_CLIMBEFF">
+<param humanName="Enable" name="OSD3_CLIMBEFF_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="0">Any</value>
-<value code="50">FloatRTK</value>
-<value code="100">IntegerRTK</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
-<field name="RebootRequired">True</field>
 </param>
-<param humanName="SBAS Mode" name="GPS_SBAS_MODE" documentation="This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful." user="Advanced">
+<param humanName="X position" name="OSD3_CLIMBEFF_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_CLIMBEFF_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_CURRENT">
+<param humanName="Enable" name="OSD3_CURRENT_EN" documentation="Enable setting" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">Enabled</value>
-<value code="2">NoChange</value>
 </values>
 </param>
-<param humanName="Minimum elevation" name="GPS_MIN_ELEV" documentation="This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default." user="Advanced">
-<field name="Range">-100 90</field>
-<field name="Units">Degrees</field>
+<param humanName="X position" name="OSD3_CURRENT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Destination for GPS_INJECT_DATA MAVLink packets" name="GPS_INJECT_TO" documentation="The GGS can send raw serial packets to inject data to multiple GPSes." user="Advanced">
+<param humanName="Y position" name="OSD3_CURRENT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_DIST">
+<param humanName="Enable" name="OSD3_DIST_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="0">send to first GPS</value>
-<value code="1">send to 2nd GPS</value>
-<value code="127">send to all</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Swift Binary Protocol Logging Mask" name="GPS_SBP_LOGMASK" documentation="Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged" user="Advanced">
+<param humanName="X position" name="OSD3_DIST_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_DIST_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_EFF">
+<param humanName="Enable" name="OSD3_EFF_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="0x0000">None</value>
-<value code=" 0xFFFF">All</value>
-<value code=" 0xFF00">External only</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Raw data logging" name="GPS_RAW_DATA" documentation="Enable logging of RXM raw data from uBlox which includes carrier phase and pseudo range information. This allows for post processing of dataflash logs for more precise positioning. Note that this requires a raw capable uBlox such as the 6P or 6T." user="Advanced">
+<param humanName="X position" name="OSD3_EFF_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_EFF_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_FLTIME">
+<param humanName="Enable" name="OSD3_FLTIME_EN" documentation="Enable setting" user="Standard">
 <values>
 <value code="0">Disabled</value>
-<value code="1">log every sample</value>
-<value code="5">log every 5 samples</value>
+<value code="1">Enabled</value>
 </values>
-<field name="RebootRequired">True</field>
 </param>
-<param humanName="GNSS system configuration" name="GPS_GNSS_MODE" documentation="Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
-<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS</field>
+<param humanName="X position" name="OSD3_FLTIME_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_FLTIME_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_FLTMODE">
+<param humanName="Enable" name="OSD3_FLTMODE_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="0">Leave as currently configured</value>
-<value code=" 1">GPS-NoSBAS</value>
-<value code=" 3">GPS+SBAS</value>
-<value code=" 4">Galileo-NoSBAS</value>
-<value code=" 6">Galileo+SBAS</value>
-<value code=" 8">Beidou</value>
-<value code=" 51">GPS+IMES+QZSS+SBAS (Japan Only)</value>
-<value code=" 64">GLONASS</value>
-<value code=" 66">GLONASS+SBAS</value>
-<value code=" 67">GPS+GLONASS+SBAS</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Save GPS configuration" name="GPS_SAVE_CFG" documentation="Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above." user="Advanced">
+<param humanName="X position" name="OSD3_FLTMODE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_FLTMODE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_GPSLAT">
+<param humanName="Enable" name="OSD3_GPSLAT_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="0">Do not save config</value>
-<value code="1">Save config</value>
-<value code="2">Save only when needed</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="GNSS system configuration" name="GPS_GNSS_MODE2" documentation="Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
-<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS</field>
+<param humanName="X position" name="OSD3_GPSLAT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_GPSLAT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_GPSLONG">
+<param humanName="Enable" name="OSD3_GPSLONG_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="0">Leave as currently configured</value>
-<value code=" 1">GPS-NoSBAS</value>
-<value code=" 3">GPS+SBAS</value>
-<value code=" 4">Galileo-NoSBAS</value>
-<value code=" 6">Galileo+SBAS</value>
-<value code=" 8">Beidou</value>
-<value code=" 51">GPS+IMES+QZSS+SBAS (Japan Only)</value>
-<value code=" 64">GLONASS</value>
-<value code=" 66">GLONASS+SBAS</value>
-<value code=" 67">GPS+GLONASS+SBAS</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Automatic GPS configuration" name="GPS_AUTO_CONFIG" documentation="Controls if the autopilot should automatically configure the GPS based on the parameters and default settings" user="Advanced">
+<param humanName="X position" name="OSD3_GPSLONG_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_GPSLONG_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_GSPEED">
+<param humanName="Enable" name="OSD3_GSPEED_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="0">Disables automatic configuration</value>
-<value code="1">Enable automatic configuration</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="GPS update rate in milliseconds" name="GPS_RATE_MS" documentation="Controls how often the GPS should provide a position update. Lowering below 5Hz is not allowed" user="Advanced">
+<param humanName="X position" name="OSD3_GSPEED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_GSPEED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_HDOP">
+<param humanName="Enable" name="OSD3_HDOP_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="100">10Hz</value>
-<value code="125">8Hz</value>
-<value code="200">5Hz</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
-<field name="Units">milliseconds</field>
 </param>
-<param humanName="GPS 2 update rate in milliseconds" name="GPS_RATE_MS2" documentation="Controls how often the GPS should provide a position update. Lowering below 5Hz is not allowed" user="Advanced">
+<param humanName="X position" name="OSD3_HDOP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_HDOP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_HOME">
+<param humanName="Enable" name="OSD3_HOME_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="100">10Hz</value>
-<value code="125">8Hz</value>
-<value code="200">5Hz</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
-<field name="Units">milliseconds</field>
 </param>
-<param humanName="Antenna X position offset" name="GPS_POS1_X" documentation="X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
-<field name="Units">m</field>
+<param humanName="X position" name="OSD3_HOME_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Antenna Y position offset" name="GPS_POS1_Y" documentation="Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
-<field name="Units">m</field>
+<param humanName="Y position" name="OSD3_HOME_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Antenna Z position offset" name="GPS_POS1_Z" documentation="Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
-<field name="Units">m</field>
+</parameters>
+<parameters name="OSD3_HORIZON">
+<param humanName="Enable" name="OSD3_HORIZON_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Antenna X position offset" name="GPS_POS2_X" documentation="X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
-<field name="Units">m</field>
+<param humanName="X position" name="OSD3_HORIZON_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Antenna Y position offset" name="GPS_POS2_Y" documentation="Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
-<field name="Units">m</field>
+<param humanName="Y position" name="OSD3_HORIZON_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Antenna Z position offset" name="GPS_POS2_Z" documentation="Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
-<field name="Units">m</field>
+</parameters>
+<parameters name="OSD3_MESSAGE">
+<param humanName="Enable" name="OSD3_MESSAGE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="GPS delay in milliseconds" name="GPS_DELAY_MS" documentation="Controls the amount of GPS  measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type." user="Advanced">
-<field name="Range">0 250</field>
-<field name="Units">milliseconds</field>
+<param humanName="X position" name="OSD3_MESSAGE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="GPS 2 delay in milliseconds" name="GPS_DELAY_MS2" documentation="Controls the amount of GPS  measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type." user="Advanced">
-<field name="Range">0 250</field>
-<field name="Units">milliseconds</field>
+<param humanName="Y position" name="OSD3_MESSAGE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
 </parameters>
-<parameters name="GRIP_">
-<param humanName="Gripper Enable/Disable" name="GRIP_ENABLE" documentation="Gripper enable/disable" user="Standard">
+<parameters name="OSD3_PITCH">
+<param humanName="Enable" name="OSD3_PITCH_EN" documentation="Enable setting" user="Standard">
 <values>
 <value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Gripper Type" name="GRIP_TYPE" documentation="Gripper enable/disable" user="Standard">
+<param humanName="X position" name="OSD3_PITCH_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_PITCH_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_ROLL">
+<param humanName="Enable" name="OSD3_ROLL_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="0">None</value>
-<value code="1">Servo</value>
-<value code="2">EPM</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Gripper Grab PWM" name="GRIP_GRAB" documentation="PWM value sent to Gripper to initiate grabbing the cargo" user="Advanced">
-<field name="Range">1000 2000</field>
-<field name="Units">PWM</field>
+<param humanName="X position" name="OSD3_ROLL_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Gripper Release PWM" name="GRIP_RELEASE" documentation="PWM value sent to Gripper to release the cargo" user="Advanced">
-<field name="Range">1000 2000</field>
-<field name="Units">PWM</field>
+<param humanName="Y position" name="OSD3_ROLL_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Neutral PWM" name="GRIP_NEUTRAL" documentation="PWM value sent to grabber when not grabbing or releasing" user="Advanced">
-<field name="Range">1000 2000</field>
-<field name="Units">PWM</field>
+</parameters>
+<parameters name="OSD3_RSSI">
+<param humanName="Enable" name="OSD3_RSSI_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Gripper Regrab interval" name="GRIP_REGRAB" documentation="Time in seconds that gripper will regrab the cargo to ensure grip has not weakened; 0 to disable" user="Advanced">
-<field name="Range">0 255</field>
-<field name="Units">seconds</field>
+<param humanName="X position" name="OSD3_RSSI_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="EPM UAVCAN Hardpoint ID" name="GRIP_UAVCAN_ID" documentation="Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface" user="Standard">
-<field name="Range">0 255</field>
+<param humanName="Y position" name="OSD3_RSSI_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
 </parameters>
-<parameters name="H_">
-<param humanName="Servo 1 Position" name="H_SV1_POS" documentation="Angular location of swash servo #1" user="Standard">
-<field name="Range">-180 180</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
+<parameters name="OSD3_SATS">
+<param humanName="Enable" name="OSD3_SATS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Servo 2 Position" name="H_SV2_POS" documentation="Angular location of swash servo #2" user="Standard">
-<field name="Range">-180 180</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
+<param humanName="X position" name="OSD3_SATS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Servo 3 Position" name="H_SV3_POS" documentation="Angular location of swash servo #3" user="Standard">
-<field name="Range">-180 180</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
+<param humanName="Y position" name="OSD3_SATS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Tail Type" name="H_TAIL_TYPE" documentation="Tail type selection.  Simpler yaw controller used if external gyro is selected" user="Standard">
+</parameters>
+<parameters name="OSD3_STATS">
+<param humanName="Enable" name="OSD3_STATS_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="0">Servo only</value>
-<value code="1">Servo with ExtGyro</value>
-<value code="2">DirectDrive VarPitch</value>
-<value code="3">DirectDrive FixedPitch</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Swash Type" name="H_SWASH_TYPE" documentation="Swash Type Setting - either 3-servo CCPM or H1 Mechanical Mixing" user="Standard">
+<param humanName="X position" name="OSD3_STATS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_STATS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_TEMP">
+<param humanName="Enable" name="OSD3_TEMP_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="0">3-Servo CCPM</value>
-<value code=" 1">H1 Mechanical Mixing</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="External Gyro Gain" name="H_GYR_GAIN" documentation="PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">PWM</field>
-</param>
-<param humanName="Swashplate Phase Angle Compensation" name="H_PHANG" documentation="Phase angle correction for rotor head.  If pitching the swash forward induces a roll, this can be correct the problem" user="Advanced">
-<field name="Range">-90 90</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
+<param humanName="X position" name="OSD3_TEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Collective-Yaw Mixing" name="H_COLYAW" documentation="Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics." user="Advanced">
-<field name="Range">-10 10</field>
-<field name="Increment">0.1</field>
+<param humanName="Y position" name="OSD3_TEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Flybar Mode Selector" name="H_FLYBAR_MODE" documentation="Flybar present or not.  Affects attitude controller used during ACRO flight mode" user="Standard">
+</parameters>
+<parameters name="OSD3_WAYPOINT">
+<param humanName="Enable" name="OSD3_WAYPOINT_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="0">NoFlybar</value>
-<value code="1">Flybar</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Direct Drive VarPitch Tail ESC speed" name="H_TAIL_SPEED" documentation="Direct Drive VarPitch Tail ESC speed.  Only used when TailType is DirectDrive VarPitch" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">PWM</field>
-</param>
-<param humanName="External Gyro Gain for ACRO" name="H_GYR_GAIN_ACRO" documentation="PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro. A value of zero means to use H_GYR_GAIN" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">PWM</field>
-</param>
-<param humanName="RSC PWM output miniumum" name="H_RSC_PWM_MIN" documentation="This sets the PWM output on RSC channel for maximum rotor speed" user="Standard">
-<field name="Range">0 2000</field>
+<param humanName="X position" name="OSD3_WAYPOINT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="RSC PWM output maxiumum" name="H_RSC_PWM_MAX" documentation="This sets the PWM output on RSC channel for miniumum rotor speed" user="Standard">
-<field name="Range">0 2000</field>
+<param humanName="Y position" name="OSD3_WAYPOINT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="RSC PWM reversal" name="H_RSC_PWM_REV" documentation="This controls reversal of the RSC channel output" user="Standard">
+</parameters>
+<parameters name="OSD3_XTRACK">
+<param humanName="Enable" name="OSD3_XTRACK_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Collective Pitch Minimum" name="H_COL_MIN" documentation="Lowest possible servo position for the swashplate" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Increment">1</field>
-<field name="Units">PWM</field>
-</param>
-<param humanName="Collective Pitch Maximum" name="H_COL_MAX" documentation="Highest possible servo position for the swashplate" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Increment">1</field>
-<field name="Units">PWM</field>
+<param humanName="X position" name="OSD3_XTRACK_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Collective Pitch Mid-Point" name="H_COL_MID" documentation="Swash servo position corresponding to zero collective pitch (or zero lift for Asymmetrical blades)" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Increment">1</field>
-<field name="Units">PWM</field>
+<param humanName="Y position" name="OSD3_XTRACK_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Manual Servo Mode" name="H_SV_MAN" documentation="Manual servo override for swash set-up. Do not set this manually!" user="Standard">
+</parameters>
+<parameters name="OSD4_">
+<param humanName="Enable screen" name="OSD4_ENABLE" documentation="Enable this screen" user="Standard">
 <values>
 <value code="0">Disabled</value>
-<value code="1">Passthrough</value>
-<value code="2">Max collective</value>
-<value code="3">Mid collective</value>
-<value code="4">Min collective</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="External Motor Governor Setpoint" name="H_RSC_SETPOINT" documentation="PWM passed to the external motor governor when external governor is enabled" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">10</field>
-<field name="Units">PWM</field>
+<param humanName="Transmitter switch screen minimum pwm" name="OSD4_CHAN_MIN" documentation="This sets the PWM lower limit for this screen" user="Standard">
+<field name="Range">900 2100</field>
+</param>
+<param humanName="Transmitter switch screen maximum pwm" name="OSD4_CHAN_MAX" documentation="This sets the PWM upper limit for this screen" user="Standard">
+<field name="Range">900 2100</field>
 </param>
-<param humanName="Rotor Speed Control Mode" name="H_RSC_MODE" documentation="Determines the method of rotor speed control" user="Standard">
+</parameters>
+<parameters name="OSD4_ALTITUDE">
+<param humanName="Enable" name="OSD4_ALTITUDE_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="1">Ch8 Input</value>
-<value code=" 2">SetPoint</value>
-<value code=" 3">Throttle Curve</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Landing Collective Minimum" name="H_LAND_COL_MIN" documentation="Minimum collective position while landed or landing" user="Standard">
-<field name="Range">0 500</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
+<param humanName="X position" name="OSD4_ALTITUDE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="RSC Ramp Time" name="H_RSC_RAMP_TIME" documentation="Time in seconds for the output to the main rotor's ESC to reach full speed" user="Standard">
-<field name="Range">0 60</field>
-<field name="Units">Seconds</field>
+<param humanName="Y position" name="OSD4_ALTITUDE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="RSC Runup Time" name="H_RSC_RUNUP_TIME" documentation="Time in seconds for the main rotor to reach full speed.  Must be longer than RSC_RAMP_TIME" user="Standard">
-<field name="Range">0 60</field>
-<field name="Units">Seconds</field>
+</parameters>
+<parameters name="OSD4_BATUSED">
+<param humanName="Enable" name="OSD4_BATUSED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Critical Rotor Speed" name="H_RSC_CRITICAL" documentation="Rotor speed below which flight is not possible" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">10</field>
+<param humanName="X position" name="OSD4_BATUSED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Rotor Speed Output at Idle" name="H_RSC_IDLE" documentation="Rotor speed output while armed but rotor control speed is not engaged" user="Standard">
-<field name="Range">0 500</field>
-<field name="Increment">10</field>
+<param humanName="Y position" name="OSD4_BATUSED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Throttle Servo Low Power Position" name="H_RSC_POWER_LOW" documentation="Throttle output at zero collective pitch. This is on a scale from 0 to 1000, where 1000 is full throttle and 0 is zero throttle. Actual PWM values are controlled by H_RSC_PWM_MIN and H_RSC_PWM_MAX. Zero collective pitch is defined by H_COL_MID." user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">10</field>
+</parameters>
+<parameters name="OSD4_BATVOLT">
+<param humanName="Enable" name="OSD4_BATVOLT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Throttle Servo High Power Position" name="H_RSC_POWER_HIGH" documentation="Throttle output at maximum collective pitch. This is on a scale from 0 to 1000, where 1000 is full throttle and 0 is zero throttle. Actual PWM values are controlled by H_RSC_PWM_MIN and H_RSC_PWM_MAX." user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">10</field>
+<param humanName="X position" name="OSD4_BATVOLT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Cyclic Pitch Angle Max" name="H_CYC_MAX" documentation="Maximum pitch angle of the swash plate" user="Advanced">
-<field name="Range">0 18000</field>
-<field name="Increment">100</field>
-<field name="Units">Centi-Degrees</field>
+<param humanName="Y position" name="OSD4_BATVOLT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Boot-up Servo Test Cycles" name="H_SV_TEST" documentation="Number of cycles to run servo test on boot-up" user="Standard">
-<field name="Range">0 10</field>
-<field name="Increment">1</field>
+</parameters>
+<parameters name="OSD4_BLHAMPS">
+<param humanName="Enable" name="OSD4_BLHAMPS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Throttle servo negative collective power position" name="H_RSC_POWER_NEGC" documentation="Throttle output at full negative collective pitch. This is on a scale from 0 to 1000, where 1000 is full throttle and 0 is zero throttle. Actual PWM values are controlled by H_RSC_PWM_MIN and H_RSC_PWM_MAX. If this is equal to H_RSC_POWER_HIGH then you will have a symmetric V-curve for the throttle response." user="Standard">
-<field name="Range">1 1000</field>
-<field name="Increment">10</field>
+<param humanName="X position" name="OSD4_BLHAMPS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Throttle servo slew rate" name="H_RSC_SLEWRATE" documentation="This controls the maximum rate at which the throttle output can change, as a percentage per second. A value of 100 means the throttle can change over its full range in one second. A value of zero gives unlimited slew rate." user="Standard">
-<field name="Range">0 500</field>
-<field name="Increment">10</field>
+<param humanName="Y position" name="OSD4_BLHAMPS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
 </parameters>
-<parameters name="ICE_">
-<param humanName="Enable ICEngine control" name="ICE_ENABLE" documentation="This enables internal combusion engine control" user="Advanced">
+<parameters name="OSD4_BLHRPM">
+<param humanName="Enable" name="OSD4_BLHRPM_EN" documentation="Enable setting" user="Standard">
 <values>
 <value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Input channel for engine start" name="ICE_START_CHAN" documentation="This is an RC input channel for requesting engine start. Engine will try to start when channel is at or above 1700. Engine will stop when channel is at or below 1300. Between 1301 and 1699 the engine will not change state unless a MAVLink command or mission item commands a state change, or the vehicle is disamed." user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Chan1</value>
-<value code="2">Chan2</value>
-<value code="3">Chan3</value>
-<value code="4">Chan4</value>
-<value code="5">Chan5</value>
-<value code="6">Chan6</value>
-<value code="7">Chan7</value>
-<value code="8">Chan8</value>
-<value code="9">Chan9</value>
-<value code="10">Chan10</value>
-<value code="11">Chan11</value>
-<value code="12">Chan12</value>
-<value code="13">Chan13</value>
-<value code="14">Chan14</value>
-<value code="15">Chan15</value>
-<value code="16">Chan16</value>
-</values>
+<param humanName="X position" name="OSD4_BLHRPM_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Time to run starter" name="ICE_STARTER_TIME" documentation="This is the number of seconds to run the starter when trying to start the engine" user="Standard">
-<field name="Range">0.1 5</field>
-<field name="Units">Seconds</field>
+<param humanName="Y position" name="OSD4_BLHRPM_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Time to wait between starts" name="ICE_START_DELAY" documentation="Delay between start attempts" user="Standard">
-<field name="Range">1 10</field>
-<field name="Units">Seconds</field>
+</parameters>
+<parameters name="OSD4_BLHTEMP">
+<param humanName="Enable" name="OSD4_BLHTEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="RPM threshold" name="ICE_RPM_THRESH" documentation="This is the measured RPM above which tne engine is considered to be running" user="Standard">
-<field name="Range">100 100000</field>
+<param humanName="X position" name="OSD4_BLHTEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="PWM value for ignition on" name="ICE_PWM_IGN_ON" documentation="This is the value sent to the ignition channel when on" user="Standard">
-<field name="Range">1000 2000</field>
+<param humanName="Y position" name="OSD4_BLHTEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="PWM value for ignition off" name="ICE_PWM_IGN_OFF" documentation="This is the value sent to the ignition channel when off" user="Standard">
-<field name="Range">1000 2000</field>
+</parameters>
+<parameters name="OSD4_CLIMBEFF">
+<param humanName="Enable" name="OSD4_CLIMBEFF_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="PWM value for starter on" name="ICE_PWM_STRT_ON" documentation="This is the value sent to the starter channel when on" user="Standard">
-<field name="Range">1000 2000</field>
+<param humanName="X position" name="OSD4_CLIMBEFF_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="PWM value for starter off" name="ICE_PWM_STRT_OFF" documentation="This is the value sent to the starter channel when off" user="Standard">
-<field name="Range">1000 2000</field>
+<param humanName="Y position" name="OSD4_CLIMBEFF_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="RPM instance channel to use" name="ICE_RPM_CHAN" documentation="This is which of the RPM instances to use for detecting the RPM of the engine" user="Standard">
+</parameters>
+<parameters name="OSD4_CURRENT">
+<param humanName="Enable" name="OSD4_CURRENT_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="0">None</value>
-<value code="1">RPM1</value>
-<value code="2">RPM2</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Throttle percentage for engine start" name="ICE_START_PCT" documentation="This is the percentage throttle output for engine start" user="Standard">
-<field name="Range">0 100</field>
+<param humanName="X position" name="OSD4_CURRENT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-</parameters>
-<parameters name="IM_">
-<param humanName="Stabilize Mode Collective Point 1" name="IM_STAB_COL_1" documentation="Helicopter's minimum collective pitch setting at zero throttle input in Stabilize mode" user="Standard">
-<field name="Range">0 500</field>
-<field name="Increment">1</field>
-<field name="Units">Percent*10</field>
+<param humanName="Y position" name="OSD4_CURRENT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Stabilize Mode Collective Point 2" name="IM_STAB_COL_2" documentation="Helicopter's collective pitch setting at mid-low throttle input in Stabilize mode" user="Standard">
-<field name="Range">0 500</field>
-<field name="Increment">1</field>
-<field name="Units">Percent*10</field>
+</parameters>
+<parameters name="OSD4_DIST">
+<param humanName="Enable" name="OSD4_DIST_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Stabilize Mode Collective Point 3" name="IM_STAB_COL_3" documentation="Helicopter's collective pitch setting at mid-high throttle input in Stabilize mode" user="Standard">
-<field name="Range">500 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Percent*10</field>
+<param humanName="X position" name="OSD4_DIST_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Stabilize Mode Collective Point 4" name="IM_STAB_COL_4" documentation="Helicopter's maximum collective pitch setting at full throttle input in Stabilize mode" user="Standard">
-<field name="Range">500 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Percent*10</field>
+<param humanName="Y position" name="OSD4_DIST_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Acro Mode Collective Expo" name="IM_ACRO_COL_EXP" documentation="Used to soften collective pitch inputs near center point in Acro mode." user="Advanced">
+</parameters>
+<parameters name="OSD4_EFF">
+<param humanName="Enable" name="OSD4_EFF_EN" documentation="Enable setting" user="Standard">
 <values>
 <value code="0">Disabled</value>
-<value code="0.1">Very Low</value>
-<value code="0.2">Low</value>
-<value code="0.3">Medium</value>
-<value code="0.4">High</value>
-<value code="0.5">Very High</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-</parameters>
-<parameters name="INS_">
-<param humanName="IMU Product ID" name="INS_PRODUCT_ID" documentation="unused" user="Advanced">
-</param>
-<param humanName="Gyro offsets of X axis" name="INS_GYROFFS_X" documentation="Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro offsets of Y axis" name="INS_GYROFFS_Y" documentation="Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
+<param humanName="X position" name="OSD4_EFF_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Gyro offsets of Z axis" name="INS_GYROFFS_Z" documentation="Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
+<param humanName="Y position" name="OSD4_EFF_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Gyro2 offsets of X axis" name="INS_GYR2OFFS_X" documentation="Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
+</parameters>
+<parameters name="OSD4_FLTIME">
+<param humanName="Enable" name="OSD4_FLTIME_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Gyro2 offsets of Y axis" name="INS_GYR2OFFS_Y" documentation="Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
+<param humanName="X position" name="OSD4_FLTIME_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Gyro2 offsets of Z axis" name="INS_GYR2OFFS_Z" documentation="Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
+<param humanName="Y position" name="OSD4_FLTIME_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Gyro3 offsets of X axis" name="INS_GYR3OFFS_X" documentation="Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
+</parameters>
+<parameters name="OSD4_FLTMODE">
+<param humanName="Enable" name="OSD4_FLTMODE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Gyro3 offsets of Y axis" name="INS_GYR3OFFS_Y" documentation="Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
+<param humanName="X position" name="OSD4_FLTMODE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Gyro3 offsets of Z axis" name="INS_GYR3OFFS_Z" documentation="Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
+<param humanName="Y position" name="OSD4_FLTMODE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Accelerometer scaling of X axis" name="INS_ACCSCAL_X" documentation="Accelerometer scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
+</parameters>
+<parameters name="OSD4_GPSLAT">
+<param humanName="Enable" name="OSD4_GPSLAT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Accelerometer scaling of Y axis" name="INS_ACCSCAL_Y" documentation="Accelerometer scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
+<param humanName="X position" name="OSD4_GPSLAT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Accelerometer scaling of Z axis" name="INS_ACCSCAL_Z" documentation="Accelerometer scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
+<param humanName="Y position" name="OSD4_GPSLAT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Accelerometer offsets of X axis" name="INS_ACCOFFS_X" documentation="Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
+</parameters>
+<parameters name="OSD4_GPSLONG">
+<param humanName="Enable" name="OSD4_GPSLONG_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Accelerometer offsets of Y axis" name="INS_ACCOFFS_Y" documentation="Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
+<param humanName="X position" name="OSD4_GPSLONG_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Accelerometer offsets of Z axis" name="INS_ACCOFFS_Z" documentation="Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
+<param humanName="Y position" name="OSD4_GPSLONG_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Accelerometer2 scaling of X axis" name="INS_ACC2SCAL_X" documentation="Accelerometer2 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
+</parameters>
+<parameters name="OSD4_GSPEED">
+<param humanName="Enable" name="OSD4_GSPEED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Accelerometer2 scaling of Y axis" name="INS_ACC2SCAL_Y" documentation="Accelerometer2 scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
+<param humanName="X position" name="OSD4_GSPEED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Accelerometer2 scaling of Z axis" name="INS_ACC2SCAL_Z" documentation="Accelerometer2 scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
+<param humanName="Y position" name="OSD4_GSPEED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Accelerometer2 offsets of X axis" name="INS_ACC2OFFS_X" documentation="Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
+</parameters>
+<parameters name="OSD4_HDOP">
+<param humanName="Enable" name="OSD4_HDOP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Accelerometer2 offsets of Y axis" name="INS_ACC2OFFS_Y" documentation="Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
+<param humanName="X position" name="OSD4_HDOP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Accelerometer2 offsets of Z axis" name="INS_ACC2OFFS_Z" documentation="Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
+<param humanName="Y position" name="OSD4_HDOP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Accelerometer3 scaling of X axis" name="INS_ACC3SCAL_X" documentation="Accelerometer3 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
+</parameters>
+<parameters name="OSD4_HOME">
+<param humanName="Enable" name="OSD4_HOME_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Accelerometer3 scaling of Y axis" name="INS_ACC3SCAL_Y" documentation="Accelerometer3 scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
+<param humanName="X position" name="OSD4_HOME_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Accelerometer3 scaling of Z axis" name="INS_ACC3SCAL_Z" documentation="Accelerometer3 scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
+<param humanName="Y position" name="OSD4_HOME_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Accelerometer3 offsets of X axis" name="INS_ACC3OFFS_X" documentation="Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
+</parameters>
+<parameters name="OSD4_HORIZON">
+<param humanName="Enable" name="OSD4_HORIZON_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Accelerometer3 offsets of Y axis" name="INS_ACC3OFFS_Y" documentation="Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
+<param humanName="X position" name="OSD4_HORIZON_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Accelerometer3 offsets of Z axis" name="INS_ACC3OFFS_Z" documentation="Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
+<param humanName="Y position" name="OSD4_HORIZON_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="Gyro filter cutoff frequency" name="INS_GYRO_FILTER" documentation="Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)" user="Advanced">
-<field name="Range">0 127</field>
-<field name="Units">Hz</field>
+</parameters>
+<parameters name="OSD4_MESSAGE">
+<param humanName="Enable" name="OSD4_MESSAGE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="Accel filter cutoff frequency" name="INS_ACCEL_FILTER" documentation="Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)" user="Advanced">
-<field name="Range">0 127</field>
-<field name="Units">Hz</field>
+<param humanName="X position" name="OSD4_MESSAGE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Use first IMU for attitude, velocity and position estimates" name="INS_USE" documentation="Use first IMU for attitude, velocity and position estimates" user="Advanced">
+<param humanName="Y position" name="OSD4_MESSAGE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_PITCH">
+<param humanName="Enable" name="OSD4_PITCH_EN" documentation="Enable setting" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Use second IMU for attitude, velocity and position estimates" name="INS_USE2" documentation="Use second IMU for attitude, velocity and position estimates" user="Advanced">
+<param humanName="X position" name="OSD4_PITCH_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_PITCH_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_ROLL">
+<param humanName="Enable" name="OSD4_ROLL_EN" documentation="Enable setting" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Use third IMU for attitude, velocity and position estimates" name="INS_USE3" documentation="Use third IMU for attitude, velocity and position estimates" user="Advanced">
+<param humanName="X position" name="OSD4_ROLL_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_ROLL_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_RSSI">
+<param humanName="Enable" name="OSD4_RSSI_EN" documentation="Enable setting" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Stillness threshold for detecting if we are moving" name="INS_STILL_THRESH" documentation="Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5" user="Advanced">
-<field name="Range">0.05 50</field>
+<param humanName="X position" name="OSD4_RSSI_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="Gyro Calibration scheme" name="INS_GYR_CAL" documentation="Conrols when automatic gyro calibration is performed" user="Advanced">
+<param humanName="Y position" name="OSD4_RSSI_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_SATS">
+<param humanName="Enable" name="OSD4_SATS_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="0">Never</value>
-<value code=" 1">Start-up only</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Accel cal trim option" name="INS_TRIM_OPTION" documentation="Specifies how the accel cal routine determines the trims" user="Advanced">
+<param humanName="X position" name="OSD4_SATS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_SATS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_STATS">
+<param humanName="Enable" name="OSD4_STATS_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="0">Don't adjust the trims</value>
-<value code="1">Assume first orientation was level</value>
-<value code="2">Assume ACC_BODYFIX is perfectly aligned to the vehicle</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Body-fixed accelerometer" name="INS_ACC_BODYFIX" documentation="The body-fixed accelerometer to be used for trim calculation" user="Advanced">
+<param humanName="X position" name="OSD4_STATS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_STATS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_TEMP">
+<param humanName="Enable" name="OSD4_TEMP_EN" documentation="Enable setting" user="Standard">
 <values>
-<value code="1">IMU 1</value>
-<value code="2">IMU 2</value>
-<value code="3">IMU 3</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="IMU accelerometer X position" name="INS_POS1_X" documentation="X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
-<field name="Units">m</field>
+<param humanName="X position" name="OSD4_TEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="IMU accelerometer Y position" name="INS_POS1_Y" documentation="Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
-<field name="Units">m</field>
+<param humanName="Y position" name="OSD4_TEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="IMU accelerometer Z position" name="INS_POS1_Z" documentation="Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
-<field name="Units">m</field>
+</parameters>
+<parameters name="OSD4_WAYPOINT">
+<param humanName="Enable" name="OSD4_WAYPOINT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="IMU accelerometer X position" name="INS_POS2_X" documentation="X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
-<field name="Units">m</field>
+<param humanName="X position" name="OSD4_WAYPOINT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="IMU accelerometer Y position" name="INS_POS2_Y" documentation="Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
-<field name="Units">m</field>
+<param humanName="Y position" name="OSD4_WAYPOINT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="IMU accelerometer Z position" name="INS_POS2_Z" documentation="Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
-<field name="Units">m</field>
+</parameters>
+<parameters name="OSD4_XTRACK">
+<param humanName="Enable" name="OSD4_XTRACK_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
 </param>
-<param humanName="IMU accelerometer X position" name="INS_POS3_X" documentation="X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
-<field name="Units">m</field>
+<param humanName="X position" name="OSD4_XTRACK_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
 </param>
-<param humanName="IMU accelerometer Y position" name="INS_POS3_Y" documentation="Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
-<field name="Units">m</field>
+<param humanName="Y position" name="OSD4_XTRACK_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
 </param>
-<param humanName="IMU accelerometer Z position" name="INS_POS3_Z" documentation="Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
-<field name="Units">m</field>
+</parameters>
+<parameters name="PTCH2SRV_">
+<param humanName="Pitch Time Constant" name="PTCH2SRV_TCONST" documentation="This controls the time constant in seconds from demanded to achieved pitch angle. A value of 0.5 is a good default and will work with nearly all models. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the aircraft can achieve." user="Advanced">
+<field name="Range">0.4 1.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
 </param>
-<param humanName="Gyro ID" name="INS_GYR_ID" documentation="Gyro sensor ID, taking into account its type, bus and instance" user="Advanced">
-<field name="ReadOnly">True</field>
+<param humanName="Proportional Gain" name="PTCH2SRV_P" documentation="This is the gain from pitch angle to elevator. This gain works the same way as PTCH2SRV_P in the old PID controller and can be set to the same value." user="User">
+<field name="Range">0.1 3.0</field>
+<field name="Increment">0.1</field>
 </param>
-<param humanName="Gyro2 ID" name="INS_GYR2_ID" documentation="Gyro2 sensor ID, taking into account its type, bus and instance" user="Advanced">
-<field name="ReadOnly">True</field>
+<param humanName="Damping Gain" name="PTCH2SRV_D" documentation="This is the gain from pitch rate to elevator. This adjusts the damping of the pitch control loop. It has the same effect as PTCH2SRV_D in the old PID controller and can be set to the same value, but without the spikes in servo demands. This gain helps to reduce pitching in turbulence. Some airframes such as flying wings that have poor pitch damping can benefit from increasing this gain term. This should be increased in 0.01 increments as too high a value can lead to a high frequency pitch oscillation that could overstress the airframe." user="User">
+<field name="Range">0 0.1</field>
+<field name="Increment">0.01</field>
 </param>
-<param humanName="Gyro3 ID" name="INS_GYR3_ID" documentation="Gyro3 sensor ID, taking into account its type, bus and instance" user="Advanced">
-<field name="ReadOnly">True</field>
+<param humanName="Integrator Gain" name="PTCH2SRV_I" documentation="This is the gain applied to the integral of pitch angle. It has the same effect as PTCH2SRV_I in the old PID controller and can be set to the same value. Increasing this gain causes the controller to trim out constant offsets between demanded and measured pitch angle." user="User">
+<field name="Range">0 0.5</field>
+<field name="Increment">0.05</field>
 </param>
-<param humanName="Accelerometer ID" name="INS_ACC_ID" documentation="Accelerometer sensor ID, taking into account its type, bus and instance" user="Advanced">
-<field name="ReadOnly">True</field>
+<param humanName="Pitch up max rate" name="PTCH2SRV_RMAX_UP" documentation="This sets the maximum nose up pitch rate that the controller will demand (degrees/sec). Setting it to zero disables the limit." user="Advanced">
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
 </param>
-<param humanName="Accelerometer2 ID" name="INS_ACC2_ID" documentation="Accelerometer2 sensor ID, taking into account its type, bus and instance" user="Advanced">
-<field name="ReadOnly">True</field>
+<param humanName="Pitch down max rate" name="PTCH2SRV_RMAX_DN" documentation="This sets the maximum nose down pitch rate that the controller will demand (degrees/sec). Setting it to zero disables the limit." user="Advanced">
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
 </param>
-<param humanName="Accelerometer3 ID" name="INS_ACC3_ID" documentation="Accelerometer3 sensor ID, taking into account its type, bus and instance" user="Advanced">
-<field name="ReadOnly">True</field>
+<param humanName="Roll compensation" name="PTCH2SRV_RLL" documentation="This is the gain term that is applied to the pitch rate offset calculated as required to keep the nose level during turns. The default value is 1 which will work for all models. Advanced users can use it to correct for height variation in turns. If height is lost initially in turns this can be increased in small increments of 0.05 to compensate. If height is gained initially in turns then it can be decreased." user="User">
+<field name="Range">0.7 1.5</field>
+<field name="Increment">0.05</field>
 </param>
-<param humanName="Fast sampling mask" name="INS_FAST_SAMPLE" documentation="Mask of IMUs to enable fast sampling on, if available" user="Advanced">
+<param humanName="Integrator limit" name="PTCH2SRV_IMAX" documentation="This limits the number of centi-degrees of elevator over which the integrator will operate. At the default setting of 3000 centi-degrees, the integrator will be limited to +- 30 degrees of servo travel. The maximum servo deflection is +- 45 degrees, so the default value represents a 2/3rd of the total control throw which is adequate for most aircraft unless they are severely out of trim or have very limited elevator control effectiveness." user="Advanced">
+<field name="Range">0 4500</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Feed forward Gain" name="PTCH2SRV_FF" documentation="This is the gain from demanded rate to elevator output. " user="User">
+<field name="Range">0.1 4.0</field>
+<field name="Increment">0.1</field>
 </param>
 </parameters>
-<parameters name="LAND_">
-<param humanName="Landing slope re-calc threshold" name="LAND_SLOPE_RCALC" documentation="This parameter is used when using a rangefinder during landing for altitude correction from baro drift (RNGFND_LANDING=1) and the altitude correction indicates your altitude is lower than the intended slope path. This value is the threshold of the correction to re-calculate the landing approach slope. Set to zero to keep the original slope all the way down and any detected baro drift will be corrected by pitching/throttling up to snap back to resume the original slope path. Otherwise, when a rangefinder altitude correction exceeds this threshold it will trigger a slope re-calculate to give a shallower slope. This also smoothes out the approach when flying over objects such as trees. Recommend a value of 2m." user="Advanced">
-<field name="Range">0 5</field>
-<field name="Increment">0.5</field>
-<field name="Units">meters</field>
+<parameters name="Q_">
+<param humanName="Enable QuadPlane" name="Q_ENABLE" documentation="This enables QuadPlane functionality, assuming multicopter motors start on output 5. If this is set to 2 then when starting AUTO mode it will initially be in VTOL AUTO mode." user="Standard">
+<values>
+<value code="0">Disable</value>
+<value code="1">Enable</value>
+<value code="2">Enable VTOL AUTO</value>
+</values>
 </param>
-<param humanName="Landing auto-abort slope threshold" name="LAND_ABORT_DEG" documentation="This parameter is used when using a rangefinder during landing for altitude correction from baro drift (RNGFND_LANDING=1) and the altitude correction indicates your actual altitude is higher than the intended slope path. Normally it would pitch down steeply but that can result in a crash with high airspeed so this allows remembering the baro offset and self-abort the landing and come around for another landing with the correct baro offset applied for a perfect slope. An auto-abort go-around will only happen once, next attempt will not auto-abort again. This operation happens entirely automatically in AUTO mode. This value is the delta degrees threshold to trigger the go-around compared to the original slope. Example: if set to 5 deg and the mission planned slope is 15 deg then if the new slope is 21 then it will go-around. Set to 0 to disable. Requires LAND_SLOPE_RCALC &gt; 0." user="Advanced">
-<field name="Range">0 90</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees</field>
+<param humanName="Angle Max" name="Q_ANGLE_MAX" documentation="Maximum lean angle in all VTOL flight modes" user="Advanced">
+<field name="Range">1000 8000</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
 </param>
-<param humanName="Landing Pitch" name="LAND_PITCH_CD" documentation="Used in autoland to give the minimum pitch in the final stage of landing (after the flare). This parameter can be used to ensure that the final landing attitude is appropriate for the type of undercarriage on the aircraft. Note that it is a minimum pitch only - the landing code will control pitch above this value to try to achieve the configured landing sink rate." user="Advanced">
-<field name="Units">centi-Degrees</field>
+<param humanName="Transition time" name="Q_TRANSITION_MS" documentation="Transition time in milliseconds after minimum airspeed is reached" user="Advanced">
+<field name="Range">0 30000</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
 </param>
-<param humanName="Landing flare altitude" name="LAND_FLARE_ALT" documentation="Altitude in autoland at which to lock heading and flare to the LAND_PITCH_CD pitch. Note that this option is secondary to LAND_FLARE_SEC. For a good landing it preferable that the flare is triggered by LAND_FLARE_SEC." user="Advanced">
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
+<param humanName="Pilot maximum vertical speed" name="Q_VELZ_MAX" documentation="The maximum vertical velocity the pilot may request in cm/s" user="Standard">
+<field name="Range">50 500</field>
+<field name="Increment">10</field>
+<field name="Units">cm/s</field>
+<field name="UnitText">centimeters per second</field>
 </param>
-<param humanName="Landing flare time" name="LAND_FLARE_SEC" documentation="Vertical time before landing point at which to lock heading and flare with the motor stopped. This is vertical time, and is calculated based solely on the current height above the ground and the current descent rate.  Set to 0 if you only wish to flare based on altitude (see LAND_FLARE_ALT)." user="Advanced">
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
+<param humanName="Pilot vertical acceleration" name="Q_ACCEL_Z" documentation="The vertical acceleration used when pilot is controlling the altitude" user="Standard">
+<field name="Range">50 500</field>
+<field name="Increment">10</field>
+<field name="Units">cm/s/s</field>
+<field name="UnitText">centimeters per square second</field>
 </param>
-<param humanName="Landing pre-flare altitude" name="LAND_PF_ALT" documentation="Altitude to trigger pre-flare flight stage where LAND_PF_ARSPD controls airspeed. The pre-flare flight stage trigger works just like LAND_FLARE_ALT but higher. Disabled when LAND_PF_ARSPD is 0." user="Advanced">
-<field name="Range">0 30</field>
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
+<param humanName="RC output speed in Hz" name="Q_RC_SPEED" documentation="This is the PWM refresh rate in Hz for QuadPlane quad motors" user="Standard">
+<field name="Range">50 500</field>
+<field name="Increment">10</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
-<param humanName="Landing pre-flare time" name="LAND_PF_SEC" documentation="Vertical time to ground to trigger pre-flare flight stage where LAND_PF_ARSPD controls airspeed. This pre-flare flight stage trigger works just like LAND_FLARE_SEC but earlier. Disabled when LAND_PF_ARSPD is 0." user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
+<param humanName="Minimum PWM output" name="Q_THR_MIN_PWM" documentation="This is the minimum PWM output for the quad motors" user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Landing pre-flare airspeed" name="LAND_PF_ARSPD" documentation="Desired airspeed during pre-flare flight stage. This is useful to reduce airspeed just before the flare. Use 0 to disable." user="Advanced">
-<field name="Range">0 30</field>
+<param humanName="Maximum PWM output" name="Q_THR_MAX_PWM" documentation="This is the maximum PWM output for the quad motors" user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Quadplane assistance speed" name="Q_ASSIST_SPEED" documentation="This is the speed below which the quad motors will provide stability and lift assistance in fixed wing modes. Zero means no assistance except during transition" user="Standard">
+<field name="Range">0 100</field>
 <field name="Increment">0.1</field>
 <field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
 </param>
-<param humanName="Landing throttle slew rate" name="LAND_THR_SLEW" documentation="This parameter sets the slew rate for the throttle during auto landing. When this is zero the THR_SLEWRATE parameter is used during landing. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on landing. Values below 50 are not recommended as it may cause a stall when airspeed is low and you can not throttle up fast enough." user="User">
-<field name="Range">0 127</field>
+<param humanName="Maximum yaw rate" name="Q_YAW_RATE_MAX" documentation="This is the maximum yaw rate for pilot input on rudder stick in degrees/second" user="Standard">
+<field name="Range">50 500</field>
 <field name="Increment">1</field>
-<field name="Units">percent</field>
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
 </param>
-<param humanName="Landing disarm delay" name="LAND_DISARMDELAY" documentation="After a landing has completed using a LAND waypoint, automatically disarm after this many seconds have passed. Use 0 to not disarm." user="Advanced">
-<field name="Range">0 127</field>
+<param humanName="Land speed" name="Q_LAND_SPEED" documentation="The descent speed for the final stage of landing in cm/s" user="Standard">
+<field name="Range">30 200</field>
+<field name="Increment">10</field>
+<field name="Units">cm/s</field>
+<field name="UnitText">centimeters per second</field>
+</param>
+<param humanName="Land final altitude" name="Q_LAND_FINAL_ALT" documentation="The altitude at which we should switch to Q_LAND_SPEED descent rate" user="Standard">
+<field name="Range">0.5 50</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Transition max pitch" name="Q_TRAN_PIT_MAX" documentation="Maximum pitch during transition to auto fixed wing flight" user="Standard">
+<field name="Range">0 30</field>
 <field name="Increment">1</field>
-<field name="Units">seconds</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
 </param>
-<param humanName="Set servos to neutral after landing" name="LAND_THEN_NEUTRL" documentation="When enabled, after an autoland and auto-disarm via LAND_DISARMDELAY happens then set all servos to neutral. This is helpful when an aircraft has a rough landing upside down or a crazy angle causing the servos to strain." user="Advanced">
+<param humanName="Frame Class" name="Q_FRAME_CLASS" documentation="Controls major frame class for multicopter component" user="Standard">
 <values>
-<value code="0">Disabled</value>
-<value code=" 1">Servos to Neutral</value>
-<value code=" 2">Servos to Zero PWM</value>
+<value code="0">Undefined</value>
+<value code=" 1">Quad</value>
+<value code=" 2">Hexa</value>
+<value code=" 3">Octa</value>
+<value code=" 4">OctaQuad</value>
+<value code=" 5">Y6</value>
+<value code=" 7">Tri</value>
+<value code=" 10"> TailSitter</value>
 </values>
 </param>
-<param humanName="Landing abort using throttle" name="LAND_ABORT_THR" documentation="Allow a landing abort to trigger with a throttle &gt; 95%" user="Advanced">
+<param humanName="Frame Type (+, X or V)" name="Q_FRAME_TYPE" documentation="Controls motor mixing for multicopter component" user="Standard">
 <values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
+<value code="0">Plus</value>
+<value code=" 1">X</value>
+<value code=" 2">V</value>
+<value code=" 3">H</value>
+<value code=" 4">V-Tail</value>
+<value code=" 5">A-Tail</value>
+<value code=" 10">Y6B</value>
+<value code=" 11">Y6F</value>
 </values>
 </param>
-<param humanName="Landing flap percentage" name="LAND_FLAP_PERCNT" documentation="The amount of flaps (as a percentage) to apply in the landing approach and flare of an automatic landing" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Units">Percent</field>
+<param humanName="Forward velocity hold gain" name="Q_VFWD_GAIN" documentation="Controls use of forward motor in vtol modes. If this is zero then the forward motor will not be used for position control in VTOL modes. A value of 0.05 is a good place to start if you want to use the forward motor for position control. No forward motor will be used in QSTABILIZE or QHOVER modes. Use QLOITER for position hold with the forward motor." user="Standard">
+<field name="Range">0 0.5</field>
+<field name="Increment">0.01</field>
 </param>
-<param humanName="Auto-landing type" name="LAND_TYPE" documentation="Specifies the auto-landing type to use" user="Standard">
+<param humanName="Weathervaning gain" name="Q_WVANE_GAIN" documentation="This controls the tendency to yaw to face into the wind. A value of 0.1 is to start with and will give a slow turn into the wind. Use a value of 0.4 for more rapid response. The weathervaning works by turning into the direction of roll." user="Standard">
+<field name="Range">0 1</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Weathervaning min roll" name="Q_WVANE_MINROLL" documentation="This set the minimum roll in degrees before active weathervaning will start. This may need to be larger if your aircraft has bad roll trim." user="Standard">
+<field name="Range">0 10</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="QRTL return altitude" name="Q_RTL_ALT" documentation="The altitude which QRTL mode heads to initially" user="Standard">
+<field name="Range">1 200</field>
+<field name="Increment">1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="VTOL RTL mode" name="Q_RTL_MODE" documentation="If this is set to 1 then an RTL will change to QRTL when within RTL_RADIUS meters of the RTL destination" user="Standard">
 <values>
-<value code="0">Standard Glide Slope</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-</parameters>
-<parameters name="LGR_">
-<param humanName="Landing Gear Servo Retracted PWM Value" name="LGR_SERVO_RTRACT" documentation="Servo PWM value when landing gear is retracted" user="Standard">
-<field name="Range">1000 2000</field>
+<param humanName="Tiltrotor mask" name="Q_TILT_MASK" documentation="This is a bitmask of motors that are tiltable in a tiltrotor (or tiltwing). The mask is in terms of the standard motor order for the frame type." user="Standard">
+</param>
+<param humanName="Tiltrotor upwards tilt rate" name="Q_TILT_RATE_UP" documentation="This is the maximum speed at which the motor angle will change for a tiltrotor when moving from forward flight to hover" user="Standard">
+<field name="Range">10 300</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
 </param>
-<param humanName="Landing Gear Servo Deployed PWM Value" name="LGR_SERVO_DEPLOY" documentation="Servo PWM value when landing gear is deployed" user="Standard">
-<field name="Range">1000 2000</field>
+<param humanName="Tiltrotor maximum VTOL angle" name="Q_TILT_MAX" documentation="This is the maximum angle of the tiltable motors at which multicopter control will be enabled. Beyond this angle the plane will fly solely as a fixed wing aircraft and the motors will tilt to their maximum angle at the TILT_RATE" user="Standard">
+<field name="Range">20 80</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
 </param>
-</parameters>
-<parameters name="LOG">
-<param humanName="DataFlash Backend Storage type" name="LOG_BACKEND_TYPE" documentation="0 for None, 1 for File, 2 for dataflash mavlink, 3 for both file and dataflash" user="Standard">
+<param humanName="Enable VTOL in GUIDED mode" name="Q_GUIDED_MODE" documentation="This enables use of VTOL in guided mode. When enabled the aircraft will switch to VTOL flight when the guided destination is reached and hover at the destination." user="Standard">
 <values>
-<value code="0">None</value>
-<value code="1">File</value>
-<value code="2">MAVLink</value>
-<value code="3">BothFileAndMAVLink</value>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Maximum DataFlash File Backend buffer size (in kilobytes)" name="LOG_FILE_BUFSIZE" documentation='The DataFlash_File backend uses a buffer to store data before writing to the block device.  Raising this value may reduce "gaps" in your SD card logging.  This buffer size may be reduced depending on available memory.  PixHawk requires at least 4 kilobytes.  Maximum value available here is 64 kilobytes.' user="Standard">
-</param>
-<param humanName="Enable logging while disarmed" name="LOG_DISARMED" documentation="If LOG_DISARMED is set to 1 then logging will be enabled while disarmed. This can make for very large logfiles but can help a lot when tracking down startup issues" user="Standard">
+<param humanName="ESC Calibration" name="Q_ESC_CAL" documentation="This is used to calibrate the throttle range of the VTOL motors. Please read http://ardupilot.org/plane/docs/quadplane-esc-calibration.html before using. This parameter is automatically set back to 0 on every boot. This parameter only takes effect in QSTABILIZE mode. When set to 1 the output of all motors will come directly from the throttle stick when armed, and will be zero when disarmed. When set to 2 the output of all motors will be maximum when armed and zero when disarmed. Make sure you remove all properllers before using." user="Standard">
 <values>
 <value code="0">Disabled</value>
-<value code="1">Enabled</value>
+<value code="1">ThrottleInput</value>
+<value code="2">FullInput</value>
 </values>
 </param>
-<param humanName="Enable logging of information needed for Replay" name="LOG_REPLAY" documentation="If LOG_REPLAY is set to 1 then the EKF2 state estimator will log detailed information needed for diagnosing problems with the Kalman filter. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost" user="Standard">
+<param humanName="Forward velocity alt cutoff" name="Q_VFWD_ALT" documentation="Controls altitude to disable forward velocity assist when below this relative altitude. This is useful to keep the forward velocity propeller from hitting the ground. Rangefinder height data is incorporated when available." user="Standard">
+<field name="Range">0 10</field>
+<field name="Increment">0.25</field>
+</param>
+<param humanName="Cut IC engine on landing" name="Q_LAND_ICE_CUT" documentation="This controls stopping an internal combustion engine in the final landing stage of a VTOL. This is important for aircraft where the forward thrust engine may experience prop-strike if left running during landing. This requires the engine controls are enabled using the ICE_* parameters." user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">Enabled</value>
 </values>
 </param>
-<param humanName="Stop logging to current file on disarm" name="LOG_FILE_DSRMROT" documentation="When set, the current log file is closed when the vehicle is disarmed.  If LOG_DISARMED is set then a fresh log will be opened." user="Standard">
+<param humanName="Quadplane assistance angle" name="Q_ASSIST_ANGLE" documentation="This is the angular error in attitude beyond which the quadplane VTOL motors will provide stability assistance. This will only be used if Q_ASSIST_SPEED is also non-zero. Assistance will be given if the attitude is outside the normal attitude limits by at least 5 degrees and the angular error in roll or pitch is greater than this angle for at least 1 second. Set to zero to disable angle assistance." user="Standard">
+<field name="Range">0 90</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Tiltrotor type" name="Q_TILT_TYPE" documentation="This is the type of tiltrotor when TILT_MASK is non-zero. A continuous tiltrotor can tilt the rotors to any angle on demand. A binary tiltrotor assumes a retract style servo where the servo is either fully forward or fully up. In both cases the servo can't move faster than Q_TILT_RATE. A vectored yaw tiltrotor will use the tilt of the motors to control yaw in hover">
 <values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
+<value code="0">Continuous</value>
+<value code="1">Binary</value>
+<value code="2">VectoredYaw</value>
 </values>
 </param>
-</parameters>
-<parameters name="MIS_">
-<param humanName="Total mission commands" name="MIS_TOTAL" documentation="The number of mission mission items that has been loaded by the ground station. Do not change this manually." user="Advanced">
-<field name="Range">0 32766</field>
+<param humanName="Tailsitter transition angle" name="Q_TAILSIT_ANGLE" documentation="This is the angle at which tailsitter aircraft will change from VTOL control to fixed wing control.">
+<field name="Range">5 80</field>
+</param>
+<param humanName="Tiltrotor downwards tilt rate" name="Q_TILT_RATE_DN" documentation="This is the maximum speed at which the motor angle will change for a tiltrotor when moving from hover to forward flight. When this is zero the Q_TILT_RATE_UP value is used." user="Standard">
+<field name="Range">10 300</field>
 <field name="Increment">1</field>
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
 </param>
-<param humanName="Mission Restart when entering Auto mode" name="MIS_RESTART" documentation="Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)" user="Advanced">
+<param humanName="Tailsitter input type" name="Q_TAILSIT_INPUT" documentation="This controls whether stick input when hovering as a tailsitter follows the conventions for fixed wing hovering or multicopter hovering. When multicopter input is selected the roll stick will roll the aircraft in earth frame and yaw stick will yaw in earth frame. When using fixed wing input the roll and yaw sticks will control the aircraft in body frame.">
 <values>
-<value code="0">Resume Mission</value>
-<value code=" 1">Restart Mission</value>
+<value code="0">MultiCopterInput</value>
+<value code="1">FixedWingInput</value>
 </values>
 </param>
-</parameters>
-<parameters name="MNT">
-<param humanName="Mount default operating mode" name="MNT_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
+<param humanName="Tailsitter input mask" name="Q_TAILSIT_MASK" documentation="This controls what channels have full manual control when hovering as a tailsitter and the Q_TAILSIT_MASKCH channel in high. This can be used to teach yourself to prop-hang a 3D plane by learning one or more channels at a time.">
+<field name="Bitmask">0:Aileron,1:Elevator,2:Throttle,3:Rudder</field>
+</param>
+<param humanName="Tailsitter input mask channel" name="Q_TAILSIT_MASKCH" documentation="This controls what input channel will activate the Q_TAILSIT_MASK mask. When this channel goes above 1700 then the pilot will have direct manual control of the output channels specified in Q_TAILSIT_MASK. Set to zero to disable.">
 <values>
-<value code="0">Retracted</value>
-<value code="1">Neutral</value>
-<value code="2">MavLink Targeting</value>
-<value code="3">RC Targeting</value>
-<value code="4">GPS Point</value>
+<value code="0">Disabled</value>
+<value code="1">Channel1</value>
+<value code="2">Channel2</value>
+<value code="3">Channel3</value>
+<value code="4">Channel4</value>
+<value code="5">Channel5</value>
+<value code="6">Channel6</value>
+<value code="7">Channel7</value>
+<value code="8">Channel8</value>
 </values>
 </param>
-<param humanName="Mount roll angle when in retracted position" name="MNT_RETRACT_X" documentation="Mount roll angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
+<param humanName="Tailsitter vector thrust gain in forward flight" name="Q_TAILSIT_VFGAIN" documentation="This controls the amount of vectored thrust control used in forward flight for a vectored tailsitter">
+<field name="Range">0 1</field>
+<field name="Increment">0.01</field>
 </param>
-<param humanName="Mount tilt/pitch angle when in retracted position" name="MNT_RETRACT_Y" documentation="Mount tilt/pitch angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
+<param humanName="Tailsitter vector thrust gain in hover" name="Q_TAILSIT_VHGAIN" documentation="This controls the amount of vectored thrust control used in hover for a vectored tailsitter">
+<field name="Range">0 1</field>
+<field name="Increment">0.01</field>
 </param>
-<param humanName="Mount yaw/pan angle when in retracted position" name="MNT_RETRACT_Z" documentation="Mount yaw/pan angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
+<param humanName="Tilt minimum angle for vectored yaw" name="Q_TILT_YAW_ANGLE" documentation="This is the angle of the tilt servos when in VTOL mode and at minimum output. This needs to be set for Q_TILT_TYPE=3 to enable vectored control for yaw of tricopter tilt quadplanes.">
+<field name="Range">0 30</field>
 </param>
-<param humanName="Mount roll angle when in neutral position" name="MNT_NEUTRAL_X" documentation="Mount roll angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
+<param humanName="Tailsitter vector thrust gain power" name="Q_TAILSIT_VHPOW" documentation="This controls the amount of extra pitch given to the vectored control when at high pitch errors">
+<field name="Range">0 4</field>
+<field name="Increment">0.1</field>
 </param>
-<param humanName="Mount tilt/pitch angle when in neutral position" name="MNT_NEUTRAL_Y" documentation="Mount tilt/pitch angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
+<param humanName="MAVLink type identifier" name="Q_MAV_TYPE" documentation="This controls the mavlink type given in HEARTBEAT messages. For some GCS types a particular setting will be needed for correct operation.">
+<values>
+<value code="0">AUTO</value>
+<value code="1">FIXED_WING</value>
+<value code="2">QUADROTOR</value>
+<value code="3">COAXIAL</value>
+<value code="4">HELICOPTER</value>
+<value code="7">AIRSHIP</value>
+<value code="8">FREE_BALLOON</value>
+<value code="9">ROCKET</value>
+<value code="10">GROUND_ROVER</value>
+<value code="11">SURFACE_BOAT</value>
+<value code="12">SUBMARINE</value>
+<value code="16">FLAPPING_WING</value>
+<value code="17">KITE</value>
+<value code="19">VTOL_DUOROTOR</value>
+<value code="20">VTOL_QUADROTOR</value>
+<value code="21">VTOL_TILTROTOR</value>
+</values>
+</param>
+<param humanName="quadplane options" name="Q_OPTIONS" documentation="This provides a set of additional control options for quadplanes. LevelTransition means that the wings should be held level to within LEVEL_ROLL_LIMIT degrees during transition to fixed wing flight. If AllowFWTakeoff bit is not set then fixed wing takeoff on quadplanes will instead perform a VTOL takeoff. If AllowFWLand bit is not set then fixed wing land on quadplanes will instead perform a VTOL land.">
+<field name="Bitmask">0:LevelTransition,1:AllowFWTakeoff,2:AllowFWLand</field>
+</param>
+<param humanName="Transition deceleration" name="Q_TRANS_DECEL" documentation="This is deceleration rate that will be used in calculating the stopping distance when transitioning from fixed wing flight to multicopter flight." user="Standard">
+<field name="Range">0.2 5</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
 </param>
-<param humanName="Mount pan/yaw angle when in neutral position" name="MNT_NEUTRAL_Z" documentation="Mount pan/yaw angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
+<param humanName="Maximum control throttle scaling value" name="Q_TAILSIT_THSCMX" documentation="Maximum value of throttle scaling for tailsitter velocity scaling, reduce this value to remove low thorottle D ossilaitons " user="Standard">
+<field name="Range">1 5</field>
 </param>
-<param humanName="Stabilize mount's roll angle" name="MNT_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
+</parameters>
+<parameters name="Q_A_">
+<param humanName="Yaw target slew rate" name="Q_A_SLEW_YAW" documentation="Maximum rate the yaw target can be updated in Loiter, RTL, Auto flight modes" user="Advanced">
+<field name="Range">500 18000</field>
+<field name="Increment">100</field>
+<field name="Units">cdeg/s</field>
+<field name="UnitText">centidegrees per second</field>
+</param>
+<param humanName="Acceleration Max for Yaw" name="Q_A_ACCEL_Y_MAX" documentation="Maximum acceleration in yaw axis" user="Advanced">
+<field name="Range">0 72000</field>
 <values>
 <value code="0">Disabled</value>
-<value code="1">Enabled</value>
+<value code=" 9000">VerySlow</value>
+<value code=" 18000">Slow</value>
+<value code=" 36000">Medium</value>
+<value code=" 54000">Fast</value>
 </values>
+<field name="Increment">1000</field>
+<field name="Units">cdeg/s/s</field>
+<field name="UnitText">centidegrees per square second</field>
 </param>
-<param humanName="Stabilize mount's pitch/tilt angle" name="MNT_STAB_TILT" documentation="enable tilt/pitch stabilisation relative to Earth" user="Standard">
+<param humanName="Rate Feedforward Enable" name="Q_A_RATE_FF_ENAB" documentation="Controls whether body-frame rate feedfoward is enabled or disabled" user="Advanced">
 <values>
 <value code="0">Disabled</value>
-<value code="1">Enabled</value>
+<value code=" 1">Enabled</value>
 </values>
 </param>
-<param humanName="Stabilize mount pan/yaw angle" name="MNT_STAB_PAN" documentation="enable pan/yaw stabilisation relative to Earth" user="Standard">
+<param humanName="Acceleration Max for Roll" name="Q_A_ACCEL_R_MAX" documentation="Maximum acceleration in roll axis" user="Advanced">
+<field name="Range">0 180000</field>
 <values>
 <value code="0">Disabled</value>
-<value code="1">Enabled</value>
+<value code=" 30000">VerySlow</value>
+<value code=" 72000">Slow</value>
+<value code=" 108000">Medium</value>
+<value code=" 162000">Fast</value>
 </values>
+<field name="Increment">1000</field>
+<field name="Units">cdeg/s/s</field>
+<field name="UnitText">centidegrees per square second</field>
 </param>
-<param humanName="roll RC input channel" name="MNT_RC_IN_ROLL" documentation="0 for none, any other for the RC channel to be used to control roll movements" user="Standard">
+<param humanName="Acceleration Max for Pitch" name="Q_A_ACCEL_P_MAX" documentation="Maximum acceleration in pitch axis" user="Advanced">
+<field name="Range">0 180000</field>
 <values>
 <value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
+<value code=" 30000">VerySlow</value>
+<value code=" 72000">Slow</value>
+<value code=" 108000">Medium</value>
+<value code=" 162000">Fast</value>
 </values>
+<field name="Increment">1000</field>
+<field name="Units">cdeg/s/s</field>
+<field name="UnitText">centidegrees per square second</field>
 </param>
-<param humanName="Minimum roll angle" name="MNT_ANGMIN_ROL" documentation="Minimum physical roll angular position of mount." user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
+<param humanName="Angle Boost" name="Q_A_ANGLE_BOOST" documentation="Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code=" 1">Enabled</value>
+</values>
 </param>
-<param humanName="Maximum roll angle" name="MNT_ANGMAX_ROL" documentation="Maximum physical roll angular position of the mount" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
+<param humanName="Roll axis angle controller P gain" name="Q_A_ANG_RLL_P" documentation="Roll axis angle controller P gain.  Converts the error between the desired roll angle and actual angle to a desired roll rate" user="Standard">
+<field name="Range">0.0 12.000</field>
 </param>
-<param humanName="tilt (pitch) RC input channel" name="MNT_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
+<param humanName="Pitch axis angle controller P gain" name="Q_A_ANG_PIT_P" documentation="Pitch axis angle controller P gain.  Converts the error between the desired pitch angle and actual angle to a desired pitch rate" user="Standard">
+<field name="Range">0.0 12.000</field>
+</param>
+<param humanName="Yaw axis angle controller P gain" name="Q_A_ANG_YAW_P" documentation="Yaw axis angle controller P gain.  Converts the error between the desired yaw angle and actual angle to a desired yaw rate" user="Standard">
+<field name="Range">0.0 6.000</field>
+</param>
+<param humanName="Angle Limit (to maintain altitude) Time Constant" name="Q_A_ANG_LIM_TC" documentation="Angle Limit (to maintain altitude) Time Constant" user="Advanced">
+<field name="Range">0.5 10.0</field>
+</param>
+<param humanName="Angular Velocity Max for Roll" name="Q_A_RATE_R_MAX" documentation="Maximum angular velocity in roll axis" user="Advanced">
+<field name="Range">0 1080</field>
 <values>
 <value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
+<value code=" 360">Slow</value>
+<value code=" 720">Medium</value>
+<value code=" 1080">Fast</value>
 </values>
-</param>
-<param humanName="Minimum tilt angle" name="MNT_ANGMIN_TIL" documentation="Minimum physical tilt (pitch) angular position of mount." user="Standard">
-<field name="Range">-18000 17999</field>
 <field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
 </param>
-<param humanName="Maximum tilt angle" name="MNT_ANGMAX_TIL" documentation="Maximum physical tilt (pitch) angular position of the mount" user="Standard">
-<field name="Range">-18000 17999</field>
+<param humanName="Angular Velocity Max for Pitch" name="Q_A_RATE_P_MAX" documentation="Maximum angular velocity in pitch axis" user="Advanced">
+<field name="Range">0 1080</field>
+<values>
+<value code="0">Disabled</value>
+<value code=" 360">Slow</value>
+<value code=" 720">Medium</value>
+<value code=" 1080">Fast</value>
+</values>
 <field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
 </param>
-<param humanName="pan (yaw) RC input channel" name="MNT_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
+<param humanName="Angular Velocity Max for Pitch" name="Q_A_RATE_Y_MAX" documentation="Maximum angular velocity in pitch axis" user="Advanced">
+<field name="Range">0 1080</field>
 <values>
 <value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
+<value code=" 360">Slow</value>
+<value code=" 720">Medium</value>
+<value code=" 1080">Fast</value>
 </values>
-</param>
-<param humanName="Minimum pan angle" name="MNT_ANGMIN_PAN" documentation="Minimum physical pan (yaw) angular position of mount." user="Standard">
-<field name="Range">-18000 17999</field>
 <field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
 </param>
-<param humanName="Maximum pan angle" name="MNT_ANGMAX_PAN" documentation="Maximum physical pan (yaw) angular position of the mount" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
+<param humanName="Attitude control input time constant (aka smoothing)" name="Q_A_INPUT_TC" documentation="Attitude control input time constant.  Low numbers lead to sharper response, higher numbers to softer response" user="Standard">
+<field name="Range">0 1</field>
+<field name="Values">0.5:Very Soft, 0.2:Soft, 0.15:Medium, 0.1:Crisp, 0.05:Very Crisp</field>
+<field name="Increment">0.01</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
 </param>
-<param humanName="mount joystick speed" name="MNT_JSTICK_SPD" documentation="0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
+<param humanName="Roll axis rate controller P gain" name="Q_A_RAT_RLL_P" documentation="Roll axis rate controller P gain.  Converts the difference between desired roll rate and actual roll rate into a motor speed output" user="Standard">
+<field name="Range">0.05 0.5</field>
+<field name="Increment">0.005</field>
 </param>
-<param humanName="Roll stabilization lead time" name="MNT_LEAD_RLL" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
-<field name="Units">Seconds</field>
+<param humanName="Roll axis rate controller I gain" name="Q_A_RAT_RLL_I" documentation="Roll axis rate controller I gain.  Corrects long-term difference in desired roll rate vs actual roll rate" user="Standard">
+<field name="Range">0.01 2.0</field>
+<field name="Increment">0.01</field>
 </param>
-<param humanName="Pitch stabilization lead time" name="MNT_LEAD_PTCH" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
-<field name="Units">Seconds</field>
+<param humanName="Roll axis rate controller I gain maximum" name="Q_A_RAT_RLL_IMAX" documentation="Roll axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
+<field name="Range">0 1</field>
+<field name="Increment">0.01</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
 </param>
-<param humanName="Mount Type" name="MNT_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
-<values>
-<value code="0">None</value>
-<value code=" 1">Servo</value>
-<value code=" 2">3DR Solo</value>
-<value code=" 3">Alexmos Serial</value>
-<value code=" 4">SToRM32 MAVLink</value>
-<value code=" 5">SToRM32 Serial</value>
-</values>
-<field name="RebootRequired">True</field>
+<param humanName="Roll axis rate controller D gain" name="Q_A_RAT_RLL_D" documentation="Roll axis rate controller D gain.  Compensates for short-term change in desired roll rate vs actual roll rate" user="Standard">
+<field name="Range">0.0 0.02</field>
+<field name="Increment">0.001</field>
 </param>
-<param humanName="Mount default operating mode" name="MNT2_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
-<values>
-<value code="0">Retracted</value>
-<value code="1">Neutral</value>
-<value code="2">MavLink Targeting</value>
-<value code="3">RC Targeting</value>
-<value code="4">GPS Point</value>
-</values>
+<param humanName="Roll axis rate controller feed forward" name="Q_A_RAT_RLL_FF" documentation="Roll axis rate controller feed forward" user="Standard">
+<field name="Range">0 0.5</field>
+<field name="Increment">0.001</field>
 </param>
-<param humanName="Mount2 roll angle when in retracted position" name="MNT2_RETRACT_X" documentation="Mount2 roll angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
+<param humanName="Roll axis rate controller input frequency in Hz" name="Q_A_RAT_RLL_FILT" documentation="Roll axis rate controller input frequency in Hz" user="Standard">
+<field name="Range">1 100</field>
 <field name="Increment">1</field>
-<field name="Units">Degrees</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
-<param humanName="Mount2 tilt/pitch angle when in retracted position" name="MNT2_RETRACT_Y" documentation="Mount2 tilt/pitch angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
+<param humanName="Pitch axis rate controller P gain" name="Q_A_RAT_PIT_P" documentation="Pitch axis rate controller P gain.  Converts the difference between desired pitch rate and actual pitch rate into a motor speed output" user="Standard">
+<field name="Range">0.05 0.50</field>
+<field name="Increment">0.005</field>
 </param>
-<param humanName="Mount2 yaw/pan angle when in retracted position" name="MNT2_RETRACT_Z" documentation="Mount2 yaw/pan angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
+<param humanName="Pitch axis rate controller I gain" name="Q_A_RAT_PIT_I" documentation="Pitch axis rate controller I gain.  Corrects long-term difference in desired pitch rate vs actual pitch rate" user="Standard">
+<field name="Range">0.01 2.0</field>
+<field name="Increment">0.01</field>
 </param>
-<param humanName="Mount2 roll angle when in neutral position" name="MNT2_NEUTRAL_X" documentation="Mount2 roll angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
+<param humanName="Pitch axis rate controller I gain maximum" name="Q_A_RAT_PIT_IMAX" documentation="Pitch axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
+<field name="Range">0 1</field>
+<field name="Increment">0.01</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
 </param>
-<param humanName="Mount2 tilt/pitch angle when in neutral position" name="MNT2_NEUTRAL_Y" documentation="Mount2 tilt/pitch angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
+<param humanName="Pitch axis rate controller D gain" name="Q_A_RAT_PIT_D" documentation="Pitch axis rate controller D gain.  Compensates for short-term change in desired pitch rate vs actual pitch rate" user="Standard">
+<field name="Range">0.0 0.02</field>
+<field name="Increment">0.001</field>
 </param>
-<param humanName="Mount2 pan/yaw angle when in neutral position" name="MNT2_NEUTRAL_Z" documentation="Mount2 pan/yaw angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
+<param humanName="Pitch axis rate controller feed forward" name="Q_A_RAT_PIT_FF" documentation="Pitch axis rate controller feed forward" user="Standard">
+<field name="Range">0 0.5</field>
+<field name="Increment">0.001</field>
+</param>
+<param humanName="Pitch axis rate controller input frequency in Hz" name="Q_A_RAT_PIT_FILT" documentation="Pitch axis rate controller input frequency in Hz" user="Standard">
+<field name="Range">1 100</field>
 <field name="Increment">1</field>
-<field name="Units">Degrees</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
-<param humanName="Stabilize Mount2's roll angle" name="MNT2_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
+<param humanName="Yaw axis rate controller P gain" name="Q_A_RAT_YAW_P" documentation="Yaw axis rate controller P gain.  Converts the difference between desired yaw rate and actual yaw rate into a motor speed output" user="Standard">
+<field name="Range">0.10 2.50</field>
+<field name="Increment">0.005</field>
+</param>
+<param humanName="Yaw axis rate controller I gain" name="Q_A_RAT_YAW_I" documentation="Yaw axis rate controller I gain.  Corrects long-term difference in desired yaw rate vs actual yaw rate" user="Standard">
+<field name="Range">0.010 1.0</field>
+<field name="Increment">0.01</field>
 </param>
-<param humanName="Stabilize Mount2's pitch/tilt angle" name="MNT2_STAB_TILT" documentation="enable tilt/pitch stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
+<param humanName="Yaw axis rate controller I gain maximum" name="Q_A_RAT_YAW_IMAX" documentation="Yaw axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
+<field name="Range">0 1</field>
+<field name="Increment">0.01</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
 </param>
-<param humanName="Stabilize mount2 pan/yaw angle" name="MNT2_STAB_PAN" documentation="enable pan/yaw stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
+<param humanName="Yaw axis rate controller D gain" name="Q_A_RAT_YAW_D" documentation="Yaw axis rate controller D gain.  Compensates for short-term change in desired yaw rate vs actual yaw rate" user="Standard">
+<field name="Range">0.000 0.02</field>
+<field name="Increment">0.001</field>
 </param>
-<param humanName="Mount2's roll RC input channel" name="MNT2_RC_IN_ROLL" documentation="0 for none, any other for the RC channel to be used to control roll movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
-</values>
+<param humanName="Yaw axis rate controller feed forward" name="Q_A_RAT_YAW_FF" documentation="Yaw axis rate controller feed forward" user="Standard">
+<field name="Range">0 0.5</field>
+<field name="Increment">0.001</field>
 </param>
-<param humanName="Mount2's minimum roll angle" name="MNT2_ANGMIN_ROL" documentation="Mount2's minimum physical roll angular position" user="Standard">
-<field name="Range">-18000 17999</field>
+<param humanName="Yaw axis rate controller input frequency in Hz" name="Q_A_RAT_YAW_FILT" documentation="Yaw axis rate controller input frequency in Hz" user="Standard">
+<field name="Range">1 10</field>
 <field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
-<param humanName="Mount2's maximum roll angle" name="MNT2_ANGMAX_ROL" documentation="Mount2's maximum physical roll angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
+<param humanName="Throttle Mix Minimum" name="Q_A_THR_MIX_MIN" documentation="Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)" user="Advanced">
+<field name="Range">0.1 0.25</field>
 </param>
-<param humanName="Mount2's tilt (pitch) RC input channel" name="MNT2_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
-</values>
+<param humanName="Throttle Mix Maximum" name="Q_A_THR_MIX_MAX" documentation="Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)" user="Advanced">
+<field name="Range">0.5 0.9</field>
 </param>
-<param humanName="Mount2's minimum tilt angle" name="MNT2_ANGMIN_TIL" documentation="Mount2's minimum physical tilt (pitch) angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
+<param humanName="Throttle Mix Manual" name="Q_A_THR_MIX_MAN" documentation="Throttle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle)" user="Advanced">
+<field name="Range">0.1 0.9</field>
 </param>
-<param humanName="Mount2's maximum tilt angle" name="MNT2_ANGMAX_TIL" documentation="Mount2's maximum physical tilt (pitch) angular position" user="Standard">
-<field name="Range">-18000 17999</field>
+</parameters>
+<parameters name="Q_LOIT_">
+<param humanName="Loiter Angle Max" name="Q_LOIT_ANG_MAX" documentation="Loiter maximum lean angle. Set to zero for 2/3 of PSC_ANGLE_MAX or ANGLE_MAX" user="Advanced">
+<field name="Range">0 45</field>
 <field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
 </param>
-<param humanName="Mount2's pan (yaw) RC input channel" name="MNT2_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
-</values>
+<param humanName="Loiter Horizontal Maximum Speed" name="Q_LOIT_SPEED" documentation="Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode" user="Standard">
+<field name="Range">20 2000</field>
+<field name="Increment">50</field>
+<field name="Units">cm/s</field>
+<field name="UnitText">centimeters per second</field>
 </param>
-<param humanName="Mount2's minimum pan angle" name="MNT2_ANGMIN_PAN" documentation="Mount2's minimum physical pan (yaw) angular position" user="Standard">
-<field name="Range">-18000 17999</field>
+<param humanName="Loiter maximum correction acceleration" name="Q_LOIT_ACC_MAX" documentation="Loiter maximum correction acceleration in cm/s/s.  Higher values cause the copter to correct position errors more aggressively." user="Advanced">
+<field name="Range">100 981</field>
 <field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
+<field name="Units">cm/s/s</field>
+<field name="UnitText">centimeters per square second</field>
 </param>
-<param humanName="Mount2's maximum pan angle" name="MNT2_ANGMAX_PAN" documentation="MOunt2's maximum physical pan (yaw) angular position" user="Standard">
-<field name="Range">-18000 17999</field>
+<param humanName="Loiter braking acceleration" name="Q_LOIT_BRK_ACCEL" documentation="Loiter braking acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered." user="Advanced">
+<field name="Range">25 250</field>
 <field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's Roll stabilization lead time" name="MNT2_LEAD_RLL" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
-<field name="Units">Seconds</field>
+<field name="Units">cm/s/s</field>
+<field name="UnitText">centimeters per square second</field>
 </param>
-<param humanName="Mount2's Pitch stabilization lead time" name="MNT2_LEAD_PTCH" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
-<field name="Units">Seconds</field>
+<param humanName="Loiter braking jerk" name="Q_LOIT_BRK_JERK" documentation="Loiter braking jerk in cm/s/s/s. Higher values will remove braking faster if the pilot moves the sticks during a braking manuver." user="Advanced">
+<field name="Range">500 5000</field>
+<field name="Increment">1</field>
+<field name="Units">cm/s/s/s</field>
+<field name="UnitText">centimeters per cubic second</field>
 </param>
-<param humanName="Mount2 Type" name="MNT2_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
-<values>
-<value code="0">None</value>
-<value code=" 1">Servo</value>
-<value code=" 2">3DR Solo</value>
-<value code=" 3">Alexmos Serial</value>
-<value code=" 4">SToRM32 MAVLink</value>
-<value code=" 5">SToRM32 Serial</value>
-</values>
+<param humanName="Loiter brake start delay (in seconds)" name="Q_LOIT_BRK_DELAY" documentation="Loiter brake start delay (in seconds)" user="Advanced">
+<field name="Range">0 2</field>
+<field name="Increment">0.1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
 </param>
 </parameters>
-<parameters name="MOT_">
-<param humanName="Matrix Yaw Min" name="MOT_YAW_HEADROOM" documentation="Yaw control is given at least this pwm range" user="Advanced">
+<parameters name="Q_M_">
+<param humanName="Matrix Yaw Min" name="Q_M_YAW_HEADROOM" documentation="Yaw control is given at least this pwm in microseconds range" user="Advanced">
 <field name="Range">0 500</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Thrust Curve Expo" name="MOT_THST_EXPO" documentation="Motor thrust curve exponent (from 0 for linear to 1.0 for second order curve)" user="Advanced">
+<param humanName="Thrust Curve Expo" name="Q_M_THST_EXPO" documentation="Motor thrust curve exponent (from 0 for linear to 1.0 for second order curve)" user="Advanced">
 <field name="Range">0.25 0.8</field>
 </param>
-<param humanName="Motor Spin maximum" name="MOT_SPIN_MAX" documentation="Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range" user="Advanced">
+<param humanName="Motor Spin maximum" name="Q_M_SPIN_MAX" documentation="Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range" user="Advanced">
 <field name="Values">0.9:Low, 0.95:Default, 1.0:High</field>
 </param>
-<param humanName="Battery voltage compensation maximum voltage" name="MOT_BAT_VOLT_MAX" documentation="Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust).  Recommend 4.4 * cell count, 0 = Disabled" user="Advanced">
+<param humanName="Battery voltage compensation maximum voltage" name="Q_M_BAT_VOLT_MAX" documentation="Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust).  Recommend 4.4 * cell count, 0 = Disabled" user="Advanced">
 <field name="Range">6 35</field>
-<field name="Units">Volts</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
 </param>
-<param humanName="Battery voltage compensation minimum voltage" name="MOT_BAT_VOLT_MIN" documentation="Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust).  Recommend 3.5 * cell count, 0 = Disabled" user="Advanced">
+<param humanName="Battery voltage compensation minimum voltage" name="Q_M_BAT_VOLT_MIN" documentation="Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust).  Recommend 3.5 * cell count, 0 = Disabled" user="Advanced">
 <field name="Range">6 35</field>
-<field name="Units">Volts</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
 </param>
-<param humanName="Motor Current Max" name="MOT_BAT_CURR_MAX" documentation="Maximum current over which maximum throttle is limited (0 = Disabled)" user="Advanced">
+<param humanName="Motor Current Max" name="Q_M_BAT_CURR_MAX" documentation="Maximum current over which maximum throttle is limited (0 = Disabled)" user="Advanced">
 <field name="Range">0 200</field>
-<field name="Units">Amps</field>
+<field name="Units">A</field>
+<field name="UnitText">ampere</field>
 </param>
-<param humanName="Output PWM type" name="MOT_PWM_TYPE" documentation="This selects the output PWM type, allowing for normal PWM continuous output, OneShot or brushed motor output" user="Advanced">
+<param humanName="Output PWM type" name="Q_M_PWM_TYPE" documentation="This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output" user="Advanced">
 <values>
 <value code="0">Normal</value>
 <value code="1">OneShot</value>
 <value code="2">OneShot125</value>
-<value code="3">Brushed16kHz</value>
+<value code="3">Brushed</value>
+<value code="4">DShot150</value>
+<value code="5">DShot300</value>
+<value code="6">DShot600</value>
+<value code="7">DShot1200</value>
 </values>
 <field name="RebootRequired">True</field>
 </param>
-<param humanName="PWM output miniumum" name="MOT_PWM_MIN" documentation="This sets the min PWM output value that will ever be output to the motors, 0 = use input RC3_MIN" user="Advanced">
+<param humanName="PWM output miniumum" name="Q_M_PWM_MIN" documentation="This sets the min PWM output value in microseconds that will ever be output to the motors, 0 = use input RC3_MIN" user="Advanced">
 <field name="Range">0 2000</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="PWM output maximum" name="MOT_PWM_MAX" documentation="This sets the max PWM value that will ever be output to the motors, 0 = use input RC3_MAX" user="Advanced">
+<param humanName="PWM output maximum" name="Q_M_PWM_MAX" documentation="This sets the max PWM value in microseconds that will ever be output to the motors, 0 = use input RC3_MAX" user="Advanced">
 <field name="Range">0 2000</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Motor Spin minimum" name="MOT_SPIN_MIN" documentation="Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range.  Should be higher than MOT_SPIN_ARM." user="Advanced">
+<param humanName="Motor Spin minimum" name="Q_M_SPIN_MIN" documentation="Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range.  Should be higher than MOT_SPIN_ARM." user="Advanced">
 <field name="Values">0.0:Low, 0.15:Default, 0.3:High</field>
 </param>
-<param humanName="Motor Spin armed" name="MOT_SPIN_ARM" documentation="Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range.  Should be lower than MOT_SPIN_MIN." user="Advanced">
+<param humanName="Motor Spin armed" name="Q_M_SPIN_ARM" documentation="Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range.  Should be lower than MOT_SPIN_MIN." user="Advanced">
 <field name="Values">0.0:Low, 0.1:Default, 0.2:High</field>
 </param>
-<param humanName="Motor Current Max Time Constant" name="MOT_BAT_CURR_TC" documentation="Time constant used to limit the maximum current" user="Advanced">
+<param humanName="Motor Current Max Time Constant" name="Q_M_BAT_CURR_TC" documentation="Time constant used to limit the maximum current" user="Advanced">
 <field name="Range">0 10</field>
-<field name="Units">Seconds</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
 </param>
-<param humanName="Thrust Hover Value" name="MOT_THST_HOVER" documentation="Motor thrust needed to hover expressed as a number from 0 to 1" user="Advanced">
+<param humanName="Thrust Hover Value" name="Q_M_THST_HOVER" documentation="Motor thrust needed to hover expressed as a number from 0 to 1" user="Advanced">
 <field name="Range">0.2 0.8</field>
 </param>
-<param humanName="Hover Value Learning" name="MOT_HOVER_LEARN" documentation="Enable/Disable automatic learning of hover throttle" user="Advanced">
+<param humanName="Hover Value Learning" name="Q_M_HOVER_LEARN" documentation="Enable/Disable automatic learning of hover throttle" user="Advanced">
 <values>
 <value code="0">Disabled</value>
 <value code=" 1">Learn</value>
 <value code=" 2">LearnAndSave</value>
 </values>
 </param>
-<param humanName="Motor PWM output disabled when disarmed" name="MOT_SAFE_DISARM" documentation="Disables motor PWM output when disarmed" user="Advanced">
+<param humanName="Motor PWM output disabled when disarmed" name="Q_M_SAFE_DISARM" documentation="Disables motor PWM output when disarmed" user="Advanced">
 <values>
 <value code="0">PWM enabled while disarmed</value>
 <value code=" 1">PWM disabled while disarmed</value>
 </values>
 </param>
-<param humanName="Yaw Servo Max Lean Angle" name="MOT_YAW_SV_ANGLE" documentation="Yaw servo's maximum lean angle" user="Standard">
+<param humanName="Yaw Servo Max Lean Angle" name="Q_M_YAW_SV_ANGLE" documentation="Yaw servo's maximum lean angle" user="Standard">
 <field name="Range">5 80</field>
 <field name="Increment">1</field>
-<field name="Units">Degrees</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
 </param>
-<param humanName="Spool up time" name="MOT_SPOOL_TIME" documentation="Time in seconds to spool up the motors from zero to min throttle. " user="Advanced">
+<param humanName="Spool up time" name="Q_M_SPOOL_TIME" documentation="Time in seconds to spool up the motors from zero to min throttle. " user="Advanced">
 <field name="Range">0 2</field>
 <field name="Increment">0.1</field>
-<field name="Units">Seconds</field>
-</param>
-</parameters>
-<parameters name="NAVL1_">
-<param humanName="L1 control period" name="NAVL1_PERIOD" documentation="Period in seconds of L1 tracking loop. This parameter is the primary control for agressiveness of turns in auto mode. This needs to be larger for less responsive airframes. The default of 20 is quite conservative, but for most RC aircraft will lead to reasonable flight. For smaller more agile aircraft a value closer to 15 is appropriate, or even as low as 10 for some very agile aircraft. When tuning, change this value in small increments, as a value that is much too small (say 5 or 10 below the right value) can lead to very radical turns, and a risk of stalling." user="Standard">
-<field name="Range">1 60</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="L1 control damping ratio" name="NAVL1_DAMPING" documentation="Damping ratio for L1 control. Increase this in increments of 0.05 if you are getting overshoot in path tracking. You should not need a value below 0.7 or above 0.85." user="Advanced">
-<field name="Range">0.6 1.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="L1 control crosstrack integrator gain" name="NAVL1_XTRACK_I" documentation="Crosstrack error integrator gain. This gain is applied to the crosstrack error to ensure it converges to zero. Set to zero to disable. Smaller values converge slower, higher values will cause crosstrack error oscillation." user="Advanced">
-<field name="Range">0 0.1</field>
-<field name="Increment">0.01</field>
-</param>
-</parameters>
-<parameters name="NTF_">
-<param humanName="LED Brightness" name="NTF_LED_BRIGHT" documentation="Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting." user="Advanced">
-<values>
-<value code="0">Off</value>
-<value code="1">Low</value>
-<value code="2">Medium</value>
-<value code="3">High</value>
-</values>
-</param>
-<param humanName="Buzzer enable" name="NTF_BUZZ_ENABLE" documentation="Enable or disable the buzzer. Only for Linux and PX4 based boards." user="Advanced">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-<param humanName="Setup for MAVLink LED override" name="NTF_LED_OVERRIDE" documentation="This sets up the board RGB LED for override by MAVLink. Normal notify LED control is disabled" user="Advanced">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-<param humanName="Type of on-board I2C display" name="NTF_DISPLAY_TYPE" documentation="This sets up the type of on-board I2C display. Disabled by default." user="Advanced">
-<values>
-<value code="0">Disable</value>
-<value code="1">ssd1306</value>
-<value code="2">sh1106</value>
-</values>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
 </param>
-</parameters>
-<parameters name="PLND_">
-<param humanName="Precision Land enabled/disabled and behaviour" name="PLND_ENABLED" documentation="Precision Land enabled/disabled and behaviour" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled Always Land</value>
-<value code=" 2">Enabled Strict</value>
-</values>
+<param humanName="Motor boost scale" name="Q_M_BOOST_SCALE" documentation="This is a scaling factor for vehicles with a vertical booster motor used for extra lift. It is used with electric multicopters that have an internal combusion booster motor for longer endurance. The output to the BoostThrottle servo function is set to the current motor thottle times this scaling factor. A higher scaling factor will put more of the load on the booster motor. A value of 1 will set the BoostThrottle equal to the main throttle." user="Advanced">
+<field name="Range">0 5</field>
+<field name="Increment">0.1</field>
 </param>
-<param humanName="Precision Land Type" name="PLND_TYPE" documentation="Precision Land Type" user="Advanced">
+<param humanName="Battery compensation index" name="Q_M_BAT_IDX" documentation="Which battery monitor should be used for doing compensation" user="Advanced">
 <values>
-<value code="0">None</value>
-<value code=" 1">CompanionComputer</value>
-<value code=" 2">IRLock</value>
-<value code=" 3">SITL_Gazebo</value>
-<value code=" 4">SITL</value>
+<value code="0">First battery</value>
+<value code=" 1">Second battery</value>
 </values>
 </param>
-<param humanName="Sensor yaw alignment" name="PLND_YAW_ALIGN" documentation="Yaw angle from body x-axis to sensor x-axis." user="Advanced">
-<field name="Range">0 360</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-degrees</field>
-</param>
-<param humanName="Land offset forward" name="PLND_LAND_OFS_X" documentation="Desired landing position of the camera forward of the target in vehicle body frame" user="Advanced">
-<field name="Range">-20 20</field>
-<field name="Increment">1</field>
-<field name="Units">Centimeters</field>
-</param>
-<param humanName="Land offset right" name="PLND_LAND_OFS_Y" documentation="desired landing position of the camera right of the target in vehicle body frame" user="Advanced">
-<field name="Range">-20 20</field>
-<field name="Increment">1</field>
-<field name="Units">Centimeters</field>
-</param>
 </parameters>
-<parameters name="POSCON_">
-<param humanName="XY Acceleration filter cutoff frequency" name="POSCON__ACC_XY_FILT" documentation="Lower values will slow the response of the navigation controller and reduce twitchiness" user="Advanced">
+<parameters name="Q_P_">
+<param humanName="XY Acceleration filter cutoff frequency" name="Q_P__ACC_XY_FILT" documentation="Lower values will slow the response of the navigation controller and reduce twitchiness" user="Advanced">
 <field name="Range">0.5 5</field>
 <field name="Increment">0.1</field>
 <field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
-</parameters>
-<parameters name="PRX">
-<param humanName="Proximity type" name="PRX_TYPE" documentation="What type of proximity sensor is connected" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">LightWareSF40C</value>
-<value code="2">MAVLink</value>
-<value code="3">TeraRangerTower</value>
-</values>
-</param>
-<param humanName="Proximity sensor orientation" name="PRX_ORIENT" documentation="Proximity sensor orientation" user="Standard">
-<values>
-<value code="0">Default</value>
-<value code="1">Upside Down</value>
-</values>
-</param>
-<param humanName="Proximity sensor yaw correction" name="PRX_YAW_CORR" documentation="Proximity sensor yaw correction" user="Standard">
-<field name="Range">-180 180</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Proximity sensor ignore angle 1" name="PRX_IGN_ANG1" documentation="Proximity sensor ignore angle 1" user="Standard">
-<field name="Range">0 360</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Proximity sensor ignore width 1" name="PRX_IGN_WID1" documentation="Proximity sensor ignore width 1" user="Standard">
-<field name="Range">0 45</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Proximity sensor ignore angle 2" name="PRX_IGN_ANG2" documentation="Proximity sensor ignore angle 2" user="Standard">
-<field name="Range">0 360</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Proximity sensor ignore width 2" name="PRX_IGN_WID1" documentation="Proximity sensor ignore width 2" user="Standard">
-<field name="Range">0 45</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Proximity sensor ignore angle 3" name="PRX_IGN_ANG3" documentation="Proximity sensor ignore angle 3" user="Standard">
-<field name="Range">0 360</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Proximity sensor ignore width 3" name="PRX_IGN_WID3" documentation="Proximity sensor ignore width 3" user="Standard">
-<field name="Range">0 45</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Proximity sensor ignore angle 4" name="PRX_IGN_ANG4" documentation="Proximity sensor ignore angle 4" user="Standard">
-<field name="Range">0 360</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Proximity sensor ignore width 4" name="PRX_IGN_WID4" documentation="Proximity sensor ignore width 4" user="Standard">
-<field name="Range">0 45</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Proximity sensor ignore angle 5" name="PRX_IGN_ANG5" documentation="Proximity sensor ignore angle 5" user="Standard">
-<field name="Range">0 360</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Proximity sensor ignore width 5" name="PRX_IGN_WID5" documentation="Proximity sensor ignore width 5" user="Standard">
-<field name="Range">0 45</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Proximity sensor ignore angle 6" name="PRX_IGN_ANG6" documentation="Proximity sensor ignore angle 6" user="Standard">
-<field name="Range">0 360</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Proximity sensor ignore width 6" name="PRX_IGN_WID6" documentation="Proximity sensor ignore width 6" user="Standard">
-<field name="Range">0 45</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Second Proximity type" name="PRX2_TYPE" documentation="What type of proximity sensor is connected" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">LightWareSF40C</value>
-<value code="2">MAVLink</value>
-</values>
-</param>
-<param humanName="Second Proximity sensor orientation" name="PRX2_ORIENT" documentation="Second Proximity sensor orientation" user="Standard">
-<values>
-<value code="0">Default</value>
-<value code="1">Upside Down</value>
-</values>
-</param>
-<param humanName="Second Proximity sensor yaw correction" name="PRX2_YAW_CORR" documentation="Second Proximity sensor yaw correction" user="Standard">
-<field name="Range">-180 180</field>
-<field name="Units">degrees</field>
-</param>
-</parameters>
-<parameters name="PTCH2SRV_">
-<param humanName="Pitch Time Constant" name="PTCH2SRV_TCONST" documentation="This controls the time constant in seconds from demanded to achieved pitch angle. A value of 0.5 is a good default and will work with nearly all models. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the aircraft can achieve." user="Advanced">
-<field name="Range">0.4 1.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Proportional Gain" name="PTCH2SRV_P" documentation="This is the gain from pitch angle to elevator. This gain works the same way as PTCH2SRV_P in the old PID controller and can be set to the same value." user="User">
-<field name="Range">0.1 3.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Damping Gain" name="PTCH2SRV_D" documentation="This is the gain from pitch rate to elevator. This adjusts the damping of the pitch control loop. It has the same effect as PTCH2SRV_D in the old PID controller and can be set to the same value, but without the spikes in servo demands. This gain helps to reduce pitching in turbulence. Some airframes such as flying wings that have poor pitch damping can benefit from increasing this gain term. This should be increased in 0.01 increments as too high a value can lead to a high frequency pitch oscillation that could overstress the airframe." user="User">
-<field name="Range">0 0.1</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Integrator Gain" name="PTCH2SRV_I" documentation="This is the gain applied to the integral of pitch angle. It has the same effect as PTCH2SRV_I in the old PID controller and can be set to the same value. Increasing this gain causes the controller to trim out constant offsets between demanded and measured pitch angle." user="User">
-<field name="Range">0 0.5</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Pitch up max rate" name="PTCH2SRV_RMAX_UP" documentation="This sets the maximum nose up pitch rate that the controller will demand (degrees/sec). Setting it to zero disables the limit." user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Pitch down max rate" name="PTCH2SRV_RMAX_DN" documentation="This sets the maximum nose down pitch rate that the controller will demand (degrees/sec). Setting it to zero disables the limit." user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Roll compensation" name="PTCH2SRV_RLL" documentation="This is the gain term that is applied to the pitch rate offset calculated as required to keep the nose level during turns. The default value is 1 which will work for all models. Advanced users can use it to correct for height variation in turns. If height is lost initially in turns this can be increased in small increments of 0.05 to compensate. If height is gained initially in turns then it can be decreased." user="User">
-<field name="Range">0.7 1.5</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Integrator limit" name="PTCH2SRV_IMAX" documentation="This limits the number of centi-degrees of elevator over which the integrator will operate. At the default setting of 3000 centi-degrees, the integrator will be limited to +- 30 degrees of servo travel. The maximum servo deflection is +- 45 degrees, so the default value represents a 2/3rd of the total control throw which is adequate for most aircraft unless they are severely out of trim or have very limited elevator control effectiveness." user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Feed forward Gain" name="PTCH2SRV_FF" documentation="This is the gain from demanded rate to elevator output. " user="User">
-<field name="Range">0.1 4.0</field>
-<field name="Increment">0.1</field>
+<param humanName="Position (vertical) controller P gain" name="Q_P__POSZ_P" documentation="Position (vertical) controller P gain.  Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller" user="Standard">
+<field name="Range">1.000 3.000</field>
 </param>
-</parameters>
-<parameters name="Q_A_">
-<param humanName="Roll axis rate controller P gain" name="Q_A_RAT_RLL_P" documentation="Roll axis rate controller P gain.  Converts the difference between desired roll rate and actual roll rate into a motor speed output" user="Standard">
-<field name="Range">0.08 0.30</field>
-<field name="Increment">0.005</field>
+<param humanName="Velocity (vertical) controller P gain" name="Q_P__VELZ_P" documentation="Velocity (vertical) controller P gain.  Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller" user="Standard">
+<field name="Range">1.000 8.000</field>
 </param>
-<param humanName="Roll axis rate controller I gain" name="Q_A_RAT_RLL_I" documentation="Roll axis rate controller I gain.  Corrects long-term difference in desired roll rate vs actual roll rate" user="Standard">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
+<param humanName="Acceleration (vertical) controller P gain" name="Q_P__ACCZ_P" documentation="Acceleration (vertical) controller P gain.  Converts the difference between desired vertical acceleration and actual acceleration into a motor output" user="Standard">
+<field name="Range">0.500 1.500</field>
+<field name="Increment">0.05</field>
 </param>
-<param humanName="Roll axis rate controller I gain maximum" name="Q_A_RAT_RLL_IMAX" documentation="Roll axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-<field name="Units">Percent</field>
+<param humanName="Acceleration (vertical) controller I gain" name="Q_P__ACCZ_I" documentation="Acceleration (vertical) controller I gain.  Corrects long-term difference in desired vertical acceleration and actual acceleration" user="Standard">
+<field name="Range">0.000 3.000</field>
 </param>
-<param humanName="Roll axis rate controller D gain" name="Q_A_RAT_RLL_D" documentation="Roll axis rate controller D gain.  Compensates for short-term change in desired roll rate vs actual roll rate" user="Standard">
-<field name="Range">0.0 0.02</field>
-<field name="Increment">0.001</field>
+<param humanName="Acceleration (vertical) controller I gain maximum" name="Q_P__ACCZ_IMAX" documentation="Acceleration (vertical) controller I gain maximum.  Constrains the maximum pwm that the I term will generate" user="Standard">
+<field name="Range">0 1000</field>
+<field name="Units">d%</field>
+<field name="UnitText">decipercent</field>
 </param>
-<param humanName="Roll axis rate controller input frequency in Hz" name="Q_A_RAT_RLL_FILT" documentation="Roll axis rate controller input frequency in Hz" user="Standard">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
+<param humanName="Acceleration (vertical) controller D gain" name="Q_P__ACCZ_D" documentation="Acceleration (vertical) controller D gain.  Compensates for short-term change in desired vertical acceleration vs actual acceleration" user="Standard">
+<field name="Range">0.000 0.400</field>
+</param>
+<param humanName="Acceleration (vertical) controller filter" name="Q_P__ACCZ_FILT" documentation="Filter applied to acceleration to reduce noise.  Lower values reduce noise but add delay." user="Standard">
+<field name="Range">1.000 100.000</field>
 <field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
-<param humanName="Pitch axis rate controller P gain" name="Q_A_RAT_PIT_P" documentation="Pitch axis rate controller P gain.  Converts the difference between desired pitch rate and actual pitch rate into a motor speed output" user="Standard">
-<field name="Range">0.08 0.30</field>
-<field name="Increment">0.005</field>
+<param humanName="Position (horizonal) controller P gain" name="Q_P__POSXY_P" documentation="Position controller P gain.  Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller" user="Standard">
+<field name="Range">0.500 2.000</field>
 </param>
-<param humanName="Pitch axis rate controller I gain" name="Q_A_RAT_PIT_I" documentation="Pitch axis rate controller I gain.  Corrects long-term difference in desired pitch rate vs actual pitch rate" user="Standard">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
+<param humanName="Velocity (horizontal) P gain" name="Q_P__VELXY_P" documentation="Velocity (horizontal) P gain.  Converts the difference between desired velocity to a target acceleration" user="Advanced">
+<field name="Range">0.1 6.0</field>
+<field name="Increment">0.1</field>
 </param>
-<param humanName="Pitch axis rate controller I gain maximum" name="Q_A_RAT_PIT_IMAX" documentation="Pitch axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 1</field>
+<param humanName="Velocity (horizontal) I gain" name="Q_P__VELXY_I" documentation="Velocity (horizontal) I gain.  Corrects long-term difference in desired velocity to a target acceleration" user="Advanced">
+<field name="Range">0.02 1.00</field>
 <field name="Increment">0.01</field>
-<field name="Units">Percent</field>
 </param>
-<param humanName="Pitch axis rate controller D gain" name="Q_A_RAT_PIT_D" documentation="Pitch axis rate controller D gain.  Compensates for short-term change in desired pitch rate vs actual pitch rate" user="Standard">
-<field name="Range">0.0 0.02</field>
+<param humanName="Velocity (horizontal) D gain" name="Q_P__VELXY_D" documentation="Velocity (horizontal) D gain.  Corrects short-term changes in velocity" user="Advanced">
+<field name="Range">0.00 1.00</field>
 <field name="Increment">0.001</field>
 </param>
-<param humanName="Pitch axis rate controller input frequency in Hz" name="Q_A_RAT_PIT_FILT" documentation="Pitch axis rate controller input frequency in Hz" user="Standard">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
+<param humanName="Velocity (horizontal) integrator maximum" name="Q_P__VELXY_IMAX" documentation="Velocity (horizontal) integrator maximum.  Constrains the target acceleration that the I gain will output" user="Advanced">
+<field name="Range">0 4500</field>
+<field name="Increment">10</field>
+<field name="Units">cm/s/s</field>
+<field name="UnitText">centimeters per square second</field>
 </param>
-<param humanName="Yaw axis rate controller P gain" name="Q_A_RAT_YAW_P" documentation="Yaw axis rate controller P gain.  Converts the difference between desired yaw rate and actual yaw rate into a motor speed output" user="Standard">
-<field name="Range">0.10 0.50</field>
-<field name="Increment">0.005</field>
+<param humanName="Velocity (horizontal) input filter" name="Q_P__VELXY_FILT" documentation="Velocity (horizontal) input filter.  This filter (in hz) is applied to the input for P and I terms" user="Advanced">
+<field name="Range">0 100</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
-<param humanName="Yaw axis rate controller I gain" name="Q_A_RAT_YAW_I" documentation="Yaw axis rate controller I gain.  Corrects long-term difference in desired yaw rate vs actual yaw rate" user="Standard">
-<field name="Range">0.010 0.05</field>
-<field name="Increment">0.01</field>
+<param humanName="Velocity (horizontal) input filter" name="Q_P__VELXY_D_FILT" documentation="Velocity (horizontal) input filter.  This filter (in hz) is applied to the input for P and I terms" user="Advanced">
+<field name="Range">0 100</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
-<param humanName="Yaw axis rate controller I gain maximum" name="Q_A_RAT_YAW_IMAX" documentation="Yaw axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-<field name="Units">Percent</field>
+<param humanName="Position Control Angle Max" name="Q_P__ANGLE_MAX" documentation="Maximum lean angle autopilot can request.  Set to zero to use ANGLE_MAX parameter value" user="Advanced">
+<field name="Range">0 45</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
 </param>
-<param humanName="Yaw axis rate controller D gain" name="Q_A_RAT_YAW_D" documentation="Yaw axis rate controller D gain.  Compensates for short-term change in desired yaw rate vs actual yaw rate" user="Standard">
-<field name="Range">0.000 0.02</field>
-<field name="Increment">0.001</field>
+</parameters>
+<parameters name="Q_WP_">
+<param humanName="Waypoint Horizontal Speed Target" name="Q_WP_SPEED" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission" user="Standard">
+<field name="Range">20 2000</field>
+<field name="Increment">50</field>
+<field name="Units">cm/s</field>
+<field name="UnitText">centimeters per second</field>
 </param>
-<param humanName="Yaw axis rate controller input frequency in Hz" name="Q_A_RAT_YAW_FILT" documentation="Yaw axis rate controller input frequency in Hz" user="Standard">
-<field name="Range">1 100</field>
+<param humanName="Waypoint Radius" name="Q_WP_RADIUS" documentation="Defines the distance from a waypoint, that when crossed indicates the wp has been hit." user="Standard">
+<field name="Range">10 1000</field>
 <field name="Increment">1</field>
-<field name="Units">Hz</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
 </param>
-<param humanName="Throttle Mix Minimum" name="Q_A_THR_MIX_MIN" documentation="Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)" user="Advanced">
-<field name="Range">0.1 0.25</field>
+<param humanName="Waypoint Climb Speed Target" name="Q_WP_SPEED_UP" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission" user="Standard">
+<field name="Range">10 1000</field>
+<field name="Increment">50</field>
+<field name="Units">cm/s</field>
+<field name="UnitText">centimeters per second</field>
 </param>
-<param humanName="Throttle Mix Maximum" name="Q_A_THR_MIX_MAX" documentation="Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)" user="Advanced">
-<field name="Range">0.5 0.9</field>
+<param humanName="Waypoint Descent Speed Target" name="Q_WP_SPEED_DN" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission" user="Standard">
+<field name="Range">10 500</field>
+<field name="Increment">10</field>
+<field name="Units">cm/s</field>
+<field name="UnitText">centimeters per second</field>
 </param>
-<param humanName="Throttle Mix Manual" name="Q_A_THR_MIX_MAN" documentation="Throttle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle)" user="Advanced">
-<field name="Range">0.5 0.9</field>
+<param humanName="Waypoint Acceleration " name="Q_WP_ACCEL" documentation="Defines the horizontal acceleration in cm/s/s used during missions" user="Standard">
+<field name="Range">50 500</field>
+<field name="Increment">10</field>
+<field name="Units">cm/s/s</field>
+<field name="UnitText">centimeters per square second</field>
+</param>
+<param humanName="Waypoint Vertical Acceleration" name="Q_WP_ACCEL_Z" documentation="Defines the vertical acceleration in cm/s/s used during missions" user="Standard">
+<field name="Range">50 500</field>
+<field name="Increment">10</field>
+<field name="Units">cm/s/s</field>
+<field name="UnitText">centimeters per square second</field>
+</param>
+<param humanName="Waypoint missions use rangefinder for terrain following" name="Q_WP_RFND_USE" documentation="This controls if waypoint missions use rangefinder for terrain following" user="Advanced">
+<values>
+<value code="0">Disable</value>
+<value code="1">Enable</value>
+</values>
 </param>
 </parameters>
 <parameters name="RALLY_">
@@ -5458,7 +6557,8 @@
 </param>
 <param humanName="Rally Limit" name="RALLY_LIMIT_KM" documentation="Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used." user="Advanced">
 <field name="Increment">0.1</field>
-<field name="Units">kilometers</field>
+<field name="Units">km</field>
+<field name="UnitText">kilometers</field>
 </param>
 <param humanName="Rally Include Home" name="RALLY_INCL_HOME" documentation="Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL" user="Standard">
 <values>
@@ -5467,21 +6567,31 @@
 </values>
 </param>
 </parameters>
+<parameters name="RC">
+<param humanName="RC override timeout" name="RC_OVERRIDE_TIME" documentation="Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled" user="Advanced">
+<field name="Range">0.0 120.0</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+</parameters>
 <parameters name="RC10_">
-<param humanName="RC min PWM" name="RC10_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC min PWM" name="RC10_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="RC trim PWM" name="RC10_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC trim PWM" name="RC10_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="RC max PWM" name="RC10_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC max PWM" name="RC10_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 <param humanName="RC reversed" name="RC10_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
 <values>
@@ -5489,26 +6599,30 @@
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="RC dead-zone" name="RC10_DZ" documentation="dead zone around trim or bottom" user="Advanced">
+<param humanName="RC dead-zone" name="RC10_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
 <field name="Range">0 200</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 </parameters>
 <parameters name="RC11_">
-<param humanName="RC min PWM" name="RC11_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC min PWM" name="RC11_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="RC trim PWM" name="RC11_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC trim PWM" name="RC11_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="RC max PWM" name="RC11_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC max PWM" name="RC11_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 <param humanName="RC reversed" name="RC11_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
 <values>
@@ -5516,26 +6630,30 @@
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="RC dead-zone" name="RC11_DZ" documentation="dead zone around trim or bottom" user="Advanced">
+<param humanName="RC dead-zone" name="RC11_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
 <field name="Range">0 200</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 </parameters>
 <parameters name="RC12_">
-<param humanName="RC min PWM" name="RC12_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC min PWM" name="RC12_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="RC trim PWM" name="RC12_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC trim PWM" name="RC12_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="RC max PWM" name="RC12_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC max PWM" name="RC12_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 <param humanName="RC reversed" name="RC12_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
 <values>
@@ -5543,26 +6661,30 @@
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="RC dead-zone" name="RC12_DZ" documentation="dead zone around trim or bottom" user="Advanced">
+<param humanName="RC dead-zone" name="RC12_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
 <field name="Range">0 200</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 </parameters>
 <parameters name="RC13_">
-<param humanName="RC min PWM" name="RC13_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC min PWM" name="RC13_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="RC trim PWM" name="RC13_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC trim PWM" name="RC13_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="RC max PWM" name="RC13_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC max PWM" name="RC13_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 <param humanName="RC reversed" name="RC13_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
 <values>
@@ -5570,26 +6692,30 @@
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="RC dead-zone" name="RC13_DZ" documentation="dead zone around trim or bottom" user="Advanced">
+<param humanName="RC dead-zone" name="RC13_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
 <field name="Range">0 200</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 </parameters>
 <parameters name="RC14_">
-<param humanName="RC min PWM" name="RC14_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC min PWM" name="RC14_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="RC trim PWM" name="RC14_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC trim PWM" name="RC14_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="RC max PWM" name="RC14_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC max PWM" name="RC14_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 <param humanName="RC reversed" name="RC14_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
 <values>
@@ -5597,26 +6723,30 @@
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="RC dead-zone" name="RC14_DZ" documentation="dead zone around trim or bottom" user="Advanced">
+<param humanName="RC dead-zone" name="RC14_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
 <field name="Range">0 200</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 </parameters>
 <parameters name="RC15_">
-<param humanName="RC min PWM" name="RC15_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC min PWM" name="RC15_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="RC trim PWM" name="RC15_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC trim PWM" name="RC15_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="RC max PWM" name="RC15_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC max PWM" name="RC15_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 <param humanName="RC reversed" name="RC15_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
 <values>
@@ -5624,26 +6754,30 @@
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="RC dead-zone" name="RC15_DZ" documentation="dead zone around trim or bottom" user="Advanced">
+<param humanName="RC dead-zone" name="RC15_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
 <field name="Range">0 200</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 </parameters>
 <parameters name="RC16_">
-<param humanName="RC min PWM" name="RC16_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC min PWM" name="RC16_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="RC trim PWM" name="RC16_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC trim PWM" name="RC16_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="RC max PWM" name="RC16_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC max PWM" name="RC16_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 <param humanName="RC reversed" name="RC16_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
 <values>
@@ -5651,26 +6785,30 @@
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="RC dead-zone" name="RC16_DZ" documentation="dead zone around trim or bottom" user="Advanced">
+<param humanName="RC dead-zone" name="RC16_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
 <field name="Range">0 200</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 </parameters>
 <parameters name="RC1_">
-<param humanName="RC min PWM" name="RC1_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC min PWM" name="RC1_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="RC trim PWM" name="RC1_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC trim PWM" name="RC1_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="RC max PWM" name="RC1_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC max PWM" name="RC1_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 <param humanName="RC reversed" name="RC1_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
 <values>
@@ -5678,26 +6816,30 @@
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="RC dead-zone" name="RC1_DZ" documentation="dead zone around trim or bottom" user="Advanced">
+<param humanName="RC dead-zone" name="RC1_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
 <field name="Range">0 200</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 </parameters>
 <parameters name="RC2_">
-<param humanName="RC min PWM" name="RC2_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC min PWM" name="RC2_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="RC trim PWM" name="RC2_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC trim PWM" name="RC2_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="RC max PWM" name="RC2_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC max PWM" name="RC2_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 <param humanName="RC reversed" name="RC2_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
 <values>
@@ -5705,26 +6847,30 @@
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="RC dead-zone" name="RC2_DZ" documentation="dead zone around trim or bottom" user="Advanced">
+<param humanName="RC dead-zone" name="RC2_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
 <field name="Range">0 200</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 </parameters>
 <parameters name="RC3_">
-<param humanName="RC min PWM" name="RC3_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC min PWM" name="RC3_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="RC trim PWM" name="RC3_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC trim PWM" name="RC3_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="RC max PWM" name="RC3_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC max PWM" name="RC3_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 <param humanName="RC reversed" name="RC3_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
 <values>
@@ -5732,26 +6878,30 @@
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="RC dead-zone" name="RC3_DZ" documentation="dead zone around trim or bottom" user="Advanced">
+<param humanName="RC dead-zone" name="RC3_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
 <field name="Range">0 200</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 </parameters>
 <parameters name="RC4_">
-<param humanName="RC min PWM" name="RC4_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC min PWM" name="RC4_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="RC trim PWM" name="RC4_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC trim PWM" name="RC4_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="RC max PWM" name="RC4_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC max PWM" name="RC4_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 <param humanName="RC reversed" name="RC4_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
 <values>
@@ -5759,26 +6909,30 @@
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="RC dead-zone" name="RC4_DZ" documentation="dead zone around trim or bottom" user="Advanced">
+<param humanName="RC dead-zone" name="RC4_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
 <field name="Range">0 200</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 </parameters>
 <parameters name="RC5_">
-<param humanName="RC min PWM" name="RC5_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC min PWM" name="RC5_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="RC trim PWM" name="RC5_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC trim PWM" name="RC5_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="RC max PWM" name="RC5_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC max PWM" name="RC5_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 <param humanName="RC reversed" name="RC5_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
 <values>
@@ -5786,26 +6940,30 @@
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="RC dead-zone" name="RC5_DZ" documentation="dead zone around trim or bottom" user="Advanced">
+<param humanName="RC dead-zone" name="RC5_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
 <field name="Range">0 200</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 </parameters>
 <parameters name="RC6_">
-<param humanName="RC min PWM" name="RC6_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC min PWM" name="RC6_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="RC trim PWM" name="RC6_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC trim PWM" name="RC6_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="RC max PWM" name="RC6_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC max PWM" name="RC6_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 <param humanName="RC reversed" name="RC6_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
 <values>
@@ -5813,26 +6971,30 @@
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="RC dead-zone" name="RC6_DZ" documentation="dead zone around trim or bottom" user="Advanced">
+<param humanName="RC dead-zone" name="RC6_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
 <field name="Range">0 200</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 </parameters>
 <parameters name="RC7_">
-<param humanName="RC min PWM" name="RC7_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC min PWM" name="RC7_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="RC trim PWM" name="RC7_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC trim PWM" name="RC7_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="RC max PWM" name="RC7_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC max PWM" name="RC7_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 <param humanName="RC reversed" name="RC7_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
 <values>
@@ -5840,26 +7002,30 @@
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="RC dead-zone" name="RC7_DZ" documentation="dead zone around trim or bottom" user="Advanced">
+<param humanName="RC dead-zone" name="RC7_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
 <field name="Range">0 200</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 </parameters>
 <parameters name="RC8_">
-<param humanName="RC min PWM" name="RC8_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC min PWM" name="RC8_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="RC trim PWM" name="RC8_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC trim PWM" name="RC8_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="RC max PWM" name="RC8_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC max PWM" name="RC8_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 <param humanName="RC reversed" name="RC8_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
 <values>
@@ -5867,26 +7033,30 @@
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="RC dead-zone" name="RC8_DZ" documentation="dead zone around trim or bottom" user="Advanced">
+<param humanName="RC dead-zone" name="RC8_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
 <field name="Range">0 200</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 </parameters>
 <parameters name="RC9_">
-<param humanName="RC min PWM" name="RC9_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC min PWM" name="RC9_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="RC trim PWM" name="RC9_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC trim PWM" name="RC9_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="RC max PWM" name="RC9_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<param humanName="RC max PWM" name="RC9_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 <param humanName="RC reversed" name="RC9_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
 <values>
@@ -5894,9 +7064,10 @@
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="RC dead-zone" name="RC9_DZ" documentation="dead zone around trim or bottom" user="Advanced">
+<param humanName="RC dead-zone" name="RC9_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
 <field name="Range">0 200</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 </parameters>
 <parameters name="RCMAP_">
@@ -5927,18 +7098,20 @@
 <value code="-1">Disabled</value>
 <value code="13">APM2 A9 pin</value>
 <value code="47">APM1 relay</value>
+<value code="49">BB Blue GP0 pin 4</value>
 <value code="50">Pixhawk AUXOUT1</value>
 <value code="51">Pixhawk AUXOUT2</value>
 <value code="52">Pixhawk AUXOUT3</value>
 <value code="53">Pixhawk AUXOUT4</value>
 <value code="54">Pixhawk AUXOUT5</value>
 <value code="55">Pixhawk AUXOUT6</value>
+<value code="57">BB Blue GP0 pin 3</value>
 <value code="111">PX4 FMU Relay1</value>
 <value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
+<value code="113">PX4IO Relay1/BB Blue GP0 pin 6</value>
 <value code="114">PX4IO Relay2</value>
 <value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
+<value code="116">PX4IO ACC2/BB Blue GP0 pin 5</value>
 </values>
 </param>
 <param humanName="Second Relay Pin" name="RELAY_PIN2" documentation="Digital pin number for 2nd relay control." user="Standard">
@@ -5946,18 +7119,20 @@
 <value code="-1">Disabled</value>
 <value code="13">APM2 A9 pin</value>
 <value code="47">APM1 relay</value>
+<value code="49">BB Blue GP0 pin 4</value>
 <value code="50">Pixhawk AUXOUT1</value>
 <value code="51">Pixhawk AUXOUT2</value>
 <value code="52">Pixhawk AUXOUT3</value>
 <value code="53">Pixhawk AUXOUT4</value>
 <value code="54">Pixhawk AUXOUT5</value>
 <value code="55">Pixhawk AUXOUT6</value>
+<value code="57">BB Blue GP0 pin 3</value>
 <value code="111">PX4 FMU Relay1</value>
 <value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
+<value code="113">PX4IO Relay1/BB Blue GP0 pin 6</value>
 <value code="114">PX4IO Relay2</value>
 <value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
+<value code="116">PX4IO ACC2/BB Blue GP0 pin 5</value>
 </values>
 </param>
 <param humanName="Third Relay Pin" name="RELAY_PIN3" documentation="Digital pin number for 3rd relay control." user="Standard">
@@ -5965,18 +7140,20 @@
 <value code="-1">Disabled</value>
 <value code="13">APM2 A9 pin</value>
 <value code="47">APM1 relay</value>
+<value code="49">BB Blue GP0 pin 4</value>
 <value code="50">Pixhawk AUXOUT1</value>
 <value code="51">Pixhawk AUXOUT2</value>
 <value code="52">Pixhawk AUXOUT3</value>
 <value code="53">Pixhawk AUXOUT4</value>
 <value code="54">Pixhawk AUXOUT5</value>
 <value code="55">Pixhawk AUXOUT6</value>
+<value code="57">BB Blue GP0 pin 3</value>
 <value code="111">PX4 FMU Relay1</value>
 <value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
+<value code="113">PX4IO Relay1/BB Blue GP0 pin 6</value>
 <value code="114">PX4IO Relay2</value>
 <value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
+<value code="116">PX4IO ACC2/BB Blue GP0 pin 5</value>
 </values>
 </param>
 <param humanName="Fourth Relay Pin" name="RELAY_PIN4" documentation="Digital pin number for 4th relay control." user="Standard">
@@ -5984,21 +7161,23 @@
 <value code="-1">Disabled</value>
 <value code="13">APM2 A9 pin</value>
 <value code="47">APM1 relay</value>
+<value code="49">BB Blue GP0 pin 4</value>
 <value code="50">Pixhawk AUXOUT1</value>
 <value code="51">Pixhawk AUXOUT2</value>
 <value code="52">Pixhawk AUXOUT3</value>
 <value code="53">Pixhawk AUXOUT4</value>
 <value code="54">Pixhawk AUXOUT5</value>
 <value code="55">Pixhawk AUXOUT6</value>
+<value code="57">BB Blue GP0 pin 3</value>
 <value code="111">PX4 FMU Relay1</value>
 <value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
+<value code="113">PX4IO Relay1/BB Blue GP0 pin 6</value>
 <value code="114">PX4IO Relay2</value>
 <value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
+<value code="116">PX4IO ACC2/BB Blue GP0 pin 5</value>
 </values>
 </param>
-<param humanName="Default relay state" name="RELAY_DEFAULT" documentation="The state of the relay on boot. " user="Standard">
+<param humanName="Default relay state" name="RELAY_DEFAULT" documentation="The state of the relay on boot." user="Standard">
 <values>
 <value code="0">Off</value>
 <value code="1">On</value>
@@ -6010,7 +7189,8 @@
 <param humanName="Roll Time Constant" name="RLL2SRV_TCONST" documentation="This controls the time constant in seconds from demanded to achieved bank angle. A value of 0.5 is a good default and will work with nearly all models. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the aircraft can achieve." user="Advanced">
 <field name="Range">0.4 1.0</field>
 <field name="Increment">0.1</field>
-<field name="Units">seconds</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
 </param>
 <param humanName="Proportional Gain" name="RLL2SRV_P" documentation="This is the gain from bank angle error to aileron." user="User">
 <field name="Range">0.1 4.0</field>
@@ -6027,7 +7207,8 @@
 <param humanName="Maximum Roll Rate" name="RLL2SRV_RMAX" documentation="This sets the maximum roll rate that the controller will demand (degrees/sec). Setting it to zero disables the limit. If this value is set too low, then the roll can't keep up with the navigation demands and the plane will start weaving. If it is set too high (or disabled by setting to zero) then ailerons will get large inputs at the start of turns. A limit of 60 degrees/sec is a good default." user="Advanced">
 <field name="Range">0 180</field>
 <field name="Increment">1</field>
-<field name="Units">degrees/second</field>
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
 </param>
 <param humanName="Integrator limit" name="RLL2SRV_IMAX" documentation="This limits the number of degrees of aileron in centi-degrees over which the integrator will operate. At the default setting of 3000 centi-degrees, the integrator will be limited to +- 30 degrees of servo travel. The maximum servo deflection is +- 45 centi-degrees, so the default value represents a 2/3rd of the total control throw which is adequate unless the aircraft is severely out of trim." user="Advanced">
 <field name="Range">0 4500</field>
@@ -6044,7 +7225,7 @@
 <value code="0">None</value>
 <value code="1">Analog</value>
 <value code="2">MaxbotixI2C</value>
-<value code="3">PulsedLightI2C</value>
+<value code="3">LidarLiteV2-I2C</value>
 <value code="5">PX4-PWM</value>
 <value code="6">BBB-PRU</value>
 <value code="7">LightWareI2C</value>
@@ -6054,7 +7235,14 @@
 <value code="11">uLanding</value>
 <value code="12">LeddarOne</value>
 <value code="13">MaxbotixSerial</value>
-<value code="14">TrOneI2C</value>
+<value code="14">TeraRangerI2C</value>
+<value code="15">LidarLiteV3-I2C</value>
+<value code="16">VL53L0X</value>
+<value code="17">NMEA</value>
+<value code="18">WASP-LRF</value>
+<value code="19">BenewakeTF02</value>
+<value code="20">BenewakeTFmini</value>
+<value code="21">LidarLiteV3HP-I2C</value>
 </values>
 </param>
 <param humanName="Rangefinder pin" name="RNGFND_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
@@ -6077,11 +7265,13 @@
 </param>
 <param humanName="Rangefinder scaling" name="RNGFND_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
 <field name="Increment">0.001</field>
-<field name="Units">meters/Volt</field>
+<field name="Units">m/V</field>
+<field name="UnitText">meters per volt</field>
 </param>
 <param humanName="rangefinder offset" name="RNGFND_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
 <field name="Increment">0.001</field>
-<field name="Units">Volts</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
 </param>
 <param humanName="Rangefinder function" name="RNGFND_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
 <values>
@@ -6092,11 +7282,13 @@
 </param>
 <param humanName="Rangefinder minimum distance" name="RNGFND_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
 <field name="Increment">1</field>
-<field name="Units">centimeters</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
 </param>
 <param humanName="Rangefinder maximum distance" name="RNGFND_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
 <field name="Increment">1</field>
-<field name="Units">centimeters</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
 </param>
 <param humanName="Rangefinder stop pin" name="RNGFND_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Standard">
 <values>
@@ -6117,7 +7309,8 @@
 </param>
 <param humanName="Rangefinder settle time" name="RNGFND_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Standard">
 <field name="Increment">1</field>
-<field name="Units">milliseconds</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
 </param>
 <param humanName="Ratiometric" name="RNGFND_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
 <values>
@@ -6127,12 +7320,14 @@
 </param>
 <param humanName="Powersave range" name="RNGFND_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
 <field name="Range">0 32767</field>
-<field name="Units">meters</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
 <param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
 <field name="Range">5 127</field>
 <field name="Increment">1</field>
-<field name="Units">centimeters</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
 </param>
 <param humanName="Bus address of sensor" name="RNGFND_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
 <field name="Range">0 127</field>
@@ -6140,19 +7335,36 @@
 </param>
 <param humanName=" X position offset" name="RNGFND_POS_X" documentation="X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
 <field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
 <param humanName="Y position offset" name="RNGFND_POS_Y" documentation="Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
 <field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
 <param humanName="Z position offset" name="RNGFND_POS_Z" documentation="Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
 <field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Rangefinder orientation" name="RNGFND_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
+<values>
+<value code="0">Forward</value>
+<value code=" 1">Forward-Right</value>
+<value code=" 2">Right</value>
+<value code=" 3">Back-Right</value>
+<value code=" 4">Back</value>
+<value code=" 5">Back-Left</value>
+<value code=" 6">Left</value>
+<value code=" 7">Forward-Left</value>
+<value code=" 24">Up</value>
+<value code=" 25">Down</value>
+</values>
 </param>
 <param humanName="Second Rangefinder type" name="RNGFND2_TYPE" documentation="What type of rangefinder device that is connected" user="Advanced">
 <values>
 <value code="0">None</value>
 <value code="1">Analog</value>
 <value code="2">MaxbotixI2C</value>
-<value code="3">PulsedLightI2C</value>
+<value code="3">LidarLiteV2-I2C</value>
 <value code="5">PX4-PWM</value>
 <value code="6">BBB-PRU</value>
 <value code="7">LightWareI2C</value>
@@ -6162,7 +7374,14 @@
 <value code="11">uLanding</value>
 <value code="12">LeddarOne</value>
 <value code="13">MaxbotixSerial</value>
-<value code="14">TrOneI2C</value>
+<value code="14">TeraRangerI2C</value>
+<value code="15">LidarLiteV3-I2C</value>
+<value code="16">VL53L0X</value>
+<value code="17">NMEA</value>
+<value code="18">WASP-LRF</value>
+<value code="19">BenewakeTF02</value>
+<value code="20">BenewakeTFmini</value>
+<value code="21">LidarLiteV3HP-I2C</value>
 </values>
 </param>
 <param humanName="Rangefinder pin" name="RNGFND2_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Advanced">
@@ -6185,11 +7404,13 @@
 </param>
 <param humanName="Rangefinder scaling" name="RNGFND2_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Advanced">
 <field name="Increment">0.001</field>
-<field name="Units">meters/Volt</field>
+<field name="Units">m/V</field>
+<field name="UnitText">meters per volt</field>
 </param>
 <param humanName="rangefinder offset" name="RNGFND2_OFFSET" documentation="Offset in volts for zero distance" user="Advanced">
 <field name="Increment">0.001</field>
-<field name="Units">Volts</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
 </param>
 <param humanName="Rangefinder function" name="RNGFND2_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Advanced">
 <values>
@@ -6200,11 +7421,13 @@
 </param>
 <param humanName="Rangefinder minimum distance" name="RNGFND2_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Advanced">
 <field name="Increment">1</field>
-<field name="Units">centimeters</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
 </param>
 <param humanName="Rangefinder maximum distance" name="RNGFND2_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Advanced">
 <field name="Increment">1</field>
-<field name="Units">centimeters</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
 </param>
 <param humanName="Rangefinder stop pin" name="RNGFND2_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Advanced">
 <values>
@@ -6225,7 +7448,8 @@
 </param>
 <param humanName="Sonar settle time" name="RNGFND2_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Advanced">
 <field name="Increment">1</field>
-<field name="Units">milliseconds</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
 </param>
 <param humanName="Ratiometric" name="RNGFND2_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Advanced">
 <values>
@@ -6236,7 +7460,8 @@
 <param humanName="Distance (in cm) from the second range finder to the ground" name="RNGFND2_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the second range finder should return when the vehicle is on the ground." user="Advanced">
 <field name="Range">0 127</field>
 <field name="Increment">1</field>
-<field name="Units">centimeters</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
 </param>
 <param humanName="Bus address of second rangefinder" name="RNGFND2_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Advanced">
 <field name="Range">0 127</field>
@@ -6244,19 +7469,36 @@
 </param>
 <param humanName=" X position offset" name="RNGFND2_POS_X" documentation="X position of the second rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
 <field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
 <param humanName="Y position offset" name="RNGFND2_POS_Y" documentation="Y position of the second rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
 <field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
 <param humanName="Z position offset" name="RNGFND2_POS_Z" documentation="Z position of the second rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
 <field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Rangefinder 2 orientation" name="RNGFND2_ORIENT" documentation="Orientation of 2nd rangefinder" user="Advanced">
+<values>
+<value code="0">Forward</value>
+<value code=" 1">Forward-Right</value>
+<value code=" 2">Right</value>
+<value code=" 3">Back-Right</value>
+<value code=" 4">Back</value>
+<value code=" 5">Back-Left</value>
+<value code=" 6">Left</value>
+<value code=" 7">Forward-Left</value>
+<value code=" 24">Up</value>
+<value code=" 25">Down</value>
+</values>
 </param>
 <param humanName="Third Rangefinder type" name="RNGFND3_TYPE" documentation="What type of rangefinder device that is connected" user="Advanced">
 <values>
 <value code="0">None</value>
 <value code="1">Analog</value>
-<value code="2">APM2-MaxbotixI2C</value>
-<value code="3">APM2-PulsedLightI2C</value>
+<value code="2">MaxbotixI2C</value>
+<value code="3">LidarLiteV2-I2C</value>
 <value code="5">PX4-PWM</value>
 <value code="6">BBB-PRU</value>
 <value code="7">LightWareI2C</value>
@@ -6266,6 +7508,14 @@
 <value code="11">uLanding</value>
 <value code="12">LeddarOne</value>
 <value code="13">MaxbotixSerial</value>
+<value code="14">TeraRangerI2C</value>
+<value code="15">LidarLiteV3-I2C</value>
+<value code="16">VL53L0X</value>
+<value code="17">NMEA</value>
+<value code="18">WASP-LRF</value>
+<value code="19">BenewakeTF02</value>
+<value code="20">BenewakeTFmini</value>
+<value code="21">LidarLiteV3HP-I2C</value>
 </values>
 </param>
 <param humanName="Rangefinder pin" name="RNGFND3_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Advanced">
@@ -6288,11 +7538,13 @@
 </param>
 <param humanName="Rangefinder scaling" name="RNGFND3_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Advanced">
 <field name="Increment">0.001</field>
-<field name="Units">meters/Volt</field>
+<field name="Units">m/V</field>
+<field name="UnitText">meters per volt</field>
 </param>
 <param humanName="rangefinder offset" name="RNGFND3_OFFSET" documentation="Offset in volts for zero distance" user="Advanced">
 <field name="Increment">0.001</field>
-<field name="Units">Volts</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
 </param>
 <param humanName="Rangefinder function" name="RNGFND3_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Advanced">
 <values>
@@ -6303,11 +7555,13 @@
 </param>
 <param humanName="Rangefinder minimum distance" name="RNGFND3_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Advanced">
 <field name="Increment">1</field>
-<field name="Units">centimeters</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
 </param>
 <param humanName="Rangefinder maximum distance" name="RNGFND3_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Advanced">
 <field name="Increment">1</field>
-<field name="Units">centimeters</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
 </param>
 <param humanName="Rangefinder stop pin" name="RNGFND3_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Advanced">
 <values>
@@ -6328,7 +7582,8 @@
 </param>
 <param humanName="Sonar settle time" name="RNGFND3_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Advanced">
 <field name="Increment">1</field>
-<field name="Units">milliseconds</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
 </param>
 <param humanName="Ratiometric" name="RNGFND3_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Advanced">
 <values>
@@ -6339,7 +7594,8 @@
 <param humanName="Distance (in cm) from the third range finder to the ground" name="RNGFND3_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the third range finder should return when the vehicle is on the ground." user="Advanced">
 <field name="Range">0 127</field>
 <field name="Increment">1</field>
-<field name="Units">centimeters</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
 </param>
 <param humanName="Bus address of third rangefinder" name="RNGFND3_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Advanced">
 <field name="Range">0 127</field>
@@ -6347,19 +7603,36 @@
 </param>
 <param humanName=" X position offset" name="RNGFND3_POS_X" documentation="X position of the third rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
 <field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
 <param humanName="Y position offset" name="RNGFND3_POS_Y" documentation="Y position of the third rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
 <field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
 <param humanName="Z position offset" name="RNGFND3_POS_Z" documentation="Z position of the third rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
 <field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Rangefinder 3 orientation" name="RNGFND3_ORIENT" documentation="Orientation of 3rd rangefinder" user="Advanced">
+<values>
+<value code="0">Forward</value>
+<value code=" 1">Forward-Right</value>
+<value code=" 2">Right</value>
+<value code=" 3">Back-Right</value>
+<value code=" 4">Back</value>
+<value code=" 5">Back-Left</value>
+<value code=" 6">Left</value>
+<value code=" 7">Forward-Left</value>
+<value code=" 24">Up</value>
+<value code=" 25">Down</value>
+</values>
 </param>
 <param humanName="Fourth Rangefinder type" name="RNGFND4_TYPE" documentation="What type of rangefinder device that is connected" user="Advanced">
 <values>
 <value code="0">None</value>
 <value code="1">Analog</value>
-<value code="2">APM2-MaxbotixI2C</value>
-<value code="3">APM2-PulsedLightI2C</value>
+<value code="2">MaxbotixI2C</value>
+<value code="3">LidarLiteV2-I2C</value>
 <value code="5">PX4-PWM</value>
 <value code="6">BBB-PRU</value>
 <value code="7">LightWareI2C</value>
@@ -6369,6 +7642,14 @@
 <value code="11">uLanding</value>
 <value code="12">LeddarOne</value>
 <value code="13">MaxbotixSerial</value>
+<value code="14">TeraRangerI2C</value>
+<value code="15">LidarLiteV3-I2C</value>
+<value code="16">VL53L0X</value>
+<value code="17">NMEA</value>
+<value code="18">WASP-LRF</value>
+<value code="19">BenewakeTF02</value>
+<value code="20">BenewakeTFmini</value>
+<value code="21">LidarLiteV3HP-I2C</value>
 </values>
 </param>
 <param humanName="Rangefinder pin" name="RNGFND4_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Advanced">
@@ -6391,11 +7672,13 @@
 </param>
 <param humanName="Rangefinder scaling" name="RNGFND4_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Advanced">
 <field name="Increment">0.001</field>
-<field name="Units">meters/Volt</field>
+<field name="Units">m/V</field>
+<field name="UnitText">meters per volt</field>
 </param>
 <param humanName="rangefinder offset" name="RNGFND4_OFFSET" documentation="Offset in volts for zero distance" user="Advanced">
 <field name="Increment">0.001</field>
-<field name="Units">Volts</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
 </param>
 <param humanName="Rangefinder function" name="RNGFND4_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Advanced">
 <values>
@@ -6406,56 +7689,169 @@
 </param>
 <param humanName="Rangefinder minimum distance" name="RNGFND4_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Advanced">
 <field name="Increment">1</field>
-<field name="Units">centimeters</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
 </param>
 <param humanName="Rangefinder maximum distance" name="RNGFND4_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Advanced">
 <field name="Increment">1</field>
-<field name="Units">centimeters</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Rangefinder stop pin" name="RNGFND4_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Advanced">
+<values>
+<value code="-1">Not Used</value>
+<value code="50">Pixhawk AUXOUT1</value>
+<value code="51">Pixhawk AUXOUT2</value>
+<value code="52">Pixhawk AUXOUT3</value>
+<value code="53">Pixhawk AUXOUT4</value>
+<value code="54">Pixhawk AUXOUT5</value>
+<value code="55">Pixhawk AUXOUT6</value>
+<value code="111">PX4 FMU Relay1</value>
+<value code="112">PX4 FMU Relay2</value>
+<value code="113">PX4IO Relay1</value>
+<value code="114">PX4IO Relay2</value>
+<value code="115">PX4IO ACC1</value>
+<value code="116">PX4IO ACC2</value>
+</values>
+</param>
+<param humanName="Sonar settle time" name="RNGFND4_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+</param>
+<param humanName="Ratiometric" name="RNGFND4_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Advanced">
+<values>
+<value code="0">No</value>
+<value code="1">Yes</value>
+</values>
+</param>
+<param humanName="Distance (in cm) from the fourth range finder to the ground" name="RNGFND4_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the fourth range finder should return when the vehicle is on the ground." user="Advanced">
+<field name="Range">0 127</field>
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Bus address of fourth rangefinder" name="RNGFND4_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Advanced">
+<field name="Range">0 127</field>
+<field name="Increment">1</field>
+</param>
+<param humanName=" X position offset" name="RNGFND4_POS_X" documentation="X position of the fourth rangefinder in body frame. Use the zero range datum point if supplied." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Y position offset" name="RNGFND4_POS_Y" documentation="Y position of the fourth rangefinder in body frame. Use the zero range datum point if supplied." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Z position offset" name="RNGFND4_POS_Z" documentation="Z position of the fourth rangefinder in body frame. Use the zero range datum point if supplied." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Rangefinder 4 orientation" name="RNGFND4_ORIENT" documentation="Orientation of 4th range finder" user="Advanced">
+<values>
+<value code="0">Forward</value>
+<value code=" 1">Forward-Right</value>
+<value code=" 2">Right</value>
+<value code=" 3">Back-Right</value>
+<value code=" 4">Back</value>
+<value code=" 5">Back-Left</value>
+<value code=" 6">Left</value>
+<value code=" 7">Forward-Left</value>
+<value code=" 24">Up</value>
+<value code=" 25">Down</value>
+</values>
+</param>
+</parameters>
+<parameters name="RNGFND2_">
+<param humanName="Moving Average Range" name="RNGFND2_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Moving Median Filter" name="RNGFND2_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Frequency" name="RNGFND2_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
+<field name="Range">0 10000</field>
+</param>
+<param humanName="Multi-pulse averages" name="RNGFND2_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Sensitivity threshold" name="RNGFND2_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
+<field name="Range">-1 255</field>
+</param>
+<param humanName="Baud rate" name="RNGFND2_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
+<values>
+<value code="0">Low Speed</value>
+<value code="1">High Speed</value>
+</values>
+</param>
+</parameters>
+<parameters name="RNGFND3_">
+<param humanName="Moving Average Range" name="RNGFND3_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Moving Median Filter" name="RNGFND3_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Frequency" name="RNGFND3_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
+<field name="Range">0 10000</field>
+</param>
+<param humanName="Multi-pulse averages" name="RNGFND3_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Sensitivity threshold" name="RNGFND3_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
+<field name="Range">-1 255</field>
 </param>
-<param humanName="Rangefinder stop pin" name="RNGFND4_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Advanced">
+<param humanName="Baud rate" name="RNGFND3_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
 <values>
-<value code="-1">Not Used</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
+<value code="0">Low Speed</value>
+<value code="1">High Speed</value>
 </values>
 </param>
-<param humanName="Sonar settle time" name="RNGFND4_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Advanced">
-<field name="Increment">1</field>
-<field name="Units">milliseconds</field>
+</parameters>
+<parameters name="RNGFND4_">
+<param humanName="Moving Average Range" name="RNGFND4_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
+<field name="Range">0 255</field>
 </param>
-<param humanName="Ratiometric" name="RNGFND4_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Advanced">
+<param humanName="Moving Median Filter" name="RNGFND4_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Frequency" name="RNGFND4_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
+<field name="Range">0 10000</field>
+</param>
+<param humanName="Multi-pulse averages" name="RNGFND4_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Sensitivity threshold" name="RNGFND4_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
+<field name="Range">-1 255</field>
+</param>
+<param humanName="Baud rate" name="RNGFND4_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
 <values>
-<value code="0">No</value>
-<value code="1">Yes</value>
+<value code="0">Low Speed</value>
+<value code="1">High Speed</value>
 </values>
 </param>
-<param humanName="Distance (in cm) from the fourth range finder to the ground" name="RNGFND4_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the fourth range finder should return when the vehicle is on the ground." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
+</parameters>
+<parameters name="RNGFND_">
+<param humanName="Moving Average Range" name="RNGFND_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
+<field name="Range">0 255</field>
 </param>
-<param humanName="Bus address of fourth rangefinder" name="RNGFND4_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
+<param humanName="Moving Median Filter" name="RNGFND_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
+<field name="Range">0 255</field>
 </param>
-<param humanName=" X position offset" name="RNGFND4_POS_X" documentation="X position of the fourth rangefinder in body frame. Use the zero range datum point if supplied." user="Advanced">
-<field name="Units">m</field>
+<param humanName="Frequency" name="RNGFND_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
+<field name="Range">0 10000</field>
 </param>
-<param humanName="Y position offset" name="RNGFND4_POS_Y" documentation="Y position of the fourth rangefinder in body frame. Use the zero range datum point if supplied." user="Advanced">
-<field name="Units">m</field>
+<param humanName="Multi-pulse averages" name="RNGFND_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
+<field name="Range">0 255</field>
 </param>
-<param humanName="Z position offset" name="RNGFND4_POS_Z" documentation="Z position of the fourth rangefinder in body frame. Use the zero range datum point if supplied." user="Advanced">
-<field name="Units">m</field>
+<param humanName="Sensitivity threshold" name="RNGFND_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
+<field name="Range">-1 255</field>
+</param>
+<param humanName="Baud rate" name="RNGFND_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
+<values>
+<value code="0">Low Speed</value>
+<value code="1">High Speed</value>
+</values>
 </param>
 </parameters>
 <parameters name="RPM">
@@ -6463,6 +7859,7 @@
 <values>
 <value code="0">None</value>
 <value code="1">PX4-PWM</value>
+<value code="2">AUXPIN</value>
 </values>
 </param>
 <param humanName="RPM scaling" name="RPM_SCALING" documentation="Scaling factor between sensor reading and RPM." user="Standard">
@@ -6477,15 +7874,38 @@
 <param humanName="Minimum Quality" name="RPM_MIN_QUAL" documentation="Minimum data quality to be used" user="Advanced">
 <field name="Increment">0.1</field>
 </param>
+<param humanName="Input pin number" name="RPM_PIN" documentation="Which pin to use" user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">PixhawkAUX1</value>
+<value code="51">PixhawkAUX2</value>
+<value code="52">PixhawkAUX3</value>
+<value code="53">PixhawkAUX4</value>
+<value code="54">PixhawkAUX5</value>
+<value code="55">PixhawkAUX6</value>
+</values>
+</param>
 <param humanName="Second RPM type" name="RPM2_TYPE" documentation="What type of RPM sensor is connected" user="Advanced">
 <values>
 <value code="0">None</value>
 <value code="1">PX4-PWM</value>
+<value code="2">AUXPIN</value>
 </values>
 </param>
 <param humanName="RPM scaling" name="RPM2_SCALING" documentation="Scaling factor between sensor reading and RPM." user="Advanced">
 <field name="Increment">0.001</field>
 </param>
+<param humanName="RPM2 input pin number" name="RPM2_PIN" documentation="Which pin to use" user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">PixhawkAUX1</value>
+<value code="51">PixhawkAUX2</value>
+<value code="52">PixhawkAUX3</value>
+<value code="53">PixhawkAUX4</value>
+<value code="54">PixhawkAUX5</value>
+<value code="55">PixhawkAUX6</value>
+</values>
+</param>
 </parameters>
 <parameters name="RSSI_">
 <param humanName="RSSI Type" name="RSSI_TYPE" documentation="Radio Receiver RSSI type. If your radio receiver supports RSSI of some kind, set it here, then set its associated RSSI_XXXXX parameters, if any." user="Standard">
@@ -6493,6 +7913,7 @@
 <value code="0">Disabled</value>
 <value code="1">AnalogPin</value>
 <value code="2">RCChannelPwmValue</value>
+<value code="3">ReceiverProtocol</value>
 </values>
 </param>
 <param humanName="Receiver RSSI analog sensing pin" name="RSSI_ANA_PIN" documentation="This selects an analog pin where the receiver RSSI voltage will be read." user="Standard">
@@ -6503,30 +7924,34 @@
 <value code="11">Pixracer</value>
 <value code="13">Pixhawk ADC4</value>
 <value code="14">Pixhawk ADC3</value>
-<value code="15"> Pixhawk ADC6</value>
+<value code="15">Pixhawk ADC6</value>
 <value code="103">Pixhawk SBUS</value>
+<value code="15">Pixhawk2 ADC</value>
 </values>
 </param>
 <param humanName="Receiver RSSI voltage low" name="RSSI_PIN_LOW" documentation="This is the voltage value that the radio receiver will put on the RSSI_ANA_PIN when the signal strength is the weakest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn't necessarily a lower value than RSSI_PIN_HIGH. " user="Standard">
 <field name="Range">0 5.0</field>
 <field name="Increment">0.01</field>
-<field name="Units">Volt</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
 </param>
 <param humanName="Receiver RSSI voltage high" name="RSSI_PIN_HIGH" documentation="This is the voltage value that the radio receiver will put on the RSSI_ANA_PIN when the signal strength is the strongest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn't necessarily a higher value than RSSI_PIN_LOW. " user="Standard">
 <field name="Range">0 5.0</field>
 <field name="Increment">0.01</field>
-<field name="Units">Volt</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
 </param>
 <param humanName="Receiver RSSI channel number" name="RSSI_CHANNEL" documentation="The channel number where RSSI will be output by the radio receiver (5 and above)." user="Standard">
-<field name="Units"></field>
 </param>
-<param humanName="Receiver RSSI PWM low value" name="RSSI_CHAN_LOW" documentation="This is the PWM value that the radio receiver will put on the RSSI_CHANNEL when the signal strength is the weakest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn't necessarily a lower value than RSSI_CHAN_HIGH. " user="Standard">
+<param humanName="Receiver RSSI PWM low value" name="RSSI_CHAN_LOW" documentation="This is the PWM value in microseconds that the radio receiver will put on the RSSI_CHANNEL when the signal strength is the weakest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn't necessarily a lower value than RSSI_CHAN_HIGH." user="Standard">
 <field name="Range">0 2000</field>
-<field name="Units">Microseconds</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Receiver RSSI PWM high value" name="RSSI_CHAN_HIGH" documentation="This is the PWM value that the radio receiver will put on the RSSI_CHANNEL when the signal strength is the strongest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn't necessarily a higher value than RSSI_CHAN_LOW. " user="Standard">
+<param humanName="Receiver RSSI PWM high value" name="RSSI_CHAN_HIGH" documentation="This is the PWM value in microseconds that the radio receiver will put on the RSSI_CHANNEL when the signal strength is the strongest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn't necessarily a higher value than RSSI_CHAN_LOW." user="Standard">
 <field name="Range">0 2000</field>
-<field name="Units">Microseconds</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 </parameters>
 <parameters name="SCHED_">
@@ -6537,7 +7962,7 @@
 <value code="3">ShowOverruns</value>
 </values>
 </param>
-<param humanName="Scheduling main loop rate" name="SCHED_LOOP_RATE" documentation="This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart" user="Advanced">
+<param humanName="Scheduling main loop rate" name="SCHED_LOOP_RATE" documentation="This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart. Values over 400 are considered highly experimental." user="Advanced">
 <values>
 <value code="50">50Hz</value>
 <value code="100">100Hz</value>
@@ -6561,6 +7986,7 @@
 <value code="57">57600</value>
 <value code="111">111100</value>
 <value code="115">115200</value>
+<value code="460">460800</value>
 <value code="500">500000</value>
 <value code="921">921600</value>
 <value code="1500">1500000</value>
@@ -6571,6 +7997,7 @@
 <value code="1">MAVlink1</value>
 <value code=" 2">MAVLink2</value>
 </values>
+<field name="RebootRequired">True</field>
 </param>
 <param humanName="Telem1 protocol selection" name="SERIAL1_PROTOCOL" documentation="Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
 <values>
@@ -6582,12 +8009,16 @@
 <value code=" 5">GPS</value>
 <value code=" 7">Alexmos Gimbal Serial</value>
 <value code=" 8">SToRM32 Gimbal Serial</value>
-<value code=" 9">Lidar</value>
+<value code=" 9">Rangefinder</value>
 <value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
 <value code=" 11">Lidar360</value>
-<value code=" 12">Aerotenna uLanding</value>
-<value code=" 13">Pozyx Beacon</value>
+<value code=" 13">Beacon</value>
+<value code=" 14">Volz servo out</value>
+<value code=" 15">SBus servo out</value>
+<value code=" 16">ESC Telemetry</value>
+<value code=" 17">Devo Telemetry</value>
 </values>
+<field name="RebootRequired">True</field>
 </param>
 <param humanName="Telem1 Baud Rate" name="SERIAL1_BAUD" documentation="The baud rate used on the Telem1 port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
 <values>
@@ -6615,12 +8046,16 @@
 <value code=" 5">GPS</value>
 <value code=" 7">Alexmos Gimbal Serial</value>
 <value code=" 8">SToRM32 Gimbal Serial</value>
-<value code=" 9">Lidar</value>
+<value code=" 9">Rangefinder</value>
 <value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
 <value code=" 11">Lidar360</value>
-<value code=" 12">Aerotenna uLanding</value>
-<value code=" 13">Pozyx Beacon</value>
+<value code=" 13">Beacon</value>
+<value code=" 14">Volz servo out</value>
+<value code=" 15">SBus servo out</value>
+<value code=" 16">ESC Telemetry</value>
+<value code=" 17">Devo Telemetry</value>
 </values>
+<field name="RebootRequired">True</field>
 </param>
 <param humanName="Telemetry 2 Baud Rate" name="SERIAL2_BAUD" documentation="The baud rate of the Telem2 port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
 <values>
@@ -6648,12 +8083,16 @@
 <value code=" 5">GPS</value>
 <value code=" 7">Alexmos Gimbal Serial</value>
 <value code=" 8">SToRM32 Gimbal Serial</value>
-<value code=" 9">Lidar</value>
+<value code=" 9">Rangefinder</value>
 <value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
 <value code=" 11">Lidar360</value>
-<value code=" 12">Aerotenna uLanding</value>
-<value code=" 13">Pozyx Beacon</value>
+<value code=" 13">Beacon</value>
+<value code=" 14">Volz servo out</value>
+<value code=" 15">SBus servo out</value>
+<value code=" 16">ESC Telemetry</value>
+<value code=" 17">Devo Telemetry</value>
 </values>
+<field name="RebootRequired">True</field>
 </param>
 <param humanName="Serial 3 (GPS) Baud Rate" name="SERIAL3_BAUD" documentation="The baud rate used for the Serial 3 (GPS). The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
 <values>
@@ -6681,12 +8120,16 @@
 <value code=" 5">GPS</value>
 <value code=" 7">Alexmos Gimbal Serial</value>
 <value code=" 8">SToRM32 Gimbal Serial</value>
-<value code=" 9">Lidar</value>
+<value code=" 9">Rangefinder</value>
 <value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
 <value code=" 11">Lidar360</value>
-<value code=" 12">Aerotenna uLanding</value>
-<value code=" 13">Pozyx Beacon</value>
+<value code=" 13">Beacon</value>
+<value code=" 14">Volz servo out</value>
+<value code=" 15">SBus servo out</value>
+<value code=" 16">ESC Telemetry</value>
+<value code=" 17">Devo Telemetry</value>
 </values>
+<field name="RebootRequired">True</field>
 </param>
 <param humanName="Serial 4 Baud Rate" name="SERIAL4_BAUD" documentation="The baud rate used for Serial4. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
 <values>
@@ -6714,12 +8157,16 @@
 <value code=" 5">GPS</value>
 <value code=" 7">Alexmos Gimbal Serial</value>
 <value code=" 8">SToRM32 Gimbal Serial</value>
-<value code=" 9">Lidar</value>
+<value code=" 9">Rangefinder</value>
 <value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
 <value code=" 11">Lidar360</value>
-<value code=" 12">Aerotenna uLanding</value>
-<value code=" 13">Pozyx Beacon</value>
+<value code=" 13">Beacon</value>
+<value code=" 14">Volz servo out</value>
+<value code=" 15">SBus servo out</value>
+<value code=" 16">ESC Telemetry</value>
+<value code=" 17">Devo Telemetry</value>
 </values>
+<field name="RebootRequired">True</field>
 </param>
 <param humanName="Serial 5 Baud Rate" name="SERIAL5_BAUD" documentation="The baud rate used for Serial5. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
 <values>
@@ -6737,6 +8184,43 @@
 <value code="1500">1500000</value>
 </values>
 </param>
+<param humanName="Serial6 protocol selection" name="SERIAL6_PROTOCOL" documentation="Control what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
+<values>
+<value code="-1">None</value>
+<value code=" 1">MAVLink1</value>
+<value code=" 2">MAVLink2</value>
+<value code=" 3">Frsky D</value>
+<value code=" 4">Frsky SPort</value>
+<value code=" 5">GPS</value>
+<value code=" 7">Alexmos Gimbal Serial</value>
+<value code=" 8">SToRM32 Gimbal Serial</value>
+<value code=" 9">Rangefinder</value>
+<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
+<value code=" 11">Lidar360</value>
+<value code=" 13">Beacon</value>
+<value code=" 14">Volz servo out</value>
+<value code=" 15">SBus servo out</value>
+<value code=" 16">ESC Telemetry</value>
+<value code=" 17">Devo Telemetry</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Serial 6 Baud Rate" name="SERIAL6_BAUD" documentation="The baud rate used for Serial6. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
+<values>
+<value code="1">1200</value>
+<value code="2">2400</value>
+<value code="4">4800</value>
+<value code="9">9600</value>
+<value code="19">19200</value>
+<value code="38">38400</value>
+<value code="57">57600</value>
+<value code="111">111100</value>
+<value code="115">115200</value>
+<value code="500">500000</value>
+<value code="921">921600</value>
+<value code="1500">1500000</value>
+</values>
+</param>
 </parameters>
 <parameters name="SERVO">
 <param humanName="Automatic servo trim" name="SERVO_AUTO_TRIM" documentation="This enables automatic servo trim in flight. Servos will be trimed in stabilized flight modes when the aircraft is close to level. Changes to servo trim will be saved every 10 seconds and will persist between flights." user="Advanced">
@@ -6745,22 +8229,30 @@
 <value code="1">Enable</value>
 </values>
 </param>
+<param humanName="Servo default output rate" name="SERVO_RATE" documentation="This sets the default output rate in Hz for all outputs." user="Advanced">
+<field name="Range">25 400</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
 </parameters>
 <parameters name="SERVO10_">
-<param humanName="Minimum PWM" name="SERVO10_MIN" documentation="minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
+<param humanName="Minimum PWM" name="SERVO10_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Maximum PWM" name="SERVO10_MAX" documentation="maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<param humanName="Maximum PWM" name="SERVO10_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Trim PWM" name="SERVO10_TRIM" documentation="Trim PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<param humanName="Trim PWM" name="SERVO10_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 <param humanName="Servo reverse" name="SERVO10_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
 <values>
@@ -6785,14 +8277,14 @@
 <value code="13">mount2_tilt</value>
 <value code="14">mount2_roll</value>
 <value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
 <value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
 <value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
 <value code="26">GroundSteering</value>
 <value code="27">Parachute</value>
 <value code="28">EPM</value>
@@ -6808,6 +8300,7 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -6830,24 +8323,41 @@
 <value code="70">Throttle</value>
 <value code="71">TrackerYaw</value>
 <value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="88">Winch</value>
 </values>
 </param>
 </parameters>
 <parameters name="SERVO11_">
-<param humanName="Minimum PWM" name="SERVO11_MIN" documentation="minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
+<param humanName="Minimum PWM" name="SERVO11_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Maximum PWM" name="SERVO11_MAX" documentation="maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<param humanName="Maximum PWM" name="SERVO11_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Trim PWM" name="SERVO11_TRIM" documentation="Trim PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<param humanName="Trim PWM" name="SERVO11_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
 <param humanName="Servo reverse" name="SERVO11_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
 <values>
@@ -6872,14 +8382,14 @@
 <value code="13">mount2_tilt</value>
 <value code="14">mount2_roll</value>
 <value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
 <value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
 <value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
 <value code="26">GroundSteering</value>
 <value code="27">Parachute</value>
 <value code="28">EPM</value>
@@ -6895,6 +8405,7 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -6917,32 +8428,259 @@
 <value code="70">Throttle</value>
 <value code="71">TrackerYaw</value>
 <value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="88">Winch</value>
 </values>
 </param>
 </parameters>
 <parameters name="SERVO12_">
-<param humanName="Minimum PWM" name="SERVO12_MIN" documentation="minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<param humanName="Minimum PWM" name="SERVO12_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO12_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO12_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO12_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO12_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="88">Winch</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO13_">
+<param humanName="Minimum PWM" name="SERVO13_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO13_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO13_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO13_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO13_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="88">Winch</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO14_">
+<param humanName="Minimum PWM" name="SERVO14_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Maximum PWM" name="SERVO12_MAX" documentation="maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<param humanName="Maximum PWM" name="SERVO14_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Trim PWM" name="SERVO12_TRIM" documentation="Trim PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<param humanName="Trim PWM" name="SERVO14_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Servo reverse" name="SERVO12_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<param humanName="Servo reverse" name="SERVO14_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
 <values>
 <value code="0">Normal</value>
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="Servo output function" name="SERVO12_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<param humanName="Servo output function" name="SERVO14_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">RCPassThru</value>
@@ -6959,14 +8697,14 @@
 <value code="13">mount2_tilt</value>
 <value code="14">mount2_roll</value>
 <value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
 <value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
 <value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
 <value code="26">GroundSteering</value>
 <value code="27">Parachute</value>
 <value code="28">EPM</value>
@@ -6982,6 +8720,7 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -7004,32 +8743,49 @@
 <value code="70">Throttle</value>
 <value code="71">TrackerYaw</value>
 <value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="88">Winch</value>
 </values>
 </param>
 </parameters>
-<parameters name="SERVO13_">
-<param humanName="Minimum PWM" name="SERVO13_MIN" documentation="minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
+<parameters name="SERVO15_">
+<param humanName="Minimum PWM" name="SERVO15_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Maximum PWM" name="SERVO13_MAX" documentation="maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<param humanName="Maximum PWM" name="SERVO15_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Trim PWM" name="SERVO13_TRIM" documentation="Trim PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<param humanName="Trim PWM" name="SERVO15_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Servo reverse" name="SERVO13_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<param humanName="Servo reverse" name="SERVO15_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
 <values>
 <value code="0">Normal</value>
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="Servo output function" name="SERVO13_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<param humanName="Servo output function" name="SERVO15_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">RCPassThru</value>
@@ -7046,14 +8802,14 @@
 <value code="13">mount2_tilt</value>
 <value code="14">mount2_roll</value>
 <value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
 <value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
 <value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
 <value code="26">GroundSteering</value>
 <value code="27">Parachute</value>
 <value code="28">EPM</value>
@@ -7069,6 +8825,7 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -7091,32 +8848,49 @@
 <value code="70">Throttle</value>
 <value code="71">TrackerYaw</value>
 <value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="88">Winch</value>
 </values>
 </param>
 </parameters>
-<parameters name="SERVO14_">
-<param humanName="Minimum PWM" name="SERVO14_MIN" documentation="minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
+<parameters name="SERVO16_">
+<param humanName="Minimum PWM" name="SERVO16_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Maximum PWM" name="SERVO14_MAX" documentation="maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<param humanName="Maximum PWM" name="SERVO16_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Trim PWM" name="SERVO14_TRIM" documentation="Trim PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<param humanName="Trim PWM" name="SERVO16_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Servo reverse" name="SERVO14_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<param humanName="Servo reverse" name="SERVO16_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
 <values>
 <value code="0">Normal</value>
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="Servo output function" name="SERVO14_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<param humanName="Servo output function" name="SERVO16_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">RCPassThru</value>
@@ -7133,14 +8907,14 @@
 <value code="13">mount2_tilt</value>
 <value code="14">mount2_roll</value>
 <value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
 <value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
 <value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
 <value code="26">GroundSteering</value>
 <value code="27">Parachute</value>
 <value code="28">EPM</value>
@@ -7156,6 +8930,7 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -7178,32 +8953,49 @@
 <value code="70">Throttle</value>
 <value code="71">TrackerYaw</value>
 <value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="88">Winch</value>
 </values>
 </param>
 </parameters>
-<parameters name="SERVO15_">
-<param humanName="Minimum PWM" name="SERVO15_MIN" documentation="minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
+<parameters name="SERVO1_">
+<param humanName="Minimum PWM" name="SERVO1_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Maximum PWM" name="SERVO15_MAX" documentation="maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<param humanName="Maximum PWM" name="SERVO1_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Trim PWM" name="SERVO15_TRIM" documentation="Trim PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<param humanName="Trim PWM" name="SERVO1_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Servo reverse" name="SERVO15_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<param humanName="Servo reverse" name="SERVO1_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
 <values>
 <value code="0">Normal</value>
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="Servo output function" name="SERVO15_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<param humanName="Servo output function" name="SERVO1_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">RCPassThru</value>
@@ -7220,14 +9012,14 @@
 <value code="13">mount2_tilt</value>
 <value code="14">mount2_roll</value>
 <value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
 <value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
 <value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
 <value code="26">GroundSteering</value>
 <value code="27">Parachute</value>
 <value code="28">EPM</value>
@@ -7243,6 +9035,7 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -7265,32 +9058,49 @@
 <value code="70">Throttle</value>
 <value code="71">TrackerYaw</value>
 <value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="88">Winch</value>
 </values>
 </param>
 </parameters>
-<parameters name="SERVO16_">
-<param humanName="Minimum PWM" name="SERVO16_MIN" documentation="minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
+<parameters name="SERVO2_">
+<param humanName="Minimum PWM" name="SERVO2_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Maximum PWM" name="SERVO16_MAX" documentation="maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<param humanName="Maximum PWM" name="SERVO2_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Trim PWM" name="SERVO16_TRIM" documentation="Trim PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<param humanName="Trim PWM" name="SERVO2_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Servo reverse" name="SERVO16_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<param humanName="Servo reverse" name="SERVO2_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
 <values>
 <value code="0">Normal</value>
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="Servo output function" name="SERVO16_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<param humanName="Servo output function" name="SERVO2_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">RCPassThru</value>
@@ -7307,14 +9117,14 @@
 <value code="13">mount2_tilt</value>
 <value code="14">mount2_roll</value>
 <value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
 <value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
 <value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
 <value code="26">GroundSteering</value>
 <value code="27">Parachute</value>
 <value code="28">EPM</value>
@@ -7330,6 +9140,7 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -7352,32 +9163,49 @@
 <value code="70">Throttle</value>
 <value code="71">TrackerYaw</value>
 <value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="88">Winch</value>
 </values>
 </param>
 </parameters>
-<parameters name="SERVO1_">
-<param humanName="Minimum PWM" name="SERVO1_MIN" documentation="minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
+<parameters name="SERVO3_">
+<param humanName="Minimum PWM" name="SERVO3_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Maximum PWM" name="SERVO1_MAX" documentation="maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<param humanName="Maximum PWM" name="SERVO3_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Trim PWM" name="SERVO1_TRIM" documentation="Trim PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<param humanName="Trim PWM" name="SERVO3_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Servo reverse" name="SERVO1_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<param humanName="Servo reverse" name="SERVO3_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
 <values>
 <value code="0">Normal</value>
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="Servo output function" name="SERVO1_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<param humanName="Servo output function" name="SERVO3_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">RCPassThru</value>
@@ -7394,14 +9222,14 @@
 <value code="13">mount2_tilt</value>
 <value code="14">mount2_roll</value>
 <value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
 <value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
 <value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
 <value code="26">GroundSteering</value>
 <value code="27">Parachute</value>
 <value code="28">EPM</value>
@@ -7417,6 +9245,7 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -7439,32 +9268,49 @@
 <value code="70">Throttle</value>
 <value code="71">TrackerYaw</value>
 <value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="88">Winch</value>
 </values>
 </param>
 </parameters>
-<parameters name="SERVO2_">
-<param humanName="Minimum PWM" name="SERVO2_MIN" documentation="minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
+<parameters name="SERVO4_">
+<param humanName="Minimum PWM" name="SERVO4_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Maximum PWM" name="SERVO2_MAX" documentation="maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<param humanName="Maximum PWM" name="SERVO4_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Trim PWM" name="SERVO2_TRIM" documentation="Trim PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<param humanName="Trim PWM" name="SERVO4_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Servo reverse" name="SERVO2_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<param humanName="Servo reverse" name="SERVO4_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
 <values>
 <value code="0">Normal</value>
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="Servo output function" name="SERVO2_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<param humanName="Servo output function" name="SERVO4_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">RCPassThru</value>
@@ -7481,14 +9327,14 @@
 <value code="13">mount2_tilt</value>
 <value code="14">mount2_roll</value>
 <value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
 <value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
 <value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
 <value code="26">GroundSteering</value>
 <value code="27">Parachute</value>
 <value code="28">EPM</value>
@@ -7504,6 +9350,7 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -7526,32 +9373,49 @@
 <value code="70">Throttle</value>
 <value code="71">TrackerYaw</value>
 <value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="88">Winch</value>
 </values>
 </param>
 </parameters>
-<parameters name="SERVO3_">
-<param humanName="Minimum PWM" name="SERVO3_MIN" documentation="minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
+<parameters name="SERVO5_">
+<param humanName="Minimum PWM" name="SERVO5_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Maximum PWM" name="SERVO3_MAX" documentation="maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<param humanName="Maximum PWM" name="SERVO5_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Trim PWM" name="SERVO3_TRIM" documentation="Trim PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<param humanName="Trim PWM" name="SERVO5_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Servo reverse" name="SERVO3_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<param humanName="Servo reverse" name="SERVO5_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
 <values>
 <value code="0">Normal</value>
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="Servo output function" name="SERVO3_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<param humanName="Servo output function" name="SERVO5_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">RCPassThru</value>
@@ -7568,14 +9432,14 @@
 <value code="13">mount2_tilt</value>
 <value code="14">mount2_roll</value>
 <value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
 <value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
 <value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
 <value code="26">GroundSteering</value>
 <value code="27">Parachute</value>
 <value code="28">EPM</value>
@@ -7591,6 +9455,7 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -7613,32 +9478,49 @@
 <value code="70">Throttle</value>
 <value code="71">TrackerYaw</value>
 <value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="88">Winch</value>
 </values>
 </param>
 </parameters>
-<parameters name="SERVO4_">
-<param humanName="Minimum PWM" name="SERVO4_MIN" documentation="minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
+<parameters name="SERVO6_">
+<param humanName="Minimum PWM" name="SERVO6_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Maximum PWM" name="SERVO4_MAX" documentation="maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<param humanName="Maximum PWM" name="SERVO6_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Trim PWM" name="SERVO4_TRIM" documentation="Trim PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<param humanName="Trim PWM" name="SERVO6_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Servo reverse" name="SERVO4_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<param humanName="Servo reverse" name="SERVO6_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
 <values>
 <value code="0">Normal</value>
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="Servo output function" name="SERVO4_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<param humanName="Servo output function" name="SERVO6_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">RCPassThru</value>
@@ -7655,14 +9537,14 @@
 <value code="13">mount2_tilt</value>
 <value code="14">mount2_roll</value>
 <value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
 <value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
 <value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
 <value code="26">GroundSteering</value>
 <value code="27">Parachute</value>
 <value code="28">EPM</value>
@@ -7678,6 +9560,7 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -7700,32 +9583,49 @@
 <value code="70">Throttle</value>
 <value code="71">TrackerYaw</value>
 <value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="88">Winch</value>
 </values>
 </param>
 </parameters>
-<parameters name="SERVO5_">
-<param humanName="Minimum PWM" name="SERVO5_MIN" documentation="minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
+<parameters name="SERVO7_">
+<param humanName="Minimum PWM" name="SERVO7_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Maximum PWM" name="SERVO5_MAX" documentation="maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<param humanName="Maximum PWM" name="SERVO7_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Trim PWM" name="SERVO5_TRIM" documentation="Trim PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<param humanName="Trim PWM" name="SERVO7_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Servo reverse" name="SERVO5_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<param humanName="Servo reverse" name="SERVO7_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
 <values>
 <value code="0">Normal</value>
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="Servo output function" name="SERVO5_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<param humanName="Servo output function" name="SERVO7_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">RCPassThru</value>
@@ -7742,14 +9642,14 @@
 <value code="13">mount2_tilt</value>
 <value code="14">mount2_roll</value>
 <value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
 <value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
 <value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
 <value code="26">GroundSteering</value>
 <value code="27">Parachute</value>
 <value code="28">EPM</value>
@@ -7765,6 +9665,7 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -7787,32 +9688,49 @@
 <value code="70">Throttle</value>
 <value code="71">TrackerYaw</value>
 <value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="88">Winch</value>
 </values>
 </param>
 </parameters>
-<parameters name="SERVO6_">
-<param humanName="Minimum PWM" name="SERVO6_MIN" documentation="minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
+<parameters name="SERVO8_">
+<param humanName="Minimum PWM" name="SERVO8_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Maximum PWM" name="SERVO6_MAX" documentation="maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<param humanName="Maximum PWM" name="SERVO8_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Trim PWM" name="SERVO6_TRIM" documentation="Trim PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<param humanName="Trim PWM" name="SERVO8_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Servo reverse" name="SERVO6_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<param humanName="Servo reverse" name="SERVO8_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
 <values>
 <value code="0">Normal</value>
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="Servo output function" name="SERVO6_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<param humanName="Servo output function" name="SERVO8_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">RCPassThru</value>
@@ -7829,14 +9747,14 @@
 <value code="13">mount2_tilt</value>
 <value code="14">mount2_roll</value>
 <value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
 <value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
 <value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
 <value code="26">GroundSteering</value>
 <value code="27">Parachute</value>
 <value code="28">EPM</value>
@@ -7852,6 +9770,7 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -7874,32 +9793,49 @@
 <value code="70">Throttle</value>
 <value code="71">TrackerYaw</value>
 <value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="88">Winch</value>
 </values>
 </param>
 </parameters>
-<parameters name="SERVO7_">
-<param humanName="Minimum PWM" name="SERVO7_MIN" documentation="minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
+<parameters name="SERVO9_">
+<param humanName="Minimum PWM" name="SERVO9_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Maximum PWM" name="SERVO7_MAX" documentation="maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<param humanName="Maximum PWM" name="SERVO9_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Trim PWM" name="SERVO7_TRIM" documentation="Trim PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<param humanName="Trim PWM" name="SERVO9_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
 <field name="Range">800 2200</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
 </param>
-<param humanName="Servo reverse" name="SERVO7_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<param humanName="Servo reverse" name="SERVO9_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
 <values>
 <value code="0">Normal</value>
 <value code="1">Reversed</value>
 </values>
 </param>
-<param humanName="Servo output function" name="SERVO7_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<param humanName="Servo output function" name="SERVO9_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
 <values>
 <value code="0">Disabled</value>
 <value code="1">RCPassThru</value>
@@ -7916,14 +9852,14 @@
 <value code="13">mount2_tilt</value>
 <value code="14">mount2_roll</value>
 <value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
 <value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
 <value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
 <value code="26">GroundSteering</value>
 <value code="27">Parachute</value>
 <value code="28">EPM</value>
@@ -7939,6 +9875,7 @@
 <value code="38">Motor6</value>
 <value code="39">Motor7</value>
 <value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
 <value code="51">RCIN1</value>
 <value code="52">RCIN2</value>
 <value code="53">RCIN3</value>
@@ -7961,235 +9898,422 @@
 <value code="70">Throttle</value>
 <value code="71">TrackerYaw</value>
 <value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="88">Winch</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO_BLH_">
+<param humanName="Channel Bitmask" name="SERVO_BLH_MASK" documentation="Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any)" user="Advanced">
+<field name="Bitmask">0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16</field>
+</param>
+<param humanName="auto-enable for multicopter motors" name="SERVO_BLH_AUTO" documentation="If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="internal test of BLHeli interface" name="SERVO_BLH_TEST" documentation="Setting SERVO_BLH_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC. The debug output is displayed on the USB console." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">TestMotor1</value>
+<value code="2">TestMotor2</value>
+<value code="3">TestMotor3</value>
+<value code="4">TestMotor4</value>
+<value code="5">TestMotor5</value>
+<value code="6">TestMotor6</value>
+<value code="7">TestMotor7</value>
+<value code="8">TestMotor8</value>
 </values>
 </param>
+<param humanName="BLHeli protocol timeout" name="SERVO_BLH_TMOUT" documentation="This sets the inactivity timeout for the BLHeli protocol in seconds. If no packets are received in this time normal MAVLink operations are resumed. A value of 0 means no timeout" user="Standard">
+<field name="Range">0 300</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="BLHeli telemetry rate" name="SERVO_BLH_TRATE" documentation="This sets the rate in Hz for requesting telemetry from ESCs. It is the rate per ESC. Setting to zero disables telemetry requests" user="Standard">
+<field name="Range">0 500</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="BLHeli debug level" name="SERVO_BLH_DEBUG" documentation="When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Output type override" name="SERVO_BLH_OTYPE" documentation="When set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group." user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">OneShot</value>
+<value code="2">OneShot125</value>
+<value code="3">Brushed</value>
+<value code="4">DShot150</value>
+<value code="5">DShot300</value>
+<value code="6">DShot600</value>
+<value code="7">DShot1200</value>
+</values>
+</param>
+<param humanName="Control port" name="SERVO_BLH_PORT" documentation="This sets the telemetry port to use for blheli pass-thru" user="Advanced">
+<values>
+<value code="0">Console</value>
+<value code="1">Telem1</value>
+<value code="2">Telem2</value>
+<value code="3">Telem3</value>
+<value code="4">Telem4</value>
+<value code="5">Telem5</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO_SBUS_">
+<param humanName="SBUS default output rate" name="SERVO_SBUS_RATE" documentation="This sets the SBUS output frame rate in Hz." user="Advanced">
+<field name="Range">25 250</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+</parameters>
+<parameters name="SERVO_VOLZ_">
+<param humanName="Channel Bitmask" name="SERVO_VOLZ_MASK" documentation="Enable of volz servo protocol to specific channels" user="Standard">
+<field name="Bitmask">0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16</field>
+</param>
+</parameters>
+<parameters name="SOAR_">
+<param humanName="Is the soaring mode enabled or not" name="SOAR_ENABLE" documentation="Toggles the soaring mode on and off" user="Advanced">
+<values>
+<value code="0">Disable</value>
+<value code="1">Enable</value>
+</values>
+</param>
+<param humanName="Vertical v-speed" name="SOAR_VSPEED" documentation="Rate of climb to trigger themalling speed" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Distance to thermal center" name="SOAR_DIST_AHEAD" documentation="Initial guess of the distance to the thermal center" user="Advanced">
+<field name="Range">0 100</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Minimum thermalling time" name="SOAR_MIN_THML_S" documentation="Minimum number of seconds to spend thermalling" user="Advanced">
+<field name="Range">0 32768</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Minimum cruising time" name="SOAR_MIN_CRSE_S" documentation="Minimum number of seconds to spend cruising" user="Advanced">
+<field name="Range">0 32768</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Cl factor" name="SOAR_POLAR_K" documentation="Cl factor 2*m*g/(rho*S)" user="Advanced">
+<field name="Range">0 0.5</field>
+<field name="Units">m.m/s/s</field>
+<field name="UnitText">square meter per square second</field>
+</param>
+<param humanName="Maximum soaring altitude, relative to the home location" name="SOAR_ALT_MAX" documentation="Don't thermal any higher than this." user="Advanced">
+<field name="Range">0 1000.0</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Minimum soaring altitude, relative to the home location" name="SOAR_ALT_MIN" documentation="Don't get any lower than this." user="Advanced">
+<field name="Range">0 1000.0</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Maximum power altitude, relative to the home location" name="SOAR_ALT_CUTOFF" documentation="Cut off throttle at this alt." user="Advanced">
+<field name="Range">0 1000.0</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="(Optional) RC channel that toggles the soaring controller on and off" name="SOAR_ENABLE_CH" documentation="Toggles the soaring controller on and off. This parameter has any effect only if SOAR_ENABLE is set to 1 and this parameter is set to a valid non-zero channel number. When set, soaring will be activated when RC input to the specified channel is greater than or equal to 1700." user="Advanced">
+<field name="Range">0 16</field>
+</param>
+</parameters>
+<parameters name="SR0_">
+<param humanName="Raw sensor stream rate" name="SR0_RAW_SENS" documentation="Raw sensor stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extended status stream rate to ground station" name="SR0_EXT_STAT" documentation="Extended status stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="RC Channel stream rate to ground station" name="SR0_RC_CHAN" documentation="RC Channel stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Raw Control stream rate to ground station" name="SR0_RAW_CTRL" documentation="Raw Control stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Position stream rate to ground station" name="SR0_POSITION" documentation="Position stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extra data type 1 stream rate to ground station" name="SR0_EXTRA1" documentation="Extra data type 1 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extra data type 2 stream rate to ground station" name="SR0_EXTRA2" documentation="Extra data type 2 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extra data type 3 stream rate to ground station" name="SR0_EXTRA3" documentation="Extra data type 3 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Parameter stream rate to ground station" name="SR0_PARAMS" documentation="Parameter stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="ADSB stream rate to ground station" name="SR0_ADSB" documentation="ADSB stream rate to ground station" user="Advanced">
+<field name="Range">0 50</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+</parameters>
+<parameters name="SR1_">
+<param humanName="Raw sensor stream rate" name="SR1_RAW_SENS" documentation="Raw sensor stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extended status stream rate to ground station" name="SR1_EXT_STAT" documentation="Extended status stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="RC Channel stream rate to ground station" name="SR1_RC_CHAN" documentation="RC Channel stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Raw Control stream rate to ground station" name="SR1_RAW_CTRL" documentation="Raw Control stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Position stream rate to ground station" name="SR1_POSITION" documentation="Position stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extra data type 1 stream rate to ground station" name="SR1_EXTRA1" documentation="Extra data type 1 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extra data type 2 stream rate to ground station" name="SR1_EXTRA2" documentation="Extra data type 2 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extra data type 3 stream rate to ground station" name="SR1_EXTRA3" documentation="Extra data type 3 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Parameter stream rate to ground station" name="SR1_PARAMS" documentation="Parameter stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="ADSB stream rate to ground station" name="SR1_ADSB" documentation="ADSB stream rate to ground station" user="Advanced">
+<field name="Range">0 50</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
 </parameters>
-<parameters name="SERVO8_">
-<param humanName="Minimum PWM" name="SERVO8_MIN" documentation="minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
+<parameters name="SR2_">
+<param humanName="Raw sensor stream rate" name="SR2_RAW_SENS" documentation="Raw sensor stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
-<param humanName="Maximum PWM" name="SERVO8_MAX" documentation="maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
+<param humanName="Extended status stream rate to ground station" name="SR2_EXT_STAT" documentation="Extended status stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
-<param humanName="Trim PWM" name="SERVO8_TRIM" documentation="Trim PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
+<param humanName="RC Channel stream rate to ground station" name="SR2_RC_CHAN" documentation="RC Channel stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
-<param humanName="Servo reverse" name="SERVO8_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
+<param humanName="Raw Control stream rate to ground station" name="SR2_RAW_CTRL" documentation="Raw Control stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
-<param humanName="Servo output function" name="SERVO8_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-<value code="67">Ignition</value>
-<value code="68">Choke</value>
-<value code="69">Starter</value>
-<value code="70">Throttle</value>
-<value code="71">TrackerYaw</value>
-<value code="72">TrackerPitch</value>
-</values>
+<param humanName="Position stream rate to ground station" name="SR2_POSITION" documentation="Position stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
-</parameters>
-<parameters name="SERVO9_">
-<param humanName="Minimum PWM" name="SERVO9_MIN" documentation="minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
+<param humanName="Extra data type 1 stream rate to ground station" name="SR2_EXTRA1" documentation="Extra data type 1 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
-<param humanName="Maximum PWM" name="SERVO9_MAX" documentation="maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
+<param humanName="Extra data type 2 stream rate to ground station" name="SR2_EXTRA2" documentation="Extra data type 2 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
-<param humanName="Trim PWM" name="SERVO9_TRIM" documentation="Trim PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
-<field name="Range">800 2200</field>
+<param humanName="Extra data type 3 stream rate to ground station" name="SR2_EXTRA3" documentation="Extra data type 3 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
 <field name="Increment">1</field>
-<field name="Units">pwm</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
-<param humanName="Servo reverse" name="SERVO9_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
-<values>
-<value code="0">Normal</value>
-<value code="1">Reversed</value>
-</values>
+<param humanName="Parameter stream rate to ground station" name="SR2_PARAMS" documentation="Parameter stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
-<param humanName="Servo output function" name="SERVO9_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-<value code="33">Motor1</value>
-<value code="34">Motor2</value>
-<value code="35">Motor3</value>
-<value code="36">Motor4</value>
-<value code="37">Motor5</value>
-<value code="38">Motor6</value>
-<value code="39">Motor7</value>
-<value code="40">Motor8</value>
-<value code="51">RCIN1</value>
-<value code="52">RCIN2</value>
-<value code="53">RCIN3</value>
-<value code="54">RCIN4</value>
-<value code="55">RCIN5</value>
-<value code="56">RCIN6</value>
-<value code="57">RCIN7</value>
-<value code="58">RCIN8</value>
-<value code="59">RCIN9</value>
-<value code="60">RCIN10</value>
-<value code="61">RCIN11</value>
-<value code="62">RCIN12</value>
-<value code="63">RCIN13</value>
-<value code="64">RCIN14</value>
-<value code="65">RCIN15</value>
-<value code="66">RCIN16</value>
-<value code="67">Ignition</value>
-<value code="68">Choke</value>
-<value code="69">Starter</value>
-<value code="70">Throttle</value>
-<value code="71">TrackerYaw</value>
-<value code="72">TrackerPitch</value>
-</values>
+<param humanName="ADSB stream rate to ground station" name="SR2_ADSB" documentation="ADSB stream rate to ground station" user="Advanced">
+<field name="Range">0 50</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
 </parameters>
-<parameters name="SPEED2THR_">
-<param humanName="PID Proportional Gain" name="SPEED2THR_P" documentation="P Gain which produces an output value that is proportional to the current error value">
+<parameters name="SR3_">
+<param humanName="Raw sensor stream rate" name="SR3_RAW_SENS" documentation="Raw sensor stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
-<param humanName="PID Integral Gain" name="SPEED2THR_I" documentation="I Gain which produces an output that is proportional to both the magnitude and the duration of the error">
+<param humanName="Extended status stream rate to ground station" name="SR3_EXT_STAT" documentation="Extended status stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
-<param humanName="PID Derivative Gain" name="SPEED2THR_D" documentation="D Gain which produces an output that is proportional to the rate of change of the error">
+<param humanName="RC Channel stream rate to ground station" name="SR3_RC_CHAN" documentation="RC Channel stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
-<param humanName="PID Integral Maximum" name="SPEED2THR_IMAX" documentation="The maximum/minimum value that the I term can output">
+<param humanName="Raw Control stream rate to ground station" name="SR3_RAW_CTRL" documentation="Raw Control stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
-</parameters>
-<parameters name="SPRAY_">
-<param humanName="Sprayer enable/disable" name="SPRAY_ENABLE" documentation="Allows you to enable (1) or disable (0) the sprayer" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
+<param humanName="Position stream rate to ground station" name="SR3_POSITION" documentation="Position stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
-<param humanName="Pump speed" name="SPRAY_PUMP_RATE" documentation="Desired pump speed when traveling 1m/s expressed as a percentage" user="Standard">
-<field name="Range">0 100</field>
-<field name="Units">percentage</field>
+<param humanName="Extra data type 1 stream rate to ground station" name="SR3_EXTRA1" documentation="Extra data type 1 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
-<param humanName="Spinner rotation speed" name="SPRAY_SPINNER" documentation="Spinner's rotation speed in PWM (a higher rate will disperse the spray over a wider area horizontally)" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Units">ms</field>
+<param humanName="Extra data type 2 stream rate to ground station" name="SR3_EXTRA2" documentation="Extra data type 2 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
-<param humanName="Speed minimum" name="SPRAY_SPEED_MIN" documentation="Speed minimum at which we will begin spraying" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Units">cm/s</field>
+<param humanName="Extra data type 3 stream rate to ground station" name="SR3_EXTRA3" documentation="Extra data type 3 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
-<param humanName="Pump speed minimum" name="SPRAY_PUMP_MIN" documentation="Minimum pump speed expressed as a percentage" user="Standard">
-<field name="Range">0 100</field>
-<field name="Units">percentage</field>
+<param humanName="Parameter stream rate to ground station" name="SR3_PARAMS" documentation="Parameter stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="ADSB stream rate to ground station" name="SR3_ADSB" documentation="ADSB stream rate to ground station" user="Advanced">
+<field name="Range">0 50</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
 </param>
 </parameters>
 <parameters name="STAT">
 <param humanName="Boot Count" name="STAT_BOOTCNT" documentation="Number of times board has been booted" user="Standard">
+<field name="ReadOnly">True</field>
 </param>
 <param humanName="Total FlightTime" name="STAT_FLTTIME" documentation="Total FlightTime (seconds)" user="Standard">
-<field name="Units">seconds</field>
+<field name="ReadOnly">True</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
 </param>
 <param humanName="Total RunTime" name="STAT_RUNTIME" documentation="Total time autopilot has run" user="Standard">
-<field name="Units">seconds</field>
+<field name="ReadOnly">True</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
 </param>
 <param humanName="Reset time" name="STAT_RESET" documentation="Seconds since January 1st 2016 (Unix epoch+1451606400) since reset (set to 0 to reset statistics)" user="Standard">
-<field name="Units">seconds</field>
+<field name="ReadOnly">True</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
 </param>
 </parameters>
 <parameters name="STEER2SRV_">
 <param humanName="Steering Time Constant" name="STEER2SRV_TCONST" documentation="This controls the time constant in seconds from demanded to achieved steering angle. A value of 0.75 is a good default and will work with nearly all rovers. Ground steering in aircraft needs a bit smaller time constant, and a value of 0.5 is recommended for best ground handling in fixed wing aircraft. A value of 0.75 means that the controller will try to correct any deviation between the desired and actual steering angle in 0.75 seconds. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the vehicle can achieve." user="Advanced">
 <field name="Range">0.4 1.0</field>
 <field name="Increment">0.1</field>
-<field name="Units">seconds</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
 </param>
 <param humanName="Steering turning gain" name="STEER2SRV_P" documentation="The proportional gain for steering. This should be approximately equal to the diameter of the turning circle of the vehicle at low speed and maximum steering angle" user="User">
 <field name="Range">0.1 10.0</field>
@@ -8206,11 +10330,14 @@
 <param humanName="Integrator limit" name="STEER2SRV_IMAX" documentation="This limits the number of degrees of steering in centi-degrees over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 centi-degrees, so the default value represents a 1/3rd of the total control throw which is adequate unless the vehicle is severely out of trim." user="Advanced">
 <field name="Range">0 4500</field>
 <field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
 </param>
 <param humanName="Minimum speed" name="STEER2SRV_MINSPD" documentation="This is the minimum assumed ground speed in meters/second for steering. Having a minimum speed prevents oscillations when the vehicle first starts moving. The vehicle can still drive slower than this limit, but the steering calculations will be done based on this minimum speed." user="User">
 <field name="Range">0 5</field>
 <field name="Increment">0.1</field>
 <field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
 </param>
 <param humanName="Steering feed forward" name="STEER2SRV_FF" documentation="The feed forward gain for steering this is the ratio of the achieved turn rate to applied steering. A value of 1 means that the vehicle would yaw at a rate of 45 degrees per second with full steering deflection at 1m/s ground speed." user="User">
 <field name="Range">0.0 10.0</field>
@@ -8220,16 +10347,19 @@
 <field name="Range">0.0 30.0</field>
 <field name="Increment">0.1</field>
 <field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
 </param>
 <param humanName="Derating factor" name="STEER2SRV_DRTFCT" documentation='Degrees of steering wheel to derate at each additional m/s of speed above "Derating speed". Should be set so that at higher speeds the plane does not roll to the wing in turns.' user="Advanced">
 <field name="Range">0.0 50.0</field>
 <field name="Increment">0.1</field>
-<field name="Units">degree/(m/s)</field>
+<field name="Units">deg/m/s</field>
+<field name="UnitText">degrees per meter per second</field>
 </param>
 <param humanName="Minimum angle of wheel" name="STEER2SRV_DRTMIN" documentation="The angle that limits smallest angle of steering wheel at maximum speed. Even if it should derate below, it will stop derating at this angle." user="Advanced">
 <field name="Range">0.0 4500.0</field>
 <field name="Increment">0.1</field>
-<field name="Units">Centidegrees</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
 </param>
 </parameters>
 <parameters name="TECS_">
@@ -8321,11 +10451,13 @@
 <field name="Range">0.0 20.0</field>
 <field name="Increment">0.1</field>
 <field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
 </param>
 <param humanName="Land sink rate change" name="TECS_LAND_SRC" documentation="When zero, the flare sink rate (TECS_LAND_SINK) is a fixed sink demand. With this enabled the flare sinkrate will increase/decrease the flare sink demand as you get further beyond the LAND waypoint. Has no effect before the waypoint. This value is added to TECS_LAND_SINK proportional to distance traveled after wp. With an increasing sink rate you can still land in a given distance if you're traveling too fast and cruise passed the land point. A positive value will force the plane to land sooner proportional to distance passed land point. A negative number will tell the plane to slowly climb allowing for a pitched-up stall landing. Recommend 0.2 as initial value." user="Advanced">
 <field name="Range">-2.0 2.0</field>
 <field name="Increment">0.1</field>
 <field name="Units">m/s/m</field>
+<field name="UnitText">meters per second per meter</field>
 </param>
 <param humanName="Controller throttle damping when landing" name="TECS_LAND_TDAMP" documentation="This is the damping gain for the throttle demand loop during and auto-landing. Same as TECS_THR_DAMP but only in effect during an auto-land. Increase to add damping to correct for oscillations in speed and height. When set to 0 landing throttle damp is controlled by TECS_THR_DAMP." user="Advanced">
 <field name="Range">0.1 1.0</field>
@@ -8359,10 +10491,54 @@
 </param>
 <param humanName="Terrain grid spacing" name="TERRAIN_SPACING" documentation="Distance between terrain grid points in meters. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station. If your GCS is using the worldwide SRTM database then a resolution of 100 meters is appropriate. Some parts of the world may have higher resolution data available, such as 30 meter data available in the SRTM database in the USA. The grid spacing also controls how much data is kept in memory during flight. A larger grid spacing will allow for a larger amount of data in memory. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2.7 kilometers by 3.2 kilometers. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be demand loaded as needed." user="Advanced">
 <field name="Increment">1</field>
-<field name="Units">meters</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
 </param>
 </parameters>
 <parameters name="TUNE_">
+<param humanName="Transmitter tuning parameter or set of parameters" name="TUNE_PARAM" documentation="This sets which parameter or set of parameters will be tuned. Values greater than 100 indicate a set of parameters rather than a single parameter. Parameters less than 50 are for QuadPlane vertical lift motors only." user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RateRollPI</value>
+<value code="2">RateRollP</value>
+<value code="3">RateRollI</value>
+<value code="4">RateRollD</value>
+<value code="5">RatePitchPI</value>
+<value code="6">RatePitchP</value>
+<value code="7">RatePitchI</value>
+<value code="8">RatePitchD</value>
+<value code="9">RateYawPI</value>
+<value code="10">RateYawP</value>
+<value code="11">RateYawI</value>
+<value code="12">RateYawD</value>
+<value code="13">AngleRollP</value>
+<value code="14">AnglePitchP</value>
+<value code="15">AngleYawP</value>
+<value code="16">PosXYP</value>
+<value code="17">PosZP</value>
+<value code="18">VelXYP</value>
+<value code="19">VelXYI</value>
+<value code="20">VelZP</value>
+<value code="21">AccelZP</value>
+<value code="22">AccelZI</value>
+<value code="23">AccelZD</value>
+<value code="50">FixedWingRollP</value>
+<value code="51">FixedWingRollI</value>
+<value code="52">FixedWingRollD</value>
+<value code="53">FixedWingRollFF</value>
+<value code="54">FixedWingPitchP</value>
+<value code="55">FixedWingPitchI</value>
+<value code="56">FixedWingPitchD</value>
+<value code="57">FixedWingPitchFF</value>
+<value code="101">Set_RateRollPitch</value>
+<value code="102">Set_RateRoll</value>
+<value code="103">Set_RatePitch</value>
+<value code="104">Set_RateYaw</value>
+<value code="105">Set_AngleRollPitch</value>
+<value code="106">Set_VelXY</value>
+<value code="107">Set_AccelZ</value>
+</values>
+</param>
 <param humanName="Transmitter tuning channel" name="TUNE_CHAN" documentation="This sets the channel for transmitter tuning. This should be connected to a knob or slider on your transmitter. It needs to be setup to use the PWM range given by TUNE_CHAN_MIN to TUNE_CHAN_MAX" user="Standard">
 <values>
 <value code="0">Disable</value>
@@ -8419,64 +10595,6 @@
 <field name="Range">0 1</field>
 </param>
 </parameters>
-<parameters name="WPNAV_">
-<param humanName="Waypoint Horizontal Speed Target" name="WPNAV_SPEED" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission" user="Standard">
-<field name="Range">20 2000</field>
-<field name="Increment">50</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Waypoint Radius" name="WPNAV_RADIUS" documentation="Defines the distance from a waypoint, that when crossed indicates the wp has been hit." user="Standard">
-<field name="Range">100 1000</field>
-<field name="Increment">1</field>
-<field name="Units">cm</field>
-</param>
-<param humanName="Waypoint Climb Speed Target" name="WPNAV_SPEED_UP" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">50</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Waypoint Descent Speed Target" name="WPNAV_SPEED_DN" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission" user="Standard">
-<field name="Range">0 500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Loiter Horizontal Maximum Speed" name="WPNAV_LOIT_SPEED" documentation="Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode" user="Standard">
-<field name="Range">0 2000</field>
-<field name="Increment">50</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Waypoint Acceleration " name="WPNAV_ACCEL" documentation="Defines the horizontal acceleration in cm/s/s used during missions" user="Standard">
-<field name="Range">50 500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Waypoint Vertical Acceleration" name="WPNAV_ACCEL_Z" documentation="Defines the vertical acceleration in cm/s/s used during missions" user="Standard">
-<field name="Range">50 500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Loiter maximum jerk" name="WPNAV_LOIT_JERK" documentation="Loiter maximum jerk in cm/s/s/s" user="Advanced">
-<field name="Range">500 5000</field>
-<field name="Increment">1</field>
-<field name="Units">cm/s/s/s</field>
-</param>
-<param humanName="Loiter maximum acceleration" name="WPNAV_LOIT_MAXA" documentation="Loiter maximum acceleration in cm/s/s.  Higher values cause the copter to accelerate and stop more quickly." user="Advanced">
-<field name="Range">100 981</field>
-<field name="Increment">1</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Loiter minimum acceleration" name="WPNAV_LOIT_MINA" documentation="Loiter minimum acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered, but cause a larger jerk when the copter stops." user="Advanced">
-<field name="Range">25 250</field>
-<field name="Increment">1</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Use rangefinder for terrain following" name="WPNAV_RFND_USE" documentation="This controls the use of a rangefinder for terrain following" user="Advanced">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-</parameters>
 <parameters name="YAW2SRV_">
 <param humanName="Sideslip control gain" name="YAW2SRV_SLIP" documentation="This is the gain from measured lateral acceleration to demanded yaw rate. It should be set to zero unless active control of sideslip is desired. This will only work effectively if there is enough fuselage side area to generate a measureable lateral acceleration when the model sideslips. Flying wings and most gliders cannot use this term. This term should only be adjusted after the basic yaw damper gain YAW2SRV_DAMP is tuned and the YAW2SRV_INT integrator gain has been set. Set this gain to zero if only yaw damping is required." user="Advanced">
 <field name="Range">0 4</field>
diff --git a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.0.xml b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.0.xml
deleted file mode 100644
index 0df5114026c945000c257df22896ee3560fcea03..0000000000000000000000000000000000000000
--- a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.0.xml
+++ /dev/null
@@ -1,6072 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-        <!-- Dynamically generated list of documented parameters (generated by param_parse.py) -->    
-        <paramfile>
-        <vehicles>
-        <parameters name="ArduPlane">
-<param humanName="Eeprom format version number" name="ArduPlane:FORMAT_VERSION" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
-</param>
-<param humanName="Software Type" name="ArduPlane:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="MAVLink system ID of this vehicle" name="ArduPlane:SYSID_THISMAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="Ground station MAVLink system ID" name="ArduPlane:SYSID_MYGCS" documentation="The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match." user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="CLI Enable" name="ArduPlane:CLI_ENABLED" documentation="This enables/disables the checking for three carriage returns on telemetry links on startup to enter the diagnostics command line interface" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Autotune level" name="ArduPlane:AUTOTUNE_LEVEL" documentation="Level of aggressiveness for autotune. When autotune is run a lower AUTOTUNE_LEVEL will result in a 'softer' tune, with less agressive gains. For most users a level of 6 is recommended." user="Standard">
-<field name="Range">1 10</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Telemetry startup delay " name="ArduPlane:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Standard">
-<field name="Range">0 10</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="GCS PID tuning mask" name="ArduPlane:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
-<field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
-<values>
-<value code="0">None</value>
-<value code="1">Roll</value>
-<value code="2">Pitch</value>
-<value code="4">Yaw</value>
-</values>
-</param>
-<param humanName="Rudder Mix" name="ArduPlane:KFF_RDDRMIX" documentation="The amount of rudder mix to apply during aileron movement 0 = 0 %, 1 = 100%" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Throttle to Pitch Mix" name="ArduPlane:KFF_THR2PTCH" documentation="Throttle to pitch feed-forward gain." user="Advanced">
-<field name="Range">0 5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Low throttle pitch down trim " name="ArduPlane:STAB_PITCH_DOWN" documentation="This controls the amount of down pitch to add in FBWA and AUTOTUNE modes when at low throttle. No down trim is added when throttle is above TRIM_THROTTLE. Below TRIM_THROTTLE downtrim is added in proportion to the amount the throttle is below TRIM_THROTTLE. At zero throttle the full downpitch specified in this parameter is added. This parameter is meant to help keep airspeed up when flying in FBWA mode with low throttle, such as when on a landing approach, without relying on an airspeed sensor. A value of 2 degrees is good for many planes, although a higher value may be needed for high drag aircraft." user="Advanced">
-<field name="Range">0 15</field>
-<field name="Increment">0.1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Glide slope minimum" name="ArduPlane:GLIDE_SLOPE_MIN" documentation="This controls the minimum altitude change for a waypoint before a glide slope will be used instead of an immediate altitude change. The default value is 15 meters, which helps to smooth out waypoint missions where small altitude changes happen near waypoints. If you don't want glide slopes to be used in missions then you can set this to zero, which will disable glide slope calculations. Otherwise you can set it to a minimum number of meters of altitude error to the destination waypoint before a glide slope will be used to change altitude." user="Advanced">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Glide slope threshold" name="ArduPlane:GLIDE_SLOPE_THR" documentation="This controls the height above the glide slope the plane may be before rebuilding a glide slope. This is useful for smoothing out an autotakeoff" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Stick Mixing" name="ArduPlane:STICK_MIXING" documentation='When enabled, this adds user stick input to the control surfaces in auto modes, allowing the user to have some degree of flight control without changing modes.  There are two types of stick mixing available. If you set STICK_MIXING to 1 then it will use "fly by wire" mixing, which controls the roll and pitch in the same way that the FBWA mode does. This is the safest option if you usually fly ArduPlane in FBWA or FBWB mode. If you set STICK_MIXING to 2 then it will enable direct mixing mode, which is what the STABILIZE mode uses. That will allow for much more extreme maneuvers while in AUTO mode.' user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">FBWMixing</value>
-<value code="2">DirectMixing</value>
-</values>
-</param>
-<param humanName="Use FBWA steering in AUTO" name="ArduPlane:AUTO_FBW_STEER" documentation="When enabled this option gives FBWA navigation and steering in AUTO mode. This can be used to allow manual stabilised piloting with waypoint logic for triggering payloads. With this enabled the pilot has the same control over the plane as in FBWA mode, and the normal AUTO navigation is completely disabled. THIS OPTION IS NOT RECOMMENDED FOR NORMAL USE." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="42">Enabled</value>
-</values>
-</param>
-<param humanName="Takeoff throttle min speed" name="ArduPlane:TKOFF_THR_MINSPD" documentation="Minimum GPS ground speed in m/s used by the speed check that un-suppresses throttle in auto-takeoff. This can be be used for catapult launches where you want the motor to engage only after the plane leaves the catapult, but it is preferable to use the TKOFF_THR_MINACC and TKOFF_THR_DELAY parameters for catapult launches due to the errors associated with GPS measurements. For hand launches with a pusher prop it is strongly advised that this parameter be set to a value no less than 4 m/s to provide additional protection against premature motor start. Note that the GPS velocity will lag the real velocity by about 0.5 seconds. The ground speed check is delayed by the TKOFF_THR_DELAY parameter." user="User">
-<field name="Range">0 30</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Takeoff throttle min acceleration" name="ArduPlane:TKOFF_THR_MINACC" documentation="Minimum forward acceleration in m/s/s before arming the ground speed check in auto-takeoff. This is meant to be used for hand launches. Setting this value to 0 disables the acceleration test which means the ground speed check will always be armed which could allow GPS velocity jumps to start the engine. For hand launches and bungee launches this should be set to around 15." user="User">
-<field name="Range">0 30</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Takeoff throttle delay" name="ArduPlane:TKOFF_THR_DELAY" documentation="This parameter sets the time delay (in 1/10ths of a second) that the ground speed check is delayed after the forward acceleration check controlled by TKOFF_THR_MINACC has passed. For hand launches with pusher propellers it is essential that this is set to a value of no less than 2 (0.2 seconds) to ensure that the aircraft is safely clear of the throwers arm before the motor can start. For bungee launches a larger value can be used (such as 30) to give time for the bungee to release from the aircraft before the motor is started." user="User">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">0.1 seconds</field>
-</param>
-<param humanName="Takeoff tail dragger elevator" name="ArduPlane:TKOFF_TDRAG_ELEV" documentation="This parameter sets the amount of elevator to apply during the initial stage of a takeoff. It is used to hold the tail wheel of a taildragger on the ground during the initial takeoff stage to give maximum steering. This option should be combined with the TKOFF_TDRAG_SPD1 option and the GROUND_STEER_ALT option along with tuning of the ground steering controller. A value of zero means to bypass the initial &quot;tail hold&quot; stage of takeoff. Set to zero for hand and catapult launch. For tail-draggers you should normally set this to 100, meaning full up elevator during the initial stage of takeoff. For most tricycle undercarriage aircraft a value of zero will work well, but for some tricycle aircraft a small negative value (say around -20 to -30) will apply down elevator which will hold the nose wheel firmly on the ground during initial acceleration. Only use a negative value if you find that the nosewheel doesn't grip well during takeoff. Too much down elevator on a tricycle undercarriage may cause instability in steering as the plane pivots around the nosewheel. Add down elevator 10 percent at a time." user="User">
-<field name="Range">-100 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Takeoff tail dragger speed1" name="ArduPlane:TKOFF_TDRAG_SPD1" documentation='This parameter sets the airspeed at which to stop holding the tail down and transition to rudder control of steering on the ground. When TKOFF_TDRAG_SPD1 is reached the pitch of the aircraft will be held level until TKOFF_ROTATE_SPD is reached, at which point the takeoff pitch specified in the mission will be used to "rotate" the pitch for takeoff climb. Set TKOFF_TDRAG_SPD1 to zero to go straight to rotation. This should be set to zero for hand launch and catapult launch. It should also be set to zero for tricycle undercarriages unless you are using the method above to genetly hold the nose wheel down. For tail dragger aircraft it should be set just below the stall speed.' user="User">
-<field name="Range">0 30</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Takeoff rotate speed" name="ArduPlane:TKOFF_ROTATE_SPD" documentation='This parameter sets the airspeed at which the aircraft will "rotate", setting climb pitch specified in the mission. If TKOFF_ROTATE_SPD is zero then the climb pitch will be used as soon as takeoff is started. For hand launch and catapult launches a TKOFF_ROTATE_SPD of zero should be set. For all ground launches TKOFF_ROTATE_SPD should be set above the stall speed, usually by about 10 to 30 percent' user="User">
-<field name="Range">0 30</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Takeoff throttle slew rate" name="ArduPlane:TKOFF_THR_SLEW" documentation="This parameter sets the slew rate for the throttle during auto takeoff. When this is zero the THR_SLEWRATE parameter is used during takeoff. For rolling takeoffs it can be a good idea to set a lower slewrate for takeoff to give a slower acceleration which can improve ground steering control. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on takeoff. Values below 20 are not recommended as they may cause the plane to try to climb out with too little throttle." user="User">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">percent</field>
-</param>
-<param humanName="Landing throttle slew rate" name="ArduPlane:LAND_THR_SLEW" documentation="This parameter sets the slew rate for the throttle during auto landing. When this is zero the THR_SLEWRATE parameter is used during landing. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on landing. Values below 50 are not recommended as it may cause a stall when airspeed is low and you can not throttle up fast enough." user="User">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">percent</field>
-</param>
-<param humanName="Takeoff flap percentage" name="ArduPlane:TKOFF_FLAP_PCNT" documentation="The amount of flaps (as a percentage) to apply in automatic takeoff" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="FBWA taildragger channel" name="ArduPlane:FBWA_TDRAG_CHAN" documentation="This is a RC input channel which when it goes above 1700 enables FBWA taildragger takeoff mode. It should be assigned to a momentary switch. Once this feature is enabled it will stay enabled until the aircraft goes above TKOFF_TDRAG_SPD1 airspeed, changes mode, or the pitch goes above the initial pitch when this is engaged or goes below 0 pitch. When enabled the elevator will be forced to TKOFF_TDRAG_ELEV. This option allows for easier takeoffs on taildraggers in FBWA mode, and also makes it easier to test auto-takeoff steering handling in FBWA. Setting it to 0 disables this option." user="Standard">
-</param>
-<param humanName="Level flight roll limit" name="ArduPlane:LEVEL_ROLL_LIMIT" documentation="This controls the maximum bank angle in degrees during flight modes where level flight is desired, such as in the final stages of landing, and during auto takeoff. This should be a small angle (such as 5 degrees) to prevent a wing hitting the runway during takeoff or landing. Setting this to zero will completely disable heading hold on auto takeoff and final landing approach." user="User">
-<field name="Range">0 45</field>
-<field name="Increment">1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Landing Pitch" name="ArduPlane:LAND_PITCH_CD" documentation="Used in autoland to give the minimum pitch in the final stage of landing (after the flare). This parameter can be used to ensure that the final landing attitude is appropriate for the type of undercarriage on the aircraft. Note that it is a minimum pitch only - the landing code will control pitch above this value to try to achieve the configured landing sink rate." user="Advanced">
-<field name="Units">centi-Degrees</field>
-</param>
-<param humanName="Landing flare altitude" name="ArduPlane:LAND_FLARE_ALT" documentation="Altitude in autoland at which to lock heading and flare to the LAND_PITCH_CD pitch. Note that this option is secondary to LAND_FLARE_SEC. For a good landing it preferable that the flare is triggered by LAND_FLARE_SEC. " user="Advanced">
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Landing flare time" name="ArduPlane:LAND_FLARE_SEC" documentation="Vertical time before landing point at which to lock heading and flare with the motor stopped. This is vertical time, and is calculated based solely on the current height above the ground and the current descent rate.  Set to 0 if you only wish to flare based on altitude (see LAND_FLARE_ALT)." user="Advanced">
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Landing pre-flare altitude" name="ArduPlane:LAND_PF_ALT" documentation="Altitude to trigger pre-flare flight stage where LAND_PF_ARSPD controls airspeed. The pre-flare flight stage trigger works just like LAND_FLARE_ALT but higher. Disabled when LAND_PF_ARSPD is 0." user="Advanced">
-<field name="Range">0 30</field>
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Landing pre-flare time" name="ArduPlane:LAND_PF_SEC" documentation="Vertical time to ground to trigger pre-flare flight stage where LAND_PF_ARSPD controls airspeed. This pre-flare flight stage trigger works just like LAND_FLARE_SEC but earlier. Disabled when LAND_PF_ARSPD is 0." user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Landing pre-flare airspeed" name="ArduPlane:LAND_PF_ARSPD" documentation="Desired airspeed during pre-flare flight stage. This is useful to reduce airspeed just before the flare. Use 0 to disable." user="Advanced">
-<field name="Range">0 30</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Bitmask for when to allow negative reverse thrust" name="ArduPlane:USE_REV_THRUST" documentation="Typically THR_MIN will be clipped to zero unless reverse thrust is available. Since you may not want negative thrust available at all times this bitmask allows THR_MIN to go below 0 while executing certain auto-mission commands." user="Advanced">
-<field name="Bitmask">0:AUTO_ALWAYS,1:AUTO_LAND,2:AUTO_LOITER_TO_ALT,3:AUTO_LOITER_ALL,4:AUTO_WAYPOINTS,5:LOITER,6:RTL,7:CIRCLE,8:CRUISE,9:FBWB,10:GUIDED</field>
-<values>
-<value code="0">Disabled</value>
-<value code="1">AlwaysAllowedInAuto</value>
-<value code="2">Auto_LandApproach</value>
-<value code="4">Auto_LoiterToAlt</value>
-<value code="8">Auto_Loiter</value>
-<value code="16">Auto_Waypoint</value>
-<value code="32">Loiter</value>
-<value code="64">RTL</value>
-<value code="128">Circle</value>
-<value code="256">Cruise</value>
-<value code="512">FBWB</value>
-<value code="1024">Guided</value>
-</values>
-</param>
-<param humanName="Landing disarm delay" name="ArduPlane:LAND_DISARMDELAY" documentation="After a landing has completed using a LAND waypoint, automatically disarm after this many seconds have passed. Use 0 to not disarm." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Set servos to neutral after landing" name="ArduPlane:LAND_THEN_NEUTRL" documentation="When enabled, after an autoland and auto-disarm via LAND_DISARMDELAY happens then set all servos to neutral. This is helpful when an aircraft has a rough landing upside down or a crazy angle causing the servos to strain." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Servos to Neutral</value>
-<value code=" 2">Servos to Zero PWM</value>
-</values>
-</param>
-<param humanName="Landing abort using throttle" name="ArduPlane:LAND_ABORT_THR" documentation="Allow a landing abort to trigger with a throttle &gt; 95%" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="Navigation controller selection" name="ArduPlane:NAV_CONTROLLER" documentation="Which navigation controller to enable. Currently the only navigation controller available is L1. From time to time other experimental controllers will be added which are selected using this parameter." user="Standard">
-<values>
-<value code="0">Default</value>
-<value code="1">L1Controller</value>
-</values>
-</param>
-<param humanName="GPS to Baro Mix" name="ArduPlane:ALT_MIX" documentation="The percent of mixing between GPS altitude and baro altitude. 0 = 100% gps, 1 = 100% baro. It is highly recommend that you not change this from the default of 1, as GPS altitude is notoriously unreliable. The only time I would recommend changing this is if you have a high altitude enabled GPS, and you are dropping a plane from a high altitude balloon many kilometers off the ground." user="Advanced">
-<field name="Range">0 1</field>
-<field name="Increment">0.1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Altitude control algorithm" name="ArduPlane:ALT_CTRL_ALG" documentation="This sets what algorithm will be used for altitude control. The default is zero, which selects the most appropriate algorithm for your airframe. Currently the default is to use TECS (total energy control system). From time to time we will add other experimental altitude control algorithms which will be selected using this parameter." user="Advanced">
-<values>
-<value code="0">Automatic</value>
-</values>
-</param>
-<param humanName="Altitude offset" name="ArduPlane:ALT_OFFSET" documentation="This is added to the target altitude in automatic flight. It can be used to add a global altitude offset to a mission" user="Advanced">
-<field name="Range">-32767 32767</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Waypoint Radius" name="ArduPlane:WP_RADIUS" documentation='Defines the maximum distance from a waypoint that when crossed indicates the waypoint may be complete. To avoid the aircraft looping around the waypoint in case it misses by more than the WP_RADIUS an additional check is made to see if the aircraft has crossed a "finish line" passing through the waypoint and perpendicular to the flight path from the previous waypoint. If that finish line is crossed then the waypoint is considered complete. Note that the navigation controller may decide to turn later than WP_RADIUS before a waypoint, based on how sharp the turn is and the speed of the aircraft. It is safe to set WP_RADIUS much larger than the usual turn radius of your aircraft and the navigation controller will work out when to turn. If you set WP_RADIUS too small then you will tend to overshoot the turns.' user="Standard">
-<field name="Range">1 32767</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Waypoint Maximum Radius" name="ArduPlane:WP_MAX_RADIUS" documentation='Sets the maximum distance to a waypoint for the waypoint to be considered complete. This overrides the "cross the finish line" logic that is normally used to consider a waypoint complete. For normal AUTO behaviour this parameter should be set to zero. Using a non-zero value is only recommended when it is critical that the aircraft does approach within the given radius, and should loop around until it has done so. This can cause the aircraft to loop forever if its turn radius is greater than the maximum radius set.' user="Standard">
-<field name="Range">0 32767</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Waypoint Loiter Radius" name="ArduPlane:WP_LOITER_RAD" documentation="Defines the distance from the waypoint center, the plane will maintain during a loiter. If you set this value to a negative number then the default loiter direction will be counter-clockwise instead of clockwise." user="Standard">
-<field name="Range">-32767 32767</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="RTL loiter radius" name="ArduPlane:RTL_RADIUS" documentation="Defines the radius of the loiter circle when in RTL mode. If this is zero then WP_LOITER_RAD is used. If the radius is negative then a counter-clockwise is used. If positive then a clockwise loiter is used." user="Standard">
-<field name="Range">-32767 32767</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Action on geofence breach" name="ArduPlane:FENCE_ACTION" documentation="What to do on fence breach. If this is set to 0 then no action is taken, and geofencing is disabled. If this is set to 1 then the plane will enter GUIDED mode, with the target waypoint as the fence return point. If this is set to 2 then the fence breach is reported to the ground station, but no other action is taken. If set to 3 then the plane enters guided mode but the pilot retains manual throttle control." user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">GuidedMode</value>
-<value code="2">ReportOnly</value>
-<value code="3">GuidedModeThrPass</value>
-</values>
-</param>
-<param humanName="Fence Total" name="ArduPlane:FENCE_TOTAL" documentation="Number of geofence points currently loaded" user="Advanced">
-</param>
-<param humanName="Fence Channel" name="ArduPlane:FENCE_CHANNEL" documentation="RC Channel to use to enable geofence. PWM input above 1750 enables the geofence" user="Standard">
-</param>
-<param humanName="Fence Minimum Altitude" name="ArduPlane:FENCE_MINALT" documentation="Minimum altitude allowed before geofence triggers" user="Standard">
-<field name="Range">0 32767</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Fence Maximum Altitude" name="ArduPlane:FENCE_MAXALT" documentation="Maximum altitude allowed before geofence triggers" user="Standard">
-<field name="Range">0 32767</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Fence Return Altitude" name="ArduPlane:FENCE_RETALT" documentation="Altitude the aircraft will transit to when a fence breach occurs.  If FENCE_RETALT is &lt;= 0 then the midpoint between FENCE_MAXALT and FENCE_MINALT is used, unless FENCE_MAXALT &lt; FENCE_MINALT.  If FENCE_MAXALT &lt; FENCE_MINALT AND FENCE_RETALT is &lt;= 0 then ALT_HOLD_RTL is the altitude used on a fence breach." user="Standard">
-<field name="Range">0 32767</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Fence automatic enable" name="ArduPlane:FENCE_AUTOENABLE" documentation="When set to 1, geofence automatically enables after an auto takeoff and automatically disables at the beginning of an auto landing.  When on the ground before takeoff the fence is disabled.  When set to 2, the fence autoenables after an auto takeoff, but only disables the fence floor during landing. It is highly recommended to not use this option for line of sight flying and use a fence enable channel instead." user="Standard">
-<values>
-<value code="0">NoAutoEnable</value>
-<value code="1">AutoEnable</value>
-<value code="2">AutoEnableDisableFloorOnly</value>
-</values>
-</param>
-<param humanName="Fence Return to Rally" name="ArduPlane:FENCE_RET_RALLY" documentation="When set to 1: on fence breach the plane will return to the nearest rally point rather than the fence return point.  If no rally points have been defined the plane will return to the home point.  " user="Standard">
-<values>
-<value code="0">FenceReturnPoint</value>
-<value code="1">NearestRallyPoint</value>
-</values>
-</param>
-<param humanName="Enable stall prevention" name="ArduPlane:STALL_PREVENTION" documentation="This controls the use of stall prevention techniques, including roll limits at low speed and raising the minimum airspeed in turns. The limits are based on the aerodynamic load factor of a banked turn. This option relies on the correct ARSPD_FBW_MIN value being set correctly. Note that if you don't have an airspeed sensor then stall prevention will use an airspeed estimate based on the ground speed plus a wind estimate taken from the response of the autopilot banked turns. That synthetic airspeed estimate may be inaccurate, so you should not assume that stall prevention with no airspeed sensor will be effective." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Minimum Airspeed" name="ArduPlane:ARSPD_FBW_MIN" documentation="This is the minimum airspeed you want to fly at in modes where the autopilot controls the airspeed. This should be set to a value around 20% higher than the level flight stall speed for the airframe. This value is also used in the STALL_PREVENTION code." user="Standard">
-<field name="Range">5 100</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Maximum Airspeed" name="ArduPlane:ARSPD_FBW_MAX" documentation="This is the maximum airspeed that you want to allow for your airframe in auto-throttle modes. You should ensure that this value is sufficiently above the ARSPD_FBW_MIN value to allow for a sufficient flight envelope to accurately control altitude using airspeed. A value at least 50% above ARSPD_FBW_MIN is recommended." user="Standard">
-<field name="Range">5 100</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Fly By Wire elevator reverse" name="ArduPlane:FBWB_ELEV_REV" documentation="Reverse sense of elevator in FBWB and CRUISE modes. When set to 0 up elevator (pulling back on the stick) means to lower altitude. When set to 1, up elevator means to raise altitude." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Use terrain following" name="ArduPlane:TERRAIN_FOLLOW" documentation="This enables terrain following for CRUISE mode, FBWB mode, RTL and for rally points. To use this option you also need to set TERRAIN_ENABLE to 1, which enables terrain data fetching from the GCS, and you need to have a GCS that supports sending terrain data to the aircraft. When terrain following is enabled then CRUISE and FBWB mode will hold height above terrain rather than height above home. In RTL the return to launch altitude will be considered to be a height above the terrain. Rally point altitudes will be taken as height above the terrain. This option does not affect mission items, which have a per-waypoint flag for whether they are height above home or height above the terrain. To use terrain following missions you need a ground station which can set the waypoint type to be a terrain height waypoint when creating the mission." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Terrain lookahead" name="ArduPlane:TERRAIN_LOOKAHD" documentation="This controls how far ahead the terrain following code looks to ensure it stays above upcoming terrain. A value of zero means no lookahead, so the controller will track only the terrain directly below the aircraft. The lookahead will never extend beyond the next waypoint when in AUTO mode." user="Standard">
-<field name="Range">0 10000</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Fly By Wire B altitude change rate" name="ArduPlane:FBWB_CLIMB_RATE" documentation="This sets the rate in m/s at which FBWB and CRUISE modes will change its target altitude for full elevator deflection. Note that the actual climb rate of the aircraft can be lower than this, depending on your airspeed and throttle control settings. If you have this parameter set to the default value of 2.0, then holding the elevator at maximum deflection for 10 seconds would change the target altitude by 20 meters." user="Standard">
-<field name="Range">1 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Minimum Throttle" name="ArduPlane:THR_MIN" documentation="The minimum throttle setting (as a percentage) which the autopilot will apply. For the final stage of an automatic landing this is always zero. If your ESC supports reverse, use a negative value to configure for reverse thrust." user="Standard">
-<field name="Range">-100 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Maximum Throttle" name="ArduPlane:THR_MAX" documentation="The maximum throttle setting (as a percentage) which the autopilot will apply." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Maximum Throttle for takeoff" name="ArduPlane:TKOFF_THR_MAX" documentation="The maximum throttle setting during automatic takeoff. If this is zero then THR_MAX is used for takeoff as well." user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Throttle slew rate" name="ArduPlane:THR_SLEWRATE" documentation="maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second." user="Standard">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Flap slew rate" name="ArduPlane:FLAP_SLEWRATE" documentation="maximum percentage change in flap output per second. A setting of 25 means to not change the flap by more than 25% of the full flap range in one second. A value of 0 means no rate limiting." user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Throttle suppress manual passthru" name="ArduPlane:THR_SUPP_MAN" documentation="When throttle is suppressed in auto mode it is normally forced to zero. If you enable this option, then while suppressed it will be manual throttle. This is useful on petrol engines to hold the idle throttle manually while waiting for takeoff" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Throttle passthru in stabilize" name="ArduPlane:THR_PASS_STAB" documentation="If this is set then when in STABILIZE, FBWA or ACRO modes the throttle is a direct passthru from the transmitter. This means the THR_MIN and THR_MAX settings are not used in these modes. This is useful for petrol engines where you setup a throttle cut switch that suppresses the throttle below the normal minimum." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Throttle Failsafe Enable" name="ArduPlane:THR_FAILSAFE" documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Throttle Failsafe Value" name="ArduPlane:THR_FS_VALUE" documentation="The PWM level on channel 3 below which throttle failsafe triggers" user="Standard">
-<field name="Range">925 1100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Throttle cruise percentage" name="ArduPlane:TRIM_THROTTLE" documentation="The target percentage of throttle to apply for normal flight" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Throttle nudge enable" name="ArduPlane:THROTTLE_NUDGE" documentation="When enabled, this uses the throttle input in auto-throttle modes to 'nudge' the throttle or airspeed to higher or lower values. When you have an airspeed sensor the nudge affects the target airspeed, so that throttle inputs above 50% will increase the target airspeed from TRIM_ARSPD_CM up to a maximum of ARSPD_FBW_MAX. When no airspeed sensor is enabled the throttle nudge will push up the target throttle for throttle inputs above 50%." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Short failsafe action" name="ArduPlane:FS_SHORT_ACTN" documentation="The action to take on a short (FS_SHORT_TIMEOUT) failsafe event. A short failsafe even can be triggered either by loss of RC control (see THR_FS_VALUE) or by loss of GCS control (see FS_GCS_ENABL). If in CIRCLE or RTL mode this parameter is ignored. A short failsafe event in stabilization and manual modes will cause an change to CIRCLE mode if FS_SHORT_ACTN is 0 or 1, and a change to FBWA mode if FS_SHORT_ACTN is 2. In all other modes (AUTO, GUIDED and LOITER) a short failsafe event will cause no mode change is FS_SHORT_ACTN is set to 0, will cause a change to CIRCLE mode if set to 1 and will change to FBWA mode if set to 2. Please see the documentation for FS_LONG_ACTN for the behaviour after FS_LONG_TIMEOUT seconds of failsafe." user="Standard">
-<values>
-<value code="0">CIRCLE/no change(if already in AUTO|GUIDED|LOITER)</value>
-<value code="1">CIRCLE</value>
-<value code="2">FBWA</value>
-</values>
-</param>
-<param humanName="Short failsafe timeout" name="ArduPlane:FS_SHORT_TIMEOUT" documentation="The time in seconds that a failsafe condition has to persist before a short failsafe event will occur. This defaults to 1.5 seconds" user="Standard">
-<field name="Range">1 100</field>
-<field name="Increment">0.5</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Long failsafe action" name="ArduPlane:FS_LONG_ACTN" documentation="The action to take on a long (FS_LONG_TIMEOUT seconds) failsafe event. If the aircraft was in a stabilization or manual mode when failsafe started and a long failsafe occurs then it will change to RTL mode if FS_LONG_ACTN is 0 or 1, and will change to FBWA if FS_LONG_ACTN is set to 2. If the aircraft was in an auto mode (such as AUTO or GUIDED) when the failsafe started then it will continue in the auto mode if FS_LONG_ACTN is set to 0, will change to RTL mode if FS_LONG_ACTN is set to 1 and will change to FBWA mode if FS_LONG_ACTN is set to 2. If FS_LONG_ACTION is set to 3, the parachute will be deployed (make sure the chute is configured and enabled). " user="Standard">
-<values>
-<value code="0">Continue</value>
-<value code="1">ReturnToLaunch</value>
-<value code="2">Glide</value>
-<value code="3">Deploy Parachute</value>
-</values>
-</param>
-<param humanName="Long failsafe timeout" name="ArduPlane:FS_LONG_TIMEOUT" documentation="The time in seconds that a failsafe condition has to persist before a long failsafe event will occur. This defaults to 5 seconds." user="Standard">
-<field name="Range">1 300</field>
-<field name="Increment">0.5</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Failsafe battery voltage" name="ArduPlane:FS_BATT_VOLTAGE" documentation="Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe. If the battery voltage drops below this voltage continuously for 10 seconds then the plane will switch to RTL mode." user="Standard">
-<field name="Increment">0.1</field>
-<field name="Units">Volts</field>
-</param>
-<param humanName="Failsafe battery milliAmpHours" name="ArduPlane:FS_BATT_MAH" documentation="Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe. If the battery remaining drops below this level then the plane will switch to RTL mode immediately." user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
-</param>
-<param humanName="GCS failsafe enable" name="ArduPlane:FS_GCS_ENABL" documentation="Enable ground control station telemetry failsafe. Failsafe will trigger after FS_LONG_TIMEOUT seconds of no MAVLink heartbeat messages. There are two possible enabled settings. Seeing FS_GCS_ENABL to 1 means that GCS failsafe will be triggered when the aircraft has not received a MAVLink HEARTBEAT message. Setting FS_GCS_ENABL to 2 means that GCS failsafe will be triggered on either a loss of HEARTBEAT messages, or a RADIO_STATUS message from a MAVLink enabled 3DR radio indicating that the ground station is not receiving status updates from the aircraft, which is indicated by the RADIO_STATUS.remrssi field being zero (this may happen if you have a one way link due to asymmetric noise on the ground station and aircraft radios).Setting FS_GCS_ENABL to 3 means that GCS failsafe will be triggered by Heartbeat(like option one), but only in AUTO mode. WARNING: Enabling this option opens up the possibility of your plane going into failsafe mode and running the motor on the ground it it loses contact with your ground station. If this option is enabled on an electric plane then you should enable ARMING_REQUIRED." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Heartbeat</value>
-<value code="2">HeartbeatAndREMRSSI</value>
-<value code="3">HeartbeatAndAUTO</value>
-</values>
-</param>
-<param humanName="Flightmode channel" name="ArduPlane:FLTMODE_CH" documentation="RC Channel to use for flight mode control" user="Advanced">
-</param>
-<param humanName="FlightMode1" name="ArduPlane:FLTMODE1" documentation="Flight mode for switch position 1 (910 to 1230 and above 2049)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="FlightMode2" name="ArduPlane:FLTMODE2" documentation="Flight mode for switch position 2 (1231 to 1360)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="FlightMode3" name="ArduPlane:FLTMODE3" documentation="Flight mode for switch position 3 (1361 to 1490)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="FlightMode4" name="ArduPlane:FLTMODE4" documentation="Flight mode for switch position 4 (1491 to 1620)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="FlightMode5" name="ArduPlane:FLTMODE5" documentation="Flight mode for switch position 5 (1621 to 1749)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="FlightMode6" name="ArduPlane:FLTMODE6" documentation="Flight mode for switch position 6 (1750 to 2049)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Initial flight mode" name="ArduPlane:INITIAL_MODE" documentation="This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver." user="Advanced">
-<values>
-<value code="0">Manual</value>
-<value code="1">CIRCLE</value>
-<value code="2">STABILIZE</value>
-<value code="3">TRAINING</value>
-<value code="4">ACRO</value>
-<value code="5">FBWA</value>
-<value code="6">FBWB</value>
-<value code="7">CRUISE</value>
-<value code="8">AUTOTUNE</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="12">Loiter</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Maximum Bank Angle" name="ArduPlane:LIM_ROLL_CD" documentation="The maximum commanded bank angle in either direction" user="Standard">
-<field name="Range">0 9000</field>
-<field name="Increment">1</field>
-<field name="Units">centi-Degrees</field>
-</param>
-<param humanName="Maximum Pitch Angle" name="ArduPlane:LIM_PITCH_MAX" documentation="The maximum commanded pitch up angle" user="Standard">
-<field name="Range">0 9000</field>
-<field name="Increment">1</field>
-<field name="Units">centi-Degrees</field>
-</param>
-<param humanName="Minimum Pitch Angle" name="ArduPlane:LIM_PITCH_MIN" documentation="The minimum commanded pitch down angle" user="Standard">
-<field name="Range">-9000 0</field>
-<field name="Increment">1</field>
-<field name="Units">centi-Degrees</field>
-</param>
-<param humanName="ACRO mode roll rate" name="ArduPlane:ACRO_ROLL_RATE" documentation="The maximum roll rate at full stick deflection in ACRO mode" user="Standard">
-<field name="Range">10 500</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="ACRO mode pitch rate" name="ArduPlane:ACRO_PITCH_RATE" documentation="The maximum pitch rate at full stick deflection in ACRO mode" user="Standard">
-<field name="Range">10 500</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="ACRO mode attitude locking" name="ArduPlane:ACRO_LOCKING" documentation="Enable attitude locking when sticks are released" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Ground steer altitude" name="ArduPlane:GROUND_STEER_ALT" documentation="Altitude at which to use the ground steering controller on the rudder. If non-zero then the STEER2SRV controller will be used to control the rudder for altitudes within this limit of the home altitude." user="Standard">
-<field name="Range">-100 100</field>
-<field name="Increment">0.1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Ground steer rate" name="ArduPlane:GROUND_STEER_DPS" documentation="Ground steering rate in degrees per second for full rudder stick deflection" user="Advanced">
-<field name="Range">10 360</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Automatic trim adjustment" name="ArduPlane:TRIM_AUTO" documentation="Set RC trim PWM levels to current levels when switching away from manual mode. When this option is enabled and you change from MANUAL to any other mode then the APM will take the current position of the control sticks as the trim values for aileron, elevator and rudder. It will use those to set RC1_TRIM, RC2_TRIM and RC4_TRIM. This option is disabled by default as if a pilot is not aware of this option and changes from MANUAL to another mode while control inputs are not centered then the trim could be changed to a dangerously bad value. You can enable this option to assist with trimming your plane, by enabling it before takeoff then switching briefly to MANUAL in flight, and seeing how the plane reacts. You can then switch back to FBWA, trim the surfaces then again test MANUAL mode. Each time you switch from MANUAL the APM will take your control inputs as the new trim. After you have good trim on your aircraft you can disable TRIM_AUTO for future flights." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Elevon mixing" name="ArduPlane:ELEVON_MIXING" documentation="This enables an older form of elevon mixing which is now deprecated. Please see the ELEVON_OUTPUT option for setting up elevons. The ELEVON_MIXING option should be set to 0 for elevon planes except for backwards compatibility with older setups." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Elevon reverse" name="ArduPlane:ELEVON_REVERSE" documentation="Reverse elevon mixing" user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Elevon reverse" name="ArduPlane:ELEVON_CH1_REV" documentation="Reverse elevon channel 1" user="User">
-<values>
-<value code="-1">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Elevon reverse" name="ArduPlane:ELEVON_CH2_REV" documentation="Reverse elevon channel 2" user="User">
-<values>
-<value code="-1">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="VTail output" name="ArduPlane:VTAIL_OUTPUT" documentation="Enable VTail output in software. If enabled then the APM will provide software VTail mixing on the elevator and rudder channels. There are 4 different mixing modes available, which refer to the 4 ways the elevator can be mapped to the two VTail servos. Note that you must not use VTail output mixing with hardware pass-through of RC values, such as with channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to something other than 8 before you enable VTAIL_OUTPUT. Please also see the MIXING_GAIN parameter for the output gain of the mixer." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">UpUp</value>
-<value code="2">UpDown</value>
-<value code="3">DownUp</value>
-<value code="4">DownDown</value>
-</values>
-</param>
-<param humanName="Elevon output" name="ArduPlane:ELEVON_OUTPUT" documentation="Enable software elevon output mixer. If enabled then the APM will provide software elevon mixing on the aileron and elevator channels. There are 4 different mixing modes available, which refer to the 4 ways the elevator can be mapped to the two elevon servos. Note that you must not use elevon output mixing with hardware pass-through of RC values, such as with channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to something other than 8 before you enable ELEVON_OUTPUT. Please also see the MIXING_GAIN parameter for the output gain of the mixer." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">UpUp</value>
-<value code="2">UpDown</value>
-<value code="3">DownUp</value>
-<value code="4">DownDown</value>
-</values>
-</param>
-<param humanName="Mixing Gain" name="ArduPlane:MIXING_GAIN" documentation="The gain for the Vtail and elevon output mixers. The default is 0.5, which ensures that the mixer doesn't saturate, allowing both input channels to go to extremes while retaining control over the output. Hardware mixers often have a 1.0 gain, which gives more servo throw, but can saturate. If you don't have enough throw on your servos with VTAIL_OUTPUT or ELEVON_OUTPUT enabled then you can raise the gain using MIXING_GAIN. The mixer allows outputs in the range 900 to 2100 microseconds." user="User">
-<field name="Range">0.5 1.2</field>
-</param>
-<param humanName="Rudder only aircraft" name="ArduPlane:RUDDER_ONLY" documentation="Enable rudder only mode. The rudder will control attitude in attitude controlled modes (such as FBWA). You should setup your transmitter to send roll stick inputs to the RCMAP_YAW channel (normally channel 4). The rudder servo should be attached to the RCMAP_YAW channel as well. Note that automatic ground steering will be disabled for rudder only aircraft. You should also set KFF_RDDRMIX to 1.0. You will also need to setup the YAW2SRV_DAMP yaw damping appropriately for your aircraft. A value of 0.5 for YAW2SRV_DAMP is a good starting point." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Num Resets" name="ArduPlane:SYS_NUM_RESETS" documentation="Number of APM board resets" user="Advanced">
-</param>
-<param humanName="Log bitmask" name="ArduPlane:LOG_BITMASK" documentation="Bitmap of what log types to enable in dataflash. This values is made up of the sum of each of the log types you want to be saved on dataflash. On a PX4 or Pixhawk the large storage size of a microSD card means it is usually best just to enable all log types by setting this to 65535. On APM2 the smaller 4 MByte dataflash means you need to be more selective in your logging or you may run out of log space while flying (in which case it will wrap and overwrite the start of the log). The individual bits are ATTITUDE_FAST=1, ATTITUDE_MEDIUM=2, GPS=4, PerformanceMonitoring=8, ControlTuning=16, NavigationTuning=32, Mode=64, IMU=128, Commands=256, Battery=512, Compass=1024, TECS=2048, Camera=4096, RCandServo=8192, Sonar=16384, Arming=32768, LogWhenDisarmed=65536, FullLogsArmedOnly=65535, FullLogsWhenDisarmed=131071" user="Advanced">
-<field name="Bitmask">0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:MODE,7:IMU,8:CMD,9:CURRENT,10:COMPASS,11:TECS,12:CAMERA,13:RC,14:SONAR,15:ARM/DISARM,16:WHEN_DISARMED,19:IMU_RAW</field>
-<values>
-<value code="0">Disabled</value>
-<value code="5190">APM2-Default</value>
-<value code="65535">PX4/Pixhawk-Default</value>
-</values>
-</param>
-<param humanName="Reset Switch Channel" name="ArduPlane:RST_SWITCH_CH" documentation="RC channel to use to reset to last flight mode&#9;after geofence takeover." user="Advanced">
-</param>
-<param humanName="Reset Mission Channel" name="ArduPlane:RST_MISSION_CH" documentation="RC channel to use to reset the mission to the first waypoint. When this channel goes above 1750 the mission is reset. Set RST_MISSION_CH to 0 to disable." user="Advanced">
-</param>
-<param humanName="Target airspeed" name="ArduPlane:TRIM_ARSPD_CM" documentation="Airspeed in cm/s to aim for when airspeed is enabled in auto mode. This is a calibrated (apparent) airspeed." user="User">
-<field name="Units">cm/s</field>
-</param>
-<param humanName="speed used for speed scaling calculations" name="ArduPlane:SCALING_SPEED" documentation="Airspeed in m/s to use when calculating surface speed scaling. Note that changing this value will affect all PID values" user="Advanced">
-<field name="Units">m/s</field>
-</param>
-<param humanName="Minimum ground speed" name="ArduPlane:MIN_GNDSPD_CM" documentation="Minimum ground speed in cm/s when under airspeed control" user="Advanced">
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Pitch angle offset" name="ArduPlane:TRIM_PITCH_CD" documentation="offset to add to pitch - used for in-flight pitch trimming. It is recommended that instead of using this parameter you level your plane correctly on the ground for good flight attitude." user="Advanced">
-<field name="Units">centi-Degrees</field>
-</param>
-<param humanName="RTL altitude" name="ArduPlane:ALT_HOLD_RTL" documentation="Return to launch target altitude. This is the relative altitude the plane will aim for and loiter at when returning home. If this is negative (usually -1) then the plane will use the current altitude at the time of entering RTL. Note that when transiting to a Rally Point the altitude of the Rally Point is used instead of ALT_HOLD_RTL." user="User">
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Minimum altitude for FBWB mode" name="ArduPlane:ALT_HOLD_FBWCM" documentation="This is the minimum altitude in centimeters that FBWB and CRUISE modes will allow. If you attempt to descend below this altitude then the plane will level off. A value of zero means no limit." user="User">
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Enable Compass" name="ArduPlane:MAG_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Flap input channel" name="ArduPlane:FLAP_IN_CHANNEL" documentation="An RC input channel to use for flaps control. If this is set to a RC channel number then that channel will be used for manual flaps control. When enabled, the percentage of flaps is taken as the percentage travel from the TRIM value of the channel to the MIN value of the channel. A value above the TRIM values will give inverse flaps (spoilers). This option needs to be enabled in conjunction with a FUNCTION setting on an output channel to one of the flap functions. When a FLAP_IN_CHANNEL is combined with auto-flaps the higher of the two flap percentages is taken. You must also enable a FLAPERON_OUTPUT flaperon mixer setting if using flaperons." user="User">
-</param>
-<param humanName="Flaperon output" name="ArduPlane:FLAPERON_OUTPUT" documentation="Enable flaperon output in software. If enabled then the APM will provide software flaperon mixing on the FLAPERON1 and FLAPERON2 output channels specified using the FUNCTION on two auxiliary channels. There are 4 different mixing modes available, which refer to the 4 ways the flap and aileron outputs can be mapped to the two flaperon servos. Note that you must not use flaperon output mixing with hardware pass-through of RC values, such as with channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to something other than 8 before you enable FLAPERON_OUTPUT. Please also see the MIXING_GAIN parameter for the output gain of the mixer. FLAPERON_OUTPUT cannot be combined with ELEVON_OUTPUT or ELEVON_MIXING." user="User">
-<values>
-<value code="0">Disabled</value>
-<value code="1">UpUp</value>
-<value code="2">UpDown</value>
-<value code="3">DownUp</value>
-<value code="4">DownDown</value>
-</values>
-</param>
-<param humanName="Flap 1 percentage" name="ArduPlane:FLAP_1_PERCNT" documentation="The percentage change in flap position when FLAP_1_SPEED is reached. Use zero to disable flaps" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Flap 1 speed" name="ArduPlane:FLAP_1_SPEED" documentation="The speed in meters per second at which to engage FLAP_1_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Flap 2 percentage" name="ArduPlane:FLAP_2_PERCNT" documentation="The percentage change in flap position when FLAP_2_SPEED is reached. Use zero to disable flaps" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Flap 2 speed" name="ArduPlane:FLAP_2_SPEED" documentation="The speed in meters per second at which to engage FLAP_2_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Landing flap percentage" name="ArduPlane:LAND_FLAP_PERCNT" documentation="The amount of flaps (as a percentage) to apply in the landing approach and flare of an automatic landing" user="Advanced">
-<field name="Range">0 100</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="PX4IO override channel" name="ArduPlane:OVERRIDE_CHAN" documentation="If set to a non-zero value then this is an RC input channel number to use for giving PX4IO manual control in case the main FMU microcontroller on a PX4 or Pixhawk fails. When this RC input channel goes above 1750 the FMU microcontroller will no longer be involved in controlling the servos and instead the PX4IO microcontroller will directly control the servos. Note that PX4IO manual control will be automatically activated if the FMU crashes for any reason. This parameter allows you to test for correct manual behaviour without actually crashing the FMU. This parameter is can be set to a non-zero value either for ground testing purposes or for giving the effect of an external override control board. Please also see the docs on OVERRIDE_SAFETY. Note that you may set OVERRIDE_CHAN to the same channel as FLTMODE_CH to get PX4IO based override when in flight mode 6. Note that when override is triggered due to a FMU crash the 6 auxiliary output channels on Pixhawk will no longer be updated, so all the flight controls you need must be assigned to the first 8 channels." user="Advanced">
-</param>
-<param humanName="PX4IO override safety switch" name="ArduPlane:OVERRIDE_SAFETY" documentation="This controls whether the safety switch is turned off when you activate override with OVERRIDE_CHAN. When set to 1 the safety switch is de-activated (activating the servos) then a PX4IO override is triggered. In that case the safety remains de-activated after override is disabled. If OVERRIDE_SAFETTY is set to 0 then the safety switch state does not change. Note that regardless of the value of this parameter the servos will be active while override is active." user="Advanced">
-</param>
-<param humanName="Inverted flight channel" name="ArduPlane:INVERTEDFLT_CH" documentation="A RC input channel number to enable inverted flight. If this is non-zero then the APM will monitor the corresponding RC input channel and will enable inverted flight when the channel goes above 1750." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Channel1</value>
-<value code="2">Channel2</value>
-<value code="3">Channel3</value>
-<value code="4">Channel4</value>
-<value code="5">Channel5</value>
-<value code="6">Channel6</value>
-<value code="7">Channel7</value>
-<value code="8">Channel8</value>
-</values>
-</param>
-<param humanName="HIL mode enable" name="ArduPlane:HIL_MODE" documentation="This enables and disables hardware in the loop mode. If HIL_MODE is 1 then on the next reboot all sensors are replaced with HIL sensors which come from the GCS." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="HIL Servos enable" name="ArduPlane:HIL_SERVOS" documentation="This controls whether real servo controls are used in HIL mode. If you enable this then the APM will control the real servos in HIL mode. If disabled it will report servo values, but will not output to the real servos. Be careful that your motor and propeller are not connected if you enable this option." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Limit of error in HIL attitude before reset" name="ArduPlane:HIL_ERR_LIMIT" documentation="This controls the maximum error in degrees on any axis before HIL will reset the DCM attitude to match the HIL_STATE attitude. This limit will prevent poor timing on HIL from causing a major attitude error. If the value is zero then no limit applies." user="Advanced">
-<field name="Range">0 90</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="RTL auto land" name="ArduPlane:RTL_AUTOLAND" documentation="Automatically begin landing sequence after arriving at RTL location. This requires the addition of a DO_LAND_START mission item, which acts as a marker for the start of a landing sequence. The closest landing sequence will be chosen to the current location. " user="Standard">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable - go HOME then land</value>
-<value code="2">Enable - go directly to landing sequence</value>
-</values>
-</param>
-<param humanName="RC Trims auto set at start." name="ArduPlane:RC_TRIM_AT_START" documentation="Automatically set roll/pitch trim from Tx at ground start. This makes the assumption that the RC transmitter has not been altered since trims were last captured." user="Standard">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-<param humanName="Crash Deceleration Threshold" name="ArduPlane:CRASH_ACC_THRESH" documentation="X-Axis deceleration threshold to notify the crash detector that there was a possible impact which helps disarm the motor quickly after a crash. This value should be much higher than normal negative x-axis forces during normal flight, check flight log files to determine the average IMU.x values for your aircraft and motor type. Higher value means less sensative (triggers on higher impact). For electric planes that don't vibrate much during fight a value of 25 is good (that's about 2.5G). For petrol/nitro planes you'll want a higher value. Set to 0 to disable the collision detector." user="Advanced">
-<field name="Values">10 127</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Crash Detection" name="ArduPlane:CRASH_DETECT" documentation="Automatically detect a crash during AUTO flight and perform the bitmask selected action(s). Disarm will turn off motor for saftey and to help against burning out ESC and motor. Setting the mode to manual will help save the servos from burning out by overexerting if the aircraft crashed in an odd orientation such as upsidedown." user="Advanced">
-<field name="Bitmask">0:Disarm</field>
-<values>
-<value code="0">Disabled</value>
-<value code="1">Disarm</value>
-</values>
-</param>
-<param humanName="Parachute release channel" name="ArduPlane:CHUTE_CHAN" documentation="If set to a non-zero value then this is an RC input channel number to use for manually releasing the parachute. When this channel goes above 1700 the parachute will be released" user="Advanced">
-</param>
-<param humanName="Enable rangefinder for landing" name="ArduPlane:RNGFND_LANDING" documentation="This enables the use of a rangefinder for automatic landing. The rangefinder will be used both on the landing approach and for final flare" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-</parameters>
-<parameters name="ArduCopter">
-<param humanName="Eeprom format version number" name="ArduCopter:SYSID_SW_MREV" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="Software Type" name="ArduCopter:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
-<field name="ReadOnly">True</field>
-<values>
-<value code="0">ArduPlane</value>
-<value code="4">AntennaTracker</value>
-<value code="10">Copter</value>
-<value code="20">Rover</value>
-</values>
-</param>
-<param humanName="MAVLink system ID of this vehicle" name="ArduCopter:SYSID_THISMAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="My ground station number" name="ArduCopter:SYSID_MYGCS" documentation="Allows restricting radio overrides to only come from my ground station" user="Advanced">
-<values>
-<value code="255">Mission Planner and DroidPlanner</value>
-<value code=" 252"> AP Planner 2</value>
-</values>
-</param>
-<param humanName="CLI Enable" name="ArduCopter:CLI_ENABLED" documentation="This enables/disables the checking for three carriage returns on telemetry links on startup to enter the diagnostics command line interface" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Throttle filter cutoff" name="ArduCopter:PILOT_THR_FILT" documentation="Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable" user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">.5</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Pilot takeoff altitude" name="ArduCopter:PILOT_TKOFF_ALT" documentation="Altitude that altitude control modes will climb to when a takeoff is triggered with the throttle stick." user="Standard">
-<field name="Range">0.0 1000.0</field>
-<field name="Increment">10</field>
-<field name="Units">Centimeters</field>
-</param>
-<param humanName="Takeoff trigger deadzone" name="ArduCopter:PILOT_TKOFF_DZ" documentation="Offset from mid stick at which takeoff is triggered" user="Standard">
-<field name="Range">0.0 500.0</field>
-<field name="Increment">10</field>
-</param>
-<param humanName="Throttle stick behavior" name="ArduCopter:PILOT_THR_BHV" documentation="Bitmask containing various throttle stick options. Add up the values for options that you want." user="Standard">
-<field name="Bitmask">0:Feedback from mid stick,1:High throttle cancels landing</field>
-<values>
-<value code="0">None</value>
-<value code="1">Feedback from mid stick</value>
-<value code="2">High throttle cancels landing</value>
-</values>
-</param>
-<param humanName="Telemetry startup delay" name="ArduCopter:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="GCS PID tuning mask" name="ArduCopter:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
-<field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
-<values>
-<value code="0">None</value>
-<value code="1">Roll</value>
-<value code="2">Pitch</value>
-<value code="4">Yaw</value>
-</values>
-</param>
-<param humanName="RTL Altitude" name="ArduCopter:RTL_ALT" documentation="The minimum relative altitude the model will move to before Returning to Launch.  Set to zero to return at current altitude." user="Standard">
-<field name="Range">0 8000</field>
-<field name="Increment">1</field>
-<field name="Units">Centimeters</field>
-</param>
-<param humanName="RTL cone slope" name="ArduCopter:RTL_CONE_SLOPE" documentation="Defines a cone above home which determines maximum climb" user="Standard">
-<field name="Range">0.5 10.0</field>
-<values>
-<value code="0">Disabled</value>
-<value code="1">Shallow</value>
-<value code="3">Steep</value>
-</values>
-<field name="Increment">.1</field>
-</param>
-<param humanName="RTL speed" name="ArduCopter:RTL_SPEED" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain horizontally while flying home. If this is set to zero, WPNAV_SPEED will be used instead." user="Standard">
-<field name="Range">0 2000</field>
-<field name="Increment">50</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Rangefinder gain" name="ArduCopter:RNGFND_GAIN" documentation="Used to adjust the speed with which the target altitude is changed when objects are sensed below the copter" user="Standard">
-<field name="Range">0.01 2.0</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Battery Failsafe Enable" name="ArduCopter:FS_BATT_ENABLE" documentation="Controls whether failsafe will be invoked when battery voltage or current runs low" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Land</value>
-<value code="2">RTL</value>
-</values>
-</param>
-<param humanName="Failsafe battery voltage" name="ArduCopter:FS_BATT_VOLTAGE" documentation="Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe. If the battery voltage drops below this voltage then the copter will RTL" user="Standard">
-<field name="Increment">0.1</field>
-<field name="Units">Volts</field>
-</param>
-<param humanName="Failsafe battery milliAmpHours" name="ArduCopter:FS_BATT_MAH" documentation="Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe. If the battery remaining drops below this level then the copter will RTL" user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
-</param>
-<param humanName="Ground Station Failsafe Enable" name="ArduCopter:FS_GCS_ENABLE" documentation="Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. NB. The GCS Failsafe is only active when RC_OVERRIDE is being used to control the vehicle." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled always RTL</value>
-<value code="2">Enabled Continue with Mission in Auto Mode</value>
-</values>
-</param>
-<param humanName="GPS Hdop Good" name="ArduCopter:GPS_HDOP_GOOD" documentation="GPS Hdop value at or below this value represent a good position.  Used for pre-arm checks" user="Advanced">
-<field name="Range">100 900</field>
-</param>
-<param humanName="Compass enable/disable" name="ArduCopter:MAG_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Super Simple Mode" name="ArduCopter:SUPER_SIMPLE" documentation="Bitmask to enable Super Simple mode for some flight modes. Setting this to Disabled(0) will disable Super Simple Mode" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Mode1</value>
-<value code="2">Mode2</value>
-<value code="3">Mode1+2</value>
-<value code="4">Mode3</value>
-<value code="5">Mode1+3</value>
-<value code="6">Mode2+3</value>
-<value code="7">Mode1+2+3</value>
-<value code="8">Mode4</value>
-<value code="9">Mode1+4</value>
-<value code="10">Mode2+4</value>
-<value code="11">Mode1+2+4</value>
-<value code="12">Mode3+4</value>
-<value code="13">Mode1+3+4</value>
-<value code="14">Mode2+3+4</value>
-<value code="15">Mode1+2+3+4</value>
-<value code="16">Mode5</value>
-<value code="17">Mode1+5</value>
-<value code="18">Mode2+5</value>
-<value code="19">Mode1+2+5</value>
-<value code="20">Mode3+5</value>
-<value code="21">Mode1+3+5</value>
-<value code="22">Mode2+3+5</value>
-<value code="23">Mode1+2+3+5</value>
-<value code="24">Mode4+5</value>
-<value code="25">Mode1+4+5</value>
-<value code="26">Mode2+4+5</value>
-<value code="27">Mode1+2+4+5</value>
-<value code="28">Mode3+4+5</value>
-<value code="29">Mode1+3+4+5</value>
-<value code="30">Mode2+3+4+5</value>
-<value code="31">Mode1+2+3+4+5</value>
-<value code="32">Mode6</value>
-<value code="33">Mode1+6</value>
-<value code="34">Mode2+6</value>
-<value code="35">Mode1+2+6</value>
-<value code="36">Mode3+6</value>
-<value code="37">Mode1+3+6</value>
-<value code="38">Mode2+3+6</value>
-<value code="39">Mode1+2+3+6</value>
-<value code="40">Mode4+6</value>
-<value code="41">Mode1+4+6</value>
-<value code="42">Mode2+4+6</value>
-<value code="43">Mode1+2+4+6</value>
-<value code="44">Mode3+4+6</value>
-<value code="45">Mode1+3+4+6</value>
-<value code="46">Mode2+3+4+6</value>
-<value code="47">Mode1+2+3+4+6</value>
-<value code="48">Mode5+6</value>
-<value code="49">Mode1+5+6</value>
-<value code="50">Mode2+5+6</value>
-<value code="51">Mode1+2+5+6</value>
-<value code="52">Mode3+5+6</value>
-<value code="53">Mode1+3+5+6</value>
-<value code="54">Mode2+3+5+6</value>
-<value code="55">Mode1+2+3+5+6</value>
-<value code="56">Mode4+5+6</value>
-<value code="57">Mode1+4+5+6</value>
-<value code="58">Mode2+4+5+6</value>
-<value code="59">Mode1+2+4+5+6</value>
-<value code="60">Mode3+4+5+6</value>
-<value code="61">Mode1+3+4+5+6</value>
-<value code="62">Mode2+3+4+5+6</value>
-<value code="63">Mode1+2+3+4+5+6</value>
-</values>
-</param>
-<param humanName="RTL Final Altitude" name="ArduCopter:RTL_ALT_FINAL" documentation="This is the altitude the vehicle will move to as the final stage of Returning to Launch or after completing a mission.  Set to zero to land." user="Standard">
-<field name="Range">-1 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Centimeters</field>
-</param>
-<param humanName="RTL minimum climb" name="ArduCopter:RTL_CLIMB_MIN" documentation="The vehicle will climb this many cm during the initial climb portion of the RTL" user="Standard">
-<field name="Range">0 3000</field>
-<field name="Increment">10</field>
-<field name="Units">Centimeters</field>
-</param>
-<param humanName="Yaw behaviour during missions" name="ArduCopter:WP_YAW_BEHAVIOR" documentation="Determines how the autopilot controls the yaw during missions and RTL" user="Standard">
-<values>
-<value code="0">Never change yaw</value>
-<value code=" 1">Face next waypoint</value>
-<value code=" 2">Face next waypoint except RTL</value>
-<value code=" 3">Face along GPS course</value>
-</values>
-</param>
-<param humanName="RTL loiter time" name="ArduCopter:RTL_LOIT_TIME" documentation="Time (in milliseconds) to loiter above home before beginning final descent" user="Standard">
-<field name="Range">0 60000</field>
-<field name="Increment">1000</field>
-<field name="Units">ms</field>
-</param>
-<param humanName="Land speed" name="ArduCopter:LAND_SPEED" documentation="The descent speed for the final stage of landing in cm/s" user="Standard">
-<field name="Range">30 200</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Land speed high" name="ArduCopter:LAND_SPEED_HIGH" documentation="The descent speed for the first stage of landing in cm/s. If this is zero then WPNAV_SPEED_DN is used" user="Standard">
-<field name="Range">0 500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Pilot maximum vertical speed" name="ArduCopter:PILOT_VELZ_MAX" documentation="The maximum vertical velocity the pilot may request in cm/s" user="Standard">
-<field name="Range">50 500</field>
-<field name="Increment">10</field>
-<field name="Units">Centimeters/Second</field>
-</param>
-<param humanName="Pilot vertical acceleration" name="ArduCopter:PILOT_ACCEL_Z" documentation="The vertical acceleration used when pilot is controlling the altitude" user="Standard">
-<field name="Range">50 500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Throttle Minimum" name="ArduCopter:THR_MIN" documentation="The minimum throttle that will be sent to the motors to keep them spinning" user="Standard">
-<field name="Range">0 300</field>
-<field name="Increment">1</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Throttle Failsafe Enable" name="ArduCopter:FS_THR_ENABLE" documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled always RTL</value>
-<value code="2">Enabled Continue with Mission in Auto Mode</value>
-<value code="3">Enabled always LAND</value>
-</values>
-</param>
-<param humanName="Throttle Failsafe Value" name="ArduCopter:FS_THR_VALUE" documentation="The PWM level on channel 3 below which throttle sailsafe triggers" user="Standard">
-<field name="Range">925 1100</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Throttle Mid Position" name="ArduCopter:THR_MID" documentation="The throttle output (0 ~ 1000) when throttle stick is in mid position.  Used to scale the manual throttle so that the mid throttle stick position is close to the throttle required to hover" user="Standard">
-<field name="Range">300 700</field>
-<field name="Increment">10</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Throttle deadzone" name="ArduCopter:THR_DZ" documentation="The deadzone above and below mid throttle.  Used in AltHold, Loiter, PosHold flight modes" user="Standard">
-<field name="Range">0 300</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Flight Mode 1" name="ArduCopter:FLTMODE1" documentation="Flight mode when Channel 5 pwm is &lt;= 1230" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-<value code="18">Throw</value>
-</values>
-</param>
-<param humanName="Flight Mode 2" name="ArduCopter:FLTMODE2" documentation="Flight mode when Channel 5 pwm is &gt;1230, &lt;= 1360" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-<value code="18">Throw</value>
-</values>
-</param>
-<param humanName="Flight Mode 3" name="ArduCopter:FLTMODE3" documentation="Flight mode when Channel 5 pwm is &gt;1360, &lt;= 1490" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-<value code="18">Throw</value>
-</values>
-</param>
-<param humanName="Flight Mode 4" name="ArduCopter:FLTMODE4" documentation="Flight mode when Channel 5 pwm is &gt;1490, &lt;= 1620" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-<value code="18">Throw</value>
-</values>
-</param>
-<param humanName="Flight Mode 5" name="ArduCopter:FLTMODE5" documentation="Flight mode when Channel 5 pwm is &gt;1620, &lt;= 1749" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-<value code="18">Throw</value>
-</values>
-</param>
-<param humanName="Flight Mode 6" name="ArduCopter:FLTMODE6" documentation="Flight mode when Channel 5 pwm is &gt;=1750" user="Standard">
-<values>
-<value code="0">Stabilize</value>
-<value code="1">Acro</value>
-<value code="2">AltHold</value>
-<value code="3">Auto</value>
-<value code="4">Guided</value>
-<value code="5">Loiter</value>
-<value code="6">RTL</value>
-<value code="7">Circle</value>
-<value code="9">Land</value>
-<value code="11">Drift</value>
-<value code="13">Sport</value>
-<value code="14">Flip</value>
-<value code="15">AutoTune</value>
-<value code="16">PosHold</value>
-<value code="17">Brake</value>
-<value code="18">Throw</value>
-</values>
-</param>
-<param humanName="Simple mode bitmask" name="ArduCopter:SIMPLE" documentation="Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode)" user="Advanced">
-</param>
-<param humanName="Log bitmask" name="ArduCopter:LOG_BITMASK" documentation="4 byte bitmap of log types to enable" user="Standard">
-<field name="Bitmask">0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,16:WHEN_DISARMED,17:MOTBATT,18:IMU_FAST,19:IMU_RAW</field>
-<values>
-<value code="830">Default</value>
-<value code="894">Default+RCIN</value>
-<value code="958">Default+IMU</value>
-<value code="1854">Default+Motors</value>
-<value code="-6146">NearlyAll-AC315</value>
-<value code="45054">NearlyAll</value>
-<value code="131070">All+DisarmedLogging</value>
-<value code="131071">All+FastATT</value>
-<value code="262142">All+MotBatt</value>
-<value code="393214">All+FastIMU</value>
-<value code="397310">All+FastIMU+PID</value>
-<value code="655358">All+FullIMU</value>
-<value code="0">Disabled</value>
-</values>
-</param>
-<param humanName="ESC Calibration" name="ArduCopter:ESC_CALIBRATION" documentation="Controls whether ArduCopter will enter ESC calibration on the next restart.  Do not adjust this parameter manually." user="Advanced">
-<values>
-<value code="0">Normal Start-up</value>
-<value code=" 1">Start-up in ESC Calibration mode if throttle high</value>
-<value code=" 2">Start-up in ESC Calibration mode regardless of throttle</value>
-<value code=" 9">Disabled</value>
-</values>
-</param>
-<param humanName="Channel 6 Tuning" name="ArduCopter:TUNE" documentation="Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Stab Roll/Pitch kP</value>
-<value code="4">Rate Roll/Pitch kP</value>
-<value code="5">Rate Roll/Pitch kI</value>
-<value code="21">Rate Roll/Pitch kD</value>
-<value code="3">Stab Yaw kP</value>
-<value code="6">Rate Yaw kP</value>
-<value code="26">Rate Yaw kD</value>
-<value code="14">Altitude Hold kP</value>
-<value code="7">Throttle Rate kP</value>
-<value code="34">Throttle Accel kP</value>
-<value code="35">Throttle Accel kI</value>
-<value code="36">Throttle Accel kD</value>
-<value code="42">Loiter Speed</value>
-<value code="12">Loiter Pos kP</value>
-<value code="22">Velocity XY kP</value>
-<value code="28">Velocity XY kI</value>
-<value code="10">WP Speed</value>
-<value code="25">Acro RollPitch kP</value>
-<value code="40">Acro Yaw kP</value>
-<value code="13">Heli Ext Gyro</value>
-<value code="17">OF Loiter kP</value>
-<value code="18">OF Loiter kI</value>
-<value code="19">OF Loiter kD</value>
-<value code="38">Declination</value>
-<value code="39">Circle Rate</value>
-<value code="41">RangeFinder Gain</value>
-<value code="46">Rate Pitch kP</value>
-<value code="47">Rate Pitch kI</value>
-<value code="48">Rate Pitch kD</value>
-<value code="49">Rate Roll kP</value>
-<value code="50">Rate Roll kI</value>
-<value code="51">Rate Roll kD</value>
-<value code="52">Rate Pitch FF</value>
-<value code="53">Rate Roll FF</value>
-<value code="54">Rate Yaw FF</value>
-</values>
-</param>
-<param humanName="Tuning minimum" name="ArduCopter:TUNE_LOW" documentation="The minimum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob" user="Standard">
-<field name="Range">0 32767</field>
-</param>
-<param humanName="Tuning maximum" name="ArduCopter:TUNE_HIGH" documentation="The maximum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob" user="Standard">
-<field name="Range">0 32767</field>
-</param>
-<param humanName="Frame Orientation (+, X or V)" name="ArduCopter:FRAME" documentation="Controls motor mixing for multicopters.  Not used for Tri or Traditional Helicopters." user="Standard">
-<values>
-<value code="0">Plus</value>
-<value code=" 1">X</value>
-<value code=" 2">V</value>
-<value code=" 3">H</value>
-<value code=" 4">V-Tail</value>
-<value code=" 5">A-Tail</value>
-<value code=" 10">Y6B (New)</value>
-</values>
-</param>
-<param humanName="Channel 7 option" name="ArduCopter:CH7_OPT" documentation="Select which function if performed when CH7 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 12">ResetToArmedYaw</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 34">Relay2 On/Off</value>
-<value code=" 35">Relay3 On/Off</value>
-<value code=" 36">Relay4 On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-<value code=" 37">Throw</value>
-</values>
-</param>
-<param humanName="Channel 8 option" name="ArduCopter:CH8_OPT" documentation="Select which function if performed when CH8 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 12">ResetToArmedYaw</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 34">Relay2 On/Off</value>
-<value code=" 35">Relay3 On/Off</value>
-<value code=" 36">Relay4 On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-<value code=" 37">Throw</value>
-</values>
-</param>
-<param humanName="Channel 9 option" name="ArduCopter:CH9_OPT" documentation="Select which function if performed when CH9 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 12">ResetToArmedYaw</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 34">Relay2 On/Off</value>
-<value code=" 35">Relay3 On/Off</value>
-<value code=" 36">Relay4 On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-<value code=" 37">Throw</value>
-</values>
-</param>
-<param humanName="Channel 10 option" name="ArduCopter:CH10_OPT" documentation="Select which function if performed when CH10 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 12">ResetToArmedYaw</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 34">Relay2 On/Off</value>
-<value code=" 35">Relay3 On/Off</value>
-<value code=" 36">Relay4 On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-<value code=" 37">Throw</value>
-</values>
-</param>
-<param humanName="Channel 11 option" name="ArduCopter:CH11_OPT" documentation="Select which function if performed when CH11 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 12">ResetToArmedYaw</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 34">Relay2 On/Off</value>
-<value code=" 35">Relay3 On/Off</value>
-<value code=" 36">Relay4 On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-<value code=" 37">Throw</value>
-</values>
-</param>
-<param humanName="Channel 12 option" name="ArduCopter:CH12_OPT" documentation="Select which function if performed when CH12 is above 1800 pwm" user="Standard">
-<values>
-<value code="0">Do Nothing</value>
-<value code=" 2">Flip</value>
-<value code=" 3">Simple Mode</value>
-<value code=" 4">RTL</value>
-<value code=" 5">Save Trim</value>
-<value code=" 7">Save WP</value>
-<value code=" 9">Camera Trigger</value>
-<value code=" 10">RangeFinder</value>
-<value code=" 11">Fence</value>
-<value code=" 12">ResetToArmedYaw</value>
-<value code=" 13">Super Simple Mode</value>
-<value code=" 14">Acro Trainer</value>
-<value code=" 16">Auto</value>
-<value code=" 17">AutoTune</value>
-<value code=" 18">Land</value>
-<value code=" 19">EPM</value>
-<value code=" 21">Parachute Enable</value>
-<value code=" 22">Parachute Release</value>
-<value code=" 23">Parachute 3pos</value>
-<value code=" 24">Auto Mission Reset</value>
-<value code=" 25">AttCon Feed Forward</value>
-<value code=" 26">AttCon Accel Limits</value>
-<value code=" 27">Retract Mount</value>
-<value code=" 28">Relay On/Off</value>
-<value code=" 34">Relay2 On/Off</value>
-<value code=" 35">Relay3 On/Off</value>
-<value code=" 36">Relay4 On/Off</value>
-<value code=" 29">Landing Gear</value>
-<value code=" 30">Lost Copter Sound</value>
-<value code=" 31">Motor Emergency Stop</value>
-<value code=" 32">Motor Interlock</value>
-<value code=" 33">Brake</value>
-<value code=" 37">Throw</value>
-</values>
-</param>
-<param humanName="Arming check" name="ArduCopter:ARMING_CHECK" documentation="Allows enabling or disabling of pre-arming checks of receiver, accelerometer, barometer, compass and GPS" user="Standard">
-<field name="Bitmask">0:All,1:Baro,2:Compass,3:GPS,4:INS,5:Parameters+Sonar,6:RC,7:Voltage</field>
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-<value code=" -3">Skip Baro</value>
-<value code=" -5">Skip Compass</value>
-<value code=" -9">Skip GPS</value>
-<value code=" -17">Skip INS</value>
-<value code=" -33">Skip Params/Sonar</value>
-<value code=" -65">Skip RC</value>
-<value code=" 127">Skip Voltage</value>
-</values>
-</param>
-<param humanName="Disarm delay" name="ArduCopter:DISARM_DELAY" documentation="Delay before automatic disarm in seconds. A value of zero disables auto disarm." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="Angle Max" name="ArduCopter:ANGLE_MAX" documentation="Maximum lean angle in all flight modes" user="Advanced">
-<field name="Range">1000 8000</field>
-<field name="Units">Centi-degrees</field>
-</param>
-<param humanName="RC Feel Roll/Pitch" name="ArduCopter:RC_FEEL_RP" documentation="RC feel for roll/pitch which controls vehicle response to user input with 0 being extremely soft and 100 being crisp" user="Standard">
-<field name="Range">0 100</field>
-<values>
-<value code="0">Very Soft</value>
-<value code=" 25">Soft</value>
-<value code=" 50">Medium</value>
-<value code=" 75">Crisp</value>
-<value code=" 100">Very Crisp</value>
-</values>
-<field name="Increment">10</field>
-</param>
-<param humanName="PosHold braking rate" name="ArduCopter:PHLD_BRAKE_RATE" documentation="PosHold flight mode's rotation rate during braking in deg/sec" user="Advanced">
-<field name="Range">4 12</field>
-<field name="Units">deg/sec</field>
-</param>
-<param humanName="PosHold braking angle max" name="ArduCopter:PHLD_BRAKE_ANGLE" documentation="PosHold flight mode's max lean angle during braking in centi-degrees" user="Advanced">
-<field name="Range">2000 4500</field>
-<field name="Units">Centi-degrees</field>
-</param>
-<param humanName="Land repositioning" name="ArduCopter:LAND_REPOSITION" documentation="Enables user input during LAND mode, the landing phase of RTL, and auto mode landings." user="Advanced">
-<values>
-<value code="0">No repositioning</value>
-<value code=" 1">Repositioning</value>
-</values>
-</param>
-<param humanName="EKF Failsafe Action" name="ArduCopter:FS_EKF_ACTION" documentation="Controls the action that will be taken when an EKF failsafe is invoked" user="Advanced">
-<values>
-<value code="1">Land</value>
-<value code=" 2">AltHold</value>
-<value code=" 3">Land even in Stabilize</value>
-</values>
-</param>
-<param humanName="EKF failsafe variance threshold" name="ArduCopter:FS_EKF_THRESH" documentation="Allows setting the maximum acceptable compass and velocity variance" user="Advanced">
-<field name="Values">0.6:Strict, 0.8:Default, 1.0:Relaxed</field>
-</param>
-<param humanName="Crash check enable" name="ArduCopter:FS_CRASH_CHECK" documentation="This enables automatic crash checking. When enabled the motors will disarm if a crash is detected." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="ESC Update Speed" name="ArduCopter:RC_SPEED" documentation="This is the speed in Hertz that your ESCs will receive updates" user="Advanced">
-<field name="Range">50 490</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Acro Roll and Pitch P gain" name="ArduCopter:ACRO_RP_P" documentation="Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode.  Higher values mean faster rate of rotation." user="Standard">
-<field name="Range">1 10</field>
-</param>
-<param humanName="Acro Yaw P gain" name="ArduCopter:ACRO_YAW_P" documentation="Converts pilot yaw input into a desired rate of rotation in ACRO, Stabilize and SPORT modes.  Higher values mean faster rate of rotation." user="Standard">
-<field name="Range">1 10</field>
-</param>
-<param humanName="Acro Balance Roll" name="ArduCopter:ACRO_BAL_ROLL" documentation="rate at which roll angle returns to level in acro mode.  A higher value causes the vehicle to return to level faster." user="Advanced">
-<field name="Range">0 3</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Acro Balance Pitch" name="ArduCopter:ACRO_BAL_PITCH" documentation="rate at which pitch angle returns to level in acro mode.  A higher value causes the vehicle to return to level faster." user="Advanced">
-<field name="Range">0 3</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Acro Trainer" name="ArduCopter:ACRO_TRAINER" documentation="Type of trainer used in acro mode" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Leveling</value>
-<value code="2">Leveling and Limited</value>
-</values>
-</param>
-<param humanName="Acro Expo" name="ArduCopter:ACRO_EXPO" documentation="Acro roll/pitch Expo to allow faster rotation when stick at edges" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="0.1">Very Low</value>
-<value code="0.2">Low</value>
-<value code="0.3">Medium</value>
-<value code="0.4">High</value>
-<value code="0.5">Very High</value>
-</values>
-</param>
-<param humanName="Velocity (horizontal) P gain" name="ArduCopter:VEL_XY_P" documentation="Velocity (horizontal) P gain.  Converts the difference between desired velocity to a target acceleration" user="Advanced">
-<field name="Range">0.1 6.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Velocity (horizontal) I gain" name="ArduCopter:VEL_XY_I" documentation="Velocity (horizontal) I gain.  Corrects long-term difference in desired velocity to a target acceleration" user="Advanced">
-<field name="Range">0.02 1.00</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Velocity (horizontal) integrator maximum" name="ArduCopter:VEL_XY_IMAX" documentation="Velocity (horizontal) integrator maximum.  Constrains the target acceleration that the I gain will output" user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Velocity (vertical) P gain" name="ArduCopter:VEL_Z_P" documentation="Velocity (vertical) P gain.  Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller" user="Standard">
-<field name="Range">1.000 8.000</field>
-</param>
-<param humanName="Throttle acceleration controller P gain" name="ArduCopter:ACCEL_Z_P" documentation="Throttle acceleration controller P gain.  Converts the difference between desired vertical acceleration and actual acceleration into a motor output" user="Standard">
-<field name="Range">0.500 1.500</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Throttle acceleration controller I gain" name="ArduCopter:ACCEL_Z_I" documentation="Throttle acceleration controller I gain.  Corrects long-term difference in desired vertical acceleration and actual acceleration" user="Standard">
-<field name="Range">0.000 3.000</field>
-</param>
-<param humanName="Throttle acceleration controller I gain maximum" name="ArduCopter:ACCEL_Z_IMAX" documentation="Throttle acceleration controller I gain maximum.  Constrains the maximum pwm that the I term will generate" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Throttle acceleration controller D gain" name="ArduCopter:ACCEL_Z_D" documentation="Throttle acceleration controller D gain.  Compensates for short-term change in desired vertical acceleration vs actual acceleration" user="Standard">
-<field name="Range">0.000 0.400</field>
-</param>
-<param humanName="Throttle acceleration filter" name="ArduCopter:ACCEL_Z_FILT_HZ" documentation="Filter applied to acceleration to reduce noise.  Lower values reduce noise but add delay." user="Standard">
-<field name="Range">1.000 100.000</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Position (vertical) controller P gain" name="ArduCopter:POS_Z_P" documentation="Position (vertical) controller P gain.  Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller" user="Standard">
-<field name="Range">1.000 3.000</field>
-</param>
-<param humanName="Position (horizonal) controller P gain" name="ArduCopter:POS_XY_P" documentation="Loiter position controller P gain.  Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller" user="Standard">
-<field name="Range">0.500 2.000</field>
-</param>
-<param humanName="Autotune axis bitmask" name="ArduCopter:AUTOTUNE_AXES" documentation="1-byte bitmap of axes to autotune" user="Standard">
-<field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
-<values>
-<value code="7">All</value>
-<value code="1">Roll Only</value>
-<value code="2">Pitch Only</value>
-<value code="4">Yaw Only</value>
-<value code="3">Roll and Pitch</value>
-<value code="5">Roll and Yaw</value>
-<value code="6">Pitch and Yaw</value>
-</values>
-</param>
-<param humanName="Autotune aggressiveness" name="ArduCopter:AUTOTUNE_AGGR" documentation="Autotune aggressiveness. Defines the bounce back used to detect size of the D term." user="Standard">
-<field name="Range">0.05 0.10</field>
-</param>
-<param humanName="AutoTune minimum D" name="ArduCopter:AUTOTUNE_MIN_D" documentation="Defines the minimum D gain" user="Standard">
-<field name="Range">0.001 0.006</field>
-</param>
-<param humanName="Start motors before throwing is detected" name="ArduCopter:THROW_MOT_START" documentation="Used by THROW mode. Controls whether motors will run at the speed set by THR_MIN or will be stopped when armed and waiting for the throw." user="Standard">
-<values>
-<value code="0">Stopped</value>
-<value code="1">Running</value>
-</values>
-</param>
-</parameters>
-<parameters name="AntennaTracker">
-<param humanName="Eeprom format version number" name="AntennaTracker:FORMAT_VERSION" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
-</param>
-<param humanName="Software Type" name="AntennaTracker:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
-<field name="ReadOnly">True</field>
-<values>
-<value code="0">ArduPlane</value>
-<value code="4">AntennaTracker</value>
-<value code="10">Copter</value>
-<value code="20">Rover</value>
-</values>
-</param>
-<param humanName="MAVLink system ID of this vehicle" name="AntennaTracker:SYSID_THISMAV" documentation="Allows setting an individual system id for this vehicle to distinguish it from others on the same network" user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="Ground station MAVLink system ID" name="AntennaTracker:SYSID_MYGCS" documentation="The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match." user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="Target vehicle's MAVLink system ID" name="AntennaTracker:SYSID_TARGET" documentation="The identifier of the vehicle being tracked. This should be zero (to auto detect) or be the same as the SYSID_THISMAV parameter of the vehicle being tracked." user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="Enable Compass" name="AntennaTracker:MAG_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Time for yaw to slew through its full range" name="AntennaTracker:YAW_SLEW_TIME" documentation="This controls how rapidly the tracker will change the servo output for yaw. It is set as the number of seconds to do a full rotation. You can use this parameter to slow the trackers movements, which may help with some types of trackers. A value of zero will allow for unlimited servo movement per update." user="Standard">
-<field name="Range">0 20</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Time for pitch to slew through its full range" name="AntennaTracker:PITCH_SLEW_TIME" documentation="This controls how rapidly the tracker will change the servo output for pitch. It is set as the number of seconds to do a full range of pitch movement. You can use this parameter to slow the trackers movements, which may help with some types of trackers. A value of zero will allow for unlimited servo movement per update." user="Standard">
-<field name="Range">0 20</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Speed at which to rotate in scan mode" name="AntennaTracker:SCAN_SPEED" documentation="This controls how rapidly the tracker will move the servos in SCAN mode" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Minimum time to apply a yaw reversal" name="AntennaTracker:MIN_REVERSE_TIME" documentation="When the tracker detects it has reached the limit of servo movement in yaw it will reverse and try moving to the other extreme of yaw. This parameter controls the minimum time it should reverse for. It is used to cope with trackers that have a significant lag in movement to ensure they do move all the way around." user="Standard">
-<field name="Range">0 20</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Initial Latitude before GPS lock" name="AntennaTracker:START_LATITUDE" documentation="Combined with START_LONGITUDE this parameter allows for an initial position of the tracker to be set. This position will be used until the GPS gets lock. It can also be used to run a stationary tracker with no GPS attached." user="Standard">
-<field name="Range">-90 90</field>
-<field name="Increment">0.000001</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Initial Longitude before GPS lock" name="AntennaTracker:START_LONGITUDE" documentation="Combined with START_LATITUDE this parameter allows for an initial position of the tracker to be set. This position will be used until the GPS gets lock. It can also be used to run a stationary tracker with no GPS attached." user="Standard">
-<field name="Range">-180 180</field>
-<field name="Increment">0.000001</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Delay before first servo movement from trim" name="AntennaTracker:STARTUP_DELAY" documentation="This parameter can be used to force the servos to their trim value for a time on startup. This can help with some servo types" user="Standard">
-<field name="Range">0 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Type of servo system being used" name="AntennaTracker:SERVO_TYPE" documentation="This allows selection of position servos or on/off servos" user="Standard">
-<values>
-<value code="0">Position</value>
-<value code="1">OnOff</value>
-<value code="2">ContinuousRotation</value>
-</values>
-</param>
-<param humanName="Yaw rate for on/off servos" name="AntennaTracker:ONOFF_YAW_RATE" documentation="Rate of change of yaw in degrees/second for on/off servos" user="Standard">
-<field name="Range">0 50</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Pitch rate for on/off servos" name="AntennaTracker:ONOFF_PITCH_RATE" documentation="Rate of change of pitch in degrees/second for on/off servos" user="Standard">
-<field name="Range">0 50</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Yaw minimum movement time" name="AntennaTracker:ONOFF_YAW_MINT" documentation="Minimum amount of time in seconds to move in yaw" user="Standard">
-<field name="Range">0 2</field>
-<field name="Increment">0.01</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Pitch minimum movement time" name="AntennaTracker:ONOFF_PITCH_MINT" documentation="Minimim amount of time in seconds to move in pitch" user="Standard">
-<field name="Range">0 2</field>
-<field name="Increment">0.01</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Yaw trim" name="AntennaTracker:YAW_TRIM" documentation="Amount of extra yaw to add when tracking. This allows for small adjustments for an out of trim compass." user="Standard">
-<field name="Range">-10 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Pitch trim" name="AntennaTracker:PITCH_TRIM" documentation="Amount of extra pitch to add when tracking. This allows for small adjustments for a badly calibrated barometer." user="Standard">
-<field name="Range">-10 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Yaw Angle Range" name="AntennaTracker:YAW_RANGE" documentation="Yaw axis total range of motion in degrees" user="Standard">
-<field name="Range">0 360</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Pitch Range" name="AntennaTracker:PITCH_RANGE" documentation="Pitch axis total range of motion in degrees" user="Standard">
-<field name="Range">0 180</field>
-<field name="Increment">0.1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Distance minimum to target" name="AntennaTracker:DISTANCE_MIN" documentation="Tracker will track targets at least this distance away" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Log bitmask" name="AntennaTracker:LOG_BITMASK" documentation="4 byte bitmap of log types to enable" user="Standard">
-<field name="Bitmask">0:ATTITUDE,1:GPS,2:RCIN,3:IMU,4:RCOUT,5:COMPASS</field>
-<values>
-<value code="63">Default</value>
-<value code="0">Disabled</value>
-</values>
-</param>
-<param humanName="Pitch axis controller P gain" name="AntennaTracker:PITCH2SRV_P" documentation="Pitch axis controller P gain.  Converts the difference between desired pitch angle and actual pitch angle into a pitch servo pwm change" user="Standard">
-<field name="Range">0.0 3.0</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Pitch axis controller I gain" name="AntennaTracker:PITCH2SRV_I" documentation="Pitch axis controller I gain.  Corrects long-term difference in desired pitch angle vs actual pitch angle" user="Standard">
-<field name="Range">0.0 3.0</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Pitch axis controller I gain maximum" name="AntennaTracker:PITCH2SRV_IMAX" documentation="Pitch axis controller I gain maximum.  Constrains the maximum pwm change that the I gain will output" user="Standard">
-<field name="Range">0 4000</field>
-<field name="Increment">10</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Pitch axis controller D gain" name="AntennaTracker:PITCH2SRV_D" documentation="Pitch axis controller D gain.  Compensates for short-term change in desired pitch angle vs actual pitch angle" user="Standard">
-<field name="Range">0.001 0.1</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Yaw axis controller P gain" name="AntennaTracker:YAW2SRV_P" documentation="Yaw axis controller P gain.  Converts the difference between desired yaw angle (heading) and actual yaw angle into a yaw servo pwm change" user="Standard">
-<field name="Range">0.0 3.0</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Yaw axis controller I gain" name="AntennaTracker:YAW2SRV_I" documentation="Yaw axis controller I gain.  Corrects long-term difference in desired yaw angle (heading) vs actual yaw angle" user="Standard">
-<field name="Range">0.0 3.0</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Yaw axis controller I gain maximum" name="AntennaTracker:YAW2SRV_IMAX" documentation="Yaw axis controller I gain maximum.  Constrains the maximum pwm change that the I gain will output" user="Standard">
-<field name="Range">0 4000</field>
-<field name="Increment">10</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Yaw axis controller D gain" name="AntennaTracker:YAW2SRV_D" documentation="Yaw axis controller D gain.  Compensates for short-term change in desired yaw angle (heading) vs actual yaw angle" user="Standard">
-<field name="Range">0.001 0.1</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Number of loaded mission items" name="AntennaTracker:CMD_TOTAL" documentation="Set to 1 if HOME location has been loaded by the ground station. Do not change this manually." user="Advanced">
-<field name="Range">1 255</field>
-</param>
-</parameters>
-<parameters name="APMrover2">
-<param humanName="Software Type" name="APMrover2:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
-<field name="ReadOnly">True</field>
-</param>
-<param humanName="Log bitmask" name="APMrover2:LOG_BITMASK" documentation="Two byte bitmap of log types to enable in dataflash" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="3950">Default</value>
-<value code="4078">Default+IMU</value>
-</values>
-</param>
-<param humanName="Reset Switch Channel" name="APMrover2:RST_SWITCH_CH" documentation="RC channel to use to reset to last flight mode&#9;after geofence takeover." user="Advanced">
-</param>
-<param humanName="Initial driving mode" name="APMrover2:INITIAL_MODE" documentation="This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver. Usually used in combination with when AUTO_TRIGGER_PIN or AUTO_KICKSTART." user="Advanced">
-<values>
-<value code="0">MANUAL</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">AUTO</value>
-<value code="11">RTL</value>
-<value code="15">GUIDED</value>
-</values>
-</param>
-<param humanName="MAVLink system ID of this vehicle" name="APMrover2:SYSID_THIS_MAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="MAVLink ground station ID" name="APMrover2:SYSID_MYGCS" documentation="ID used in MAVLink protocol to identify the controlling ground station" user="Advanced">
-<field name="Range">1 255</field>
-</param>
-<param humanName="CLI Enable" name="APMrover2:CLI_ENABLED" documentation="This enables/disables the checking for three carriage returns on telemetry links on startup to enter the diagnostics command line interface" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Telemetry startup delay " name="APMrover2:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Standard">
-<field name="Range">0 10</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="GCS PID tuning mask" name="APMrover2:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
-<field name="Bitmask">0:Steering</field>
-<values>
-<value code="0">None</value>
-<value code="1">Steering</value>
-</values>
-</param>
-<param humanName="Magnetometer (compass) enabled" name="APMrover2:MAG_ENABLED" documentation="This should be set to 1 if a compass is installed" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Auto mode trigger pin" name="APMrover2:AUTO_TRIGGER_PIN" documentation="pin number to use to enable the throttle in auto mode. If set to -1 then don't use a trigger, otherwise this is a pin number which if held low in auto mode will enable the motor to run. If the switch is released while in AUTO then the motor will stop again. This can be used in combination with INITIAL_MODE to give a 'press button to start' rover with no receiver." user="standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 0-8">APM TriggerPin</value>
-<value code=" 50-55"> Pixhawk TriggerPin</value>
-</values>
-</param>
-<param humanName="Auto mode trigger kickstart acceleration" name="APMrover2:AUTO_KICKSTART" documentation="X acceleration in meters/second/second to use to trigger the motor start in auto mode. If set to zero then auto throttle starts immediately when the mode switch happens, otherwise the rover waits for the X acceleration to go above this value before it will start the motor" user="standard">
-<field name="Range">0 20</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Target cruise speed in auto modes" name="APMrover2:CRUISE_SPEED" documentation="The target speed in auto missions." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Target speed reduction while turning" name="APMrover2:SPEED_TURN_GAIN" documentation="The percentage to reduce the throttle while turning. If this is 100% then the target speed is not reduced while turning. If this is 50% then the target speed is reduced in proportion to the turn rate, with a reduction of 50% when the steering is maximally deflected." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">percent</field>
-</param>
-<param humanName="Distance to turn to start reducing speed" name="APMrover2:SPEED_TURN_DIST" documentation="The distance to the next turn at which the rover reduces its target speed by the SPEED_TURN_GAIN" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Percentage braking to apply" name="APMrover2:BRAKING_PERCENT" documentation="The maximum reverse throttle braking percentage to apply when cornering" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">percent</field>
-</param>
-<param humanName="Speed error at which to apply braking" name="APMrover2:BRAKING_SPEEDERR" documentation="The amount of overspeed error at which to start applying braking" user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Pivot turn angle" name="APMrover2:PIVOT_TURN_ANGLE" documentation="Navigation angle threshold in degrees to switch to pivot steering when SKID_STEER_OUT is 1. This allows you to setup a skid steering rover to turn on the spot in auto mode when the angle it needs to turn it greater than this angle. An angle of zero means to disable pivot turning. Note that you will probably also want to set a low value for WP_RADIUS to get neat turns." user="Standard">
-<field name="Range">0 360</field>
-<field name="Increment">1</field>
-<field name="Units">degrees</field>
-</param>
-<param humanName="Channel 7 option" name="APMrover2:CH7_OPTION" documentation="What to do use channel 7 for" user="Standard">
-<values>
-<value code="0">Nothing</value>
-<value code="1">LearnWaypoint</value>
-</values>
-</param>
-<param humanName="Minimum Throttle" name="APMrover2:THR_MIN" documentation="The minimum throttle setting to which the autopilot will apply. This is mostly useful for rovers with internal combustion motors, to prevent the motor from cutting out in auto mode." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Maximum Throttle" name="APMrover2:THR_MAX" documentation="The maximum throttle setting to which the autopilot will apply. This can be used to prevent overheating a ESC or motor on an electric rover." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Base throttle percentage in auto" name="APMrover2:CRUISE_THROTTLE" documentation="The base throttle percentage to use in auto mode. The CRUISE_SPEED parameter controls the target speed, but the rover starts with the CRUISE_THROTTLE setting as the initial estimate for how much throttle is needed to achieve that speed. It then adjusts the throttle based on how fast the rover is actually going." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Throttle slew rate" name="APMrover2:THR_SLEWRATE" documentation="maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second. A value of zero means no limit. A value of 100 means the throttle can change over its full range in one second. Note that for some NiMH powered rovers setting a lower value like 40 or 50 may be worthwhile as the sudden current demand on the battery of a big rise in throttle may cause a brownout." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Skid steering output" name="APMrover2:SKID_STEER_OUT" documentation="Set this to 1 for skid steering controlled rovers (tank track style). When enabled, servo1 is used for the left track control, servo3 is used for right track control" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">SkidSteeringOutput</value>
-</values>
-</param>
-<param humanName="Skid steering input" name="APMrover2:SKID_STEER_IN" documentation="Set this to 1 for skid steering input rovers (tank track style in RC controller). When enabled, servo1 is used for the left track control, servo3 is used for right track control" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">SkidSteeringInput</value>
-</values>
-</param>
-<param humanName="Failsafe Action" name="APMrover2:FS_ACTION" documentation="What to do on a failsafe event" user="Standard">
-<values>
-<value code="0">Nothing</value>
-<value code="1">RTL</value>
-<value code="2">HOLD</value>
-</values>
-</param>
-<param humanName="Failsafe timeout" name="APMrover2:FS_TIMEOUT" documentation="How long a failsafe event need to happen for before we trigger the failsafe action" user="Standard">
-<field name="Units">seconds</field>
-</param>
-<param humanName="Throttle Failsafe Enable" name="APMrover2:FS_THR_ENABLE" documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel to a low value. This can be used to detect the RC transmitter going out of range. Failsafe will be triggered when the throttle channel goes below the FS_THR_VALUE for FS_TIMEOUT seconds." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Throttle Failsafe Value" name="APMrover2:FS_THR_VALUE" documentation="The PWM level on channel 3 below which throttle failsafe triggers." user="Standard">
-<field name="Range">925 1100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="GCS failsafe enable" name="APMrover2:FS_GCS_ENABLE" documentation="Enable ground control station telemetry failsafe. When enabled the Rover will execute the FS_ACTION when it fails to receive MAVLink heartbeat packets for FS_TIMEOUT seconds." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Rangefinder trigger distance" name="APMrover2:RNGFND_TRIGGR_CM" documentation="The distance from an obstacle in centimeters at which the rangefinder triggers a turn to avoid the obstacle" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Rangefinder trigger angle" name="APMrover2:RNGFND_TURN_ANGL" documentation="The course deviation in degrees to apply while avoiding an obstacle detected with the rangefinder. A positive number means to turn right, and a negative angle means to turn left." user="Standard">
-<field name="Range">-45 45</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Rangefinder turn time" name="APMrover2:RNGFND_TURN_TIME" documentation="The amount of time in seconds to apply the RNGFND_TURN_ANGL after detecting an obstacle." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Rangefinder debounce count" name="APMrover2:RNGFND_DEBOUNCE" documentation="The number of 50Hz rangefinder hits needed to trigger an obstacle avoidance event. If you get a lot of false sonar events then raise this number, but if you make it too large then it will cause lag in detecting obstacles, which could cause you go hit the obstacle." user="Standard">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Learning channel" name="APMrover2:LEARN_CH" documentation="RC Channel to use for learning waypoints" user="Advanced">
-</param>
-<param humanName="Mode channel" name="APMrover2:MODE_CH" documentation="RC Channel to use for driving mode control" user="Advanced">
-</param>
-<param humanName="Mode1" name="APMrover2:MODE1" documentation="Driving mode for switch position 1 (910 to 1230 and above 2049)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Mode2" name="APMrover2:MODE2" documentation="Driving mode for switch position 2 (1231 to 1360)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Mode3" name="APMrover2:MODE3" documentation="Driving mode for switch position 3 (1361 to 1490)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Mode4" name="APMrover2:MODE4" documentation="Driving mode for switch position 4 (1491 to 1620)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Mode5" name="APMrover2:MODE5" documentation="Driving mode for switch position 5 (1621 to 1749)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Mode6" name="APMrover2:MODE6" documentation="Driving mode for switch position 6 (1750 to 2049)" user="Standard">
-<values>
-<value code="0">Manual</value>
-<value code="2">LEARNING</value>
-<value code="3">STEERING</value>
-<value code="4">HOLD</value>
-<value code="10">Auto</value>
-<value code="11">RTL</value>
-<value code="15">Guided</value>
-</values>
-</param>
-<param humanName="Waypoint radius" name="APMrover2:WP_RADIUS" documentation="The distance in meters from a waypoint when we consider the waypoint has been reached. This determines when the rover will turn along the next waypoint path." user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Turning maximum G force" name="APMrover2:TURN_MAX_G" documentation="The maximum turning acceleration (in units of gravities) that the rover can handle while remaining stable. The navigation code will keep the lateral acceleration below this level to avoid rolling over or slipping the wheels in turns" user="Standard">
-<field name="Range">0.2 10</field>
-<field name="Increment">0.1</field>
-<field name="Units">gravities</field>
-</param>
-</parameters>
-</vehicles><libraries><parameters name="SERIAL">
-<param humanName="Serial0 baud rate" name="SERIAL0_BAUD" documentation="The baud rate used on the USB console. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Telem1 protocol selection" name="SERIAL1_PROTOCOL" documentation="Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="1">GCS Mavlink</value>
-<value code=" 3">Frsky D-PORT</value>
-<value code=" 4">Frsky S-PORT</value>
-<value code=" 5">GPS</value>
-<value code=" 7">Alexmos Gimbal Serial</value>
-<value code=" 8">SToRM32 Gimbal Serial</value>
-<value code=" 9">Lidar</value>
-</values>
-</param>
-<param humanName="Telem1 Baud Rate" name="SERIAL1_BAUD" documentation="The baud rate used on the Telem1 port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Telemetry 2 protocol selection" name="SERIAL2_PROTOCOL" documentation="Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="1">GCS Mavlink</value>
-<value code=" 3">Frsky D-PORT</value>
-<value code=" 4">Frsky S-PORT</value>
-<value code=" 5">GPS</value>
-<value code=" 7">Alexmos Gimbal Serial</value>
-<value code=" 8">SToRM32 Gimbal Serial</value>
-<value code=" 9">Lidar</value>
-</values>
-</param>
-<param humanName="Telemetry 2 Baud Rate" name="SERIAL2_BAUD" documentation="The baud rate of the Telem2 port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Serial 3 (GPS) protocol selection" name="SERIAL3_PROTOCOL" documentation="Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="1">GCS Mavlink</value>
-<value code=" 3">Frsky D-PORT</value>
-<value code=" 4">Frsky S-PORT</value>
-<value code=" 5">GPS</value>
-<value code=" 7">Alexmos Gimbal Serial</value>
-<value code=" 8">SToRM32 Gimbal Serial</value>
-<value code=" 9">Lidar</value>
-</values>
-</param>
-<param humanName="Serial 3 (GPS) Baud Rate" name="SERIAL3_BAUD" documentation="The baud rate used for the Serial 3 (GPS). The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-<param humanName="Serial4 protocol selection" name="SERIAL4_PROTOCOL" documentation="Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
-<values>
-<value code="1">GCS Mavlink</value>
-<value code=" 3">Frsky D-PORT</value>
-<value code=" 4">Frsky S-PORT</value>
-<value code=" 5">GPS</value>
-<value code=" 7">Alexmos Gimbal Serial</value>
-<value code=" 8">SToRM32 Gimbal Serial</value>
-<value code=" 9">Lidar</value>
-</values>
-</param>
-<param humanName="Serial 4 Baud Rate" name="SERIAL4_BAUD" documentation="The baud rate used for Serial4. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
-<values>
-<value code="1">1200</value>
-<value code="2">2400</value>
-<value code="4">4800</value>
-<value code="9">9600</value>
-<value code="19">19200</value>
-<value code="38">38400</value>
-<value code="57">57600</value>
-<value code="111">111100</value>
-<value code="115">115200</value>
-<value code="500">500000</value>
-<value code="921">921600</value>
-<value code="1500">1500000</value>
-</values>
-</param>
-</parameters>
-<parameters name="GND_">
-<param humanName="Absolute Pressure" name="GND_ABS_PRESS" documentation="calibrated ground pressure in Pascals">
-<field name="ReadOnly">True</field>
-<field name="Volatile">True</field>
-<field name="Increment">1</field>
-<field name="Units">pascals</field>
-</param>
-<param humanName="ground temperature" name="GND_TEMP" documentation="calibrated ground temperature in degrees Celsius">
-<field name="ReadOnly">True</field>
-<field name="Volatile">True</field>
-<field name="Increment">1</field>
-<field name="Units">degrees celsius</field>
-</param>
-<param humanName="altitude offset" name="GND_ALT_OFFSET" documentation="altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.">
-<field name="Units">meters</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Primary barometer" name="GND_PRIMARY" documentation="This selects which barometer will be the primary if multiple barometers are found">
-<values>
-<value code="0">FirstBaro</value>
-<value code="1">2ndBaro</value>
-<value code="2">3rdBaro</value>
-</values>
-</param>
-</parameters>
-<parameters name="GPS_">
-<param humanName="GPS type" name="GPS_TYPE" documentation="GPS type">
-<values>
-<value code="0">None</value>
-<value code="1">AUTO</value>
-<value code="2">uBlox</value>
-<value code="3">MTK</value>
-<value code="4">MTK19</value>
-<value code="5">NMEA</value>
-<value code="6">SiRF</value>
-<value code="7">HIL</value>
-<value code="8">SwiftNav</value>
-<value code="9">PX4-UAVCAN</value>
-<value code="10">SBF</value>
-<value code="11">GSOF</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="2nd GPS type" name="GPS_TYPE2" documentation="GPS type of 2nd GPS">
-<values>
-<value code="0">None</value>
-<value code="1">AUTO</value>
-<value code="2">uBlox</value>
-<value code="3">MTK</value>
-<value code="4">MTK19</value>
-<value code="5">NMEA</value>
-<value code="6">SiRF</value>
-<value code="7">HIL</value>
-<value code="8">SwiftNav</value>
-<value code="9">PX4-UAVCAN</value>
-<value code="10">SBF</value>
-<value code="11">GSOF</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Navigation filter setting" name="GPS_NAVFILTER" documentation="Navigation filter engine setting">
-<values>
-<value code="0">Portable</value>
-<value code="2">Stationary</value>
-<value code="3">Pedestrian</value>
-<value code="4">Automotive</value>
-<value code="5">Sea</value>
-<value code="6">Airborne1G</value>
-<value code="7">Airborne2G</value>
-<value code="8">Airborne4G</value>
-</values>
-</param>
-<param humanName="Automatic Switchover Setting" name="GPS_AUTO_SWITCH" documentation="Automatic switchover to GPS reporting best lock" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Minimum Lock Type Accepted for DGPS" name="GPS_MIN_DGPS" documentation="Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode." user="Advanced">
-<values>
-<value code="0">Any</value>
-<value code="50">FloatRTK</value>
-<value code="100">IntegerRTK</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="SBAS Mode" name="GPS_SBAS_MODE" documentation="This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code="2">NoChange</value>
-</values>
-</param>
-<param humanName="Minimum elevation" name="GPS_MIN_ELEV" documentation="This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default." user="Advanced">
-<field name="Range">-100 90</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Destination for GPS_INJECT_DATA MAVLink packets" name="GPS_INJECT_TO" documentation="The GGS can send raw serial packets to inject data to multiple GPSes.">
-<values>
-<value code="0">send to first GPS</value>
-<value code="1">send to 2nd GPS</value>
-<value code="127">send to all</value>
-</values>
-</param>
-<param humanName="Swift Binary Protocol Logging Mask" name="GPS_SBP_LOGMASK" documentation="Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged" user="Advanced">
-<values>
-<value code="0x0000">None</value>
-<value code=" 0xFFFF">All</value>
-<value code=" 0xFF00">External only</value>
-</values>
-</param>
-<param humanName="Raw data logging" name="GPS_RAW_DATA" documentation="Enable logging of RXM raw data from uBlox which includes carrier phase and pseudo range information. This allows for post processing of dataflash logs for more precise positioning. Note that this requires a raw capable uBlox such as the 6P or 6T.">
-<values>
-<value code="0">Disabled</value>
-<value code="1">log every sample</value>
-<value code="5">log every 5 samples</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="GNSS system configuration" name="GPS_GNSS_MODE" documentation="Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
-<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS</field>
-<values>
-<value code="0">Leave as currently configured</value>
-<value code=" 1">GPS-NoSBAS</value>
-<value code=" 3">GPS+SBAS</value>
-<value code=" 4">Galileo-NoSBAS</value>
-<value code=" 6">Galileo+SBAS</value>
-<value code=" 8">Beidou</value>
-<value code=" 51">GPS+IMES+QZSS+SBAS (Japan Only)</value>
-<value code=" 64">GLONASS</value>
-<value code=" 66">GLONASS+SBAS</value>
-<value code=" 67">GPS+GLONASS+SBAS</value>
-</values>
-</param>
-<param humanName="Save GPS configuration" name="GPS_SAVE_CFG" documentation="Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above." user="Advanced">
-<values>
-<value code="0">Do not save config</value>
-<value code="1">Save config</value>
-<value code="2">Save only when needed</value>
-</values>
-</param>
-<param humanName="GNSS system configuration" name="GPS_GNSS_MODE2" documentation="Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
-<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS</field>
-<values>
-<value code="0">Leave as currently configured</value>
-<value code=" 1">GPS-NoSBAS</value>
-<value code=" 3">GPS+SBAS</value>
-<value code=" 4">Galileo-NoSBAS</value>
-<value code=" 6">Galileo+SBAS</value>
-<value code=" 8">Beidou</value>
-<value code=" 51">GPS+IMES+QZSS+SBAS (Japan Only)</value>
-<value code=" 64">GLONASS</value>
-<value code=" 66">GLONASS+SBAS</value>
-<value code=" 67">GPS+GLONASS+SBAS</value>
-</values>
-</param>
-<param humanName="Automatic GPS configuration" name="GPS_AUTO_CONFIG" documentation="Controls if the autopilot should automatically configure the GPS based on the parameters and default settings" user="Advanced">
-<values>
-<value code="0">Disables automatic configuration</value>
-<value code="1">Enable automatic configuration</value>
-</values>
-</param>
-</parameters>
-<parameters name="CAM_">
-<param humanName="Camera shutter (trigger) type" name="CAM_TRIGG_TYPE" documentation="how to trigger the camera to take a picture" user="Standard">
-<values>
-<value code="0">Servo</value>
-<value code="1">Relay</value>
-</values>
-</param>
-<param humanName="Duration that shutter is held open" name="CAM_DURATION" documentation="How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)" user="Standard">
-<field name="Range">0 50</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Servo ON PWM value" name="CAM_SERVO_ON" documentation="PWM value to move servo to when shutter is activated" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo OFF PWM value" name="CAM_SERVO_OFF" documentation="PWM value to move servo to when shutter is deactivated" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Camera trigger distance" name="CAM_TRIGG_DIST" documentation="Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the GPS position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight." user="Standard">
-<field name="Range">0 1000</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Relay ON value" name="CAM_RELAY_ON" documentation="This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera" user="Standard">
-<values>
-<value code="0">Low</value>
-<value code="1">High</value>
-</values>
-</param>
-<param humanName="Minimum time between photos" name="CAM_MIN_INTERVAL" documentation="Postpone shooting if previous picture was taken less than preset time(ms) ago." user="Standard">
-<field name="Range">0 10000</field>
-<field name="Units">milliseconds</field>
-</param>
-<param humanName="Maximum photo roll angle." name="CAM_MAX_ROLL" documentation="Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll)." user="Standard">
-<field name="Range">0 180</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Camera feedback pin" name="CAM_FEEDBACK_PIN" documentation="pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. See also the CAM_FEEDBACK_POL option. If using AUX4 pin on a Pixhawk then a fast capture method is used that allows for the trigger time to be as short as one microsecond." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="50">PX4 AUX1</value>
-<value code="51">PX4 AUX2</value>
-<value code="52">PX4 AUX3</value>
-<value code="53">PX4 AUX4(fast capture)</value>
-<value code="54">PX4 AUX5</value>
-<value code="55">PX4 AUX6</value>
-</values>
-</param>
-<param humanName="Camera feedback pin polarity" name="CAM_FEEDBACK_POL" documentation="Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low" user="Standard">
-<values>
-<value code="0">TriggerLow</value>
-<value code="1">TriggerHigh</value>
-</values>
-</param>
-</parameters>
-<parameters name="ARMING_">
-<param humanName="Require Arming Motors " name="ARMING_REQUIRE" documentation="Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately).  If 1, require rudder stick or GCS arming before arming motors and send THR_MIN PWM to throttle channel when disarmed.  If 2, require rudder stick or GCS arming and send 0 PWM to throttle channel when disarmed. See the ARMING_CHECK_* parameters to see what checks are done before arming. Note, if setting this parameter to 0 a reboot is required to arm the plane.  Also note, even with this parameter at 0, if ARMING_CHECK parameter is not also zero the plane may fail to arm throttle at boot due to a pre-arm check failure." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">THR_MIN PWM when disarmed</value>
-<value code="2">0 PWM when disarmed</value>
-</values>
-</param>
-<param humanName="Arm Checks to Peform (bitmask)" name="ARMING_CHECK" documentation="Checks prior to arming motor. This is a bitmask of checks that will be performed befor allowing arming. The default is no checks, allowing arming at any time. You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72. For most users it is recommended that you set this to 1 to enable all checks." user="Standard">
-<field name="Bitmask">0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC,7:Board voltage,8:Battery Level,9:Airspeed,10:Logging Available,11:Hardware safety switch,12:GPS Configuration</field>
-<values>
-<value code="0">None</value>
-<value code="1">All</value>
-<value code="2">Barometer</value>
-<value code="4">Compass</value>
-<value code="8">GPS Lock</value>
-<value code="16">INS(INertial Sensors - accels &amp; gyros)</value>
-<value code="32">Parameters(unused)</value>
-<value code="64">RC Failsafe</value>
-<value code="128">Board voltage</value>
-<value code="256">Battery Level</value>
-<value code="512">Airspeed</value>
-<value code="1024">LoggingAvailable</value>
-<value code="2048">Hardware safety switch</value>
-<value code="4096">GPS configuration</value>
-</values>
-</param>
-<param humanName="Accelerometer error threshold" name="ARMING_ACCTHRESH" documentation="Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal." user="Advanced">
-<field name="Range">0.25 3.0</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Minimum arming voltage on the first battery" name="ARMING_MIN_VOLT" documentation="The minimum voltage on the first battery to arm, 0 disabes the check" user="Standard">
-<field name="Increment">0.1 </field>
-<field name="Units">Volts</field>
-</param>
-<param humanName="Minimum arming voltage on the second battery" name="ARMING_MIN_VOLT2" documentation="The minimum voltage on the first battery to arm, 0 disabes the check" user="Standard">
-<field name="Increment">0.1 </field>
-<field name="Units">Volts</field>
-</param>
-</parameters>
-<parameters name="RELAY_">
-<param humanName="First Relay Pin" name="RELAY_PIN" documentation="Digital pin number for first relay control. This is the pin used for camera control." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="13">APM2 A9 pin</value>
-<value code="47">APM1 relay</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Second Relay Pin" name="RELAY_PIN2" documentation="Digital pin number for 2nd relay control." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="13">APM2 A9 pin</value>
-<value code="47">APM1 relay</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Third Relay Pin" name="RELAY_PIN3" documentation="Digital pin number for 3rd relay control." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="13">APM2 A9 pin</value>
-<value code="47">APM1 relay</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Fourth Relay Pin" name="RELAY_PIN4" documentation="Digital pin number for 4th relay control." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code="13">APM2 A9 pin</value>
-<value code="47">APM1 relay</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Default relay state" name="RELAY_DEFAULT" documentation="The state of the relay on boot. " user="Standard">
-<values>
-<value code="0">Off</value>
-<value code="1">On</value>
-<value code="2">NoChange</value>
-</values>
-</param>
-</parameters>
-<parameters name="CHUTE_">
-<param humanName="Parachute release enabled or disabled" name="CHUTE_ENABLED" documentation="Parachute release enabled or disabled" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Parachute release mechanism type (relay or servo)" name="CHUTE_TYPE" documentation="Parachute release mechanism type (relay or servo)" user="Standard">
-<values>
-<value code="0">First Relay</value>
-<value code="1">Second Relay</value>
-<value code="2">Third Relay</value>
-<value code="3">Fourth Relay</value>
-<value code="10">Servo</value>
-</values>
-</param>
-<param humanName="Parachute Servo ON PWM value" name="CHUTE_SERVO_ON" documentation="Parachute Servo PWM value when parachute is released" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo OFF PWM value" name="CHUTE_SERVO_OFF" documentation="Parachute Servo PWM value when parachute is not released" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Parachute min altitude in meters above home" name="CHUTE_ALT_MIN" documentation="Parachute min altitude above home.  Parachute will not be released below this altitude.  0 to disable alt check." user="Standard">
-<field name="Range">0 32000</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Parachute release delay" name="CHUTE_DELAY_MS" documentation="Delay in millseconds between motor stop and chute release" user="Standard">
-<field name="Range">0 5000</field>
-<field name="Increment">1</field>
-<field name="Units">Milliseconds</field>
-</param>
-</parameters>
-<parameters name="RNGFND">
-<param humanName="Rangefinder type" name="RNGFND_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Analog</value>
-<value code="2">APM2-MaxbotixI2C</value>
-<value code="3">APM2-PulsedLightI2C</value>
-<value code="4">PX4-I2C</value>
-<value code="5">PX4-PWM</value>
-<value code="6">BBB-PRU</value>
-<value code="7">LightWareI2C</value>
-<value code="8">LightWareSerial</value>
-</values>
-</param>
-<param humanName="Rangefinder pin" name="RNGFND_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
-<values>
-<value code="-1">Not Used</value>
-<value code=" 0">APM2-A0</value>
-<value code=" 1">APM2-A1</value>
-<value code=" 2">APM2-A2</value>
-<value code=" 3">APM2-A3</value>
-<value code=" 4">APM2-A4</value>
-<value code=" 5">APM2-A5</value>
-<value code=" 6">APM2-A6</value>
-<value code=" 7">APM2-A7</value>
-<value code=" 8">APM2-A8</value>
-<value code=" 9">APM2-A9</value>
-<value code=" 11">PX4-airspeed port</value>
-<value code=" 15">Pixhawk-airspeed port</value>
-<value code=" 64">APM1-airspeed port</value>
-</values>
-</param>
-<param humanName="Rangefinder scaling" name="RNGFND_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
-<field name="Increment">0.001</field>
-<field name="Units">meters/Volt</field>
-</param>
-<param humanName="rangefinder offset" name="RNGFND_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
-<field name="Increment">0.001</field>
-<field name="Units">Volts</field>
-</param>
-<param humanName="Rangefinder function" name="RNGFND_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
-<values>
-<value code="0">Linear</value>
-<value code="1">Inverted</value>
-<value code="2">Hyperbolic</value>
-</values>
-</param>
-<param humanName="Rangefinder minimum distance" name="RNGFND_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Rangefinder maximum distance" name="RNGFND_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Rangefinder stop pin" name="RNGFND_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Standard">
-<values>
-<value code="-1">Not Used</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Rangefinder settle time" name="RNGFND_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Standard">
-<field name="Increment">1</field>
-<field name="Units">milliseconds</field>
-</param>
-<param humanName="Ratiometric" name="RNGFND_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
-<values>
-<value code="0">No</value>
-<value code="1">Yes</value>
-</values>
-</param>
-<param humanName="Powersave range" name="RNGFND_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
-<field name="Range">0 32767</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Second Rangefinder type" name="RNGFND2_TYPE" documentation="What type of rangefinder device that is connected" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Analog</value>
-<value code="2">APM2-MaxbotixI2C</value>
-<value code="3">APM2-PulsedLightI2C</value>
-<value code="4">PX4-I2C</value>
-<value code="5">PX4-PWM</value>
-<value code="6">BBB-PRU</value>
-<value code="7">LightWareI2C</value>
-<value code="8">LightWareSerial</value>
-</values>
-</param>
-<param humanName="Rangefinder pin" name="RNGFND2_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Advanced">
-<values>
-<value code="-1">Not Used</value>
-<value code=" 0">APM2-A0</value>
-<value code=" 1">APM2-A1</value>
-<value code=" 2">APM2-A2</value>
-<value code=" 3">APM2-A3</value>
-<value code=" 4">APM2-A4</value>
-<value code=" 5">APM2-A5</value>
-<value code=" 6">APM2-A6</value>
-<value code=" 7">APM2-A7</value>
-<value code=" 8">APM2-A8</value>
-<value code=" 9">APM2-A9</value>
-<value code=" 11">PX4-airspeed port</value>
-<value code=" 15">Pixhawk-airspeed port</value>
-<value code=" 64">APM1-airspeed port</value>
-</values>
-</param>
-<param humanName="Rangefinder scaling" name="RNGFND2_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Advanced">
-<field name="Increment">0.001</field>
-<field name="Units">meters/Volt</field>
-</param>
-<param humanName="rangefinder offset" name="RNGFND2_OFFSET" documentation="Offset in volts for zero distance" user="Advanced">
-<field name="Increment">0.001</field>
-<field name="Units">Volts</field>
-</param>
-<param humanName="Rangefinder function" name="RNGFND2_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Advanced">
-<values>
-<value code="0">Linear</value>
-<value code="1">Inverted</value>
-<value code="2">Hyperbolic</value>
-</values>
-</param>
-<param humanName="Rangefinder minimum distance" name="RNGFND2_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Advanced">
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Rangefinder maximum distance" name="RNGFND2_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Advanced">
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Rangefinder stop pin" name="RNGFND2_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Advanced">
-<values>
-<value code="-1">Not Used</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Sonar settle time" name="RNGFND2_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Advanced">
-<field name="Increment">1</field>
-<field name="Units">milliseconds</field>
-</param>
-<param humanName="Ratiometric" name="RNGFND2_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Advanced">
-<values>
-<value code="0">No</value>
-<value code="1">Yes</value>
-</values>
-</param>
-<param humanName="Distance (in cm) from the second range finder to the ground" name="RNGFND2_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the second range finder should return when the vehicle is on the ground." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Bus address of sensor" name="RNGFND_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Bus address of 2nd rangefinder" name="RNGFND2_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Second Rangefinder type" name="RNGFND3_TYPE" documentation="What type of rangefinder device that is connected">
-<values>
-<value code="0">None</value>
-<value code="1">Analog</value>
-<value code="2">APM2-MaxbotixI2C</value>
-<value code="3">APM2-PulsedLightI2C</value>
-<value code="4">PX4-I2C</value>
-<value code="5">PX4-PWM</value>
-<value code="6">BBB-PRU</value>
-<value code="7">LightWareI2C</value>
-<value code="8">LightWareSerial</value>
-</values>
-</param>
-<param humanName="Rangefinder pin" name="RNGFND3_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port.">
-<values>
-<value code="-1">Not Used</value>
-<value code=" 0">APM2-A0</value>
-<value code=" 1">APM2-A1</value>
-<value code=" 2">APM2-A2</value>
-<value code=" 3">APM2-A3</value>
-<value code=" 4">APM2-A4</value>
-<value code=" 5">APM2-A5</value>
-<value code=" 6">APM2-A6</value>
-<value code=" 7">APM2-A7</value>
-<value code=" 8">APM2-A8</value>
-<value code=" 9">APM2-A9</value>
-<value code=" 11">PX4-airspeed port</value>
-<value code=" 15">Pixhawk-airspeed port</value>
-<value code=" 64">APM1-airspeed port</value>
-</values>
-</param>
-<param humanName="Rangefinder scaling" name="RNGFND3_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.">
-<field name="Units">meters/Volt</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="rangefinder offset" name="RNGFND3_OFFSET" documentation="Offset in volts for zero distance">
-<field name="Units">Volts</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Rangefinder function" name="RNGFND3_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.">
-<values>
-<value code="0">Linear</value>
-<value code="1">Inverted</value>
-<value code="2">Hyperbolic</value>
-</values>
-</param>
-<param humanName="Rangefinder minimum distance" name="RNGFND3_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read">
-<field name="Units">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder maximum distance" name="RNGFND3_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read">
-<field name="Units">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder stop pin" name="RNGFND3_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other.">
-<values>
-<value code="-1">Not Used</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Sonar settle time" name="RNGFND3_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.">
-<field name="Units">milliseconds</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Ratiometric" name="RNGFND3_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.">
-<values>
-<value code="0">No</value>
-<value code="1">Yes</value>
-</values>
-</param>
-<param humanName="Distance (in cm) from the second range finder to the ground" name="RNGFND3_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the second range finder should return when the vehicle is on the ground." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Bus address of 2nd rangefinder" name="RNGFND3_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Second Rangefinder type" name="RNGFND4_TYPE" documentation="What type of rangefinder device that is connected">
-<values>
-<value code="0">None</value>
-<value code="1">Analog</value>
-<value code="2">APM2-MaxbotixI2C</value>
-<value code="3">APM2-PulsedLightI2C</value>
-<value code="4">PX4-I2C</value>
-<value code="5">PX4-PWM</value>
-<value code="6">BBB-PRU</value>
-<value code="7">LightWareI2C</value>
-<value code="8">LightWareSerial</value>
-</values>
-</param>
-<param humanName="Rangefinder pin" name="RNGFND4_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port.">
-<values>
-<value code="-1">Not Used</value>
-<value code=" 0">APM2-A0</value>
-<value code=" 1">APM2-A1</value>
-<value code=" 2">APM2-A2</value>
-<value code=" 3">APM2-A3</value>
-<value code=" 4">APM2-A4</value>
-<value code=" 5">APM2-A5</value>
-<value code=" 6">APM2-A6</value>
-<value code=" 7">APM2-A7</value>
-<value code=" 8">APM2-A8</value>
-<value code=" 9">APM2-A9</value>
-<value code=" 11">PX4-airspeed port</value>
-<value code=" 15">Pixhawk-airspeed port</value>
-<value code=" 64">APM1-airspeed port</value>
-</values>
-</param>
-<param humanName="Rangefinder scaling" name="RNGFND4_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.">
-<field name="Units">meters/Volt</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="rangefinder offset" name="RNGFND4_OFFSET" documentation="Offset in volts for zero distance">
-<field name="Units">Volts</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Rangefinder function" name="RNGFND4_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.">
-<values>
-<value code="0">Linear</value>
-<value code="1">Inverted</value>
-<value code="2">Hyperbolic</value>
-</values>
-</param>
-<param humanName="Rangefinder minimum distance" name="RNGFND4_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read">
-<field name="Units">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder maximum distance" name="RNGFND4_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read">
-<field name="Units">centimeters</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Rangefinder stop pin" name="RNGFND4_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other.">
-<values>
-<value code="-1">Not Used</value>
-<value code="50">Pixhawk AUXOUT1</value>
-<value code="51">Pixhawk AUXOUT2</value>
-<value code="52">Pixhawk AUXOUT3</value>
-<value code="53">Pixhawk AUXOUT4</value>
-<value code="54">Pixhawk AUXOUT5</value>
-<value code="55">Pixhawk AUXOUT6</value>
-<value code="111">PX4 FMU Relay1</value>
-<value code="112">PX4 FMU Relay2</value>
-<value code="113">PX4IO Relay1</value>
-<value code="114">PX4IO Relay2</value>
-<value code="115">PX4IO ACC1</value>
-<value code="116">PX4IO ACC2</value>
-</values>
-</param>
-<param humanName="Sonar settle time" name="RNGFND4_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.">
-<field name="Units">milliseconds</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Ratiometric" name="RNGFND4_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.">
-<values>
-<value code="0">No</value>
-<value code="1">Yes</value>
-</values>
-</param>
-<param humanName="Distance (in cm) from the second range finder to the ground" name="RNGFND4_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the second range finder should return when the vehicle is on the ground." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">centimeters</field>
-</param>
-<param humanName="Bus address of 2nd rangefinder" name="RNGFND4_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Advanced">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="TERRAIN_">
-<param humanName="Terrain data enable" name="TERRAIN_ENABLE" documentation="enable terrain data. This enables the vehicle storing a database of terrain data on the SD card. The terrain data is requested from the ground station as needed, and stored for later use on the SD card. To be useful the ground station must support TERRAIN_REQUEST messages and have access to a terrain database, such as the SRTM database.">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-<param humanName="Terrain grid spacing" name="TERRAIN_SPACING" documentation="Distance between terrain grid points in meters. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station. If your GCS is using the worldwide SRTM database then a resolution of 100 meters is appropriate. Some parts of the world may have higher resolution data available, such as 30 meter data available in the SRTM database in the USA. The grid spacing also controls how much data is kept in memory during flight. A larger grid spacing will allow for a larger amount of data in memory. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2.7 kilometers by 3.2 kilometers. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be demand loaded as needed.">
-<field name="Units">meters</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="ADSB_">
-<param humanName="Enable ADSB" name="ADSB_ENABLE" documentation="Enable ADS-B" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="ADSB based Collision Avoidance Behavior" name="ADSB_BEHAVIOR" documentation="ADSB based Collision Avoidance Behavior selector" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Loiter</value>
-<value code="2">LoiterAndDescend</value>
-</values>
-</param>
-</parameters>
-<parameters name="Q_A_">
-<param humanName="Roll axis rate controller P gain" name="Q_A_RAT_RLL_P" documentation="Roll axis rate controller P gain.  Converts the difference between desired roll rate and actual roll rate into a motor speed output" user="Standard">
-<field name="Range">0.08 0.30</field>
-<field name="Increment">0.005</field>
-</param>
-<param humanName="Roll axis rate controller I gain" name="Q_A_RAT_RLL_I" documentation="Roll axis rate controller I gain.  Corrects long-term difference in desired roll rate vs actual roll rate" user="Standard">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Roll axis rate controller I gain maximum" name="Q_A_RAT_RLL_IMAX" documentation="Roll axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Roll axis rate controller D gain" name="Q_A_RAT_RLL_D" documentation="Roll axis rate controller D gain.  Compensates for short-term change in desired roll rate vs actual roll rate" user="Standard">
-<field name="Range">0.0 0.02</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Roll axis rate conroller input frequency in Hz" name="Q_A_RAT_RLL_FILT" documentation="Roll axis rate conroller input frequency in Hz">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Pitch axis rate controller P gain" name="Q_A_RAT_PIT_P" documentation="Pitch axis rate controller P gain.  Converts the difference between desired pitch rate and actual pitch rate into a motor speed output" user="Standard">
-<field name="Range">0.08 0.30</field>
-<field name="Increment">0.005</field>
-</param>
-<param humanName="Pitch axis rate controller I gain" name="Q_A_RAT_PIT_I" documentation="Pitch axis rate controller I gain.  Corrects long-term difference in desired pitch rate vs actual pitch rate" user="Standard">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Pitch axis rate controller I gain maximum" name="Q_A_RAT_PIT_IMAX" documentation="Pitch axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Pitch axis rate controller D gain" name="Q_A_RAT_PIT_D" documentation="Pitch axis rate controller D gain.  Compensates for short-term change in desired pitch rate vs actual pitch rate" user="Standard">
-<field name="Range">0.0 0.02</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Pitch axis rate conroller input frequency in Hz" name="Q_A_RAT_PIT_FILT" documentation="Pitch axis rate conroller input frequency in Hz">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Yaw axis rate controller P gain" name="Q_A_RAT_YAW_P" documentation="Yaw axis rate controller P gain.  Converts the difference between desired yaw rate and actual yaw rate into a motor speed output" user="Standard">
-<field name="Range">0.10 0.50</field>
-<field name="Increment">0.005</field>
-</param>
-<param humanName="Yaw axis rate controller I gain" name="Q_A_RAT_YAW_I" documentation="Yaw axis rate controller I gain.  Corrects long-term difference in desired yaw rate vs actual yaw rate" user="Standard">
-<field name="Range">0.010 0.05</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Yaw axis rate controller I gain maximum" name="Q_A_RAT_YAW_IMAX" documentation="Yaw axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Yaw axis rate controller D gain" name="Q_A_RAT_YAW_D" documentation="Yaw axis rate controller D gain.  Compensates for short-term change in desired yaw rate vs actual yaw rate" user="Standard">
-<field name="Range">0.000 0.02</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Yaw axis rate conroller input frequency in Hz" name="Q_A_RAT_YAW_FILT" documentation="Yaw axis rate conroller input frequency in Hz">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-</param>
-</parameters>
-<parameters name="RC1_">
-<param humanName="RC min PWM" name="RC1_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC1_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC1_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC1_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC1_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="RC2_">
-<param humanName="RC min PWM" name="RC2_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC2_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC2_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC2_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC2_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="RC3_">
-<param humanName="RC min PWM" name="RC3_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC3_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC3_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC3_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC3_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="RC4_">
-<param humanName="RC min PWM" name="RC4_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC4_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC4_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC4_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC4_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="RC5_">
-<param humanName="RC min PWM" name="RC5_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC5_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC5_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC5_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC5_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC5_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC6_">
-<param humanName="RC min PWM" name="RC6_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC6_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC6_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC6_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC6_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC6_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC7_">
-<param humanName="RC min PWM" name="RC7_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC7_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC7_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC7_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC7_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC7_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC8_">
-<param humanName="RC min PWM" name="RC8_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC8_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC8_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC8_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC8_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC8_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC9_">
-<param humanName="RC min PWM" name="RC9_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC9_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC9_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC9_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC9_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC9_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC10_">
-<param humanName="RC min PWM" name="RC10_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC10_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC10_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC10_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC10_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC10_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC11_">
-<param humanName="RC min PWM" name="RC11_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC11_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC11_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC11_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC11_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC11_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC12_">
-<param humanName="RC min PWM" name="RC12_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC12_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC12_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC12_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC12_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC12_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC13_">
-<param humanName="RC min PWM" name="RC13_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC13_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC13_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC13_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC13_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC13_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC14_">
-<param humanName="RC min PWM" name="RC14_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC14_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC14_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC14_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC14_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC14_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC15_">
-<param humanName="RC min PWM" name="RC15_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC15_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC15_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC15_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC15_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC15_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-</values>
-</param>
-</parameters>
-<parameters name="RC16_">
-<param humanName="RC min PWM" name="RC16_MIN" documentation="RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC trim PWM" name="RC16_TRIM" documentation="RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC max PWM" name="RC16_MAX" documentation="RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
-<field name="Range">800 2200</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="RC reverse" name="RC16_REV" documentation="Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel." user="Advanced">
-<values>
-<value code="-1">Reversed</value>
-<value code="1">Normal</value>
-</values>
-</param>
-<param humanName="RC dead-zone" name="RC16_DZ" documentation="dead zone around trim or bottom" user="Advanced">
-<field name="Range">0 200</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Servo out function" name="RC16_FUNCTION" documentation="Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">RCPassThru</value>
-<value code="2">Flap</value>
-<value code="3">Flap_auto</value>
-<value code="4">Aileron</value>
-<value code="6">mount_pan</value>
-<value code="7">mount_tilt</value>
-<value code="8">mount_roll</value>
-<value code="9">mount_open</value>
-<value code="10">camera_trigger</value>
-<value code="11">release</value>
-<value code="12">mount2_pan</value>
-<value code="13">mount2_tilt</value>
-<value code="14">mount2_roll</value>
-<value code="15">mount2_open</value>
-<value code="16">DifferentialSpoiler1</value>
-<value code="17">DifferentialSpoiler2</value>
-<value code="18">AileronWithInput</value>
-<value code="19">Elevator</value>
-<value code="20">ElevatorWithInput</value>
-<value code="21">Rudder</value>
-<value code="24">Flaperon1</value>
-<value code="25">Flaperon2</value>
-<value code="26">GroundSteering</value>
-<value code="27">Parachute</value>
-<value code="28">EPM</value>
-<value code="29">LandingGear</value>
-<value code="30">EngineRunEnable</value>
-<value code="31">HeliRSC</value>
-<value code="32">HeliTailRSC</value>
-</values>
-</param>
-</parameters>
-<parameters name="RLL2SRV_">
-<param humanName="Roll Time Constant" name="RLL2SRV_TCONST" documentation="This controls the time constant in seconds from demanded to achieved bank angle. A value of 0.5 is a good default and will work with nearly all models. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the aircraft can achieve." user="Advanced">
-<field name="Range">0.4 1.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Proportional Gain" name="RLL2SRV_P" documentation="This is the gain from bank angle error to aileron." user="User">
-<field name="Range">0.1 4.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Damping Gain" name="RLL2SRV_D" documentation="This is the gain from roll rate to aileron. This adjusts the damping of the roll control loop. It has the same effect as RLL2SRV_D in the old PID controller but without the spikes in servo demands. This gain helps to reduce rolling in turbulence. It should be increased in 0.01 increments as too high a value can lead to a high frequency roll oscillation that could overstress the airframe." user="User">
-<field name="Range">0 0.1</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Integrator Gain" name="RLL2SRV_I" documentation="This is the gain from the integral of bank angle to aileron. It has the same effect as RLL2SRV_I in the old PID controller. Increasing this gain causes the controller to trim out steady offsets due to an out of trim aircraft." user="User">
-<field name="Range">0 1.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Maximum Roll Rate" name="RLL2SRV_RMAX" documentation="This sets the maximum roll rate that the controller will demand (degrees/sec). Setting it to zero disables the limit. If this value is set too low, then the roll can't keep up with the navigation demands and the plane will start weaving. If it is set too high (or disabled by setting to zero) then ailerons will get large inputs at the start of turns. A limit of 60 degrees/sec is a good default." user="Advanced">
-<field name="Range">0 180</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Integrator limit" name="RLL2SRV_IMAX" documentation="This limits the number of degrees of aileron in centi-degrees over which the integrator will operate. At the default setting of 3000 centi-degrees, the integrator will be limited to +- 30 degrees of servo travel. The maximum servo deflection is +- 45 centi-degrees, so the default value represents a 2/3rd of the total control throw which is adequate unless the aircraft is severely out of trim." user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Feed forward Gain" name="RLL2SRV_FF" documentation="This is the gain from demanded rate to aileron output. " user="User">
-<field name="Range">0.1 4.0</field>
-<field name="Increment">0.1</field>
-</param>
-</parameters>
-<parameters name="PTCH2SRV_">
-<param humanName="Pitch Time Constant" name="PTCH2SRV_TCONST" documentation="This controls the time constant in seconds from demanded to achieved pitch angle. A value of 0.5 is a good default and will work with nearly all models. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the aircraft can achieve." user="Advanced">
-<field name="Range">0.4 1.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Proportional Gain" name="PTCH2SRV_P" documentation="This is the gain from pitch angle to elevator. This gain works the same way as PTCH2SRV_P in the old PID controller and can be set to the same value." user="User">
-<field name="Range">0.1 3.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Damping Gain" name="PTCH2SRV_D" documentation="This is the gain from pitch rate to elevator. This adjusts the damping of the pitch control loop. It has the same effect as PTCH2SRV_D in the old PID controller and can be set to the same value, but without the spikes in servo demands. This gain helps to reduce pitching in turbulence. Some airframes such as flying wings that have poor pitch damping can benefit from increasing this gain term. This should be increased in 0.01 increments as too high a value can lead to a high frequency pitch oscillation that could overstress the airframe." user="User">
-<field name="Range">0 0.1</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Integrator Gain" name="PTCH2SRV_I" documentation="This is the gain applied to the integral of pitch angle. It has the same effect as PTCH2SRV_I in the old PID controller and can be set to the same value. Increasing this gain causes the controller to trim out constant offsets between demanded and measured pitch angle." user="User">
-<field name="Range">0 0.5</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Pitch up max rate" name="PTCH2SRV_RMAX_UP" documentation="This sets the maximum nose up pitch rate that the controller will demand (degrees/sec). Setting it to zero disables the limit." user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Pitch down max rate" name="PTCH2SRV_RMAX_DN" documentation="This sets the maximum nose down pitch rate that the controller will demand (degrees/sec). Setting it to zero disables the limit." user="Advanced">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-<field name="Units">degrees/second</field>
-</param>
-<param humanName="Roll compensation" name="PTCH2SRV_RLL" documentation="This is the gain term that is applied to the pitch rate offset calculated as required to keep the nose level during turns. The default value is 1 which will work for all models. Advanced users can use it to correct for height variation in turns. If height is lost initially in turns this can be increased in small increments of 0.05 to compensate. If height is gained initially in turns then it can be decreased." user="User">
-<field name="Range">0.7 1.5</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Integrator limit" name="PTCH2SRV_IMAX" documentation="This limits the number of centi-degrees of elevator over which the integrator will operate. At the default setting of 3000 centi-degrees, the integrator will be limited to +- 30 degrees of servo travel. The maximum servo deflection is +- 45 degrees, so the default value represents a 2/3rd of the total control throw which is adequate for most aircraft unless they are severely out of trim or have very limited elevator control effectiveness." user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Feed forward Gain" name="PTCH2SRV_FF" documentation="This is the gain from demanded rate to elevator output. " user="User">
-<field name="Range">0.1 4.0</field>
-<field name="Increment">0.1</field>
-</param>
-</parameters>
-<parameters name="YAW2SRV_">
-<param humanName="Sideslip control gain" name="YAW2SRV_SLIP" documentation="This is the gain from measured lateral acceleration to demanded yaw rate. It should be set to zero unless active control of sideslip is desired. This will only work effectively if there is enough fuselage side area to generate a measureable lateral acceleration when the model sideslips. Flying wings and most gliders cannot use this term. This term should only be adjusted after the basic yaw damper gain YAW2SRV_DAMP is tuned and the YAW2SRV_INT integrator gain has been set. Set this gain to zero if only yaw damping is required.">
-<field name="Range">0 4</field>
-<field name="Increment">0.25</field>
-</param>
-<param humanName="Sideslip control integrator" name="YAW2SRV_INT" documentation="This is the integral gain from lateral acceleration error. This gain should only be non-zero if active control over sideslip is desired. If active control over sideslip is required then this can be set to 1.0 as a first try.">
-<field name="Range">0 2</field>
-<field name="Increment">0.25</field>
-</param>
-<param humanName="Yaw damping" name="YAW2SRV_DAMP" documentation="This is the gain from yaw rate to rudder. It acts as a damper on yaw motion. If a basic yaw damper is required, this gain term can be incremented, whilst leaving the YAW2SRV_SLIP and YAW2SRV_INT gains at zero. Note that unlike with a standard PID controller, if this damping term is zero then the integrator will also be disabled.">
-<field name="Range">0 2</field>
-<field name="Increment">0.25</field>
-</param>
-<param humanName="Yaw coordination gain" name="YAW2SRV_RLL" documentation="This is the gain term that is applied to the yaw rate offset calculated as required to keep the yaw rate consistent with the turn rate for a coordinated turn. The default value is 1 which will work for all models. Advanced users can use it to correct for any tendency to yaw away from or into the turn once the turn is established. Increase to make the model yaw more initially and decrease to make the model yaw less initially. If values greater than 1.1 or less than 0.9 are required then it normally indicates a problem with the airspeed calibration.">
-<field name="Range">0.8 1.2</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Integrator limit" name="YAW2SRV_IMAX" documentation="This limits the number of centi-degrees of rudder over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 degrees, so the default value represents a 1/3rd of the total control throw which is adequate for most aircraft unless they are severely out of trim or have very limited rudder control effectiveness." user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="STEER2SRV_">
-<param humanName="Steering Time Constant" name="STEER2SRV_TCONST" documentation="This controls the time constant in seconds from demanded to achieved steering angle. A value of 0.75 is a good default and will work with nearly all rovers. Ground steering in aircraft needs a bit smaller time constant, and a value of 0.5 is recommended for best ground handling in fixed wing aircraft. A value of 0.75 means that the controller will try to correct any deviation between the desired and actual steering angle in 0.75 seconds. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the vehicle can achieve." user="Advanced">
-<field name="Range">0.4 1.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="Steering turning gain" name="STEER2SRV_P" documentation="The proportional gain for steering. This should be approximately equal to the diameter of the turning circle of the vehicle at low speed and maximum steering angle" user="User">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Integrator Gain" name="STEER2SRV_I" documentation="This is the gain from the integral of steering angle. Increasing this gain causes the controller to trim out steady offsets due to an out of trim vehicle." user="User">
-<field name="Range">0 1.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Damping Gain" name="STEER2SRV_D" documentation="This adjusts the damping of the steering control loop. This gain helps to reduce steering jitter with vibration. It should be increased in 0.01 increments as too high a value can lead to a high frequency steering oscillation that could overstress the vehicle." user="User">
-<field name="Range">0 0.1</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Integrator limit" name="STEER2SRV_IMAX" documentation="This limits the number of degrees of steering in centi-degrees over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 centi-degrees, so the default value represents a 1/3rd of the total control throw which is adequate unless the vehicle is severely out of trim." user="Advanced">
-<field name="Range">0 4500</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Minimum speed" name="STEER2SRV_MINSPD" documentation="This is the minimum assumed ground speed in meters/second for steering. Having a minimum speed prevents oscillations when the vehicle first starts moving. The vehicle can still drive slower than this limit, but the steering calculations will be done based on this minimum speed." user="User">
-<field name="Range">0 5</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Steering feed forward" name="STEER2SRV_FF" documentation="The feed forward gain for steering this is the ratio of the achieved turn rate to applied steering. A value of 1 means that the vehicle would yaw at a rate of 45 degrees per second with full steering deflection at 1m/s ground speed." user="User">
-<field name="Range">0.0 10.0</field>
-<field name="Increment">0.1</field>
-</param>
-</parameters>
-<parameters name="COMPASS_">
-<param humanName="Compass offsets in milligauss on the X axis" name="COMPASS_OFS_X" documentation="Offset to be added to the compass x-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Compass offsets in milligauss on the Y axis" name="COMPASS_OFS_Y" documentation="Offset to be added to the compass y-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Compass offsets in milligauss on the Z axis" name="COMPASS_OFS_Z" documentation="Offset to be added to the compass z-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Compass declination" name="COMPASS_DEC" documentation="An angle to compensate between the true north and magnetic north" user="Standard">
-<field name="Range">-3.142 3.142</field>
-<field name="Increment">0.01</field>
-<field name="Units">Radians</field>
-</param>
-<param humanName="Learn compass offsets automatically" name="COMPASS_LEARN" documentation="Enable or disable the automatic learning of compass offsets" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Use compass for yaw" name="COMPASS_USE" documentation="Enable or disable the use of the compass (instead of the GPS) for determining heading" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Auto Declination" name="COMPASS_AUTODEC" documentation="Enable or disable the automatic calculation of the declination based on gps location" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Motor interference compensation type" name="COMPASS_MOTCT" documentation="Set motor interference compensation type to disabled, throttle or current.  Do not change manually." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Use Throttle</value>
-<value code="2">Use Current</value>
-</values>
-</param>
-<param humanName="Motor interference compensation for body frame X axis" name="COMPASS_MOT_X" documentation="Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation for body frame Y axis" name="COMPASS_MOT_Y" documentation="Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation for body frame Z axis" name="COMPASS_MOT_Z" documentation="Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Compass orientation" name="COMPASS_ORIENT" documentation="The orientation of the compass relative to the autopilot board. This will default to the right value for each board type, but can be changed if you have an external compass. See the documentation for your external compass for the right value. The correct orientation should give the X axis forward, the Y axis to the right and the Z axis down. So if your aircraft is pointing west it should show a positive value for the Y axis, and a value close to zero for the X axis. On a PX4 or Pixhawk with an external compass the correct value is zero if the compass is correctly oriented. NOTE: This orientation is combined with any AHRS_ORIENTATION setting." user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Yaw45</value>
-<value code="2">Yaw90</value>
-<value code="3">Yaw135</value>
-<value code="4">Yaw180</value>
-<value code="5">Yaw225</value>
-<value code="6">Yaw270</value>
-<value code="7">Yaw315</value>
-<value code="8">Roll180</value>
-<value code="9">Roll180Yaw45</value>
-<value code="10">Roll180Yaw90</value>
-<value code="11">Roll180Yaw135</value>
-<value code="12">Pitch180</value>
-<value code="13">Roll180Yaw225</value>
-<value code="14">Roll180Yaw270</value>
-<value code="15">Roll180Yaw315</value>
-<value code="16">Roll90</value>
-<value code="17">Roll90Yaw45</value>
-<value code="18">Roll90Yaw90</value>
-<value code="19">Roll90Yaw135</value>
-<value code="20">Roll270</value>
-<value code="21">Roll270Yaw45</value>
-<value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw136</value>
-<value code="24">Pitch90</value>
-<value code="25">Pitch270</value>
-<value code="26">Pitch180Yaw90</value>
-<value code="27">Pitch180Yaw270</value>
-<value code="28">Roll90Pitch90</value>
-<value code="29">Roll180Pitch90</value>
-<value code="30">Roll270Pitch90</value>
-<value code="31">Roll90Pitch180</value>
-<value code="32">Roll270Pitch180</value>
-<value code="33">Roll90Pitch270</value>
-<value code="34">Roll180Pitch270</value>
-<value code="35">Roll270Pitch270</value>
-<value code="36">Roll90Pitch180Yaw90</value>
-<value code="37">Roll90Yaw270</value>
-<value code="38">Yaw293Pitch68Roll90</value>
-</values>
-</param>
-<param humanName="Compass is attached via an external cable" name="COMPASS_EXTERNAL" documentation="Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk, but must be set correctly on an APM2. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option" user="Advanced">
-<values>
-<value code="0">Internal</value>
-<value code="1">External</value>
-</values>
-</param>
-<param humanName="Compass2 offsets in milligauss on the X axis" name="COMPASS_OFS2_X" documentation="Offset to be added to compass2's x-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Compass2 offsets in milligauss on the Y axis" name="COMPASS_OFS2_Y" documentation="Offset to be added to compass2's y-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Compass2 offsets in milligauss on the Z axis" name="COMPASS_OFS2_Z" documentation="Offset to be added to compass2's z-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Motor interference compensation to compass2 for body frame X axis" name="COMPASS_MOT2_X" documentation="Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation to compass2 for body frame Y axis" name="COMPASS_MOT2_Y" documentation="Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation to compass2 for body frame Z axis" name="COMPASS_MOT2_Z" documentation="Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Choose primary compass" name="COMPASS_PRIMARY" documentation="If more than one compass is available this selects which compass is the primary. Normally 0=External, 1=Internal. If no External compass is attached this parameter is ignored" user="Advanced">
-<values>
-<value code="0">FirstCompass</value>
-<value code="1">SecondCompass</value>
-<value code="2">ThirdCompass</value>
-</values>
-</param>
-<param humanName="Compass3 offsets in milligauss on the X axis" name="COMPASS_OFS3_X" documentation="Offset to be added to compass3's x-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Compass3 offsets in milligauss on the Y axis" name="COMPASS_OFS3_Y" documentation="Offset to be added to compass3's y-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Compass3 offsets in milligauss on the Z axis" name="COMPASS_OFS3_Z" documentation="Offset to be added to compass3's z-axis values to compensate for metal in the frame">
-<field name="Range">-400 400</field>
-<field name="Increment">1</field>
-<field name="Units">milligauss</field>
-</param>
-<param humanName="Motor interference compensation to compass3 for body frame X axis" name="COMPASS_MOT3_X" documentation="Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation to compass3 for body frame Y axis" name="COMPASS_MOT3_Y" documentation="Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Motor interference compensation to compass3 for body frame Z axis" name="COMPASS_MOT3_Z" documentation="Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference">
-<field name="Range">-1000 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Offset per Amp or at Full Throttle</field>
-</param>
-<param humanName="Compass device id" name="COMPASS_DEV_ID" documentation="Compass device id.  Automatically detected, do not set manually">
-</param>
-<param humanName="Compass2 device id" name="COMPASS_DEV_ID2" documentation="Second compass's device id.  Automatically detected, do not set manually">
-</param>
-<param humanName="Compass3 device id" name="COMPASS_DEV_ID3" documentation="Third compass's device id.  Automatically detected, do not set manually">
-</param>
-<param humanName="Compass2 used for yaw" name="COMPASS_USE2" documentation="Enable or disable the second compass for determining heading." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Compass2 orientation" name="COMPASS_ORIENT2" documentation="The orientation of the second compass relative to the frame (if external) or autopilot board (if internal)." user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Yaw45</value>
-<value code="2">Yaw90</value>
-<value code="3">Yaw135</value>
-<value code="4">Yaw180</value>
-<value code="5">Yaw225</value>
-<value code="6">Yaw270</value>
-<value code="7">Yaw315</value>
-<value code="8">Roll180</value>
-<value code="9">Roll180Yaw45</value>
-<value code="10">Roll180Yaw90</value>
-<value code="11">Roll180Yaw135</value>
-<value code="12">Pitch180</value>
-<value code="13">Roll180Yaw225</value>
-<value code="14">Roll180Yaw270</value>
-<value code="15">Roll180Yaw315</value>
-<value code="16">Roll90</value>
-<value code="17">Roll90Yaw45</value>
-<value code="18">Roll90Yaw90</value>
-<value code="19">Roll90Yaw135</value>
-<value code="20">Roll270</value>
-<value code="21">Roll270Yaw45</value>
-<value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw136</value>
-<value code="24">Pitch90</value>
-<value code="25">Pitch270</value>
-<value code="26">Pitch180Yaw90</value>
-<value code="27">Pitch180Yaw270</value>
-<value code="28">Roll90Pitch90</value>
-<value code="29">Roll180Pitch90</value>
-<value code="30">Roll270Pitch90</value>
-<value code="31">Roll90Pitch180</value>
-<value code="32">Roll270Pitch180</value>
-<value code="33">Roll90Pitch270</value>
-<value code="34">Roll180Pitch270</value>
-<value code="35">Roll270Pitch270</value>
-<value code="36">Roll90Pitch180Yaw90</value>
-<value code="37">Roll90Yaw270</value>
-<value code="38">Yaw293Pitch68Roll90</value>
-</values>
-</param>
-<param humanName="Compass2 is attached via an external cable" name="COMPASS_EXTERN2" documentation="Configure second compass so it is attached externally. This is auto-detected on PX4 and Pixhawk." user="Advanced">
-<values>
-<value code="0">Internal</value>
-<value code="1">External</value>
-</values>
-</param>
-<param humanName="Compass3 used for yaw" name="COMPASS_USE3" documentation="Enable or disable the third compass for determining heading." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Compass3 orientation" name="COMPASS_ORIENT3" documentation="The orientation of the third compass relative to the frame (if external) or autopilot board (if internal)." user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Yaw45</value>
-<value code="2">Yaw90</value>
-<value code="3">Yaw135</value>
-<value code="4">Yaw180</value>
-<value code="5">Yaw225</value>
-<value code="6">Yaw270</value>
-<value code="7">Yaw315</value>
-<value code="8">Roll180</value>
-<value code="9">Roll180Yaw45</value>
-<value code="10">Roll180Yaw90</value>
-<value code="11">Roll180Yaw135</value>
-<value code="12">Pitch180</value>
-<value code="13">Roll180Yaw225</value>
-<value code="14">Roll180Yaw270</value>
-<value code="15">Roll180Yaw315</value>
-<value code="16">Roll90</value>
-<value code="17">Roll90Yaw45</value>
-<value code="18">Roll90Yaw90</value>
-<value code="19">Roll90Yaw135</value>
-<value code="20">Roll270</value>
-<value code="21">Roll270Yaw45</value>
-<value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw136</value>
-<value code="24">Pitch90</value>
-<value code="25">Pitch270</value>
-<value code="26">Pitch180Yaw90</value>
-<value code="27">Pitch180Yaw270</value>
-<value code="28">Roll90Pitch90</value>
-<value code="29">Roll180Pitch90</value>
-<value code="30">Roll270Pitch90</value>
-<value code="31">Roll90Pitch180</value>
-<value code="32">Roll270Pitch180</value>
-<value code="33">Roll90Pitch270</value>
-<value code="34">Roll180Pitch270</value>
-<value code="35">Roll270Pitch270</value>
-<value code="36">Roll90Pitch180Yaw90</value>
-<value code="37">Roll90Yaw270</value>
-<value code="38">Yaw293Pitch68Roll90</value>
-</values>
-</param>
-<param humanName="Compass3 is attached via an external cable" name="COMPASS_EXTERN3" documentation="Configure third compass so it is attached externally. This is auto-detected on PX4 and Pixhawk." user="Advanced">
-<values>
-<value code="0">Internal</value>
-<value code="1">External</value>
-</values>
-</param>
-<param humanName="Compass soft-iron diagonal X component" name="COMPASS_DIA_X" documentation="DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass soft-iron diagonal Y component" name="COMPASS_DIA_Y" documentation="DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass soft-iron diagonal Z component" name="COMPASS_DIA_Z" documentation="DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass soft-iron off-diagonal X component" name="COMPASS_ODI_X" documentation="ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass soft-iron off-diagonal Y component" name="COMPASS_ODI_Y" documentation="ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass soft-iron off-diagonal Z component" name="COMPASS_ODI_Z" documentation="ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass2 soft-iron diagonal X component" name="COMPASS_DIA2_X" documentation="DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass2 soft-iron diagonal Y component" name="COMPASS_DIA2_Y" documentation="DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass2 soft-iron diagonal Z component" name="COMPASS_DIA2_Z" documentation="DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass2 soft-iron off-diagonal X component" name="COMPASS_ODI2_X" documentation="ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass2 soft-iron off-diagonal Y component" name="COMPASS_ODI2_Y" documentation="ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass2 soft-iron off-diagonal Z component" name="COMPASS_ODI2_Z" documentation="ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass3 soft-iron diagonal X component" name="COMPASS_DIA3_X" documentation="DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass3 soft-iron diagonal Y component" name="COMPASS_DIA3_Y" documentation="DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass3 soft-iron diagonal Z component" name="COMPASS_DIA3_Z" documentation="DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass3 soft-iron off-diagonal X component" name="COMPASS_ODI3_X" documentation="ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass3 soft-iron off-diagonal Y component" name="COMPASS_ODI3_Y" documentation="ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass3 soft-iron off-diagonal Z component" name="COMPASS_ODI3_Z" documentation="ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]">
-</param>
-<param humanName="Compass calibration fitness" name="COMPASS_CAL_FIT" documentation="This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value." user="Advanced">
-<field name="Range">4 20</field>
-<field name="Increment">0.1</field>
-</param>
-</parameters>
-<parameters name="SCHED_">
-<param humanName="Scheduler debug level" name="SCHED_DEBUG" documentation='Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.' user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="2">ShowSlips</value>
-<value code="3">ShowOverruns</value>
-</values>
-</param>
-<param humanName="Scheduling main loop rate" name="SCHED_LOOP_RATE" documentation="This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart" user="Advanced">
-<values>
-<value code="50">50Hz</value>
-<value code="100">100Hz</value>
-<value code="200">200Hz</value>
-<value code="250">250Hz</value>
-<value code="300">300Hz</value>
-<value code="400">400Hz</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-</parameters>
-<parameters name="RCMAP_">
-<param humanName="Roll channel" name="RCMAP_ROLL" documentation="Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect." user="Advanced">
-<field name="Range">1 8</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Pitch channel" name="RCMAP_PITCH" documentation="Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect." user="Advanced">
-<field name="Range">1 8</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Throttle channel" name="RCMAP_THROTTLE" documentation="Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Warning APM 2.X: Changing the throttle channel could produce unexpected fail-safe results if connection between receiver and on-board PPM Encoder is lost. Disabling on-board PPM Encoder is recommended.  Reboot is required for changes to take effect." user="Advanced">
-<field name="Range">1 8</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Yaw channel" name="RCMAP_YAW" documentation="Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect." user="Advanced">
-<field name="Range">1 8</field>
-<field name="Increment">1</field>
-<field name="RebootRequired">True</field>
-</param>
-</parameters>
-<parameters name="INS_">
-<param humanName="IMU Product ID" name="INS_PRODUCT_ID" documentation="Which type of IMU is installed (read-only)." user="Advanced">
-<values>
-<value code="0">Unknown</value>
-<value code="1">APM1-1280</value>
-<value code="2">APM1-2560</value>
-<value code="88">APM2</value>
-<value code="3">SITL</value>
-<value code="4">PX4v1</value>
-<value code="5">PX4v2</value>
-<value code="256">Flymaple</value>
-<value code="257">Linux</value>
-</values>
-</param>
-<param humanName="Gyro offsets of X axis" name="INS_GYROFFS_X" documentation="Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro offsets of Y axis" name="INS_GYROFFS_Y" documentation="Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro offsets of Z axis" name="INS_GYROFFS_Z" documentation="Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro2 offsets of X axis" name="INS_GYR2OFFS_X" documentation="Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro2 offsets of Y axis" name="INS_GYR2OFFS_Y" documentation="Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro2 offsets of Z axis" name="INS_GYR2OFFS_Z" documentation="Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro3 offsets of X axis" name="INS_GYR3OFFS_X" documentation="Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro3 offsets of Y axis" name="INS_GYR3OFFS_Y" documentation="Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Gyro3 offsets of Z axis" name="INS_GYR3OFFS_Z" documentation="Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Accelerometer scaling of X axis" name="INS_ACCSCAL_X" documentation="Accelerometer scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer scaling of Y axis" name="INS_ACCSCAL_Y" documentation="Accelerometer scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer scaling of Z axis" name="INS_ACCSCAL_Z" documentation="Accelerometer scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer offsets of X axis" name="INS_ACCOFFS_X" documentation="Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer offsets of Y axis" name="INS_ACCOFFS_Y" documentation="Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer offsets of Z axis" name="INS_ACCOFFS_Z" documentation="Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer2 scaling of X axis" name="INS_ACC2SCAL_X" documentation="Accelerometer2 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer2 scaling of Y axis" name="INS_ACC2SCAL_Y" documentation="Accelerometer2 scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer2 scaling of Z axis" name="INS_ACC2SCAL_Z" documentation="Accelerometer2 scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer2 offsets of X axis" name="INS_ACC2OFFS_X" documentation="Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer2 offsets of Y axis" name="INS_ACC2OFFS_Y" documentation="Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer2 offsets of Z axis" name="INS_ACC2OFFS_Z" documentation="Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer3 scaling of X axis" name="INS_ACC3SCAL_X" documentation="Accelerometer3 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer3 scaling of Y axis" name="INS_ACC3SCAL_Y" documentation="Accelerometer3 scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer3 scaling of Z axis" name="INS_ACC3SCAL_Z" documentation="Accelerometer3 scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
-<field name="Range">0.8 1.2</field>
-</param>
-<param humanName="Accelerometer3 offsets of X axis" name="INS_ACC3OFFS_X" documentation="Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer3 offsets of Y axis" name="INS_ACC3OFFS_Y" documentation="Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Accelerometer3 offsets of Z axis" name="INS_ACC3OFFS_Z" documentation="Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
-<field name="Range">-3.5 3.5</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Gyro filter cutoff frequency" name="INS_GYRO_FILTER" documentation="Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)" user="Advanced">
-<field name="Range">0 127</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Accel filter cutoff frequency" name="INS_ACCEL_FILTER" documentation="Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)" user="Advanced">
-<field name="Range">0 127</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Use first IMU for attitude, velocity and position estimates" name="INS_USE" documentation="Use first IMU for attitude, velocity and position estimates" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Use second IMU for attitude, velocity and position estimates" name="INS_USE2" documentation="Use second IMU for attitude, velocity and position estimates" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Use third IMU for attitude, velocity and position estimates" name="INS_USE3" documentation="Use third IMU for attitude, velocity and position estimates" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stillness threshold for detecting if we are moving" name="INS_STILL_THRESH" documentation="Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5" user="Advanced">
-<field name="Range">0.05 50</field>
-</param>
-<param humanName="Gyro Calibration scheme" name="INS_GYR_CAL" documentation="Conrols when automatic gyro calibration is performed" user="Advanced">
-<values>
-<value code="0">Never</value>
-<value code=" 1">Start-up only</value>
-</values>
-</param>
-<param humanName="Accel cal trim option" name="INS_TRIM_OPTION" documentation="Specifies how the accel cal routine determines the trims" user="Advanced">
-<values>
-<value code="0">Don't adjust the trims</value>
-<value code="1">Assume first orientation was level</value>
-<value code="2">Assume ACC_BODYFIX is perfectly aligned to the vehicle</value>
-</values>
-</param>
-<param humanName="Body-fixed accelerometer" name="INS_ACC_BODYFIX" documentation="The body-fixed accelerometer to be used for trim calculation" user="Advanced">
-<values>
-<value code="1">IMU 1</value>
-<value code="2">IMU 2</value>
-<value code="3">IMU 3</value>
-</values>
-</param>
-</parameters>
-<parameters name="AHRS_">
-<param humanName="AHRS GPS gain" name="AHRS_GPS_GAIN" documentation="This controls how how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.">
-<field name="Range">0.0 1.0</field>
-<field name="Increment">.01</field>
-</param>
-<param humanName="AHRS use GPS for navigation" name="AHRS_GPS_USE" documentation="This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Yaw P" name="AHRS_YAW_P" documentation="This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.">
-<field name="Range">0.1 0.4</field>
-<field name="Increment">.01</field>
-</param>
-<param humanName="AHRS RP_P" name="AHRS_RP_P" documentation="This controls how fast the accelerometers correct the attitude">
-<field name="Range">0.1 0.4</field>
-<field name="Increment">.01</field>
-</param>
-<param humanName="Maximum wind" name="AHRS_WIND_MAX" documentation="This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is.">
-<field name="Range">0 127</field>
-<field name="Increment">1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="AHRS Trim Roll" name="AHRS_TRIM_X" documentation="Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right." user="User">
-<field name="Range">-0.1745 +0.1745</field>
-<field name="Increment">0.01</field>
-<field name="Units">Radians</field>
-</param>
-<param humanName="AHRS Trim Pitch" name="AHRS_TRIM_Y" documentation="Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back." user="User">
-<field name="Range">-0.1745 +0.1745</field>
-<field name="Increment">0.01</field>
-<field name="Units">Radians</field>
-</param>
-<param humanName="AHRS Trim Yaw" name="AHRS_TRIM_Z" documentation="Not Used" user="Advanced">
-<field name="Range">-0.1745 +0.1745</field>
-<field name="Increment">0.01</field>
-<field name="Units">Radians</field>
-</param>
-<param humanName="Board Orientation" name="AHRS_ORIENTATION" documentation="Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle." user="Advanced">
-<values>
-<value code="0">None</value>
-<value code="1">Yaw45</value>
-<value code="2">Yaw90</value>
-<value code="3">Yaw135</value>
-<value code="4">Yaw180</value>
-<value code="5">Yaw225</value>
-<value code="6">Yaw270</value>
-<value code="7">Yaw315</value>
-<value code="8">Roll180</value>
-<value code="9">Roll180Yaw45</value>
-<value code="10">Roll180Yaw90</value>
-<value code="11">Roll180Yaw135</value>
-<value code="12">Pitch180</value>
-<value code="13">Roll180Yaw225</value>
-<value code="14">Roll180Yaw270</value>
-<value code="15">Roll180Yaw315</value>
-<value code="16">Roll90</value>
-<value code="17">Roll90Yaw45</value>
-<value code="18">Roll90Yaw90</value>
-<value code="19">Roll90Yaw135</value>
-<value code="20">Roll270</value>
-<value code="21">Roll270Yaw45</value>
-<value code="22">Roll270Yaw90</value>
-<value code="23">Roll270Yaw136</value>
-<value code="24">Pitch90</value>
-<value code="25">Pitch270</value>
-<value code="26">Pitch180Yaw90</value>
-<value code="27">Pitch180Yaw270</value>
-<value code="28">Roll90Pitch90</value>
-<value code="29">Roll180Pitch90</value>
-<value code="30">Roll270Pitch90</value>
-<value code="31">Roll90Pitch180</value>
-<value code="32">Roll270Pitch180</value>
-<value code="33">Roll90Pitch270</value>
-<value code="34">Roll180Pitch270</value>
-<value code="35">Roll270Pitch270</value>
-<value code="36">Roll90Pitch180Yaw90</value>
-<value code="37">Roll90Yaw270</value>
-</values>
-</param>
-<param humanName="AHRS Velocity Complementary Filter Beta Coefficient" name="AHRS_COMP_BETA" documentation="This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less." user="Advanced">
-<field name="Range">0.001 0.5</field>
-<field name="Increment">.01</field>
-</param>
-<param humanName="AHRS GPS Minimum satellites" name="AHRS_GPS_MINSATS" documentation="Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers." user="Advanced">
-<field name="Range">0 10</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Use NavEKF Kalman filter for attitude and position estimation" name="AHRS_EKF_TYPE" documentation='This controls whether the NavEKF Kalman filter is used for attitude and position estimation and whether fallback to the DCM algorithm is allowed. Note that on copters "disabled" is not available, and will be the same as "enabled - no fallback"' user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code="2">Enable EKF2</value>
-</values>
-</param>
-</parameters>
-<parameters name="ARSPD_">
-<param humanName="Airspeed enable" name="ARSPD_ENABLE" documentation="enable airspeed sensor">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-<param humanName="Airspeed use" name="ARSPD_USE" documentation="use airspeed for flight control">
-<values>
-<value code="1">Use</value>
-<value code="0">Don't Use</value>
-</values>
-</param>
-<param humanName="Airspeed offset" name="ARSPD_OFFSET" documentation="Airspeed calibration offset">
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Airspeed ratio" name="ARSPD_RATIO" documentation="Airspeed calibration ratio">
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Airspeed pin" name="ARSPD_PIN" documentation="The analog pin number that the airspeed sensor is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated airspeed port on the end of the board. Set to 11 on PX4 for the analog airspeed port. Set to 15 on the Pixhawk for the analog airspeed port. Set to 65 on the PX4 or Pixhawk for an EagleTree or MEAS I2C airspeed sensor." user="Advanced">
-</param>
-<param humanName="Automatic airspeed ratio calibration" name="ARSPD_AUTOCAL" documentation="If this is enabled then the APM will automatically adjust the ARSPD_RATIO during flight, based upon an estimation filter using ground speed and true airspeed. The automatic calibration will save the new ratio to EEPROM every 2 minutes if it changes by more than 5%. This option should be enabled for a calibration flight then disabled again when calibration is complete. Leaving it enabled all the time is not recommended." user="Advanced">
-</param>
-<param humanName="Control pitot tube order" name="ARSPD_TUBE_ORDER" documentation="This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the top connector on the sensor needs to be the dynamic pressure. If set to 1 then the bottom connector needs to be the dynamic pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft it receiving excessive pressure on the static port, which would otherwise be seen as a positive airspeed." user="Advanced">
-</param>
-<param humanName="Skip airspeed calibration on startup" name="ARSPD_SKIP_CAL" documentation="This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot." user="Advanced">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-</parameters>
-<parameters name="NAVL1_">
-<param humanName="L1 control period" name="NAVL1_PERIOD" documentation="Period in seconds of L1 tracking loop. This parameter is the primary control for agressiveness of turns in auto mode. This needs to be larger for less responsive airframes. The default of 20 is quite conservative, but for most RC aircraft will lead to reasonable flight. For smaller more agile aircraft a value closer to 15 is appropriate, or even as low as 10 for some very agile aircraft. When tuning, change this value in small increments, as a value that is much too small (say 5 or 10 below the right value) can lead to very radical turns, and a risk of stalling.">
-<field name="Range">1 60</field>
-<field name="Increment">1</field>
-<field name="Units">seconds</field>
-</param>
-<param humanName="L1 control damping ratio" name="NAVL1_DAMPING" documentation="Damping ratio for L1 control. Increase this in increments of 0.05 if you are getting overshoot in path tracking. You should not need a value below 0.7 or above 0.85.">
-<field name="Range">0.6 1.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="L1 control crosstrack integrator gain" name="NAVL1_XTRACK_I" documentation="Crosstrack error integrator gain. This gain is applied to the crosstrack error to ensure it converges to zero. Set to zero to disable. Smaller values converge slower, higher values will cause crosstrack error oscillation.">
-<field name="Range">0 0.1</field>
-<field name="Increment">0.01</field>
-</param>
-</parameters>
-<parameters name="TECS_">
-<param humanName="Maximum Climb Rate (metres/sec)" name="TECS_CLMB_MAX" documentation="This is the best climb rate that the aircraft can achieve with the throttle set to THR_MAX and the airspeed set to the default value. For electric aircraft make sure this number can be achieved towards the end of flight when the battery voltage has reduced. The setting of this parameter can be checked by commanding a positive altitude change of 100m in loiter, RTL or guided mode. If the throttle required to climb is close to THR_MAX and the aircraft is maintaining airspeed, then this parameter is set correctly. If the airspeed starts to reduce, then the parameter is set to high, and if the throttle demand require to climb and maintain speed is noticeably less than THR_MAX, then either CLMB_MAX should be increased or THR_MAX reduced." user="User">
-<field name="Range">0.1 20.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Minimum Sink Rate (metres/sec)" name="TECS_SINK_MIN" documentation="This is the sink rate of the aircraft with the throttle set to THR_MIN and the same airspeed as used to measure CLMB_MAX." user="User">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Controller time constant (sec)" name="TECS_TIME_CONST" documentation="This is the time constant of the TECS control algorithm. Smaller values make it faster to respond, large values make it slower to respond." user="Advanced">
-<field name="Range">3.0 10.0</field>
-<field name="Increment">0.2</field>
-</param>
-<param humanName="Controller throttle damping" name="TECS_THR_DAMP" documentation="This is the damping gain for the throttle demand loop. Increase to add damping  to correct for oscillations in speed and height." user="Advanced">
-<field name="Range">0.1 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Controller integrator" name="TECS_INTEG_GAIN" documentation="This is the integrator gain on the control loop. Increase to increase the rate at which speed and height offsets are trimmed out" user="Advanced">
-<field name="Range">0.0 0.5</field>
-<field name="Increment">0.02</field>
-</param>
-<param humanName="Vertical Acceleration Limit (metres/sec^2)" name="TECS_VERT_ACC" documentation="This is the maximum vertical acceleration either up or down that the  controller will use to correct speed or height errors." user="Advanced">
-<field name="Range">1.0 10.0</field>
-<field name="Increment">0.5</field>
-</param>
-<param humanName="Height complementary filter frequency (radians/sec)" name="TECS_HGT_OMEGA" documentation="This is the cross-over frequency of the complementary filter used to fuse vertical acceleration and baro alt to obtain an estimate of height rate and height." user="Advanced">
-<field name="Range">1.0 5.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Speed complementary filter frequency (radians/sec)" name="TECS_SPD_OMEGA" documentation="This is the cross-over frequency of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain a lower noise and lag estimate of airspeed." user="Advanced">
-<field name="Range">0.5 2.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="Bank angle compensation gain" name="TECS_RLL2THR" documentation="Increasing this gain turn increases the amount of throttle that will be used to compensate for the additional drag created by turning. Ideally this should be set to approximately 10 x the extra sink rate in m/s created by a 45 degree bank turn. Increase this gain if the aircraft initially loses energy in turns and reduce if the aircraft initially gains energy in turns. Efficient high aspect-ratio aircraft (eg powered sailplanes) can use a lower value, whereas inefficient low aspect-ratio models (eg delta wings) can use a higher value." user="Advanced">
-<field name="Range">5.0 30.0</field>
-<field name="Increment">1.0</field>
-</param>
-<param humanName="Weighting applied to speed control" name="TECS_SPDWEIGHT" documentation="This parameter adjusts the amount of weighting that the pitch control applies to speed vs height errors. Setting it to 0.0 will cause the pitch control to control height and ignore speed errors. This will normally improve height accuracy but give larger airspeed errors. Setting it to 2.0 will cause the pitch control loop to control speed and ignore height errors. This will normally reduce airsped errors, but give larger height errors.&#9;A value of 1.0 gives a balanced response and is the default." user="Advanced">
-<field name="Range">0.0 2.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Controller pitch damping" name="TECS_PTCH_DAMP" documentation="This is the damping gain for the pitch demand loop. Increase to add damping  to correct for oscillations in speed and height." user="Advanced">
-<field name="Range">0.1 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Maximum Descent Rate (metres/sec)" name="TECS_SINK_MAX" documentation="This sets the maximum descent rate that the controller will use.  If this value is too large, the aircraft will reach the pitch angle limit first and be unable to achieve the descent rate. This should be set to a value that can be achieved at the lower pitch angle limit." user="User">
-<field name="Range">0.0 20.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Airspeed during landing approach (m/s)" name="TECS_LAND_ARSPD" documentation="When performing an autonomus landing, this value is used as the goal airspeed during approach.  Note that this parameter is not useful if your platform does not have an airspeed sensor (use TECS_LAND_THR instead).  If negative then this value is not used during landing." user="User">
-<field name="Range">-1 127</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Cruise throttle during landing approach (percentage)" name="TECS_LAND_THR" documentation="Use this parameter instead of LAND_ARSPD if your platform does not have an airspeed sensor.  It is the cruise throttle during landing approach.  If this value is negative then it is disabled and TECS_LAND_ARSPD is used instead." user="User">
-<field name="Range">-1 100</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Weighting applied to speed control during landing." name="TECS_LAND_SPDWGT" documentation="Same as SPDWEIGHT parameter, with the exception that this parameter is applied during landing flight stages.  A value closer to 2 will result in the plane ignoring height error during landing and our experience has been that the plane will therefore keep the nose up -- sometimes good for a glider landing (with the side effect that you will likely glide a ways past the landing point).  A value closer to 0 results in the plane ignoring speed error -- use caution when lowering the value below 1 -- ignoring speed could result in a stall. Values between 0 and 2 are valid values for a fixed landing weight. When using -1 the weight will be scaled during the landing. At the start of the landing approach it starts with TECS_SPDWEIGHT and scales down to 0 by the time you reach the land point. Example: Halfway down the landing approach you'll effectively have a weight of TECS_SPDWEIGHT/2." user="Advanced">
-<field name="Range">-1.0 2.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Maximum pitch in auto flight" name="TECS_PITCH_MAX" documentation="This controls maximum pitch up in automatic throttle modes. If this is set to zero then LIM_PITCH_MAX is used instead. The purpose of this parameter is to allow the use of a smaller pitch range when in automatic flight than what is used in FBWA mode." user="Advanced">
-<field name="Range">0 45</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Minimum pitch in auto flight" name="TECS_PITCH_MIN" documentation="This controls minimum pitch in automatic throttle modes. If this is set to zero then LIM_PITCH_MIN is used instead. The purpose of this parameter is to allow the use of a smaller pitch range when in automatic flight than what is used in FBWA mode. Note that TECS_PITCH_MIN should be a negative number." user="Advanced">
-<field name="Range">-45 0</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Sink rate for final landing stage" name="TECS_LAND_SINK" documentation="The sink rate in meters/second for the final stage of landing." user="Advanced">
-<field name="Range">0.0 2.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Land controller time constant (sec)" name="TECS_LAND_TCONST" documentation="This is the time constant of the TECS control algorithm when in final landing stage of flight. It should be smaller than TECS_TIME_CONST to allow for faster flare" user="Advanced">
-<field name="Range">1.0 5.0</field>
-<field name="Increment">0.2</field>
-</param>
-<param humanName="Controller sink rate to pitch gain during flare" name="TECS_LAND_DAMP" documentation="This is the sink rate gain for the pitch demand loop when in final landing stage of flight. It should be larger than TECS_PTCH_DAMP to allow for better sink rate control during flare." user="Advanced">
-<field name="Range">0.1 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Maximum pitch during final stage of landing" name="TECS_LAND_PMAX" documentation="This limits the pitch used during the final stage of automatic landing. During the final landing stage most planes need to keep their pitch small to avoid stalling. A maximum of 10 degrees is usually good. A value of zero means to use the normal pitch limits." user="Advanced">
-<field name="Range">-5 40</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Sink rate max for landing approach stage" name="TECS_APPR_SMAX" documentation="The sink rate max for the landing approach stage of landing. This will need to be large for steep landing approaches especially when using reverse thrust. If 0, then use TECS_SINK_MAX." user="Advanced">
-<field name="Range">0.0 20.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Land sink rate change" name="TECS_LAND_SRC" documentation="When zero, the flare sink rate (TECS_LAND_SINK) is a fixed sink demand. With this enabled the flare sinkrate will increase/decrease the flare sink demand as you get further beyond the LAND waypoint. Has no effect before the waypoint. This value is added to TECS_LAND_SINK proportional to distance traveled after wp. With an increasing sink rate you can still land in a given distance if you're traveling too fast and cruise passed the land point. A positive value will force the plane to land sooner proportional to distance passed land point. A negative number will tell the plane to slowly climb allowing for a pitched-up stall landing. Recommend 0.2 as initial value." user="Advanced">
-<field name="Range">-2.0 2.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s/m</field>
-</param>
-<param humanName="Controller throttle damping when landing" name="TECS_LAND_TDAMP" documentation="This is the damping gain for the throttle demand loop during and auto-landing. Same as TECS_THR_DAMP but only in effect during an auto-land. Increase to add damping to correct for oscillations in speed and height. When set to 0 landing throttle damp is controlled by TECS_THR_DAMP." user="Advanced">
-<field name="Range">0.1 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Controller integrator during landing" name="TECS_LAND_IGAIN" documentation="This is the integrator gain on the control loop during landing. When set to 0 then TECS_INTEG_GAIN is used. Increase to increase the rate at which speed and height offsets are trimmed out. Typically values lower than TECS_INTEG_GAIN work best" user="Advanced">
-<field name="Range">0.0 0.5</field>
-<field name="Increment">0.02</field>
-</param>
-<param humanName="Controller integrator during takeoff" name="TECS_TKOFF_IGAIN" documentation="This is the integrator gain on the control loop during takeoff. When set to 0 then TECS_INTEG_GAIN is used. Increase to increase the rate at which speed and height offsets are trimmed out. Typically values higher than TECS_INTEG_GAIN work best" user="Advanced">
-<field name="Range">0.0 0.5</field>
-<field name="Increment">0.02</field>
-</param>
-<param name="TECS_LAND_PDAMP" documentation="This is the damping gain for the pitch demand loop. Increase to add damping  to correct for oscillations in speed and height. If set to 0 then TECS_PTCH_DAMP will be used instead." user="Advanced">
-<field name="Range">0.1 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-</parameters>
-<parameters name="MNT">
-<param humanName="Mount default operating mode" name="MNT_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
-<values>
-<value code="0">Retracted</value>
-<value code="1">Neutral</value>
-<value code="2">MavLink Targeting</value>
-<value code="3">RC Targeting</value>
-<value code="4">GPS Point</value>
-</values>
-</param>
-<param humanName="Mount roll angle when in retracted position" name="MNT_RETRACT_X" documentation="Mount roll angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount tilt/pitch angle when in retracted position" name="MNT_RETRACT_Y" documentation="Mount tilt/pitch angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount yaw/pan angle when in retracted position" name="MNT_RETRACT_Z" documentation="Mount yaw/pan angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount roll angle when in neutral position" name="MNT_NEUTRAL_X" documentation="Mount roll angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount tilt/pitch angle when in neutral position" name="MNT_NEUTRAL_Y" documentation="Mount tilt/pitch angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount pan/yaw angle when in neutral position" name="MNT_NEUTRAL_Z" documentation="Mount pan/yaw angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Stabilize mount's roll angle" name="MNT_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stabilize mount's pitch/tilt angle" name="MNT_STAB_TILT" documentation="enable tilt/pitch stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stabilize mount pan/yaw angle" name="MNT_STAB_PAN" documentation="enable pan/yaw stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="roll RC input channel" name="MNT_RC_IN_ROLL" documentation="0 for none, any other for the RC channel to be used to control roll movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
-</values>
-</param>
-<param humanName="Minimum roll angle" name="MNT_ANGMIN_ROL" documentation="Minimum physical roll angular position of mount." user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Maximum roll angle" name="MNT_ANGMAX_ROL" documentation="Maximum physical roll angular position of the mount" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="tilt (pitch) RC input channel" name="MNT_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
-</values>
-</param>
-<param humanName="Minimum tilt angle" name="MNT_ANGMIN_TIL" documentation="Minimum physical tilt (pitch) angular position of mount." user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Maximum tilt angle" name="MNT_ANGMAX_TIL" documentation="Maximum physical tilt (pitch) angular position of the mount" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="pan (yaw) RC input channel" name="MNT_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
-</values>
-</param>
-<param humanName="Minimum pan angle" name="MNT_ANGMIN_PAN" documentation="Minimum physical pan (yaw) angular position of mount." user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Maximum pan angle" name="MNT_ANGMAX_PAN" documentation="Maximum physical pan (yaw) angular position of the mount" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="mount joystick speed" name="MNT_JSTICK_SPD" documentation="0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second." user="Standard">
-<field name="Range">0 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Roll stabilization lead time" name="MNT_LEAD_RLL" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="Pitch stabilization lead time" name="MNT_LEAD_PTCH" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="Mount Type" name="MNT_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
-<values>
-<value code="0">None</value>
-<value code=" 1">Servo</value>
-<value code=" 2">3DR Solo</value>
-<value code=" 3">Alexmos Serial</value>
-<value code=" 4">SToRM32 MAVLink</value>
-<value code=" 5">SToRM32 Serial</value>
-</values>
-<field name="RebootRequired">True</field>
-</param>
-<param humanName="Mount default operating mode" name="MNT2_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
-<values>
-<value code="0">Retracted</value>
-<value code="1">Neutral</value>
-<value code="2">MavLink Targeting</value>
-<value code="3">RC Targeting</value>
-<value code="4">GPS Point</value>
-</values>
-</param>
-<param humanName="Mount2 roll angle when in retracted position" name="MNT2_RETRACT_X" documentation="Mount2 roll angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount2 tilt/pitch angle when in retracted position" name="MNT2_RETRACT_Y" documentation="Mount2 tilt/pitch angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount2 yaw/pan angle when in retracted position" name="MNT2_RETRACT_Z" documentation="Mount2 yaw/pan angle when in retracted position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount2 roll angle when in neutral position" name="MNT2_NEUTRAL_X" documentation="Mount2 roll angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount2 tilt/pitch angle when in neutral position" name="MNT2_NEUTRAL_Y" documentation="Mount2 tilt/pitch angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Mount2 pan/yaw angle when in neutral position" name="MNT2_NEUTRAL_Z" documentation="Mount2 pan/yaw angle when in neutral position" user="Standard">
-<field name="Range">-180.00 179.99</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Stabilize Mount2's roll angle" name="MNT2_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stabilize Mount2's pitch/tilt angle" name="MNT2_STAB_TILT" documentation="enable tilt/pitch stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Stabilize mount2 pan/yaw angle" name="MNT2_STAB_PAN" documentation="enable pan/yaw stabilisation relative to Earth" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Mount2's roll RC input channel" name="MNT2_RC_IN_ROLL" documentation="0 for none, any other for the RC channel to be used to control roll movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
-</values>
-</param>
-<param humanName="Mount2's minimum roll angle" name="MNT2_ANGMIN_ROL" documentation="Mount2's minimum physical roll angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's maximum roll angle" name="MNT2_ANGMAX_ROL" documentation="Mount2's maximum physical roll angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's tilt (pitch) RC input channel" name="MNT2_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
-</values>
-</param>
-<param humanName="Mount2's minimum tilt angle" name="MNT2_ANGMIN_TIL" documentation="Mount2's minimum physical tilt (pitch) angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's maximum tilt angle" name="MNT2_ANGMAX_TIL" documentation="Mount2's maximum physical tilt (pitch) angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's pan (yaw) RC input channel" name="MNT2_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="5">RC5</value>
-<value code="6">RC6</value>
-<value code="7">RC7</value>
-<value code="8">RC8</value>
-<value code="9">RC9</value>
-<value code="10">RC10</value>
-<value code="11">RC11</value>
-<value code="12">RC12</value>
-</values>
-</param>
-<param humanName="Mount2's minimum pan angle" name="MNT2_ANGMIN_PAN" documentation="Mount2's minimum physical pan (yaw) angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's maximum pan angle" name="MNT2_ANGMAX_PAN" documentation="MOunt2's maximum physical pan (yaw) angular position" user="Standard">
-<field name="Range">-18000 17999</field>
-<field name="Increment">1</field>
-<field name="Units">Centi-Degrees</field>
-</param>
-<param humanName="Mount2's Roll stabilization lead time" name="MNT2_LEAD_RLL" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="Mount2's Pitch stabilization lead time" name="MNT2_LEAD_PTCH" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
-<field name="Range">0.0 0.2</field>
-<field name="Increment">.005</field>
-<field name="Units">Seconds</field>
-</param>
-<param humanName="Mount2 Type" name="MNT2_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
-<values>
-<value code="0">None</value>
-<value code=" 1">Servo</value>
-<value code=" 2">3DR Solo</value>
-<value code=" 3">Alexmos Serial</value>
-<value code=" 4">SToRM32 MAVLink</value>
-<value code=" 5">SToRM32 Serial</value>
-</values>
-</param>
-</parameters>
-<parameters name="LOG">
-<param humanName="DataFlash Backend Storage type" name="LOG_BACKEND_TYPE" documentation="0 for None, 1 for File, 2 for dataflash mavlink, 3 for both file and dataflash" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">File</value>
-<value code="2">MAVLink</value>
-<value code="3">BothFileAndMAVLink</value>
-</values>
-</param>
-<param humanName="Maximum DataFlash File Backend buffer size (in kilobytes)" name="LOG_FILE_BUFSIZE" documentation='The DataFlash_File backend uses a buffer to store data before writing to the block device.  Raising this value may reduce "gaps" in your SD card logging.  This buffer size may be reduced depending on available memory.  PixHawk requires at least 4 kilobytes.  Maximum value available here is 64 kilobytes.' user="Standard">
-</param>
-</parameters>
-<parameters name="BATT">
-<param humanName="Battery monitoring" name="BATT_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="3">Analog Voltage Only</value>
-<value code="4">Analog Voltage and Current</value>
-<value code="5">SMBus</value>
-<value code="6">Bebop</value>
-</values>
-</param>
-<param humanName="Battery Voltage sensing pin" name="BATT_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100. On the Pixhawk powered from the PM connector it should be set to 2." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 0">A0</value>
-<value code=" 1">A1</value>
-<value code=" 2">Pixhawk</value>
-<value code=" 13">A13</value>
-<value code=" 100">PX4</value>
-</values>
-</param>
-<param humanName="Battery Current sensing pin" name="BATT_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 1">A1</value>
-<value code=" 2">A2</value>
-<value code=" 3">Pixhawk</value>
-<value code=" 12">A12</value>
-<value code=" 101">PX4</value>
-</values>
-</param>
-<param humanName="Voltage Multiplier" name="BATT_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1." user="Advanced">
-</param>
-<param humanName="Amps per volt" name="BATT_AMP_PERVOLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
-<field name="Units">Amps/Volt</field>
-</param>
-<param humanName="AMP offset" name="BATT_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
-<field name="Units">Volts</field>
-</param>
-<param humanName="Battery capacity" name="BATT_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
-</param>
-<param humanName="Maximum allowed power (Watts)" name="BATT_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
-<field name="Increment">1</field>
-<field name="Units">Watts</field>
-</param>
-<param humanName="Battery monitoring" name="BATT2_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="3">Analog Voltage Only</value>
-<value code="4">Analog Voltage and Current</value>
-<value code="5">SMBus</value>
-<value code="6">Bebop</value>
-</values>
-</param>
-<param humanName="Battery Voltage sensing pin" name="BATT2_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100. On the Pixhawk powered from the PM connector it should be set to 2." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 0">A0</value>
-<value code=" 1">A1</value>
-<value code=" 2">Pixhawk</value>
-<value code=" 13">A13</value>
-<value code=" 100">PX4</value>
-</values>
-</param>
-<param humanName="Battery Current sensing pin" name="BATT2_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3." user="Standard">
-<values>
-<value code="-1">Disabled</value>
-<value code=" 1">A1</value>
-<value code=" 2">A2</value>
-<value code=" 3">Pixhawk</value>
-<value code=" 12">A12</value>
-<value code=" 101">PX4</value>
-</values>
-</param>
-<param humanName="Voltage Multiplier" name="BATT2_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1." user="Advanced">
-</param>
-<param humanName="Amps per volt" name="BATT2_AMP_PERVOL" documentation="Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
-<field name="Units">Amps/Volt</field>
-</param>
-<param humanName="AMP offset" name="BATT2_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
-<field name="Units">Volts</field>
-</param>
-<param humanName="Battery capacity" name="BATT2_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
-<field name="Increment">50</field>
-<field name="Units">mAh</field>
-</param>
-<param humanName="Maximum allowed current" name="BATT2_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
-<field name="Increment">1</field>
-<field name="Units">Amps</field>
-</param>
-</parameters>
-<parameters name="BRD_">
-<param humanName="Auxillary pin config" name="BRD_PWM_COUNT" documentation="Control assigning of FMU pins to PWM output, timer capture and GPIO. All unassigned pins can be used for GPIO">
-<values>
-<value code="0">No PWMs</value>
-<value code="2">Two PWMs</value>
-<value code="4">Four PWMs</value>
-<value code="6">Six PWMs</value>
-<value code="7">Three PWMs and One Capture</value>
-</values>
-</param>
-<param humanName="Serial 1 flow control" name="BRD_SER1_RTSCTS" documentation="Enable flow control on serial 1 (telemetry 1) on Pixhawk. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled.">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code="2">Auto</value>
-</values>
-</param>
-<param humanName="Serial 2 flow control" name="BRD_SER2_RTSCTS" documentation="Enable flow control on serial 2 (telemetry 2) on Pixhawk and PX4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-<value code="2">Auto</value>
-</values>
-</param>
-<param humanName=" Enable use of safety arming switch" name="BRD_SAFETYENABLE" documentation="Disabling this option will disable the use of the safety switch on PX4 for arming. Use of the safety switch is highly recommended, so you should leave this option set to 1 except in unusual circumstances.">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName=" SBUS output rate" name="BRD_SBUS_OUT" documentation="This sets the SBUS output frame rate in Hz">
-<values>
-<value code="0">Disabled</value>
-<value code="1">50Hz</value>
-<value code="2">75Hz</value>
-<value code="3">100Hz</value>
-<value code="4">150Hz</value>
-<value code="5">200Hz</value>
-<value code="6">250Hz</value>
-<value code="7">300Hz</value>
-</values>
-</param>
-<param humanName="User-defined serial number" name="BRD_SERIAL_NUM" documentation="User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot" user="Standard">
-<field name="Range">-32767 32768</field>
-</param>
-<param humanName=" Enable use of UAVCAN devices" name="BRD_CAN_ENABLE" documentation="Enabling this option on a Pixhawk enables UAVCAN devices. Note that this uses about 25k of memory">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-</parameters>
-<parameters name="AFS_">
-<param humanName="Manual Pin" name="AFS_MAN_PIN" documentation="This sets a digital output pin to set high when in manual mode" user="Advanced">
-</param>
-<param humanName="Heartbeat Pin" name="AFS_HB_PIN" documentation="This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination." user="Advanced">
-</param>
-<param humanName="Comms Waypoint" name="AFS_WP_COMMS" documentation="Waypoint number to navigate to on comms loss" user="Advanced">
-</param>
-<param humanName="GPS Loss Waypoint" name="AFS_GPS_LOSS" documentation="Waypoint number to navigate to on GPS lock loss" user="Advanced">
-</param>
-<param humanName="Force Terminate" name="AFS_TERMINATE" documentation="Can be set in flight to force termination of the heartbeat signal" user="Advanced">
-</param>
-<param humanName="Terminate action" name="AFS_TERM_ACTION" documentation="This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup APM to handle it here. If set to 0 (which is the default) then no extra action is taken. If set to the magic value 42 then the plane will deliberately crash itself by setting maximum throws on all surfaces, and zero throttle" user="Advanced">
-</param>
-<param humanName="Terminate Pin" name="AFS_TERM_PIN" documentation="This sets a digital output pin to set high on flight termination" user="Advanced">
-</param>
-<param humanName="AMSL limit" name="AFS_AMSL_LIMIT" documentation="This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit." user="Advanced">
-<field name="Units">meters</field>
-</param>
-<param humanName="Error margin for GPS based AMSL limit" name="AFS_AMSL_ERR_GPS" documentation="This sets margin for error in GPS derived altitude limit. This error margin is only used if the barometer has failed. If the barometer fails then the GPS will be used to enforce the AMSL_LIMIT, but this margin will be subtracted from the AMSL_LIMIT first, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached. OBC users should set this to comply with their D2 safety case. A value of -1 will mean that barometer failure will lead to immediate termination." user="Advanced">
-<field name="Units">meters</field>
-</param>
-<param humanName="QNH pressure" name="AFS_QNH_PRESSURE" documentation="This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit. A value of zero disables the altitude limit." user="Advanced">
-<field name="Units">millibar</field>
-</param>
-<param humanName="Enable Advanced Failsafe" name="AFS_ENABLE" documentation="This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect" user="Advanced">
-</param>
-<param humanName="RC failure time" name="AFS_RC_FAIL_MS" documentation="This is the time in milliseconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be 1500. Use 0 to disable." user="Advanced">
-</param>
-<param humanName="Maximum number of GPS loss events" name="AFS_MAX_GPS_LOSS" documentation="Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events." user="Advanced">
-</param>
-<param humanName="Maximum number of comms loss events" name="AFS_MAX_COM_LOSS" documentation="Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events." user="Advanced">
-</param>
-</parameters>
-<parameters name="FLOW">
-<param humanName="Optical flow enable/disable" name="FLOW_ENABLE" documentation="Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="X axis optical flow scale factor correction" name="FLOW_FXSCALER" documentation="This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor." user="Standard">
-<field name="Range">-200 +200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Y axis optical flow scale factor correction" name="FLOW_FYSCALER" documentation="This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor." user="Standard">
-<field name="Range">-200 +200</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Flow sensor yaw alignment" name="FLOW_ORIENT_YAW" documentation="Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle." user="Standard">
-<field name="Range">-18000 +18000</field>
-<field name="Increment">1</field>
-</param>
-</parameters>
-<parameters name="MIS_">
-<param humanName="Total mission commands" name="MIS_TOTAL" documentation="The number of mission mission items that has been loaded by the ground station. Do not change this manually." user="Advanced">
-<field name="Range">0 32766</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Mission Restart when entering Auto mode" name="MIS_RESTART" documentation="Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)">
-<values>
-<value code="0">Resume Mission</value>
-<value code=" 1">Restart Mission</value>
-</values>
-</param>
-</parameters>
-<parameters name="RALLY_">
-<param humanName="Rally Total" name="RALLY_TOTAL" documentation="Number of rally points currently loaded" user="Advanced">
-</param>
-<param humanName="Rally Limit" name="RALLY_LIMIT_KM" documentation="Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used." user="Advanced">
-<field name="Increment">0.1</field>
-<field name="Units">kilometers</field>
-</param>
-<param humanName="Rally Include Home" name="RALLY_INCL_HOME" documentation="Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL" user="Standard">
-<values>
-<value code="0">DoNotIncludeHome</value>
-<value code="1">IncludeHome</value>
-</values>
-</param>
-</parameters>
-<parameters name="EKF_">
-<param humanName="Enable EKF1" name="EKF_ENABLE" documentation="This enables EKF1 to be disabled when using alternative algorithms. When disabling it, the alternate EKF2 estimator must be enabled by setting EK2_ENABLED = 1 and flight control algorithms must be set to use the alternative estimator by setting AHRS_EKF_TYPE = 2." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="GPS horizontal velocity measurement noise scaler" name="EKF_VELNE_NOISE" documentation="This is the scaler that is applied to the speed accuracy reported by the receiver to estimate the horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then a speed acuracy of 1 is assumed. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.05 5.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="GPS vertical velocity measurement noise scaler" name="EKF_VELD_NOISE" documentation="This is the scaler that is applied to the speed accuracy reported by the receiver to estimate the vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then a speed acuracy of 1 is assumed. Increasing it reduces the weighting on this measurement." user="Advanced">
-<field name="Range">0.05 5.0</field>
-<field name="Increment">0.05</field>
-</param>
-<param humanName="GPS horizontal position measurement noise (m)" name="EKF_POSNE_NOISE" documentation="This is the RMS value of noise in the GPS horizontal position measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Altitude measurement noise (m)" name="EKF_ALT_NOISE" documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Magnetometer measurement noise (Gauss)" name="EKF_MAG_NOISE" documentation="This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Equivalent airspeed measurement noise (m/s)" name="EKF_EAS_NOISE" documentation="This is the RMS value of noise in equivalent airspeed measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.5 5.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Wind velocity process noise (m/s^2)" name="EKF_WIND_PNOISE" documentation="This noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier." user="Advanced">
-<field name="Range">0.01 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Height rate to wind procss noise scaler" name="EKF_WIND_PSCALE" documentation="Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind speed estimation noiser." user="Advanced">
-<field name="Range">0.0 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Rate gyro noise (rad/s)" name="EKF_GYRO_PNOISE" documentation="This noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more." user="Advanced">
-<field name="Range">0.001 0.05</field>
-<field name="Increment">0.001</field>
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Accelerometer noise (m/s^2)" name="EKF_ACC_PNOISE" documentation="This noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more." user="Advanced">
-<field name="Range">0.05 1.0</field>
-<field name="Increment">0.01</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Rate gyro bias process noise (rad/s)" name="EKF_GBIAS_PNOISE" documentation="This noise controls the growth of gyro bias state error estimates. Increasing it makes rate gyro bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.0000001 0.00001</field>
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Accelerometer bias process noise (m/s^2)" name="EKF_ABIAS_PNOISE" documentation="This noise controls the growth of the vertical acelerometer bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.00001 0.001</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Earth magnetic field process noise (gauss/s)" name="EKF_MAGE_PNOISE" documentation="This noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.0001 0.01</field>
-<field name="Units">gauss/s</field>
-</param>
-<param humanName="Body magnetic field process noise (gauss/s)" name="EKF_MAGB_PNOISE" documentation="This noise controls the growth of body magnetic field state error estimates. Increasing it makes compass offset estimation faster and noisier." user="Advanced">
-<field name="Range">0.0001 0.01</field>
-<field name="Units">gauss/s</field>
-</param>
-<param humanName="GPS velocity measurement delay (msec)" name="EKF_VEL_DELAY" documentation="This is the number of msec that the GPS velocity measurements lag behind the inertial measurements." user="Advanced">
-<field name="Range">0 500</field>
-<field name="Increment">10</field>
-<field name="Units">milliseconds</field>
-</param>
-<param humanName="GPS position measurement delay (msec)" name="EKF_POS_DELAY" documentation="This is the number of msec that the GPS position measurements lag behind the inertial measurements." user="Advanced">
-<field name="Range">0 500</field>
-<field name="Increment">10</field>
-<field name="Units">milliseconds</field>
-</param>
-<param humanName="GPS mode control" name="EKF_GPS_TYPE" documentation="This parameter controls use of GPS measurements : 0 = use 3D velocity &amp; 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = use no GPS (optical flow will be used if available)" user="Advanced">
-<values>
-<value code="0">GPS 3D Vel and 2D Pos</value>
-<value code=" 1">GPS 2D vel and 2D pos</value>
-<value code=" 2">GPS 2D pos</value>
-<value code=" 3">No GPS use optical flow</value>
-</values>
-</param>
-<param humanName="GPS velocity measurement gate size" name="EKF_VEL_GATE" documentation="This parameter sets the number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="GPS position measurement gate size" name="EKF_POS_GATE" documentation="This parameter sets the number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Height measurement gate size" name="EKF_HGT_GATE" documentation="This parameter sets the number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Magnetometer measurement gate size" name="EKF_MAG_GATE" documentation="This parameter sets the number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Airspeed measurement gate size" name="EKF_EAS_GATE" documentation="This parameter sets the number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Magnetometer calibration mode" name="EKF_MAG_CAL" documentation="EKF_MAG_CAL = 0 enables calibration based on flying speed and altitude and is the default setting for Plane users. EKF_MAG_CAL = 1 enables calibration based on manoeuvre level and is the default setting for Copter and Rover users. EKF_MAG_CAL = 2 prevents magnetometer calibration regardless of flight condition and is recommended if in-flight magnetometer calibration is unreliable." user="Advanced">
-<values>
-<value code="0">Speed and Height</value>
-<value code="1">Acceleration</value>
-<value code="2">Never</value>
-<value code="3">Always</value>
-</values>
-</param>
-<param humanName="GPS glitch accel gate size (cm/s^2)" name="EKF_GLITCH_ACCEL" documentation="This parameter controls the maximum amount of difference in horizontal acceleration between the value predicted by the filter and the value measured by the GPS before the GPS position data is rejected. If this value is set too low, then valid GPS data will be regularly discarded, and the position accuracy will degrade. If this parameter is set too high, then large GPS glitches will cause large rapid changes in position." user="Advanced">
-<field name="Range">100 500</field>
-<field name="Increment">50</field>
-</param>
-<param humanName="GPS glitch radius gate size (m)" name="EKF_GLITCH_RAD" documentation="This parameter controls the maximum amount of difference in horizontal position (in m) between the value predicted by the filter and the value measured by the GPS before the long term glitch protection logic is activated and the filter states are reset to the new GPS position. Position steps smaller than this value will be temporarily ignored, but will then be accepted and the filter will move to the new position. Position steps larger than this value will be ignored initially, but the filter will then apply an offset to the GPS position measurement." user="Advanced">
-<field name="Range">10 50</field>
-<field name="Increment">5</field>
-<field name="Units">meters</field>
-</param>
-<param humanName="Terrain Gradient % RMS" name="EKF_GND_GRADIENT" documentation="This parameter sets the RMS terrain gradient percentage assumed by the terrain height estimation. Terrain height can be estimated using optical flow and/or range finder sensor data if fitted. Smaller values cause the terrain height estimate to be slower to respond to changes in measurement. Larger values casue the terrain height estimate to be faster to respond, but also more noisy. Generally this value can be reduced if operating over very flat terrain and increased if operating over uneven terrain." user="Advanced">
-<field name="Range">1 50</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Optical flow measurement noise (rad/s)" name="EKF_FLOW_NOISE" documentation="This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.05 1.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Optical Flow measurement gate size" name="EKF_FLOW_GATE" documentation="This parameter sets the number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Optical Flow measurement delay (msec)" name="EKF_FLOW_DELAY" documentation="This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
-<field name="Range">0 500</field>
-<field name="Increment">10</field>
-<field name="Units">milliseconds</field>
-</param>
-<param humanName="Range finder measurement gate size" name="EKF_RNG_GATE" documentation="This parameter sets the number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-</param>
-<param humanName="Maximum valid optical flow rate" name="EKF_MAX_FLOW" documentation="This parameter sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter" user="Advanced">
-<field name="Range">1.0 4.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Fallback strictness" name="EKF_FALLBACK" documentation="This parameter controls the conditions necessary to trigger a fallback to DCM and INAV. A value of 1 will cause fallbacks to occur on loss of GPS and other conditions. A value of 0 will trust the EKF more." user="Advanced">
-<values>
-<value code="0">Trust EKF more</value>
-<value code=" 1">Trust DCM more</value>
-</values>
-</param>
-<param humanName="Primary height source" name="EKF_ALT_SOURCE" documentation="This parameter controls which height sensor is used by the EKF during optical flow navigation (when EKF_GPS_TYPE = 3). A value of will 0 cause it to always use baro altitude. A value of 1 will casue it to use range finder if available." user="Advanced">
-<values>
-<value code="0">Use Baro</value>
-<value code=" 1">Use Range Finder</value>
-</values>
-</param>
-<param humanName="GPS preflight check" name="EKF_GPS_CHECK" documentation="1 byte bitmap of GPS preflight checks to perform. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat." user="Advanced">
-<field name="Bitmask">0:NSats,1:HDoP,2:speed error,3:horiz pos error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed</field>
-</param>
-</parameters>
-<parameters name="EK2_">
-<param humanName="Enable EKF2" name="EK2_ENABLE" documentation="This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="GPS mode control" name="EK2_GPS_TYPE" documentation="This controls use of GPS measurements : 0 = use 3D velocity &amp; 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = use no GPS (optical flow will be used if available)" user="Advanced">
-<values>
-<value code="0">GPS 3D Vel and 2D Pos</value>
-<value code=" 1">GPS 2D vel and 2D pos</value>
-<value code=" 2">GPS 2D pos</value>
-<value code=" 3">No GPS use optical flow</value>
-</values>
-</param>
-<param humanName="GPS horizontal velocity measurement noise (m/s)" name="EK2_VELNE_NOISE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements." user="Advanced">
-<field name="Range">0.05 5.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="GPS vertical velocity measurement noise (m/s)" name="EK2_VELD_NOISE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements." user="Advanced">
-<field name="Range">0.05 5.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="GPS velocity innovation gate size" name="EK2_VEL_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="GPS horizontal position measurement noise (m)" name="EK2_POSNE_NOISE" documentation="This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m</field>
-</param>
-<param humanName="GPS position measurement gate size" name="EK2_POS_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="GPS glitch radius gate size (m)" name="EK2_GLITCH_RAD" documentation="This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position." user="Advanced">
-<field name="Range">10 100</field>
-<field name="Increment">5</field>
-<field name="Units">m</field>
-</param>
-<param humanName="GPS measurement delay (msec)" name="EK2_GPS_DELAY" documentation="This is the number of msec that the GPS measurements lag behind the inertial measurements." user="Advanced">
-<field name="Range">0 250</field>
-<field name="Increment">10</field>
-<field name="Units">msec</field>
-</param>
-<param humanName="Primary height source" name="EK2_ALT_SOURCE" documentation="This parameter controls which height sensor is used by the EKF. If the selected optionn cannot be used, it will default to Baro as the primary height source. Setting 0 will use the baro altitude at all times. Setting 1 uses the range finder and is only available in combination with optical flow navigation (EK2_GPS_TYPE = 3). Setting 2 uses GPS." user="Advanced">
-<values>
-<value code="0">Use Baro</value>
-<value code=" 1">Use Range Finder</value>
-<value code=" 2">Use GPS</value>
-</values>
-</param>
-<param humanName="Altitude measurement noise (m)" name="EK2_ALT_NOISE" documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m</field>
-</param>
-<param humanName="Height measurement gate size" name="EK2_HGT_GATE" documentation="This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Height measurement delay (msec)" name="EK2_HGT_DELAY" documentation="This is the number of msec that the Height measurements lag behind the inertial measurements." user="Advanced">
-<field name="Range">0 250</field>
-<field name="Increment">10</field>
-<field name="Units">msec</field>
-</param>
-<param humanName="Magnetometer measurement noise (Gauss)" name="EK2_MAG_NOISE" documentation="This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
-<field name="Units">gauss</field>
-</param>
-<param humanName="Magnetometer calibration mode" name="EK2_MAG_CAL" documentation="EKF_MAG_CAL = 0 enables calibration when airborne and is the default setting for Plane users. EKF_MAG_CAL = 1 enables calibration when manoeuvreing. EKF_MAG_CAL = 2 prevents magnetometer calibration regardless of flight condition, is recommended if the external magnetic field is varying and is the default for rovers. EKF_MAG_CAL = 3 enables calibration when the first in-air field and yaw reset has completed and is the default for copters. EKF_MAG_CAL = 4 enables calibration all the time. This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states. This model is only suitable for use when the external magnetic field environment is stable." user="Advanced">
-<values>
-<value code="0">When flying</value>
-<value code="1">When manoeuvring</value>
-<value code="2">Never</value>
-<value code="3">After first climb yaw reset</value>
-<value code="4">Always</value>
-</values>
-</param>
-<param humanName="Magnetometer measurement gate size" name="EK2_MAG_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Equivalent airspeed measurement noise (m/s)" name="EK2_EAS_NOISE" documentation="This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements." user="Advanced">
-<field name="Range">0.5 5.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s</field>
-</param>
-<param humanName="Airspeed measurement gate size" name="EK2_EAS_GATE" documentation="This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Range finder measurement noise (m)" name="EK2_RNG_NOISE" documentation="This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
-<field name="Range">0.1 10.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m</field>
-</param>
-<param humanName="Range finder measurement gate size" name="EK2_RNG_GATE" documentation="This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Maximum valid optical flow rate" name="EK2_MAX_FLOW" documentation="This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter" user="Advanced">
-<field name="Range">1.0 4.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Optical flow measurement noise (rad/s)" name="EK2_FLOW_NOISE" documentation="This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
-<field name="Range">0.05 1.0</field>
-<field name="Increment">0.05</field>
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Optical Flow measurement gate size" name="EK2_FLOW_GATE" documentation="This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
-<field name="Range">100 1000</field>
-<field name="Increment">25</field>
-</param>
-<param humanName="Optical Flow measurement delay (msec)" name="EK2_FLOW_DELAY" documentation="This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
-<field name="Range">0 250</field>
-<field name="Increment">10</field>
-<field name="Units">msec</field>
-</param>
-<param humanName="Rate gyro noise (rad/s)" name="EK2_GYRO_PNOISE" documentation="This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more." user="Advanced">
-<field name="Range">0.0001 0.01</field>
-<field name="Increment">0.0001</field>
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Accelerometer noise (m/s^2)" name="EK2_ACC_PNOISE" documentation="This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more." user="Advanced">
-<field name="Range">0.01 1.0</field>
-<field name="Increment">0.01</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Rate gyro bias process noise (rad/s)" name="EK2_GBIAS_PNOISE" documentation="This state  process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.0000001 0.00001</field>
-<field name="Units">rad/s</field>
-</param>
-<param humanName="Rate gyro scale factor process noise (1/s)" name="EK2_GSCL_PNOISE" documentation="This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier." user="Advanced">
-<field name="Range">0.0000001 0.00001</field>
-<field name="Units">1/s</field>
-</param>
-<param humanName="Accelerometer bias process noise (m/s^2)" name="EK2_ABIAS_PNOISE" documentation="This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.00001 0.001</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Magnetic field process noise (gauss/s)" name="EK2_MAG_PNOISE" documentation="This state process noise controls the growth of magnetic field state error estimates. Increasing it makes magnetic field bias estimation faster and noisier." user="Advanced">
-<field name="Range">0.0001 0.01</field>
-<field name="Units">gauss/s</field>
-</param>
-<param humanName="Wind velocity process noise (m/s^2)" name="EK2_WIND_PNOISE" documentation="This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier." user="Advanced">
-<field name="Range">0.01 1.0</field>
-<field name="Increment">0.1</field>
-<field name="Units">m/s/s</field>
-</param>
-<param humanName="Height rate to wind procss noise scaler" name="EK2_WIND_PSCALE" documentation="This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser." user="Advanced">
-<field name="Range">0.0 1.0</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="GPS preflight check" name="EK2_GPS_CHECK" documentation="This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat." user="Advanced">
-<field name="Bitmask">0:NSats,1:HDoP,2:speed error,3:horiz pos error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed</field>
-</param>
-<param humanName="Bitmask of active IMUs" name="EK2_IMU_MASK" documentation="1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start." user="Advanced">
-<field name="Range">1 127</field>
-</param>
-<param humanName="GPS accuracy check scaler (%)" name="EK2_CHECK_SCALE" documentation="This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error." user="Advanced">
-<field name="Range">50 200</field>
-<field name="Units">%</field>
-</param>
-<param humanName="Non-GPS operation position uncertainty (m)" name="EK2_NOAID_NOISE" documentation="This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors." user="Advanced">
-<field name="Range">0.5 50.0</field>
-<field name="Units">m/s</field>
-</param>
-</parameters>
-<parameters name="RPM">
-<param humanName="RPM type" name="RPM_TYPE" documentation="What type of RPM sensor is connected">
-<values>
-<value code="0">None</value>
-<value code="1">PX4-PWM</value>
-</values>
-</param>
-<param humanName="RPM scaling" name="RPM_SCALING" documentation="Scaling factor between sensor reading and RPM.">
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Maximum RPM" name="RPM_MAX" documentation="Maximum RPM to report">
-<field name="Increment">1</field>
-</param>
-<param humanName="Minimum RPM" name="RPM_MIN" documentation="Minimum RPM to report">
-<field name="Increment">1</field>
-</param>
-<param humanName="Minimum Quality" name="RPM_MIN_QUAL" documentation="Minimum data quality to be used">
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Second RPM type" name="RPM2_TYPE" documentation="What type of RPM sensor is connected">
-<values>
-<value code="0">None</value>
-<value code="1">PX4-PWM</value>
-</values>
-</param>
-<param humanName="RPM scaling" name="RPM2_SCALING" documentation="Scaling factor between sensor reading and RPM.">
-<field name="Increment">0.001</field>
-</param>
-</parameters>
-<parameters name="RSSI_">
-<param humanName="RSSI Type" name="RSSI_TYPE" documentation="Radio Receiver RSSI type. If your radio receiver supports RSSI of some kind, set it here, then set its associated RSSI_XXXXX parameters, if any." user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">AnalogPin</value>
-<value code="2">RCChannelPwmValue</value>
-</values>
-</param>
-<param humanName="Receiver RSSI analog sensing pin" name="RSSI_ANA_PIN" documentation="This selects an analog pin where the receiver RSSI voltage will be read." user="Standard">
-<values>
-<value code="0">APM2 A0</value>
-<value code="1">APM2 A1</value>
-<value code="13">APM2 A13</value>
-<value code="11">Pixracer</value>
-<value code="13">Pixhawk ADC4</value>
-<value code="14">Pixhawk ADC3</value>
-<value code="15"> Pixhawk ADC6</value>
-<value code="103">Pixhawk SBUS</value>
-</values>
-</param>
-<param humanName="Receiver RSSI voltage low" name="RSSI_PIN_LOW" documentation="This is the voltage value that the radio receiver will put on the RSSI_ANA_PIN when the signal strength is the weakest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn't necessarily a lower value than RSSI_PIN_HIGH. " user="Standard">
-<field name="Range">0 5.0</field>
-<field name="Increment">0.01</field>
-<field name="Units">Volt</field>
-</param>
-<param humanName="Receiver RSSI voltage high" name="RSSI_PIN_HIGH" documentation="This is the voltage value that the radio receiver will put on the RSSI_ANA_PIN when the signal strength is the strongest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn't necessarily a higher value than RSSI_PIN_LOW. " user="Standard">
-<field name="Range">0 5.0</field>
-<field name="Increment">0.01</field>
-<field name="Units">Volt</field>
-</param>
-<param humanName="Receiver RSSI channel number" name="RSSI_CHANNEL" documentation="The channel number where RSSI will be output by the radio receiver (5 and above)." user="Standard">
-<field name="Units"></field>
-</param>
-<param humanName="Receiver RSSI PWM low value" name="RSSI_CHAN_LOW" documentation="This is the PWM value that the radio receiver will put on the RSSI_CHANNEL when the signal strength is the weakest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn't necessarily a lower value than RSSI_CHAN_HIGH. " user="Standard">
-<field name="Range">0 2000</field>
-<field name="Units">Microseconds</field>
-</param>
-<param humanName="Receiver RSSI PWM high value" name="RSSI_CHAN_HIGH" documentation="This is the PWM value that the radio receiver will put on the RSSI_CHANNEL when the signal strength is the strongest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn't necessarily a higher value than RSSI_CHAN_LOW. " user="Standard">
-<field name="Range">0 2000</field>
-<field name="Units">Microseconds</field>
-</param>
-</parameters>
-<parameters name="NTF_">
-<param humanName="LED Brightness" name="NTF_LED_BRIGHT" documentation="Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting." user="Advanced">
-<values>
-<value code="0">Off</value>
-<value code="1">Low</value>
-<value code="2">Medium</value>
-<value code="3">High</value>
-</values>
-</param>
-<param humanName="Buzzer enable" name="NTF_BUZZ_ENABLE" documentation="Enable or disable the buzzer. Only for Linux and PX4 based boards." user="Advanced">
-<values>
-<value code="0">Disable</value>
-<value code="1">Enable</value>
-</values>
-</param>
-</parameters>
-<parameters name="EPM_">
-<param humanName="EPM Enable/Disable" name="EPM_ENABLE" documentation="EPM enable/disable" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled</value>
-</values>
-</param>
-<param humanName="EPM Grab PWM" name="EPM_GRAB" documentation="PWM value sent to EPM to initiate grabbing the cargo" user="Advanced">
-<field name="Range">1000 2000</field>
-</param>
-<param humanName="EPM Release PWM" name="EPM_RELEASE" documentation="PWM value sent to EPM to release the cargo" user="Advanced">
-<field name="Range">1000 2000</field>
-</param>
-<param humanName="EPM Neutral PWM" name="EPM_NEUTRAL" documentation="PWM value sent to EPM when not grabbing or releasing" user="Advanced">
-<field name="Range">1000 2000</field>
-</param>
-<param humanName="EPM Regrab interval" name="EPM_REGRAB" documentation="Time in seconds that gripper will regrab the cargo to ensure grip has not weakend" user="Advanced">
-<values>
-<value code="0">Never</value>
-<value code=" 15">every 15 seconds</value>
-<value code=" 30">every 30 seconds</value>
-<value code=" 60">once per minute</value>
-</values>
-</param>
-</parameters>
-<parameters name="LGR_">
-<param humanName="Landing Gear Servo Retracted PWM Value" name="LGR_SERVO_RTRACT" documentation="Servo PWM value when landing gear is retracted" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-<param humanName="Landing Gear Servo Deployed PWM Value" name="LGR_SERVO_DEPLOY" documentation="Servo PWM value when landing gear is deployed" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Increment">1</field>
-<field name="Units">pwm</field>
-</param>
-</parameters>
-<parameters name="IM_">
-<param humanName="Stabilize Mode Collective Point 1" name="IM_STAB_COL_1" documentation="Helicopter's minimum collective pitch setting at zero throttle input in Stabilize mode" user="Standard">
-<field name="Range">0 500</field>
-<field name="Increment">1</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Stabilize Mode Collective Point 2" name="IM_STAB_COL_2" documentation="Helicopter's collective pitch setting at mid-low throttle input in Stabilize mode" user="Standard">
-<field name="Range">0 500</field>
-<field name="Increment">1</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Stabilize Mode Collective Point 3" name="IM_STAB_COL_3" documentation="Helicopter's collective pitch setting at mid-high throttle input in Stabilize mode" user="Standard">
-<field name="Range">500 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Stabilize Mode Collective Point 4" name="IM_STAB_COL_4" documentation="Helicopter's maximum collective pitch setting at full throttle input in Stabilize mode" user="Standard">
-<field name="Range">500 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Percent*10</field>
-</param>
-<param humanName="Acro Mode Collective Expo" name="IM_ACRO_COL_EXP" documentation="Used to soften collective pitch inputs near center point in Acro mode." user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code="0.1">Very Low</value>
-<value code="0.2">Low</value>
-<value code="0.3">Medium</value>
-<value code="0.4">High</value>
-<value code="0.5">Very High</value>
-</values>
-</param>
-</parameters>
-<parameters name="WPNAV_">
-<param humanName="Waypoint Horizontal Speed Target" name="WPNAV_SPEED" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission" user="Standard">
-<field name="Range">0 2000</field>
-<field name="Increment">50</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Waypoint Radius" name="WPNAV_RADIUS" documentation="Defines the distance from a waypoint, that when crossed indicates the wp has been hit." user="Standard">
-<field name="Range">100 1000</field>
-<field name="Increment">1</field>
-<field name="Units">cm</field>
-</param>
-<param humanName="Waypoint Climb Speed Target" name="WPNAV_SPEED_UP" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">50</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Waypoint Descent Speed Target" name="WPNAV_SPEED_DN" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission" user="Standard">
-<field name="Range">0 500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Loiter Horizontal Maximum Speed" name="WPNAV_LOIT_SPEED" documentation="Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode" user="Standard">
-<field name="Range">0 2000</field>
-<field name="Increment">50</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Waypoint Acceleration " name="WPNAV_ACCEL" documentation="Defines the horizontal acceleration in cm/s/s used during missions" user="Standard">
-<field name="Range">50 500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Waypoint Vertical Acceleration" name="WPNAV_ACCEL_Z" documentation="Defines the vertical acceleration in cm/s/s used during missions" user="Standard">
-<field name="Range">50 500</field>
-<field name="Increment">10</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Loiter maximum jerk" name="WPNAV_LOIT_JERK" documentation="Loiter maximum jerk in cm/s/s/s" user="Advanced">
-<field name="Range">500 5000</field>
-<field name="Increment">1</field>
-<field name="Units">cm/s/s/s</field>
-</param>
-<param humanName="Loiter maximum acceleration" name="WPNAV_LOIT_MAXA" documentation="Loiter maximum acceleration in cm/s/s.  Higher values cause the copter to accelerate and stop more quickly." user="Advanced">
-<field name="Range">100 981</field>
-<field name="Increment">1</field>
-<field name="Units">cm/s/s</field>
-</param>
-<param humanName="Loiter minimum acceleration" name="WPNAV_LOIT_MINA" documentation="Loiter minimum acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered, but cause a larger jerk when the copter stops." user="Advanced">
-<field name="Range">100 981</field>
-<field name="Increment">1</field>
-<field name="Units">cm/s/s</field>
-</param>
-</parameters>
-<parameters name="CIRCLE_">
-<param humanName="Circle Radius" name="CIRCLE_RADIUS" documentation="Defines the radius of the circle the vehicle will fly when in Circle flight mode" user="Standard">
-<field name="Range">0 10000</field>
-<field name="Increment">100</field>
-<field name="Units">cm</field>
-</param>
-<param humanName="Circle rate" name="CIRCLE_RATE" documentation="Circle mode's turn rate in deg/sec.  Positive to turn clockwise, negative for counter clockwise" user="Standard">
-<field name="Range">-90 90</field>
-<field name="Increment">1</field>
-<field name="Units">deg/s</field>
-</param>
-</parameters>
-<parameters name="ATC_">
-<param humanName="Roll axis rate controller P gain" name="ATC_RAT_RLL_P" documentation="Roll axis rate controller P gain.  Converts the difference between desired roll rate and actual roll rate into a motor speed output" user="Standard">
-<field name="Range">0.08 0.30</field>
-<field name="Increment">0.005</field>
-</param>
-<param humanName="Roll axis rate controller I gain" name="ATC_RAT_RLL_I" documentation="Roll axis rate controller I gain.  Corrects long-term difference in desired roll rate vs actual roll rate" user="Standard">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Roll axis rate controller I gain maximum" name="ATC_RAT_RLL_IMAX" documentation="Roll axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Roll axis rate controller D gain" name="ATC_RAT_RLL_D" documentation="Roll axis rate controller D gain.  Compensates for short-term change in desired roll rate vs actual roll rate" user="Standard">
-<field name="Range">0.0 0.02</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Roll axis rate conroller input frequency in Hz" name="ATC_RAT_RLL_FILT" documentation="Roll axis rate conroller input frequency in Hz">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Pitch axis rate controller P gain" name="ATC_RAT_PIT_P" documentation="Pitch axis rate controller P gain.  Converts the difference between desired pitch rate and actual pitch rate into a motor speed output" user="Standard">
-<field name="Range">0.08 0.30</field>
-<field name="Increment">0.005</field>
-</param>
-<param humanName="Pitch axis rate controller I gain" name="ATC_RAT_PIT_I" documentation="Pitch axis rate controller I gain.  Corrects long-term difference in desired pitch rate vs actual pitch rate" user="Standard">
-<field name="Range">0.01 0.5</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Pitch axis rate controller I gain maximum" name="ATC_RAT_PIT_IMAX" documentation="Pitch axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Pitch axis rate controller D gain" name="ATC_RAT_PIT_D" documentation="Pitch axis rate controller D gain.  Compensates for short-term change in desired pitch rate vs actual pitch rate" user="Standard">
-<field name="Range">0.0 0.02</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Pitch axis rate conroller input frequency in Hz" name="ATC_RAT_PIT_FILT" documentation="Pitch axis rate conroller input frequency in Hz">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-</param>
-<param humanName="Yaw axis rate controller P gain" name="ATC_RAT_YAW_P" documentation="Yaw axis rate controller P gain.  Converts the difference between desired yaw rate and actual yaw rate into a motor speed output" user="Standard">
-<field name="Range">0.10 0.50</field>
-<field name="Increment">0.005</field>
-</param>
-<param humanName="Yaw axis rate controller I gain" name="ATC_RAT_YAW_I" documentation="Yaw axis rate controller I gain.  Corrects long-term difference in desired yaw rate vs actual yaw rate" user="Standard">
-<field name="Range">0.010 0.05</field>
-<field name="Increment">0.01</field>
-</param>
-<param humanName="Yaw axis rate controller I gain maximum" name="ATC_RAT_YAW_IMAX" documentation="Yaw axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
-<field name="Range">0 1</field>
-<field name="Increment">0.01</field>
-<field name="Units">Percent</field>
-</param>
-<param humanName="Yaw axis rate controller D gain" name="ATC_RAT_YAW_D" documentation="Yaw axis rate controller D gain.  Compensates for short-term change in desired yaw rate vs actual yaw rate" user="Standard">
-<field name="Range">0.000 0.02</field>
-<field name="Increment">0.001</field>
-</param>
-<param humanName="Yaw axis rate conroller input frequency in Hz" name="ATC_RAT_YAW_FILT" documentation="Yaw axis rate conroller input frequency in Hz">
-<field name="Range">1 100</field>
-<field name="Increment">1</field>
-<field name="Units">Hz</field>
-</param>
-</parameters>
-<parameters name="POSCON_">
-<param humanName="XY Acceleration filter cutoff frequency" name="POSCON__ACC_XY_FILT" documentation="Lower values will slow the response of the navigation controller and reduce twitchiness" user="Advanced">
-<field name="Range">0.5 5</field>
-<field name="Increment">0.1</field>
-<field name="Units">Hz</field>
-</param>
-</parameters>
-<parameters name="SPRAY_">
-<param humanName="Sprayer enable/disable" name="SPRAY_ENABLE" documentation="Allows you to enable (1) or disable (0) the sprayer" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Pump speed" name="SPRAY_PUMP_RATE" documentation="Desired pump speed when travelling 1m/s expressed as a percentage" user="Standard">
-<field name="Range">0 100</field>
-<field name="Units">percentage</field>
-</param>
-<param humanName="Spinner rotation speed" name="SPRAY_SPINNER" documentation="Spinner's rotation speed in PWM (a higher rate will disperse the spray over a wider area horizontally)" user="Standard">
-<field name="Range">1000 2000</field>
-<field name="Units">ms</field>
-</param>
-<param humanName="Speed minimum" name="SPRAY_SPEED_MIN" documentation="Speed minimum at which we will begin spraying" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Units">cm/s</field>
-</param>
-<param humanName="Pump speed minimum" name="SPRAY_PUMP_MIN" documentation="Minimum pump speed expressed as a percentage" user="Standard">
-<field name="Range">0 100</field>
-<field name="Units">percentage</field>
-</param>
-</parameters>
-<parameters name="FENCE_">
-<param humanName="Fence enable/disable" name="FENCE_ENABLE" documentation="Allows you to enable (1) or disable (0) the fence functionality" user="Standard">
-<values>
-<value code="0">Disabled</value>
-<value code="1">Enabled</value>
-</values>
-</param>
-<param humanName="Fence Type" name="FENCE_TYPE" documentation="Enabled fence types held as bitmask" user="Standard">
-<values>
-<value code="0">None</value>
-<value code="1">Altitude</value>
-<value code="2">Circle</value>
-<value code="3">Altitude and Circle</value>
-</values>
-</param>
-<param humanName="Fence Action" name="FENCE_ACTION" documentation="What action should be taken when fence is breached" user="Standard">
-<values>
-<value code="0">Report Only</value>
-<value code="1">RTL or Land</value>
-</values>
-</param>
-<param humanName="Fence Maximum Altitude" name="FENCE_ALT_MAX" documentation="Maximum altitude allowed before geofence triggers" user="Standard">
-<field name="Range">10 1000</field>
-<field name="Increment">1</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Circular Fence Radius" name="FENCE_RADIUS" documentation="Circle fence radius which when breached will cause an RTL" user="Standard">
-<field name="Range">30 10000</field>
-<field name="Units">Meters</field>
-</param>
-<param humanName="Fence Margin" name="FENCE_MARGIN" documentation="Distance that autopilot's should maintain from the fence to avoid a breach" user="Standard">
-<field name="Range">1 10</field>
-<field name="Units">Meters</field>
-</param>
-</parameters>
-<parameters name="H_">
-<param humanName="Servo 1 Position" name="H_SV1_POS" documentation="Angular location of swash servo #1" user="Standard">
-<field name="Range">-180 180</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Servo 2 Position" name="H_SV2_POS" documentation="Angular location of swash servo #2" user="Standard">
-<field name="Range">-180 180</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Servo 3 Position" name="H_SV3_POS" documentation="Angular location of swash servo #3" user="Standard">
-<field name="Range">-180 180</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Tail Type" name="H_TAIL_TYPE" documentation="Tail type selection.  Simpler yaw controller used if external gyro is selected" user="Standard">
-<values>
-<value code="0">Servo only</value>
-<value code="1">Servo with ExtGyro</value>
-<value code="2">DirectDrive VarPitch</value>
-<value code="3">DirectDrive FixedPitch</value>
-</values>
-</param>
-<param humanName="Swash Type" name="H_SWASH_TYPE" documentation="Swash Type Setting - either 3-servo CCPM or H1 Mechanical Mixing" user="Standard">
-<values>
-<value code="0">3-Servo CCPM</value>
-<value code=" 1">H1 Mechanical Mixing</value>
-</values>
-</param>
-<param humanName="External Gyro Gain" name="H_GYR_GAIN" documentation="PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">PWM</field>
-</param>
-<param humanName="Swashplate Phase Angle Compensation" name="H_PHANG" documentation="Phase angle correction for rotor head.  If pitching the swash forward induces a roll, this can be correct the problem" user="Advanced">
-<field name="Range">-90 90</field>
-<field name="Increment">1</field>
-<field name="Units">Degrees</field>
-</param>
-<param humanName="Collective-Yaw Mixing" name="H_COLYAW" documentation="Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.">
-<field name="Range">-10 10</field>
-<field name="Increment">0.1</field>
-</param>
-<param humanName="Flybar Mode Selector" name="H_FLYBAR_MODE" documentation="Flybar present or not.  Affects attitude controller used during ACRO flight mode" user="Standard">
-<values>
-<value code="0">NoFlybar</value>
-<value code="1">Flybar</value>
-</values>
-</param>
-<param humanName="Direct Drive VarPitch Tail ESC speed" name="H_TAIL_SPEED" documentation="Direct Drive VarPitch Tail ESC speed.  Only used when TailType is DirectDrive VarPitch" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">PWM</field>
-</param>
-<param humanName="External Gyro Gain for ACRO" name="H_GYR_GAIN_ACRO" documentation="PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro. A value of zero means to use H_GYR_GAIN" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Increment">1</field>
-<field name="Units">PWM</field>
-</param>
-</parameters>
-<parameters name="MOT_">
-<param humanName="Servo speed " name="MOT_SV_SPEED" documentation="Servo update speed in hz">
-<field name="Values">50, 125, 250</field>
-</param>
-</parameters>
-<parameters name="PLND_">
-<param humanName="Precision Land enabled/disabled and behaviour" name="PLND_ENABLED" documentation="Precision Land enabled/disabled and behaviour" user="Advanced">
-<values>
-<value code="0">Disabled</value>
-<value code=" 1">Enabled Always Land</value>
-<value code=" 2">Enabled Strict</value>
-</values>
-</param>
-<param humanName="Precision Land Type" name="PLND_TYPE" documentation="Precision Land Type" user="Advanced">
-<values>
-<value code="0">None</value>
-<value code=" 1">CompanionComputer</value>
-<value code=" 2">IRLock</value>
-</values>
-</param>
-<param humanName="Precision Land horizontal speed maximum in cm/s" name="PLND_SPEED" documentation="Precision Land horizontal speed maximum in cm/s" user="Advanced">
-<field name="Range">0 500</field>
-</param>
-<param humanName="Precision landing velocity controller P gain" name="PLND_VEL_P" documentation="Precision landing velocity controller P gain" user="Advanced">
-<field name="Range">0.100 5.000</field>
-</param>
-<param humanName="Precision landing velocity controller I gain" name="PLND_VEL_I" documentation="Precision landing velocity controller I gain" user="Advanced">
-<field name="Range">0.100 5.000</field>
-</param>
-<param humanName="Precision landing velocity controller I gain maximum" name="PLND_VEL_IMAX" documentation="Precision landing velocity controller I gain maximum" user="Standard">
-<field name="Range">0 1000</field>
-<field name="Units">cm/s</field>
-</param>
-</parameters>
-</libraries></paramfile>
diff --git a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.5.xml b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.5.xml
new file mode 100644
index 0000000000000000000000000000000000000000..606dfa215147a635589d7ad8b9fffce9f1a5824e
--- /dev/null
+++ b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.5.xml
@@ -0,0 +1,11650 @@
+<?xml version="1.0" encoding="utf-8"?>
+        <!-- Dynamically generated list of documented parameters (generated by param_parse.py) -->    
+        <paramfile>
+        <vehicles>
+        <parameters name="APMrover2">
+<param humanName="Eeprom format version number" name="APMrover2:FORMAT_VERSION" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
+</param>
+<param humanName="Log bitmask" name="APMrover2:LOG_BITMASK" documentation='Bitmap of what log types to enable in dataflash. This values is made up of the sum of each of the log types you want to be saved on dataflash. On boards supporting microSD cards or other large block-storage devices it is usually best just to enable all log types by setting this to 65535. On boards with on-board "DataFlash storage" you need to be more selective in your logging or you may run out of log space while flying (in which case it will wrap and overwrite the start of the log). The individual bits are ATTITUDE_FAST=1, ATTITUDE_MEDIUM=2, GPS=4, PerformanceMonitoring=8, ControlTuning=16, NavigationTuning=32, Mode=64, IMU=128, Commands=256, Battery=512, Compass=1024, TECS=2048, Camera=4096, RCandServo=8192, Rangefinder=16384, Arming=32768, FullLogs=65535' user="Advanced">
+<field name="Bitmask">0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:THR,5:NTUN,7:IMU,8:CMD,9:CURRENT,10:RANGEFINDER,11:COMPASS,12:CAMERA,13:STEERING,14:RC,15:ARM/DISARM,19:IMU_RAW</field>
+<values>
+<value code="0">Disabled</value>
+<value code="65535">Default</value>
+</values>
+</param>
+<param humanName="Reset Switch Channel" name="APMrover2:RST_SWITCH_CH" documentation="RC channel to use to reset to last flight mode after geofence takeover." user="Advanced">
+</param>
+<param humanName="Initial driving mode" name="APMrover2:INITIAL_MODE" documentation="This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver. Usually used in combination with when AUTO_TRIGGER_PIN or AUTO_KICKSTART." user="Advanced">
+<values>
+<value code="0">Manual</value>
+<value code="1">Acro</value>
+<value code="3">Steering</value>
+<value code="4">Hold</value>
+<value code="5">Loiter</value>
+<value code="6">Follow</value>
+<value code="7">Simple</value>
+<value code="10">Auto</value>
+<value code="11">RTL</value>
+<value code="12">SmartRTL</value>
+<value code="15">Guided</value>
+</values>
+</param>
+<param humanName="MAVLink system ID of this vehicle" name="APMrover2:SYSID_THIS_MAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
+<field name="Range">1 255</field>
+</param>
+<param humanName="MAVLink ground station ID" name="APMrover2:SYSID_MYGCS" documentation="The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match." user="Advanced">
+<field name="Range">1 255</field>
+</param>
+<param humanName="Telemetry startup delay" name="APMrover2:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Standard">
+<field name="Range">0 30</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="GCS PID tuning mask" name="APMrover2:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
+<field name="Bitmask">0:Steering,1:Throttle,2:Pitch,3:Left Wheel,4:Right Wheel,5:Sailboat Heel</field>
+<values>
+<value code="0">None</value>
+<value code="1">Steering</value>
+<value code="2">Throttle</value>
+<value code="4">Pitch</value>
+<value code="8">Left Wheel</value>
+<value code="16">Right Wheel</value>
+<value code="32">Sailboat Heel</value>
+</values>
+</param>
+<param humanName="Enable Compass" name="APMrover2:MAG_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Auto mode trigger pin" name="APMrover2:AUTO_TRIGGER_PIN" documentation="pin number to use to enable the throttle in auto mode. If set to -1 then don't use a trigger, otherwise this is a pin number which if held low in auto mode will enable the motor to run. If the switch is released while in AUTO then the motor will stop again. This can be used in combination with INITIAL_MODE to give a 'press button to start' rover with no receiver." user="standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="0">APM TriggerPin0</value>
+<value code="1">APM TriggerPin1</value>
+<value code="2">APM TriggerPin2</value>
+<value code="3">APM TriggerPin3</value>
+<value code="4">APM TriggerPin4</value>
+<value code="5">APM TriggerPin5</value>
+<value code="6">APM TriggerPin6</value>
+<value code="7">APM TriggerPin7</value>
+<value code="8">APM TriggerPin8</value>
+<value code="50">Pixhawk TriggerPin50</value>
+<value code="51">Pixhawk TriggerPin51</value>
+<value code="52">Pixhawk TriggerPin52</value>
+<value code="53">Pixhawk TriggerPin53</value>
+<value code="54">Pixhawk TriggerPin54</value>
+<value code="55">Pixhawk TriggerPin55</value>
+</values>
+</param>
+<param humanName="Auto mode trigger kickstart acceleration" name="APMrover2:AUTO_KICKSTART" documentation="X acceleration in meters/second/second to use to trigger the motor start in auto mode. If set to zero then auto throttle starts immediately when the mode switch happens, otherwise the rover waits for the X acceleration to go above this value before it will start the motor" user="standard">
+<field name="Range">0 20</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Target cruise speed in auto modes" name="APMrover2:CRUISE_SPEED" documentation="The target speed in auto missions." user="Standard">
+<field name="Range">0 100</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Pivot turn angle" name="APMrover2:PIVOT_TURN_ANGLE" documentation="Navigation angle threshold in degrees to switch to pivot steering when SKID_STEER_OUT is 1. This allows you to setup a skid steering rover to turn on the spot in auto mode when the angle it needs to turn it greater than this angle. An angle of zero means to disable pivot turning. Note that you will probably also want to set a low value for WP_RADIUS to get neat turns." user="Standard">
+<field name="Range">0 360</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Base throttle percentage in auto" name="APMrover2:CRUISE_THROTTLE" documentation="The base throttle percentage to use in auto mode. The CRUISE_SPEED parameter controls the target speed, but the rover starts with the CRUISE_THROTTLE setting as the initial estimate for how much throttle is needed to achieve that speed. It then adjusts the throttle based on how fast the rover is actually going." user="Standard">
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Pilot input steering type" name="APMrover2:PILOT_STEER_TYPE" documentation="Set this to 1 for skid steering input rovers (tank track style in RC controller). When enabled, servo1 is used for the left track control, servo3 is used for right track control" user="Standard">
+<values>
+<value code="0">Default</value>
+<value code="1">Two Paddles Input</value>
+<value code="2">Direction reversed when backing up</value>
+<value code="3">Direction unchanged when backing up</value>
+</values>
+</param>
+<param humanName="Failsafe Action" name="APMrover2:FS_ACTION" documentation="What to do on a failsafe event" user="Standard">
+<values>
+<value code="0">Nothing</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL or RTL</value>
+<value code="4">SmartRTL or Hold</value>
+</values>
+</param>
+<param humanName="Failsafe timeout" name="APMrover2:FS_TIMEOUT" documentation="The time in seconds that a failsafe condition must persist before the failsafe action is triggered" user="Standard">
+<field name="Range">1 100</field>
+<field name="Increment">0.5</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Throttle Failsafe Enable" name="APMrover2:FS_THR_ENABLE" documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel to a low value. This can be used to detect the RC transmitter going out of range. Failsafe will be triggered when the throttle channel goes below the FS_THR_VALUE for FS_TIMEOUT seconds." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+<value code="2">Enabled Continue with Mission in Auto</value>
+</values>
+</param>
+<param humanName="Throttle Failsafe Value" name="APMrover2:FS_THR_VALUE" documentation="The PWM level on the throttle channel below which throttle failsafe triggers." user="Standard">
+<field name="Range">910 1100</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="GCS failsafe enable" name="APMrover2:FS_GCS_ENABLE" documentation="Enable ground control station telemetry failsafe. When enabled the Rover will execute the FS_ACTION when it fails to receive MAVLink heartbeat packets for FS_TIMEOUT seconds." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+<value code="2">Enabled Continue with Mission in Auto</value>
+</values>
+</param>
+<param humanName="Crash check action" name="APMrover2:FS_CRASH_CHECK" documentation="What to do on a crash event. When enabled the rover will go to hold if a crash is detected." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Hold</value>
+<value code="2">HoldAndDisarm</value>
+</values>
+</param>
+<param humanName="EKF Failsafe Action" name="APMrover2:FS_EKF_ACTION" documentation="Controls the action that will be taken when an EKF failsafe is invoked" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Hold</value>
+</values>
+</param>
+<param humanName="EKF failsafe variance threshold" name="APMrover2:FS_EKF_THRESH" documentation="Allows setting the maximum acceptable compass and velocity variance" user="Advanced">
+<field name="Values">0.6:Strict, 0.8:Default, 1.0:Relaxed</field>
+</param>
+<param humanName="Object avoidance trigger distance" name="APMrover2:RNGFND_TRIGGR_CM" documentation="The distance from an obstacle in centimeters at which the rangefinder triggers a turn to avoid the obstacle" user="Standard">
+<field name="Range">0 1000</field>
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Object avoidance turn aggressiveness and direction" name="APMrover2:RNGFND_TURN_ANGL" documentation="The aggressiveness and direction of turn to avoid an obstacle.  Large positive or negative values (i.e. -450 or 450) cause turns up to the vehicle's maximum lateral acceleration (TURN_MAX_G) while values near zero cause gentle turns. Positive means to turn right, negative means turn left." user="Standard">
+<field name="Range">-450 450</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Object avoidance turn time" name="APMrover2:RNGFND_TURN_TIME" documentation="The amount of time in seconds to apply the RNGFND_TURN_ANGL after detecting an obstacle." user="Standard">
+<field name="Range">0 100</field>
+<field name="Increment">0.1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Object avoidance rangefinder debounce count" name="APMrover2:RNGFND_DEBOUNCE" documentation="The number of 50Hz rangefinder hits needed to trigger an obstacle avoidance event. If you get a lot of false rangefinder events then raise this number, but if you make it too large then it will cause lag in detecting obstacles, which could cause you go hit the obstacle." user="Standard">
+<field name="Range">1 100</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Mode channel" name="APMrover2:MODE_CH" documentation="RC Channel to use for driving mode control" user="Advanced">
+</param>
+<param humanName="Mode1" name="APMrover2:MODE1" documentation="Driving mode for switch position 1 (910 to 1230 and above 2049)" user="Standard">
+<values>
+<value code="0">Manual</value>
+<value code="1">Acro</value>
+<value code="3">Steering</value>
+<value code="4">Hold</value>
+<value code="5">Loiter</value>
+<value code="6">Follow</value>
+<value code="7">Simple</value>
+<value code="10">Auto</value>
+<value code="11">RTL</value>
+<value code="12">SmartRTL</value>
+<value code="15">Guided</value>
+</values>
+</param>
+<param humanName="Mode2" name="APMrover2:MODE2" documentation="Driving mode for switch position 2 (1231 to 1360)" user="Standard">
+<values>
+<value code="0">Manual</value>
+<value code="1">Acro</value>
+<value code="3">Steering</value>
+<value code="4">Hold</value>
+<value code="5">Loiter</value>
+<value code="6">Follow</value>
+<value code="7">Simple</value>
+<value code="10">Auto</value>
+<value code="11">RTL</value>
+<value code="12">SmartRTL</value>
+<value code="15">Guided</value>
+</values>
+</param>
+<param humanName="Mode3" name="APMrover2:MODE3" documentation="Driving mode for switch position 3 (1361 to 1490)" user="Standard">
+<values>
+<value code="0">Manual</value>
+<value code="1">Acro</value>
+<value code="3">Steering</value>
+<value code="4">Hold</value>
+<value code="5">Loiter</value>
+<value code="6">Follow</value>
+<value code="7">Simple</value>
+<value code="10">Auto</value>
+<value code="11">RTL</value>
+<value code="12">SmartRTL</value>
+<value code="15">Guided</value>
+</values>
+</param>
+<param humanName="Mode4" name="APMrover2:MODE4" documentation="Driving mode for switch position 4 (1491 to 1620)" user="Standard">
+<values>
+<value code="0">Manual</value>
+<value code="1">Acro</value>
+<value code="3">Steering</value>
+<value code="4">Hold</value>
+<value code="5">Loiter</value>
+<value code="6">Follow</value>
+<value code="7">Simple</value>
+<value code="10">Auto</value>
+<value code="11">RTL</value>
+<value code="12">SmartRTL</value>
+<value code="15">Guided</value>
+</values>
+</param>
+<param humanName="Mode5" name="APMrover2:MODE5" documentation="Driving mode for switch position 5 (1621 to 1749)" user="Standard">
+<values>
+<value code="0">Manual</value>
+<value code="1">Acro</value>
+<value code="3">Steering</value>
+<value code="4">Hold</value>
+<value code="5">Loiter</value>
+<value code="6">Follow</value>
+<value code="7">Simple</value>
+<value code="10">Auto</value>
+<value code="11">RTL</value>
+<value code="12">SmartRTL</value>
+<value code="15">Guided</value>
+</values>
+</param>
+<param humanName="Mode6" name="APMrover2:MODE6" documentation="Driving mode for switch position 6 (1750 to 2049)" user="Standard">
+<values>
+<value code="0">Manual</value>
+<value code="1">Acro</value>
+<value code="3">Steering</value>
+<value code="4">Hold</value>
+<value code="5">Loiter</value>
+<value code="6">Follow</value>
+<value code="7">Simple</value>
+<value code="10">Auto</value>
+<value code="11">RTL</value>
+<value code="12">SmartRTL</value>
+<value code="15">Guided</value>
+</values>
+</param>
+<param humanName="Waypoint radius" name="APMrover2:WP_RADIUS" documentation="The distance in meters from a waypoint when we consider the waypoint has been reached. This determines when the rover will turn along the next waypoint path." user="Standard">
+<field name="Range">0 1000</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Waypoint overshoot maximum" name="APMrover2:WP_OVERSHOOT" documentation="Waypoint overshoot maximum in meters.  The vehicle will attempt to stay within this many meters of the track as it completes one waypoint and moves to the next." user="Standard">
+<field name="Range">0 10</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Turning maximum G force" name="APMrover2:TURN_MAX_G" documentation="The maximum turning acceleration (in units of gravities) that the rover can handle while remaining stable. The navigation code will keep the lateral acceleration below this level to avoid rolling over or slipping the wheels in turns" user="Standard">
+<field name="Range">0.1 10</field>
+<field name="Increment">0.01</field>
+<field name="Units">gravities</field>
+<field name="UnitText">standard acceleration due to gravity</field>
+</param>
+<param humanName="GCS sysid enforcement" name="APMrover2:SYSID_ENFORCE" documentation="This controls whether packets from other than the expected GCS system ID will be accepted" user="Advanced">
+<values>
+<value code="0">NotEnforced</value>
+<value code="1">Enforced</value>
+</values>
+</param>
+<param humanName="Turn radius of vehicle" name="APMrover2:TURN_RADIUS" documentation="Turn radius of vehicle in meters while at low speeds.  Lower values produce tighter turns in steering mode" user="Standard">
+<field name="Range">0 10</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Acro mode turn rate maximum" name="APMrover2:ACRO_TURN_RATE" documentation="Acro mode turn rate maximum" user="Standard">
+<field name="Range">0 360</field>
+<field name="Increment">1</field>
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
+</param>
+<param humanName="Waypoint speed default" name="APMrover2:WP_SPEED" documentation="Waypoint speed default.  If zero use CRUISE_SPEED." user="Standard">
+<field name="Range">0 100</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Return-to-Launch speed default" name="APMrover2:RTL_SPEED" documentation="Return-to-Launch speed default.  If zero use WP_SPEED or CRUISE_SPEED." user="Standard">
+<field name="Range">0 100</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Frame Class" name="APMrover2:FRAME_CLASS" documentation="Frame Class" user="Standard">
+<values>
+<value code="0">Undefined</value>
+<value code="1">Rover</value>
+<value code="2">Boat</value>
+<value code="3">BalanceBot</value>
+</values>
+</param>
+<param humanName="Pivot turn rate" name="APMrover2:PIVOT_TURN_RATE" documentation="Desired pivot turn rate in deg/s." user="Standard">
+<field name="Range">0 360</field>
+<field name="Increment">1</field>
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
+</param>
+<param humanName="BalanceBot Maximum Pitch" name="APMrover2:BAL_PITCH_MAX" documentation="Pitch angle in degrees at 100% throttle" user="Standard">
+<field name="Range">0 5</field>
+<field name="Increment">0.1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Crash Angle" name="APMrover2:CRASH_ANGLE" documentation="Pitch/Roll angle limit in degrees for crash check. Zero disables check" user="Standard">
+<field name="Range">0 60</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Frame Type" name="APMrover2:FRAME_TYPE" documentation="Frame Type" user="Standard">
+<values>
+<value code="0">Undefined</value>
+<value code="1">Omni3</value>
+<value code="2">OmniX</value>
+<value code="3">OmniPlus</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Loiter type" name="APMrover2:LOIT_TYPE" documentation="Loiter behaviour when moving to the target point" user="Standard">
+<values>
+<value code="0">Forward or reverse to target point</value>
+<value code="1">Always face bow towards target point</value>
+</values>
+</param>
+<param humanName="Simple_Type" name="APMrover2:SIMPLE_TYPE" documentation="Simple mode types" user="Standard">
+<values>
+<value code="0">InitialHeading</value>
+<value code="1">CardinalDirections</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Loiter radius" name="APMrover2:LOIT_RADIUS" documentation="Vehicle will drift when within this distance of the target position" user="Standard">
+<field name="Range">0 20</field>
+<field name="Increment">1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Sail min angle" name="APMrover2:SAIL_ANGLE_MIN" documentation="Mainsheet tight, angle between centerline and boom" user="Standard">
+<field name="Range">0 90</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Sail max angle" name="APMrover2:SAIL_ANGLE_MAX" documentation="Mainsheet loose, angle between centerline and boom" user="Standard">
+<field name="Range">0 90</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Sail ideal angle" name="APMrover2:SAIL_ANGLE_IDEAL" documentation="Ideal angle between sail and apparent wind" user="Standard">
+<field name="Range">0 90</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Sailing maximum heel angle" name="APMrover2:SAIL_HEEL_MAX" documentation="When in auto sail trim modes the heel will be limited to this value using PID control" user="Standard">
+<field name="Range">0 90</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Sailing no go zone angle" name="APMrover2:SAIL_NO_GO_ANGLE" documentation="The typical closest angle to the wind the vehicle will sail at. the vehicle will sail at this angle when going upwind" user="Standard">
+<field name="Range">0 90</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Mission done behave" name="APMrover2:MIS_DONE_BEHAVE" documentation="Mode to become after mission done" user="Standard">
+<values>
+<value code="0">Hold</value>
+<value code="1">Loiter</value>
+</values>
+</param>
+<param humanName="Channel 7 option" name="APMrover2:CH7_OPTION" documentation="What to do use channel 7 for" user="Standard">
+<values>
+<value code="0">Nothing</value>
+<value code="1">SaveWaypoint</value>
+<value code="2">LearnCruiseSpeed</value>
+<value code="3">ArmDisarm</value>
+<value code="4">Manual</value>
+<value code="5">Acro</value>
+<value code="6">Steering</value>
+<value code="7">Hold</value>
+<value code="8">Auto</value>
+<value code="9">RTL</value>
+<value code="10">SmartRTL</value>
+<value code="11">Guided</value>
+<value code="12">Loiter</value>
+</values>
+</param>
+<param humanName="Auxiliary switch channel" name="APMrover2:AUX_CH" documentation="RC Channel to use for auxiliary functions including saving waypoints" user="Advanced">
+</param>
+</parameters>
+</vehicles><libraries><parameters name="AFS_">
+<param humanName="Enable Advanced Failsafe" name="AFS_ENABLE" documentation="This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect" user="Advanced">
+</param>
+<param humanName="Manual Pin" name="AFS_MAN_PIN" documentation="This sets a digital output pin to set high when in manual mode" user="Advanced">
+</param>
+<param humanName="Heartbeat Pin" name="AFS_HB_PIN" documentation="This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination." user="Advanced">
+</param>
+<param humanName="Comms Waypoint" name="AFS_WP_COMMS" documentation="Waypoint number to navigate to on comms loss" user="Advanced">
+</param>
+<param humanName="GPS Loss Waypoint" name="AFS_GPS_LOSS" documentation="Waypoint number to navigate to on GPS lock loss" user="Advanced">
+</param>
+<param humanName="Force Terminate" name="AFS_TERMINATE" documentation="Can be set in flight to force termination of the heartbeat signal" user="Advanced">
+</param>
+<param humanName="Terminate action" name="AFS_TERM_ACTION" documentation="This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup APM to handle it here. Please consult the wiki for more information on the possible values of the parameter" user="Advanced">
+</param>
+<param humanName="Terminate Pin" name="AFS_TERM_PIN" documentation="This sets a digital output pin to set high on flight termination" user="Advanced">
+</param>
+<param humanName="AMSL limit" name="AFS_AMSL_LIMIT" documentation="This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Error margin for GPS based AMSL limit" name="AFS_AMSL_ERR_GPS" documentation="This sets margin for error in GPS derived altitude limit. This error margin is only used if the barometer has failed. If the barometer fails then the GPS will be used to enforce the AMSL_LIMIT, but this margin will be subtracted from the AMSL_LIMIT first, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached. OBC users should set this to comply with their D2 safety case. A value of -1 will mean that barometer failure will lead to immediate termination." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="QNH pressure" name="AFS_QNH_PRESSURE" documentation="This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit. A value of zero disables the altitude limit." user="Advanced">
+<field name="Units">mbar</field>
+<field name="UnitText">millibar</field>
+</param>
+<param humanName="Maximum number of GPS loss events" name="AFS_MAX_GPS_LOSS" documentation="Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events." user="Advanced">
+</param>
+<param humanName="Maximum number of comms loss events" name="AFS_MAX_COM_LOSS" documentation="Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events." user="Advanced">
+</param>
+<param humanName="Enable geofence Advanced Failsafe" name="AFS_GEOFENCE" documentation="This enables the geofence part of the AFS. Will only be in effect if AFS_ENABLE is also 1" user="Advanced">
+</param>
+<param humanName="Enable RC Advanced Failsafe" name="AFS_RC" documentation="This enables the RC part of the AFS. Will only be in effect if AFS_ENABLE is also 1" user="Advanced">
+</param>
+<param humanName="Enable RC Termination only in manual control modes" name="AFS_RC_MAN_ONLY" documentation="If this parameter is set to 1, then an RC loss will only cause the plane to terminate in manual control modes. If it is 0, then the plane will terminate in any flight mode." user="Advanced">
+</param>
+<param humanName="Enable dual loss terminate due to failure of both GCS and GPS simultaneously" name="AFS_DUAL_LOSS" documentation='This enables the dual loss termination part of the AFS system. If this parameter is 1 and both GPS and the ground control station fail simultaneously, this will be considered a "dual loss" and cause termination.' user="Advanced">
+</param>
+<param humanName="RC failure time" name="AFS_RC_FAIL_TIME" documentation="This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be (1.5). Use 0 to disable." user="Advanced">
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+</parameters>
+<parameters name="AHRS_">
+<param humanName="AHRS GPS gain" name="AHRS_GPS_GAIN" documentation="This controls how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0." user="Advanced">
+<field name="Range">0.0 1.0</field>
+<field name="Increment">.01</field>
+</param>
+<param humanName="AHRS use GPS for navigation" name="AHRS_GPS_USE" documentation="This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight. Currently this affects only the DCM-based AHRS: the EKF uses GPS whenever it is available." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Yaw P" name="AHRS_YAW_P" documentation="This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly." user="Advanced">
+<field name="Range">0.1 0.4</field>
+<field name="Increment">.01</field>
+</param>
+<param humanName="AHRS RP_P" name="AHRS_RP_P" documentation="This controls how fast the accelerometers correct the attitude" user="Advanced">
+<field name="Range">0.1 0.4</field>
+<field name="Increment">.01</field>
+</param>
+<param humanName="Maximum wind" name="AHRS_WIND_MAX" documentation="This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is." user="Advanced">
+<field name="Range">0 127</field>
+<field name="Increment">1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="AHRS Trim Roll" name="AHRS_TRIM_X" documentation="Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right." user="Standard">
+<field name="Range">-0.1745 +0.1745</field>
+<field name="Increment">0.01</field>
+<field name="Units">rad</field>
+<field name="UnitText">radians</field>
+</param>
+<param humanName="AHRS Trim Pitch" name="AHRS_TRIM_Y" documentation="Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back." user="Standard">
+<field name="Range">-0.1745 +0.1745</field>
+<field name="Increment">0.01</field>
+<field name="Units">rad</field>
+<field name="UnitText">radians</field>
+</param>
+<param humanName="AHRS Trim Yaw" name="AHRS_TRIM_Z" documentation="Not Used" user="Advanced">
+<field name="Range">-0.1745 +0.1745</field>
+<field name="Increment">0.01</field>
+<field name="Units">rad</field>
+<field name="UnitText">radians</field>
+</param>
+<param humanName="Board Orientation" name="AHRS_ORIENTATION" documentation="Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle." user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">Yaw45</value>
+<value code="2">Yaw90</value>
+<value code="3">Yaw135</value>
+<value code="4">Yaw180</value>
+<value code="5">Yaw225</value>
+<value code="6">Yaw270</value>
+<value code="7">Yaw315</value>
+<value code="8">Roll180</value>
+<value code="9">Roll180Yaw45</value>
+<value code="10">Roll180Yaw90</value>
+<value code="11">Roll180Yaw135</value>
+<value code="12">Pitch180</value>
+<value code="13">Roll180Yaw225</value>
+<value code="14">Roll180Yaw270</value>
+<value code="15">Roll180Yaw315</value>
+<value code="16">Roll90</value>
+<value code="17">Roll90Yaw45</value>
+<value code="18">Roll90Yaw90</value>
+<value code="19">Roll90Yaw135</value>
+<value code="20">Roll270</value>
+<value code="21">Roll270Yaw45</value>
+<value code="22">Roll270Yaw90</value>
+<value code="23">Roll270Yaw135</value>
+<value code="24">Pitch90</value>
+<value code="25">Pitch270</value>
+<value code="26">Pitch180Yaw90</value>
+<value code="27">Pitch180Yaw270</value>
+<value code="28">Roll90Pitch90</value>
+<value code="29">Roll180Pitch90</value>
+<value code="30">Roll270Pitch90</value>
+<value code="31">Roll90Pitch180</value>
+<value code="32">Roll270Pitch180</value>
+<value code="33">Roll90Pitch270</value>
+<value code="34">Roll180Pitch270</value>
+<value code="35">Roll270Pitch270</value>
+<value code="36">Roll90Pitch180Yaw90</value>
+<value code="37">Roll90Yaw270</value>
+<value code="38">Yaw293Pitch68Roll180</value>
+<value code="39">Pitch315</value>
+<value code="40">Roll90Pitch315</value>
+<value code="100">Custom</value>
+</values>
+</param>
+<param humanName="AHRS Velocity Complementary Filter Beta Coefficient" name="AHRS_COMP_BETA" documentation="This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less." user="Advanced">
+<field name="Range">0.001 0.5</field>
+<field name="Increment">.01</field>
+</param>
+<param humanName="AHRS GPS Minimum satellites" name="AHRS_GPS_MINSATS" documentation="Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers." user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Use NavEKF Kalman filter for attitude and position estimation" name="AHRS_EKF_TYPE" documentation="This controls which NavEKF Kalman filter version is used for attitude and position estimation" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="2">Enable EKF2</value>
+<value code="3">Enable EKF3</value>
+</values>
+</param>
+<param humanName="Board orientation roll offset" name="AHRS_CUSTOM_ROLL" documentation="Autopilot mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
+<field name="Range">-180 180</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Board orientation pitch offset" name="AHRS_CUSTOM_PIT" documentation="Autopilot mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
+<field name="Range">-180 180</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Board orientation yaw offset" name="AHRS_CUSTOM_YAW" documentation="Autopilot mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
+<field name="Range">-180 180</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+</parameters>
+<parameters name="ARMING_">
+<param humanName="Require Arming Motors " name="ARMING_REQUIRE" documentation="Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately).  If 1, require rudder stick or GCS arming before arming motors and sends the minimum throttle PWM value to the throttle channel when disarmed.  If 2, require rudder stick or GCS arming and send 0 PWM to throttle channel when disarmed. See the ARMING_CHECK_* parameters to see what checks are done before arming. Note, if setting this parameter to 0 a reboot is required to arm the plane.  Also note, even with this parameter at 0, if ARMING_CHECK parameter is not also zero the plane may fail to arm throttle at boot due to a pre-arm check failure." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">THR_MIN PWM when disarmed</value>
+<value code="2">0 PWM when disarmed</value>
+</values>
+</param>
+<param humanName="Arm Checks to Peform (bitmask)" name="ARMING_CHECK" documentation="Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. The default is no checks, allowing arming at any time. You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72. For most users it is recommended that you set this to 1 to enable all checks." user="Standard">
+<field name="Bitmask">0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC Channels,7:Board voltage,8:Battery Level,9:Airspeed,10:Logging Available,11:Hardware safety switch,12:GPS Configuration,13:System</field>
+<values>
+<value code="0">None</value>
+<value code="1">All</value>
+<value code="2">Barometer</value>
+<value code="4">Compass</value>
+<value code="8">GPS Lock</value>
+<value code="16">INS(INertial Sensors - accels &amp; gyros)</value>
+<value code="32">Parameters(unused)</value>
+<value code="64">RC Channels</value>
+<value code="128">Board voltage</value>
+<value code="256">Battery Level</value>
+<value code="512">Airspeed</value>
+<value code="1024">LoggingAvailable</value>
+<value code="2048">Hardware safety switch</value>
+<value code="4096">GPS configuration</value>
+<value code="8192">System</value>
+</values>
+</param>
+<param humanName="Accelerometer error threshold" name="ARMING_ACCTHRESH" documentation="Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal." user="Advanced">
+<field name="Range">0.25 3.0</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Arming with Rudder enable/disable" name="ARMING_RUDDER" documentation="Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works in manual throttle modes with throttle at zero +- deadzone (RCx_DZ)" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">ArmingOnly</value>
+<value code="2">ArmOrDisarm</value>
+</values>
+</param>
+<param humanName="Required mission items" name="ARMING_MIS_ITEMS" documentation="Bitmask of mission items that are required to be planned in order to arm the aircraft" user="Advanced">
+<field name="Bitmask">0:Land,1:VTOL Land,2:DO_LAND_START,3:Takeoff,4:VTOL Takeoff,5:Rallypoint</field>
+</param>
+</parameters>
+<parameters name="ARSPD">
+<param humanName="Airspeed type" name="ARSPD_TYPE" documentation="Type of airspeed sensor" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">I2C-MS4525D0</value>
+<value code="2">Analog</value>
+<value code="3">I2C-MS5525</value>
+<value code="4">I2C-MS5525 (0x76)</value>
+<value code="5">I2C-MS5525 (0x77)</value>
+<value code="6">I2C-SDP3X</value>
+<value code="7">I2C-DLVR</value>
+<value code="8">UAVCAN</value>
+</values>
+</param>
+<param humanName="Airspeed use" name="ARSPD_USE" documentation="Enables airspeed use for automatic throttle modes and replaces control from THR_TRIM. Continues to display and log airspeed if set to 0. Uses airspeed for control if set to 1. Only uses airspeed when throttle = 0 if set to 2 (useful for gliders with airspeed sensors behind propellers)." user="Standard">
+<values>
+<value code="0">DoNotUse</value>
+<value code="1">Use</value>
+<value code="2">UseWhenZeroThrottle</value>
+</values>
+</param>
+<param humanName="Airspeed offset" name="ARSPD_OFFSET" documentation="Airspeed calibration offset" user="Advanced">
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Airspeed ratio" name="ARSPD_RATIO" documentation="Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure." user="Advanced">
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Airspeed pin" name="ARSPD_PIN" documentation="The pin number that the airspeed sensor is connected to for analog sensors. Set to 15 on the Pixhawk for the analog airspeed port. " user="Advanced">
+</param>
+<param humanName="Automatic airspeed ratio calibration" name="ARSPD_AUTOCAL" documentation="Enables automatic adjustment of ARSPD_RATIO during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is &gt; 5%. Should not be left enabled." user="Advanced">
+</param>
+<param humanName="Control pitot tube order" name="ARSPD_TUBE_ORDER" documentation="Changes the pitot tube order to specify the dynamic pressure side of the sensor. Accepts either if set to 2. Accepts only one side if set to 0 or 1 and can help detect excessive pressure on the static port without indicating positive airspeed." user="Advanced">
+</param>
+<param humanName="Skip airspeed calibration on startup" name="ARSPD_SKIP_CAL" documentation="This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot." user="Advanced">
+<values>
+<value code="0">Disable</value>
+<value code="1">Enable</value>
+</values>
+</param>
+<param humanName="The PSI range of the device" name="ARSPD_PSI_RANGE" documentation="This parameter allows you to to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device" user="Advanced">
+</param>
+<param humanName="Airspeed I2C bus" name="ARSPD_BUS" documentation="Bus number of the I2C bus where the airspeed sensor is connected" user="Advanced">
+<values>
+<value code="0">Bus0(internal)</value>
+<value code="1">Bus1(external)</value>
+<value code="2">Bus2(auxillary)</value>
+</values>
+</param>
+<param humanName="Primary airspeed sensor" name="ARSPD_PRIMARY" documentation="This selects which airspeed sensor will be the primary if multiple sensors are found" user="Advanced">
+<values>
+<value code="0">FirstSensor</value>
+<value code="1">2ndSensor</value>
+</values>
+</param>
+<param humanName="Second Airspeed type" name="ARSPD2_TYPE" documentation="Type of 2nd airspeed sensor" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">I2C-MS4525D0</value>
+<value code="2">Analog</value>
+<value code="3">I2C-MS5525</value>
+<value code="4">I2C-MS5525 (0x76)</value>
+<value code="5">I2C-MS5525 (0x77)</value>
+<value code="6">I2C-SDP3X</value>
+<value code="7">I2C-DLVR</value>
+<value code="8">UAVCAN</value>
+</values>
+</param>
+<param humanName="Enable use of 2nd airspeed sensor" name="ARSPD2_USE" documentation="use airspeed for flight control. When set to 0 airspeed sensor can be logged and displayed on a GCS but won't be used for flight. When set to 1 it will be logged and used. When set to 2 it will be only used when the throttle is zero, which can be useful in gliders with airspeed sensors behind a propeller" user="Standard">
+<values>
+<value code="0">Don't Use</value>
+<value code="1">use</value>
+<value code="2">UseWhenZeroThrottle</value>
+</values>
+</param>
+<param humanName="Airspeed offset for 2nd airspeed sensor" name="ARSPD2_OFFSET" documentation="Airspeed calibration offset" user="Advanced">
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Airspeed ratio for 2nd airspeed sensor" name="ARSPD2_RATIO" documentation="Airspeed calibration ratio" user="Advanced">
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Airspeed pin for 2nd airspeed sensor" name="ARSPD2_PIN" documentation="Pin number indicating location of analog airspeed sensors. Pixhawk/Cube if set to 15. " user="Advanced">
+</param>
+<param humanName="Automatic airspeed ratio calibration for 2nd airspeed sensor" name="ARSPD2_AUTOCAL" documentation="If this is enabled then the autopilot will automatically adjust the ARSPD_RATIO during flight, based upon an estimation filter using ground speed and true airspeed. The automatic calibration will save the new ratio to EEPROM every 2 minutes if it changes by more than 5%. This option should be enabled for a calibration flight then disabled again when calibration is complete. Leaving it enabled all the time is not recommended." user="Advanced">
+</param>
+<param humanName="Control pitot tube order of 2nd airspeed sensor" name="ARSPD2_TUBE_ORDR" documentation="This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the top connector on the sensor needs to be the dynamic pressure. If set to 1 then the bottom connector needs to be the dynamic pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft it receiving excessive pressure on the static port, which would otherwise be seen as a positive airspeed." user="Advanced">
+</param>
+<param humanName="Skip airspeed calibration on startup for 2nd sensor" name="ARSPD2_SKIP_CAL" documentation="This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot." user="Advanced">
+<values>
+<value code="0">Disable</value>
+<value code="1">Enable</value>
+</values>
+</param>
+<param humanName="The PSI range of the device for 2nd sensor" name="ARSPD2_PSI_RANGE" documentation="This parameter allows you to to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device" user="Advanced">
+</param>
+<param humanName="Airspeed I2C bus for 2nd sensor" name="ARSPD2_BUS" documentation="The bus number of the I2C bus to look for the sensor on" user="Advanced">
+<values>
+<value code="0">Bus0(internal)</value>
+<value code="1">Bus1(external)</value>
+<value code="2">Bus2(auxillary)</value>
+</values>
+</param>
+</parameters>
+<parameters name="ATC">
+<param humanName="Steering control rate P gain" name="ATC_STR_RAT_P" documentation="Steering control rate P gain.  Converts the turn rate error (in radians/sec) to a steering control output (in the range -1 to +1)" user="Standard">
+<field name="Range">0.000 2.000</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Steering control I gain" name="ATC_STR_RAT_I" documentation="Steering control I gain.  Corrects long term error between the desired turn rate (in rad/s) and actual" user="Standard">
+<field name="Range">0.000 2.000</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Steering control I gain maximum" name="ATC_STR_RAT_IMAX" documentation="Steering control I gain maximum.  Constraings the steering output (range -1 to +1) that the I term will generate" user="Standard">
+<field name="Range">0.000 1.000</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Steering control D gain" name="ATC_STR_RAT_D" documentation="Steering control D gain.  Compensates for short-term change in desired turn rate vs actual" user="Standard">
+<field name="Range">0.000 0.400</field>
+<field name="Increment">0.001</field>
+</param>
+<param humanName="Steering control feed forward" name="ATC_STR_RAT_FF" documentation="Steering control feed forward" user="Standard">
+<field name="Range">0.000 3.000</field>
+<field name="Increment">0.001</field>
+</param>
+<param humanName="Steering control filter frequency" name="ATC_STR_RAT_FILT" documentation="Steering control input filter.  Lower values reduce noise but add delay." user="Standard">
+<field name="Range">0.000 100.000</field>
+<field name="Increment">0.1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Speed control P gain" name="ATC_SPEED_P" documentation="Speed control P gain.  Converts the error between the desired speed (in m/s) and actual speed to a motor output (in the range -1 to +1)" user="Standard">
+<field name="Range">0.010 2.000</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Speed control I gain" name="ATC_SPEED_I" documentation="Speed control I gain.  Corrects long term error between the desired speed (in m/s) and actual speed" user="Standard">
+<field name="Range">0.000 2.000</field>
+</param>
+<param humanName="Speed control I gain maximum" name="ATC_SPEED_IMAX" documentation="Speed control I gain maximum.  Constraings the maximum motor output (range -1 to +1) that the I term will generate" user="Standard">
+<field name="Range">0.000 1.000</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Speed control D gain" name="ATC_SPEED_D" documentation="Speed control D gain.  Compensates for short-term change in desired speed vs actual" user="Standard">
+<field name="Range">0.000 0.400</field>
+<field name="Increment">0.001</field>
+</param>
+<param humanName="Speed control feed forward" name="ATC_SPEED_FF" documentation="Speed control feed forward" user="Standard">
+<field name="Range">0.000 0.500</field>
+<field name="Increment">0.001</field>
+</param>
+<param humanName="Speed control filter frequency" name="ATC_SPEED_FILT" documentation="Speed control input filter.  Lower values reduce noise but add delay." user="Standard">
+<field name="Range">0.000 100.000</field>
+<field name="Increment">0.1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Speed control acceleration (and deceleration) maximum in m/s/s" name="ATC_ACCEL_MAX" documentation="Speed control acceleration (and deceleration) maximum in m/s/s.  0 to disable acceleration limiting" user="Standard">
+<field name="Range">0.0 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Speed control brake enable/disable" name="ATC_BRAKE" documentation="Speed control brake enable/disable. Allows sending a reversed output to the motors to slow the vehicle." user="Standard">
+<values>
+<value code="0">Disable</value>
+<value code="1">Enable</value>
+</values>
+</param>
+<param humanName="Speed control stop speed" name="ATC_STOP_SPEED" documentation="Speed control stop speed.  Motor outputs to zero once vehicle speed falls below this value" user="Standard">
+<field name="Range">0.00 0.50</field>
+<field name="Increment">0.01</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Steering control angle P gain" name="ATC_STR_ANG_P" documentation="Steering control angle P gain.  Converts the error between the desired heading/yaw (in radians) and actual heading/yaw to a desired turn rate (in rad/sec)" user="Standard">
+<field name="Range">1.000 10.000</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Steering control angular acceleration maximum" name="ATC_STR_ACC_MAX" documentation="Steering control angular acceleartion maximum (in deg/s/s).  0 to disable acceleration limiting" user="Standard">
+<field name="Range">0 1000</field>
+<field name="Increment">0.1</field>
+<field name="Units">deg/s/s</field>
+<field name="UnitText">degrees per square second</field>
+</param>
+<param humanName="Steering control rotation rate maximum" name="ATC_STR_RAT_MAX" documentation="Steering control rotation rate maximum in deg/s.  0 to remove rate limiting" user="Standard">
+<field name="Range">0 1000</field>
+<field name="Increment">0.1</field>
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
+</param>
+<param humanName="Speed control deceleration maximum in m/s/s" name="ATC_DECEL_MAX" documentation="Speed control and deceleration maximum in m/s/s.  0 to use ATC_ACCEL_MAX for deceleration" user="Standard">
+<field name="Range">0.0 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Pitch control P gain" name="ATC_BAL_P" documentation="Pitch control P gain for BalanceBots.  Converts the error between the desired pitch (in radians) and actual pitch to a motor output (in the range -1 to +1)" user="Standard">
+<field name="Range">0.000 2.000</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Pitch control I gain" name="ATC_BAL_I" documentation="Pitch control I gain for BalanceBots.  Corrects long term error between the desired pitch (in radians) and actual pitch" user="Standard">
+<field name="Range">0.000 2.000</field>
+</param>
+<param humanName="Pitch control I gain maximum" name="ATC_BAL_IMAX" documentation="Pitch control I gain maximum.  Constrains the maximum motor output (range -1 to +1) that the I term will generate" user="Standard">
+<field name="Range">0.000 1.000</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Pitch control D gain" name="ATC_BAL_D" documentation="Pitch control D gain.  Compensates for short-term change in desired pitch vs actual" user="Standard">
+<field name="Range">0.000 0.100</field>
+<field name="Increment">0.001</field>
+</param>
+<param humanName="Pitch control feed forward" name="ATC_BAL_FF" documentation="Pitch control feed forward" user="Standard">
+<field name="Range">0.000 0.500</field>
+<field name="Increment">0.001</field>
+</param>
+<param humanName="Pitch control filter frequency" name="ATC_BAL_FILT" documentation="Pitch control input filter.  Lower values reduce noise but add delay." user="Standard">
+<field name="Range">0.000 100.000</field>
+<field name="Increment">0.1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Pitch control feed forward from speed" name="ATC_BAL_SPD_FF" documentation="Pitch control feed forward from speed" user="Standard">
+<field name="Range">0.0 10.0</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Sail Heel control P gain" name="ATC_SAIL_P" documentation="Sail Heel control P gain for sailboats.  Converts the error between the desired heel angle (in radians) and actual heel to a main sail output (in the range -1 to +1)" user="Standard">
+<field name="Range">0.000 2.000</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Sail Heel control I gain" name="ATC_SAIL_I" documentation="Sail Heel control I gain for sailboats.  Corrects long term error between the desired heel angle (in radians) and actual" user="Standard">
+<field name="Range">0.000 2.000</field>
+</param>
+<param humanName="Sail Heel control I gain maximum" name="ATC_SAIL_IMAX" documentation="Sail Heel control I gain maximum.  Constrains the maximum I term contribution to the main sail output (range -1 to +1)" user="Standard">
+<field name="Range">0.000 1.000</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Sail Heel control D gain" name="ATC_SAIL_D" documentation="Sail Heel control D gain.  Compensates for short-term change in desired heel angle vs actual" user="Standard">
+<field name="Range">0.000 0.100</field>
+<field name="Increment">0.001</field>
+</param>
+<param humanName="Sail Heel control feed forward" name="ATC_SAIL_FF" documentation="Sail Heel control feed forward" user="Standard">
+<field name="Range">0.000 0.500</field>
+<field name="Increment">0.001</field>
+</param>
+<param humanName="Sail Heel control filter frequency" name="ATC_SAIL_FILT" documentation="Sail Heel control input filter.  Lower values reduce noise but add delay." user="Standard">
+<field name="Range">0.000 100.000</field>
+<field name="Increment">0.1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+</parameters>
+<parameters name="AVOID_">
+<param humanName="Avoidance control enable/disable" name="AVOID_ENABLE" documentation="Enabled/disable stopping at fence" user="Standard">
+<field name="Bitmask">0:StopAtFence,1:UseProximitySensor,2:StopAtBeaconFence</field>
+<values>
+<value code="0">None</value>
+<value code="1">StopAtFence</value>
+<value code="2">UseProximitySensor</value>
+<value code="3">StopAtFence and UseProximitySensor</value>
+<value code="4">StopAtBeaconFence</value>
+<value code="7">All</value>
+</values>
+</param>
+<param humanName="Avoidance max lean angle in non-GPS flight modes" name="AVOID_ANGLE_MAX" documentation="Max lean angle used to avoid obstacles while in non-GPS modes" user="Standard">
+<field name="Range">0 4500</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Avoidance distance maximum in non-GPS flight modes" name="AVOID_DIST_MAX" documentation="Distance from object at which obstacle avoidance will begin in non-GPS modes" user="Standard">
+<field name="Range">1 30</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Avoidance distance margin in GPS modes" name="AVOID_MARGIN" documentation="Vehicle will attempt to stay at least this distance (in meters) from objects while in GPS modes" user="Standard">
+<field name="Range">1 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Avoidance behaviour" name="AVOID_BEHAVE" documentation="Avoidance behaviour (slide or stop)" user="Standard">
+<values>
+<value code="0">Slide</value>
+<value code="1">Stop</value>
+</values>
+</param>
+</parameters>
+<parameters name="BATT2_">
+<param humanName="Battery monitoring" name="BATT2_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="3">Analog Voltage Only</value>
+<value code="4">Analog Voltage and Current</value>
+<value code="5">Solo</value>
+<value code="6">Bebop</value>
+<value code="7">SMBus-Maxell</value>
+<value code="8">UAVCAN-BatteryInfo</value>
+<value code="9">BLHeli ESC</value>
+<value code="10">SumOfFollowing</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Voltage sensing pin" name="BATT2_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 13">Pixhawk2_PM2</value>
+<value code=" 100">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Current sensing pin" name="BATT2_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 14">Pixhawk2_PM2</value>
+<value code=" 101">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Voltage Multiplier" name="BATT2_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+<param humanName="Amps per volt" name="BATT2_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+<field name="Units">A/V</field>
+<field name="UnitText">ampere per volt</field>
+</param>
+<param humanName="AMP offset" name="BATT2_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery capacity" name="BATT2_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Maximum allowed power (Watts)" name="BATT2_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">W</field>
+<field name="UnitText">watt</field>
+</param>
+<param humanName="Battery serial number" name="BATT2_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+<param humanName="Low voltage timeout" name="BATT2_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+<field name="Range">0 120</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Failsafe voltage source" name="BATT2_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+<values>
+<value code="0">Raw Voltage</value>
+<value code=" 1">Sag Compensated Voltage</value>
+</values>
+</param>
+<param humanName="Low battery voltage" name="BATT2_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Low battery capacity" name="BATT2_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Critical battery voltage" name="BATT2_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery critical capacity" name="BATT2_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2__FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Low battery failsafe action" name="BATT2_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Critical battery failsafe action" name="BATT2_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Required arming voltage" name="BATT2_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Required arming remaining capacity" name="BATT2_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT2__ARM_VOLT parameter." user="Advanced">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+</parameters>
+<parameters name="BATT3_">
+<param humanName="Battery monitoring" name="BATT3_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="3">Analog Voltage Only</value>
+<value code="4">Analog Voltage and Current</value>
+<value code="5">Solo</value>
+<value code="6">Bebop</value>
+<value code="7">SMBus-Maxell</value>
+<value code="8">UAVCAN-BatteryInfo</value>
+<value code="9">BLHeli ESC</value>
+<value code="10">SumOfFollowing</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Voltage sensing pin" name="BATT3_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 13">Pixhawk2_PM2</value>
+<value code=" 100">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Current sensing pin" name="BATT3_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 14">Pixhawk2_PM2</value>
+<value code=" 101">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Voltage Multiplier" name="BATT3_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+<param humanName="Amps per volt" name="BATT3_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+<field name="Units">A/V</field>
+<field name="UnitText">ampere per volt</field>
+</param>
+<param humanName="AMP offset" name="BATT3_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery capacity" name="BATT3_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Maximum allowed power (Watts)" name="BATT3_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">W</field>
+<field name="UnitText">watt</field>
+</param>
+<param humanName="Battery serial number" name="BATT3_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+<param humanName="Low voltage timeout" name="BATT3_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+<field name="Range">0 120</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Failsafe voltage source" name="BATT3_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+<values>
+<value code="0">Raw Voltage</value>
+<value code=" 1">Sag Compensated Voltage</value>
+</values>
+</param>
+<param humanName="Low battery voltage" name="BATT3_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Low battery capacity" name="BATT3_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Critical battery voltage" name="BATT3_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery critical capacity" name="BATT3_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3__FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Low battery failsafe action" name="BATT3_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Critical battery failsafe action" name="BATT3_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Required arming voltage" name="BATT3_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Required arming remaining capacity" name="BATT3_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT3__ARM_VOLT parameter." user="Advanced">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+</parameters>
+<parameters name="BATT4_">
+<param humanName="Battery monitoring" name="BATT4_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="3">Analog Voltage Only</value>
+<value code="4">Analog Voltage and Current</value>
+<value code="5">Solo</value>
+<value code="6">Bebop</value>
+<value code="7">SMBus-Maxell</value>
+<value code="8">UAVCAN-BatteryInfo</value>
+<value code="9">BLHeli ESC</value>
+<value code="10">SumOfFollowing</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Voltage sensing pin" name="BATT4_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 13">Pixhawk2_PM2</value>
+<value code=" 100">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Current sensing pin" name="BATT4_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 14">Pixhawk2_PM2</value>
+<value code=" 101">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Voltage Multiplier" name="BATT4_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+<param humanName="Amps per volt" name="BATT4_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+<field name="Units">A/V</field>
+<field name="UnitText">ampere per volt</field>
+</param>
+<param humanName="AMP offset" name="BATT4_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery capacity" name="BATT4_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Maximum allowed power (Watts)" name="BATT4_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">W</field>
+<field name="UnitText">watt</field>
+</param>
+<param humanName="Battery serial number" name="BATT4_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+<param humanName="Low voltage timeout" name="BATT4_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+<field name="Range">0 120</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Failsafe voltage source" name="BATT4_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+<values>
+<value code="0">Raw Voltage</value>
+<value code=" 1">Sag Compensated Voltage</value>
+</values>
+</param>
+<param humanName="Low battery voltage" name="BATT4_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Low battery capacity" name="BATT4_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Critical battery voltage" name="BATT4_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery critical capacity" name="BATT4_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4__FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Low battery failsafe action" name="BATT4_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Critical battery failsafe action" name="BATT4_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Required arming voltage" name="BATT4_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Required arming remaining capacity" name="BATT4_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT4__ARM_VOLT parameter." user="Advanced">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+</parameters>
+<parameters name="BATT5_">
+<param humanName="Battery monitoring" name="BATT5_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="3">Analog Voltage Only</value>
+<value code="4">Analog Voltage and Current</value>
+<value code="5">Solo</value>
+<value code="6">Bebop</value>
+<value code="7">SMBus-Maxell</value>
+<value code="8">UAVCAN-BatteryInfo</value>
+<value code="9">BLHeli ESC</value>
+<value code="10">SumOfFollowing</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Voltage sensing pin" name="BATT5_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 13">Pixhawk2_PM2</value>
+<value code=" 100">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Current sensing pin" name="BATT5_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 14">Pixhawk2_PM2</value>
+<value code=" 101">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Voltage Multiplier" name="BATT5_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+<param humanName="Amps per volt" name="BATT5_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+<field name="Units">A/V</field>
+<field name="UnitText">ampere per volt</field>
+</param>
+<param humanName="AMP offset" name="BATT5_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery capacity" name="BATT5_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Maximum allowed power (Watts)" name="BATT5_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">W</field>
+<field name="UnitText">watt</field>
+</param>
+<param humanName="Battery serial number" name="BATT5_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+<param humanName="Low voltage timeout" name="BATT5_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+<field name="Range">0 120</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Failsafe voltage source" name="BATT5_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+<values>
+<value code="0">Raw Voltage</value>
+<value code=" 1">Sag Compensated Voltage</value>
+</values>
+</param>
+<param humanName="Low battery voltage" name="BATT5_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Low battery capacity" name="BATT5_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Critical battery voltage" name="BATT5_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery critical capacity" name="BATT5_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5__FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Low battery failsafe action" name="BATT5_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Critical battery failsafe action" name="BATT5_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Required arming voltage" name="BATT5_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Required arming remaining capacity" name="BATT5_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT5__ARM_VOLT parameter." user="Advanced">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+</parameters>
+<parameters name="BATT6_">
+<param humanName="Battery monitoring" name="BATT6_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="3">Analog Voltage Only</value>
+<value code="4">Analog Voltage and Current</value>
+<value code="5">Solo</value>
+<value code="6">Bebop</value>
+<value code="7">SMBus-Maxell</value>
+<value code="8">UAVCAN-BatteryInfo</value>
+<value code="9">BLHeli ESC</value>
+<value code="10">SumOfFollowing</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Voltage sensing pin" name="BATT6_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 13">Pixhawk2_PM2</value>
+<value code=" 100">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Current sensing pin" name="BATT6_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 14">Pixhawk2_PM2</value>
+<value code=" 101">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Voltage Multiplier" name="BATT6_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+<param humanName="Amps per volt" name="BATT6_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+<field name="Units">A/V</field>
+<field name="UnitText">ampere per volt</field>
+</param>
+<param humanName="AMP offset" name="BATT6_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery capacity" name="BATT6_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Maximum allowed power (Watts)" name="BATT6_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">W</field>
+<field name="UnitText">watt</field>
+</param>
+<param humanName="Battery serial number" name="BATT6_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+<param humanName="Low voltage timeout" name="BATT6_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+<field name="Range">0 120</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Failsafe voltage source" name="BATT6_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+<values>
+<value code="0">Raw Voltage</value>
+<value code=" 1">Sag Compensated Voltage</value>
+</values>
+</param>
+<param humanName="Low battery voltage" name="BATT6_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Low battery capacity" name="BATT6_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Critical battery voltage" name="BATT6_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery critical capacity" name="BATT6_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6__FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Low battery failsafe action" name="BATT6_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Critical battery failsafe action" name="BATT6_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Required arming voltage" name="BATT6_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Required arming remaining capacity" name="BATT6_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT6__ARM_VOLT parameter." user="Advanced">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+</parameters>
+<parameters name="BATT7_">
+<param humanName="Battery monitoring" name="BATT7_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="3">Analog Voltage Only</value>
+<value code="4">Analog Voltage and Current</value>
+<value code="5">Solo</value>
+<value code="6">Bebop</value>
+<value code="7">SMBus-Maxell</value>
+<value code="8">UAVCAN-BatteryInfo</value>
+<value code="9">BLHeli ESC</value>
+<value code="10">SumOfFollowing</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Voltage sensing pin" name="BATT7_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 13">Pixhawk2_PM2</value>
+<value code=" 100">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Current sensing pin" name="BATT7_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 14">Pixhawk2_PM2</value>
+<value code=" 101">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Voltage Multiplier" name="BATT7_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+<param humanName="Amps per volt" name="BATT7_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+<field name="Units">A/V</field>
+<field name="UnitText">ampere per volt</field>
+</param>
+<param humanName="AMP offset" name="BATT7_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery capacity" name="BATT7_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Maximum allowed power (Watts)" name="BATT7_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">W</field>
+<field name="UnitText">watt</field>
+</param>
+<param humanName="Battery serial number" name="BATT7_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+<param humanName="Low voltage timeout" name="BATT7_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+<field name="Range">0 120</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Failsafe voltage source" name="BATT7_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+<values>
+<value code="0">Raw Voltage</value>
+<value code=" 1">Sag Compensated Voltage</value>
+</values>
+</param>
+<param humanName="Low battery voltage" name="BATT7_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Low battery capacity" name="BATT7_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Critical battery voltage" name="BATT7_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery critical capacity" name="BATT7_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7__FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Low battery failsafe action" name="BATT7_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Critical battery failsafe action" name="BATT7_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Required arming voltage" name="BATT7_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Required arming remaining capacity" name="BATT7_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT7__ARM_VOLT parameter." user="Advanced">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+</parameters>
+<parameters name="BATT8_">
+<param humanName="Battery monitoring" name="BATT8_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="3">Analog Voltage Only</value>
+<value code="4">Analog Voltage and Current</value>
+<value code="5">Solo</value>
+<value code="6">Bebop</value>
+<value code="7">SMBus-Maxell</value>
+<value code="8">UAVCAN-BatteryInfo</value>
+<value code="9">BLHeli ESC</value>
+<value code="10">SumOfFollowing</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Voltage sensing pin" name="BATT8_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 13">Pixhawk2_PM2</value>
+<value code=" 100">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Current sensing pin" name="BATT8_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 14">Pixhawk2_PM2</value>
+<value code=" 101">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Voltage Multiplier" name="BATT8_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+<param humanName="Amps per volt" name="BATT8_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+<field name="Units">A/V</field>
+<field name="UnitText">ampere per volt</field>
+</param>
+<param humanName="AMP offset" name="BATT8_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery capacity" name="BATT8_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Maximum allowed power (Watts)" name="BATT8_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">W</field>
+<field name="UnitText">watt</field>
+</param>
+<param humanName="Battery serial number" name="BATT8_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+<param humanName="Low voltage timeout" name="BATT8_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+<field name="Range">0 120</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Failsafe voltage source" name="BATT8_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+<values>
+<value code="0">Raw Voltage</value>
+<value code=" 1">Sag Compensated Voltage</value>
+</values>
+</param>
+<param humanName="Low battery voltage" name="BATT8_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Low battery capacity" name="BATT8_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Critical battery voltage" name="BATT8_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery critical capacity" name="BATT8_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8__FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Low battery failsafe action" name="BATT8_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Critical battery failsafe action" name="BATT8_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Required arming voltage" name="BATT8_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Required arming remaining capacity" name="BATT8_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT8__ARM_VOLT parameter." user="Advanced">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+</parameters>
+<parameters name="BATT9_">
+<param humanName="Battery monitoring" name="BATT9_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="3">Analog Voltage Only</value>
+<value code="4">Analog Voltage and Current</value>
+<value code="5">Solo</value>
+<value code="6">Bebop</value>
+<value code="7">SMBus-Maxell</value>
+<value code="8">UAVCAN-BatteryInfo</value>
+<value code="9">BLHeli ESC</value>
+<value code="10">SumOfFollowing</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Voltage sensing pin" name="BATT9_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 13">Pixhawk2_PM2</value>
+<value code=" 100">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Current sensing pin" name="BATT9_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 14">Pixhawk2_PM2</value>
+<value code=" 101">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Voltage Multiplier" name="BATT9_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+<param humanName="Amps per volt" name="BATT9_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+<field name="Units">A/V</field>
+<field name="UnitText">ampere per volt</field>
+</param>
+<param humanName="AMP offset" name="BATT9_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery capacity" name="BATT9_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Maximum allowed power (Watts)" name="BATT9_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">W</field>
+<field name="UnitText">watt</field>
+</param>
+<param humanName="Battery serial number" name="BATT9_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+<param humanName="Low voltage timeout" name="BATT9_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+<field name="Range">0 120</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Failsafe voltage source" name="BATT9_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+<values>
+<value code="0">Raw Voltage</value>
+<value code=" 1">Sag Compensated Voltage</value>
+</values>
+</param>
+<param humanName="Low battery voltage" name="BATT9_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Low battery capacity" name="BATT9_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Critical battery voltage" name="BATT9_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery critical capacity" name="BATT9_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9__FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Low battery failsafe action" name="BATT9_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Critical battery failsafe action" name="BATT9_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Required arming voltage" name="BATT9_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Required arming remaining capacity" name="BATT9_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT9__ARM_VOLT parameter." user="Advanced">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+</parameters>
+<parameters name="BATT_">
+<param humanName="Battery monitoring" name="BATT_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="3">Analog Voltage Only</value>
+<value code="4">Analog Voltage and Current</value>
+<value code="5">Solo</value>
+<value code="6">Bebop</value>
+<value code="7">SMBus-Maxell</value>
+<value code="8">UAVCAN-BatteryInfo</value>
+<value code="9">BLHeli ESC</value>
+<value code="10">SumOfFollowing</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Voltage sensing pin" name="BATT_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 13">Pixhawk2_PM2</value>
+<value code=" 100">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Current sensing pin" name="BATT_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 14">Pixhawk2_PM2</value>
+<value code=" 101">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Voltage Multiplier" name="BATT_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+<param humanName="Amps per volt" name="BATT_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+<field name="Units">A/V</field>
+<field name="UnitText">ampere per volt</field>
+</param>
+<param humanName="AMP offset" name="BATT_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery capacity" name="BATT_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Maximum allowed power (Watts)" name="BATT_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">W</field>
+<field name="UnitText">watt</field>
+</param>
+<param humanName="Battery serial number" name="BATT_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+<param humanName="Low voltage timeout" name="BATT_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+<field name="Range">0 120</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Failsafe voltage source" name="BATT_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+<values>
+<value code="0">Raw Voltage</value>
+<value code=" 1">Sag Compensated Voltage</value>
+</values>
+</param>
+<param humanName="Low battery voltage" name="BATT_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Low battery capacity" name="BATT_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Critical battery voltage" name="BATT_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery critical capacity" name="BATT_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT__FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Low battery failsafe action" name="BATT_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Critical battery failsafe action" name="BATT_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Required arming voltage" name="BATT_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Required arming remaining capacity" name="BATT_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT__ARM_VOLT parameter." user="Advanced">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+</parameters>
+<parameters name="BCN">
+<param humanName="Beacon based position estimation device type" name="BCN_TYPE" documentation="What type of beacon based position estimation device is connected" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">Pozyx</value>
+<value code="2">Marvelmind</value>
+</values>
+</param>
+<param humanName="Beacon origin's latitude" name="BCN_LATITUDE" documentation="Beacon origin's latitude" user="Advanced">
+<field name="Range">-90 90</field>
+<field name="Increment">0.000001</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Beacon origin's longitude" name="BCN_LONGITUDE" documentation="Beacon origin's longitude" user="Advanced">
+<field name="Range">-180 180</field>
+<field name="Increment">0.000001</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Beacon origin's altitude above sealevel in meters" name="BCN_ALT" documentation="Beacon origin's altitude above sealevel in meters" user="Advanced">
+<field name="Range">0 10000</field>
+<field name="Increment">1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Beacon systems rotation from north in degrees" name="BCN_ORIENT_YAW" documentation="Beacon systems rotation from north in degrees" user="Advanced">
+<field name="Range">-180 +180</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+</parameters>
+<parameters name="BRD_">
+<param humanName="Auxiliary pin config" name="BRD_PWM_COUNT" documentation="Controls number of FMU outputs which are setup for PWM. All unassigned pins can be used for GPIO" user="Advanced">
+<values>
+<value code="0">No PWMs</value>
+<value code="1">One PWMs</value>
+<value code="2">Two PWMs</value>
+<value code="3">Three PWMs</value>
+<value code="4">Four PWMs</value>
+<value code="5">Five PWMs</value>
+<value code="6">Six PWMs</value>
+<value code="7">Seven PWMs</value>
+<value code="8">Eight PWMs</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Serial 1 flow control" name="BRD_SER1_RTSCTS" documentation="Enable flow control on serial 1 (telemetry 1) on Pixhawk. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+<value code="2">Auto</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Serial 2 flow control" name="BRD_SER2_RTSCTS" documentation="Enable flow control on serial 2 (telemetry 2) on Pixhawk and STATE. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+<value code="2">Auto</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Enable use of safety arming switch" name="BRD_SAFETYENABLE" documentation="This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName=" SBUS output rate" name="BRD_SBUS_OUT" documentation="This sets the SBUS output frame rate in Hz" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">50Hz</value>
+<value code="2">75Hz</value>
+<value code="3">100Hz</value>
+<value code="4">150Hz</value>
+<value code="5">200Hz</value>
+<value code="6">250Hz</value>
+<value code="7">300Hz</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="User-defined serial number" name="BRD_SERIAL_NUM" documentation="User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot" user="Standard">
+<field name="Range">-32768 32767</field>
+</param>
+<param humanName="Channels which ignore the safety switch state" name="BRD_SAFETY_MASK" documentation="A bitmask which controls what channels can move while the safety switch has not been pressed" user="Advanced">
+<field name="Bitmask">0:Ch1,1:Ch2,2:Ch3,3:Ch4,4:Ch5,5:Ch6,6:Ch7,7:Ch8,8:Ch9,9:Ch10,10:Ch11,11:Ch12,12:Ch13,13:Ch14</field>
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Target IMU temperature" name="BRD_IMU_TARGTEMP" documentation="This sets the target IMU temperature for boards with controllable IMU heating units. DO NOT SET -1 on The Cube. A value of -1 sets PH1 behaviour " user="Advanced">
+<field name="Range">-1 80</field>
+<field name="Units">degC</field>
+<field name="UnitText">degrees Celsius</field>
+</param>
+<param humanName="Board type" name="BRD_TYPE" documentation="This allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4)" user="Advanced">
+<values>
+<value code="0">AUTO</value>
+<value code="1">PX4V1</value>
+<value code="2">Pixhawk</value>
+<value code="3">Cube/Pixhawk2</value>
+<value code="4">Pixracer</value>
+<value code="5">PixhawkMini</value>
+<value code="6">Pixhawk2Slim</value>
+<value code="7">VRBrain 5.1</value>
+<value code="8">VRBrain 5.2</value>
+<value code="9">VR Micro Brain 5.1</value>
+<value code="10">VR Micro Brain 5.2</value>
+<value code="11">VRBrain Core 1.0</value>
+<value code="12">VRBrain 5.4</value>
+<value code="13">Intel Aero FC</value>
+<value code="20">AUAV2.1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Enable IO co-processor" name="BRD_IO_ENABLE" documentation="This allows for the IO co-processor on FMUv1 and FMUv2 to be disabled" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Options for safety button behavior" name="BRD_SAFETYOPTION" documentation="This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed" user="Standard">
+<field name="Bitmask">0:ActiveForSafetyEnable,1:ActiveForSafetyDisable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms</field>
+</param>
+<param humanName="Autopilot board voltage requirement" name="BRD_VBUS_MIN" documentation="Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check." user="Advanced">
+<field name="Range">4.0 5.5</field>
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Servo voltage requirement" name="BRD_VSERVO_MIN" documentation="Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check." user="Advanced">
+<field name="Range">3.3 12.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="microSD slowdown" name="BRD_SD_SLOWDOWN" documentation="This is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used." user="Advanced">
+<field name="Range">0 32</field>
+<field name="Increment">1</field>
+</param>
+</parameters>
+<parameters name="BRD_RADIO">
+<param humanName="Set type of direct attached radio" name="BRD_RADIO_TYPE" documentation="This enables support for direct attached radio receivers" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">CYRF6936</value>
+</values>
+</param>
+<param humanName="protocol" name="BRD_RADIO_PROT" documentation="Select air protocol" user="Advanced">
+<values>
+<value code="0">Auto</value>
+<value code="1">DSM2</value>
+<value code="2">DSMX</value>
+</values>
+</param>
+<param humanName="debug level" name="BRD_RADIO_DEBUG" documentation="radio debug level" user="Advanced">
+<field name="Range">0 4</field>
+</param>
+<param humanName="disable receive CRC" name="BRD_RADIO_DISCRC" documentation="disable receive CRC (for debug)" user="Advanced">
+<values>
+<value code="0">NotDisabled</value>
+<value code="1">Disabled</value>
+</values>
+</param>
+<param humanName="RSSI signal strength" name="BRD_RADIO_SIGCH" documentation="Channel to show receive RSSI signal strength, or zero for disabled" user="Advanced">
+<field name="Range">0 16</field>
+</param>
+<param humanName="Packet rate channel" name="BRD_RADIO_PPSCH" documentation="Channel to show received packet-per-second rate, or zero for disabled" user="Advanced">
+<field name="Range">0 16</field>
+</param>
+<param humanName="Enable telemetry" name="BRD_RADIO_TELEM" documentation="If this is non-zero then telemetry packets will be sent over DSM" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Telemetry Transmit power" name="BRD_RADIO_TXPOW" documentation="Set telemetry transmit power. This is the power level (from 1 to 8) for telemetry packets sent from the RX to the TX" user="Advanced">
+<field name="Range">1 8</field>
+</param>
+<param humanName="Put radio into FCC test mode" name="BRD_RADIO_FCCTST" documentation="If this is enabled then the radio will continuously transmit as required for FCC testing. The transmit channel is set by the value of the parameter. The radio will not work for RC input while this is enabled" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">MinChannel</value>
+<value code="2">MidChannel</value>
+<value code="3">MaxChannel</value>
+<value code="4">MinChannelCW</value>
+<value code="5">MidChannelCW</value>
+<value code="6">MaxChannelCW</value>
+</values>
+</param>
+<param humanName="Stick input mode" name="BRD_RADIO_STKMD" documentation="This selects between different stick input modes. The default is mode2, which has throttle on the left stick and pitch on the right stick. You can instead set mode1, which has throttle on the right stick and pitch on the left stick." user="Advanced">
+<values>
+<value code="1">Mode1</value>
+<value code="2">Mode2</value>
+</values>
+</param>
+<param humanName="Set radio to factory test channel" name="BRD_RADIO_TESTCH" documentation="This sets the radio to a fixed test channel for factory testing. Using a fixed channel avoids the need for binding in factory testing." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">TestChan1</value>
+<value code="2">TestChan2</value>
+<value code="3">TestChan3</value>
+<value code="4">TestChan4</value>
+<value code="5">TestChan5</value>
+<value code="6">TestChan6</value>
+<value code="7">TestChan7</value>
+<value code="8">TestChan8</value>
+</values>
+</param>
+<param humanName="RSSI value channel for telemetry data on transmitter" name="BRD_RADIO_TSIGCH" documentation="Channel to show telemetry RSSI value as received by TX" user="Advanced">
+<field name="Range">0 16</field>
+</param>
+<param humanName="Telemetry PPS channel" name="BRD_RADIO_TPPSCH" documentation="Channel to show telemetry packets-per-second value, as received at TX" user="Advanced">
+<field name="Range">0 16</field>
+</param>
+<param humanName="Transmitter transmit power" name="BRD_RADIO_TXMAX" documentation="Set transmitter maximum transmit power (from 1 to 8)" user="Advanced">
+<field name="Range">1 8</field>
+</param>
+<param humanName="Transmitter buzzer adjustment" name="BRD_RADIO_BZOFS" documentation="Set transmitter buzzer note adjustment (adjust frequency up)" user="Advanced">
+<field name="Range">0 40</field>
+</param>
+<param humanName="Auto-bind time" name="BRD_RADIO_ABTIME" documentation="When non-zero this sets the time with no transmitter packets before we start looking for auto-bind packets." user="Advanced">
+<field name="Range">0 120</field>
+</param>
+<param humanName="Auto-bind level" name="BRD_RADIO_ABLVL" documentation="This sets the minimum RSSI of an auto-bind packet for it to be accepted. This should be set so that auto-bind will only happen at short range to minimise the change of an auto-bind happening accidentially" user="Advanced">
+<field name="Range">0 31</field>
+</param>
+</parameters>
+<parameters name="BRD_RTC">
+<param humanName="Allowed sources of RTC time" name="BRD_RTC_TYPES" documentation="Specifies which sources of UTC time will be accepted" user="Advanced">
+<field name="Bitmask">0:GPS,1:MAVLINK_SYSTEM_TIME,2:HW</field>
+</param>
+</parameters>
+<parameters name="BTN_">
+<param humanName="Enable button reporting" name="BTN_ENABLE" documentation="This enables the button checking module. When this is disabled the parameters for setting button inputs are not visible" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code=" 1">Enabled</value>
+</values>
+</param>
+<param humanName="First button Pin" name="BTN_PIN1" documentation="Digital pin number for first button input. " user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">Pixhawk AUXOUT1</value>
+<value code="51">Pixhawk AUXOUT2</value>
+<value code="52">Pixhawk AUXOUT3</value>
+<value code="53">Pixhawk AUXOUT4</value>
+<value code="54">Pixhawk AUXOUT5</value>
+<value code="55">Pixhawk AUXOUT6</value>
+<value code="111">PX4 FMU Relay1</value>
+<value code="112">PX4 FMU Relay2</value>
+<value code="113">PX4IO Relay1</value>
+<value code="114">PX4IO Relay2</value>
+<value code="115">PX4IO ACC1</value>
+<value code="116">PX4IO ACC2</value>
+</values>
+</param>
+<param humanName="Second button Pin" name="BTN_PIN2" documentation="Digital pin number for second button input. " user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">Pixhawk AUXOUT1</value>
+<value code="51">Pixhawk AUXOUT2</value>
+<value code="52">Pixhawk AUXOUT3</value>
+<value code="53">Pixhawk AUXOUT4</value>
+<value code="54">Pixhawk AUXOUT5</value>
+<value code="55">Pixhawk AUXOUT6</value>
+<value code="111">PX4 FMU Relay1</value>
+<value code="112">PX4 FMU Relay2</value>
+<value code="113">PX4IO Relay1</value>
+<value code="114">PX4IO Relay2</value>
+<value code="115">PX4IO ACC1</value>
+<value code="116">PX4IO ACC2</value>
+</values>
+</param>
+<param humanName="Third button Pin" name="BTN_PIN3" documentation="Digital pin number for third button input. " user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">Pixhawk AUXOUT1</value>
+<value code="51">Pixhawk AUXOUT2</value>
+<value code="52">Pixhawk AUXOUT3</value>
+<value code="53">Pixhawk AUXOUT4</value>
+<value code="54">Pixhawk AUXOUT5</value>
+<value code="55">Pixhawk AUXOUT6</value>
+<value code="111">PX4 FMU Relay1</value>
+<value code="112">PX4 FMU Relay2</value>
+<value code="113">PX4IO Relay1</value>
+<value code="114">PX4IO Relay2</value>
+<value code="115">PX4IO ACC1</value>
+<value code="116">PX4IO ACC2</value>
+</values>
+</param>
+<param humanName="Fourth button Pin" name="BTN_PIN4" documentation="Digital pin number for fourth button input. " user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">Pixhawk AUXOUT1</value>
+<value code="51">Pixhawk AUXOUT2</value>
+<value code="52">Pixhawk AUXOUT3</value>
+<value code="53">Pixhawk AUXOUT4</value>
+<value code="54">Pixhawk AUXOUT5</value>
+<value code="55">Pixhawk AUXOUT6</value>
+<value code="111">PX4 FMU Relay1</value>
+<value code="112">PX4 FMU Relay2</value>
+<value code="113">PX4IO Relay1</value>
+<value code="114">PX4IO Relay2</value>
+<value code="115">PX4IO ACC1</value>
+<value code="116">PX4IO ACC2</value>
+</values>
+</param>
+<param humanName="Report send time" name="BTN_REPORT_SEND" documentation="The duration in seconds that a BUTTON_CHANGE report is repeatedly sent to the GCS regarding a button changing state. Note that the BUTTON_CHANGE message is MAVLink2 only." user="Standard">
+<field name="Range">0 3600</field>
+</param>
+</parameters>
+<parameters name="CAM_">
+<param humanName="Camera shutter (trigger) type" name="CAM_TRIGG_TYPE" documentation="how to trigger the camera to take a picture" user="Standard">
+<values>
+<value code="0">Servo</value>
+<value code="1">Relay</value>
+</values>
+</param>
+<param humanName="Duration that shutter is held open" name="CAM_DURATION" documentation="How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)" user="Standard">
+<field name="Range">0 50</field>
+<field name="Units">ds</field>
+<field name="UnitText">deciseconds</field>
+</param>
+<param humanName="Servo ON PWM value" name="CAM_SERVO_ON" documentation="PWM value in microseconds to move servo to when shutter is activated" user="Standard">
+<field name="Range">1000 2000</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo OFF PWM value" name="CAM_SERVO_OFF" documentation="PWM value in microseconds to move servo to when shutter is deactivated" user="Standard">
+<field name="Range">1000 2000</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Camera trigger distance" name="CAM_TRIGG_DIST" documentation="Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the GPS position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight." user="Standard">
+<field name="Range">0 1000</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Relay ON value" name="CAM_RELAY_ON" documentation="This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera" user="Standard">
+<values>
+<value code="0">Low</value>
+<value code="1">High</value>
+</values>
+</param>
+<param humanName="Minimum time between photos" name="CAM_MIN_INTERVAL" documentation="Postpone shooting if previous picture was taken less than preset time(ms) ago." user="Standard">
+<field name="Range">0 10000</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+</param>
+<param humanName="Maximum photo roll angle." name="CAM_MAX_ROLL" documentation="Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll)." user="Standard">
+<field name="Range">0 180</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Camera feedback pin" name="CAM_FEEDBACK_PIN" documentation="pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. See also the CAM_FEEDBACK_POL option." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">AUX1</value>
+<value code="51">AUX2</value>
+<value code="52">AUX3</value>
+<value code="53">AUX4</value>
+<value code="54">AUX5</value>
+<value code="55">AUX6</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Camera feedback pin polarity" name="CAM_FEEDBACK_POL" documentation="Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low" user="Standard">
+<values>
+<value code="0">TriggerLow</value>
+<value code="1">TriggerHigh</value>
+</values>
+</param>
+<param humanName="Distance-trigging in AUTO mode only" name="CAM_AUTO_ONLY" documentation="When enabled, trigging by distance is done in AUTO mode only." user="Standard">
+<values>
+<value code="0">Always</value>
+<value code="1">Only when in AUTO</value>
+</values>
+</param>
+<param humanName="Type of camera (0: None, 1: BMMCC)" name="CAM_TYPE" documentation="Set the camera type that is being used, certain cameras have custom functions that need further configuration, this enables that." user="Standard">
+<values>
+<value code="0">Default</value>
+<value code="1">BMMCC</value>
+</values>
+</param>
+</parameters>
+<parameters name="CAN_D1_">
+<param humanName="Enable use of specific protocol over virtual driver" name="CAN_D1_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">UAVCAN</value>
+<value code="2">KDECAN</value>
+<value code="3">ToshibaCAN</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+</parameters>
+<parameters name="CAN_D1_KDE_">
+<param humanName="Number of motor poles" name="CAN_D1_KDE_NPOLE" documentation="Sets the number of motor poles to calculate the correct RPM value">
+</param>
+</parameters>
+<parameters name="CAN_D1_UC_">
+<param humanName="UAVCAN node that is used for this network" name="CAN_D1_UC_NODE" documentation="UAVCAN node should be set implicitly" user="Advanced">
+<field name="Range">1 250</field>
+</param>
+<param humanName="RC Out channels to be transmitted as servo over UAVCAN" name="CAN_D1_UC_SRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over UAVCAN" user="Advanced">
+<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</field>
+</param>
+<param humanName="RC Out channels to be transmitted as ESC over UAVCAN" name="CAN_D1_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN" user="Advanced">
+<field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
+</param>
+<param humanName="Servo output rate" name="CAN_D1_UC_SRV_RT" documentation="Maximum transmit rate for servo outputs" user="Advanced">
+<field name="Range">1 200</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+</parameters>
+<parameters name="CAN_D2_">
+<param humanName="Enable use of specific protocol over virtual driver" name="CAN_D2_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">UAVCAN</value>
+<value code="2">KDECAN</value>
+<value code="3">ToshibaCAN</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+</parameters>
+<parameters name="CAN_D2_KDE_">
+<param humanName="Number of motor poles" name="CAN_D2_KDE_NPOLE" documentation="Sets the number of motor poles to calculate the correct RPM value">
+</param>
+</parameters>
+<parameters name="CAN_D2_UC_">
+<param humanName="UAVCAN node that is used for this network" name="CAN_D2_UC_NODE" documentation="UAVCAN node should be set implicitly" user="Advanced">
+<field name="Range">1 250</field>
+</param>
+<param humanName="RC Out channels to be transmitted as servo over UAVCAN" name="CAN_D2_UC_SRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over UAVCAN" user="Advanced">
+<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</field>
+</param>
+<param humanName="RC Out channels to be transmitted as ESC over UAVCAN" name="CAN_D2_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN" user="Advanced">
+<field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
+</param>
+<param humanName="Servo output rate" name="CAN_D2_UC_SRV_RT" documentation="Maximum transmit rate for servo outputs" user="Advanced">
+<field name="Range">1 200</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+</parameters>
+<parameters name="CAN_D3_">
+<param humanName="Enable use of specific protocol over virtual driver" name="CAN_D3_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">UAVCAN</value>
+<value code="2">KDECAN</value>
+<value code="3">ToshibaCAN</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+</parameters>
+<parameters name="CAN_D3_KDE_">
+<param humanName="Number of motor poles" name="CAN_D3_KDE_NPOLE" documentation="Sets the number of motor poles to calculate the correct RPM value">
+</param>
+</parameters>
+<parameters name="CAN_D3_UC_">
+<param humanName="UAVCAN node that is used for this network" name="CAN_D3_UC_NODE" documentation="UAVCAN node should be set implicitly" user="Advanced">
+<field name="Range">1 250</field>
+</param>
+<param humanName="RC Out channels to be transmitted as servo over UAVCAN" name="CAN_D3_UC_SRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over UAVCAN" user="Advanced">
+<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</field>
+</param>
+<param humanName="RC Out channels to be transmitted as ESC over UAVCAN" name="CAN_D3_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN" user="Advanced">
+<field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
+</param>
+<param humanName="Servo output rate" name="CAN_D3_UC_SRV_RT" documentation="Maximum transmit rate for servo outputs" user="Advanced">
+<field name="Range">1 200</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+</parameters>
+<parameters name="CAN_P1_">
+<param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P1_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">First driver</value>
+<value code="2">Second driver</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Bitrate of CAN interface" name="CAN_P1_BITRATE" documentation="Bit rate can be set up to from 10000 to 1000000" user="Advanced">
+<field name="Range">10000 1000000</field>
+</param>
+<param humanName="Level of debug for CAN devices" name="CAN_P1_DEBUG" documentation="Enabling this option will provide debug messages" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Major messages</value>
+<value code="2">All messages</value>
+</values>
+</param>
+</parameters>
+<parameters name="CAN_P2_">
+<param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P2_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">First driver</value>
+<value code="2">Second driver</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Bitrate of CAN interface" name="CAN_P2_BITRATE" documentation="Bit rate can be set up to from 10000 to 1000000" user="Advanced">
+<field name="Range">10000 1000000</field>
+</param>
+<param humanName="Level of debug for CAN devices" name="CAN_P2_DEBUG" documentation="Enabling this option will provide debug messages" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Major messages</value>
+<value code="2">All messages</value>
+</values>
+</param>
+</parameters>
+<parameters name="CAN_P3_">
+<param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P3_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">First driver</value>
+<value code="2">Second driver</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Bitrate of CAN interface" name="CAN_P3_BITRATE" documentation="Bit rate can be set up to from 10000 to 1000000" user="Advanced">
+<field name="Range">10000 1000000</field>
+</param>
+<param humanName="Level of debug for CAN devices" name="CAN_P3_DEBUG" documentation="Enabling this option will provide debug messages" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Major messages</value>
+<value code="2">All messages</value>
+</values>
+</param>
+</parameters>
+<parameters name="COMPASS_">
+<param humanName="Compass offsets in milligauss on the X axis" name="COMPASS_OFS_X" documentation="Offset to be added to the compass x-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Compass offsets in milligauss on the Y axis" name="COMPASS_OFS_Y" documentation="Offset to be added to the compass y-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Compass offsets in milligauss on the Z axis" name="COMPASS_OFS_Z" documentation="Offset to be added to the compass z-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Compass declination" name="COMPASS_DEC" documentation="An angle to compensate between the true north and magnetic north" user="Standard">
+<field name="Range">-3.142 3.142</field>
+<field name="Increment">0.01</field>
+<field name="Units">rad</field>
+<field name="UnitText">radians</field>
+</param>
+<param humanName="Learn compass offsets automatically" name="COMPASS_LEARN" documentation="Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Internal-Learning</value>
+<value code="2">EKF-Learning</value>
+</values>
+</param>
+<param humanName="Use compass for yaw" name="COMPASS_USE" documentation="Enable or disable the use of the compass (instead of the GPS) for determining heading" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Auto Declination" name="COMPASS_AUTODEC" documentation="Enable or disable the automatic calculation of the declination based on gps location" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Motor interference compensation type" name="COMPASS_MOTCT" documentation="Set motor interference compensation type to disabled, throttle or current.  Do not change manually." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Use Throttle</value>
+<value code="2">Use Current</value>
+</values>
+</param>
+<param humanName="Motor interference compensation for body frame X axis" name="COMPASS_MOT_X" documentation="Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Motor interference compensation for body frame Y axis" name="COMPASS_MOT_Y" documentation="Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Motor interference compensation for body frame Z axis" name="COMPASS_MOT_Z" documentation="Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Compass orientation" name="COMPASS_ORIENT" documentation="The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used." user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">Yaw45</value>
+<value code="2">Yaw90</value>
+<value code="3">Yaw135</value>
+<value code="4">Yaw180</value>
+<value code="5">Yaw225</value>
+<value code="6">Yaw270</value>
+<value code="7">Yaw315</value>
+<value code="8">Roll180</value>
+<value code="9">Roll180Yaw45</value>
+<value code="10">Roll180Yaw90</value>
+<value code="11">Roll180Yaw135</value>
+<value code="12">Pitch180</value>
+<value code="13">Roll180Yaw225</value>
+<value code="14">Roll180Yaw270</value>
+<value code="15">Roll180Yaw315</value>
+<value code="16">Roll90</value>
+<value code="17">Roll90Yaw45</value>
+<value code="18">Roll90Yaw90</value>
+<value code="19">Roll90Yaw135</value>
+<value code="20">Roll270</value>
+<value code="21">Roll270Yaw45</value>
+<value code="22">Roll270Yaw90</value>
+<value code="23">Roll270Yaw135</value>
+<value code="24">Pitch90</value>
+<value code="25">Pitch270</value>
+<value code="26">Pitch180Yaw90</value>
+<value code="27">Pitch180Yaw270</value>
+<value code="28">Roll90Pitch90</value>
+<value code="29">Roll180Pitch90</value>
+<value code="30">Roll270Pitch90</value>
+<value code="31">Roll90Pitch180</value>
+<value code="32">Roll270Pitch180</value>
+<value code="33">Roll90Pitch270</value>
+<value code="34">Roll180Pitch270</value>
+<value code="35">Roll270Pitch270</value>
+<value code="36">Roll90Pitch180Yaw90</value>
+<value code="37">Roll90Yaw270</value>
+<value code="38">Yaw293Pitch68Roll180</value>
+<value code="39">Pitch315</value>
+<value code="40">Roll90Pitch315</value>
+</values>
+</param>
+<param humanName="Compass is attached via an external cable" name="COMPASS_EXTERNAL" documentation="Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
+<values>
+<value code="0">Internal</value>
+<value code="1">External</value>
+<value code="2">ForcedExternal</value>
+</values>
+</param>
+<param humanName="Compass2 offsets in milligauss on the X axis" name="COMPASS_OFS2_X" documentation="Offset to be added to compass2's x-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Compass2 offsets in milligauss on the Y axis" name="COMPASS_OFS2_Y" documentation="Offset to be added to compass2's y-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Compass2 offsets in milligauss on the Z axis" name="COMPASS_OFS2_Z" documentation="Offset to be added to compass2's z-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Motor interference compensation to compass2 for body frame X axis" name="COMPASS_MOT2_X" documentation="Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Motor interference compensation to compass2 for body frame Y axis" name="COMPASS_MOT2_Y" documentation="Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Motor interference compensation to compass2 for body frame Z axis" name="COMPASS_MOT2_Z" documentation="Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Choose primary compass" name="COMPASS_PRIMARY" documentation="If more than one compass is available, this selects which compass is the primary. When external compasses are connected, they will be ordered first. NOTE: If no external compass is attached, this parameter is ignored." user="Advanced">
+<values>
+<value code="0">FirstCompass</value>
+<value code="1">SecondCompass</value>
+<value code="2">ThirdCompass</value>
+</values>
+</param>
+<param humanName="Compass3 offsets in milligauss on the X axis" name="COMPASS_OFS3_X" documentation="Offset to be added to compass3's x-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Compass3 offsets in milligauss on the Y axis" name="COMPASS_OFS3_Y" documentation="Offset to be added to compass3's y-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Compass3 offsets in milligauss on the Z axis" name="COMPASS_OFS3_Z" documentation="Offset to be added to compass3's z-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Motor interference compensation to compass3 for body frame X axis" name="COMPASS_MOT3_X" documentation="Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Motor interference compensation to compass3 for body frame Y axis" name="COMPASS_MOT3_Y" documentation="Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Motor interference compensation to compass3 for body frame Z axis" name="COMPASS_MOT3_Z" documentation="Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Compass device id" name="COMPASS_DEV_ID" documentation="Compass device id.  Automatically detected, do not set manually" user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="Compass2 device id" name="COMPASS_DEV_ID2" documentation="Second compass's device id.  Automatically detected, do not set manually" user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="Compass3 device id" name="COMPASS_DEV_ID3" documentation="Third compass's device id.  Automatically detected, do not set manually" user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="Compass2 used for yaw" name="COMPASS_USE2" documentation="Enable or disable the second compass for determining heading." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Compass2 orientation" name="COMPASS_ORIENT2" documentation="The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used." user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">Yaw45</value>
+<value code="2">Yaw90</value>
+<value code="3">Yaw135</value>
+<value code="4">Yaw180</value>
+<value code="5">Yaw225</value>
+<value code="6">Yaw270</value>
+<value code="7">Yaw315</value>
+<value code="8">Roll180</value>
+<value code="9">Roll180Yaw45</value>
+<value code="10">Roll180Yaw90</value>
+<value code="11">Roll180Yaw135</value>
+<value code="12">Pitch180</value>
+<value code="13">Roll180Yaw225</value>
+<value code="14">Roll180Yaw270</value>
+<value code="15">Roll180Yaw315</value>
+<value code="16">Roll90</value>
+<value code="17">Roll90Yaw45</value>
+<value code="18">Roll90Yaw90</value>
+<value code="19">Roll90Yaw135</value>
+<value code="20">Roll270</value>
+<value code="21">Roll270Yaw45</value>
+<value code="22">Roll270Yaw90</value>
+<value code="23">Roll270Yaw135</value>
+<value code="24">Pitch90</value>
+<value code="25">Pitch270</value>
+<value code="26">Pitch180Yaw90</value>
+<value code="27">Pitch180Yaw270</value>
+<value code="28">Roll90Pitch90</value>
+<value code="29">Roll180Pitch90</value>
+<value code="30">Roll270Pitch90</value>
+<value code="31">Roll90Pitch180</value>
+<value code="32">Roll270Pitch180</value>
+<value code="33">Roll90Pitch270</value>
+<value code="34">Roll180Pitch270</value>
+<value code="35">Roll270Pitch270</value>
+<value code="36">Roll90Pitch180Yaw90</value>
+<value code="37">Roll90Yaw270</value>
+<value code="38">Yaw293Pitch68Roll180</value>
+<value code="39">Pitch315</value>
+<value code="40">Roll90Pitch315</value>
+</values>
+</param>
+<param humanName="Compass2 is attached via an external cable" name="COMPASS_EXTERN2" documentation="Configure second compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
+<values>
+<value code="0">Internal</value>
+<value code="1">External</value>
+<value code="2">ForcedExternal</value>
+</values>
+</param>
+<param humanName="Compass3 used for yaw" name="COMPASS_USE3" documentation="Enable or disable the third compass for determining heading." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Compass3 orientation" name="COMPASS_ORIENT3" documentation="The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used." user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">Yaw45</value>
+<value code="2">Yaw90</value>
+<value code="3">Yaw135</value>
+<value code="4">Yaw180</value>
+<value code="5">Yaw225</value>
+<value code="6">Yaw270</value>
+<value code="7">Yaw315</value>
+<value code="8">Roll180</value>
+<value code="9">Roll180Yaw45</value>
+<value code="10">Roll180Yaw90</value>
+<value code="11">Roll180Yaw135</value>
+<value code="12">Pitch180</value>
+<value code="13">Roll180Yaw225</value>
+<value code="14">Roll180Yaw270</value>
+<value code="15">Roll180Yaw315</value>
+<value code="16">Roll90</value>
+<value code="17">Roll90Yaw45</value>
+<value code="18">Roll90Yaw90</value>
+<value code="19">Roll90Yaw135</value>
+<value code="20">Roll270</value>
+<value code="21">Roll270Yaw45</value>
+<value code="22">Roll270Yaw90</value>
+<value code="23">Roll270Yaw135</value>
+<value code="24">Pitch90</value>
+<value code="25">Pitch270</value>
+<value code="26">Pitch180Yaw90</value>
+<value code="27">Pitch180Yaw270</value>
+<value code="28">Roll90Pitch90</value>
+<value code="29">Roll180Pitch90</value>
+<value code="30">Roll270Pitch90</value>
+<value code="31">Roll90Pitch180</value>
+<value code="32">Roll270Pitch180</value>
+<value code="33">Roll90Pitch270</value>
+<value code="34">Roll180Pitch270</value>
+<value code="35">Roll270Pitch270</value>
+<value code="36">Roll90Pitch180Yaw90</value>
+<value code="37">Roll90Yaw270</value>
+<value code="38">Yaw293Pitch68Roll180</value>
+<value code="39">Pitch315</value>
+<value code="40">Roll90Pitch315</value>
+</values>
+</param>
+<param humanName="Compass3 is attached via an external cable" name="COMPASS_EXTERN3" documentation="Configure third compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
+<values>
+<value code="0">Internal</value>
+<value code="1">External</value>
+<value code="2">ForcedExternal</value>
+</values>
+</param>
+<param humanName="Compass soft-iron diagonal X component" name="COMPASS_DIA_X" documentation="DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass soft-iron diagonal Y component" name="COMPASS_DIA_Y" documentation="DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass soft-iron diagonal Z component" name="COMPASS_DIA_Z" documentation="DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass soft-iron off-diagonal X component" name="COMPASS_ODI_X" documentation="ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass soft-iron off-diagonal Y component" name="COMPASS_ODI_Y" documentation="ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass soft-iron off-diagonal Z component" name="COMPASS_ODI_Z" documentation="ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass2 soft-iron diagonal X component" name="COMPASS_DIA2_X" documentation="DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass2 soft-iron diagonal Y component" name="COMPASS_DIA2_Y" documentation="DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass2 soft-iron diagonal Z component" name="COMPASS_DIA2_Z" documentation="DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass2 soft-iron off-diagonal X component" name="COMPASS_ODI2_X" documentation="ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass2 soft-iron off-diagonal Y component" name="COMPASS_ODI2_Y" documentation="ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass2 soft-iron off-diagonal Z component" name="COMPASS_ODI2_Z" documentation="ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass3 soft-iron diagonal X component" name="COMPASS_DIA3_X" documentation="DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass3 soft-iron diagonal Y component" name="COMPASS_DIA3_Y" documentation="DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass3 soft-iron diagonal Z component" name="COMPASS_DIA3_Z" documentation="DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass3 soft-iron off-diagonal X component" name="COMPASS_ODI3_X" documentation="ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass3 soft-iron off-diagonal Y component" name="COMPASS_ODI3_Y" documentation="ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass3 soft-iron off-diagonal Z component" name="COMPASS_ODI3_Z" documentation="ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass calibration fitness" name="COMPASS_CAL_FIT" documentation="This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value." user="Advanced">
+<field name="Range">4 32</field>
+<values>
+<value code="4">Very Strict</value>
+<value code="8">Strict</value>
+<value code="16">Default</value>
+<value code="32">Relaxed</value>
+</values>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Compass maximum offset" name="COMPASS_OFFS_MAX" documentation="This sets the maximum allowed compass offset in calibration and arming checks" user="Advanced">
+<field name="Range">500 3000</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Compass disable driver type mask" name="COMPASS_TYPEMASK" documentation="This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup" user="Advanced">
+<field name="Bitmask">0:HMC5883,1:LSM303D,2:AK8963,3:BMM150,4:LSM9DS1,5:LIS3MDL,6:AK09916,7:IST8310,8:ICM20948,9:MMC3416,11:UAVCAN,12:QMC5883,14:MAG3110,15:IST8308</field>
+</param>
+<param humanName="Range in which sample is accepted" name="COMPASS_FLTR_RNG" documentation="This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.">
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Automatically check orientation" name="COMPASS_AUTO_ROT" documentation="When enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected.">
+<values>
+<value code="0">Disabled</value>
+<value code="1">CheckOnly</value>
+<value code="2">CheckAndFix</value>
+</values>
+</param>
+<param humanName="Compass device id expected" name="COMPASS_EXP_DID" documentation="The expected value of COMPASS_DEV_ID, used by arming checks. Setting this to -1 means &quot;don't care.&quot;" user="Advanced">
+</param>
+<param humanName="Compass2 device id expected" name="COMPASS_EXP_DID2" documentation="The expected value of COMPASS_DEV_ID2, used by arming checks. Setting this to -1 means &quot;don't care.&quot;" user="Advanced">
+</param>
+<param humanName="Compass3 device id expected" name="COMPASS_EXP_DID3" documentation="The expected value of COMPASS_DEV_ID3, used by arming checks. Setting this to -1 means &quot;don't care.&quot;" user="Advanced">
+</param>
+</parameters>
+<parameters name="COMPASS_PMOT">
+<param humanName="per-motor compass correction enable" name="COMPASS_PMOT_EN" documentation="This enables per-motor compass corrections" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="per-motor exponential correction" name="COMPASS_PMOT_EXP" documentation="This is the exponential correction for the power output of the motor for per-motor compass correction" user="Advanced">
+<field name="Range">0 2</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Compass per-motor1 X" name="COMPASS_PMOT1_X" documentation="Compensation for X axis of motor1" user="Advanced">
+</param>
+<param humanName="Compass per-motor1 Y" name="COMPASS_PMOT1_Y" documentation="Compensation for Y axis of motor1" user="Advanced">
+</param>
+<param humanName="Compass per-motor1 Z" name="COMPASS_PMOT1_Z" documentation="Compensation for Z axis of motor1" user="Advanced">
+</param>
+<param humanName="Compass per-motor2 X" name="COMPASS_PMOT2_X" documentation="Compensation for X axis of motor2" user="Advanced">
+</param>
+<param humanName="Compass per-motor2 Y" name="COMPASS_PMOT2_Y" documentation="Compensation for Y axis of motor2" user="Advanced">
+</param>
+<param humanName="Compass per-motor2 Z" name="COMPASS_PMOT2_Z" documentation="Compensation for Z axis of motor2" user="Advanced">
+</param>
+<param humanName="Compass per-motor3 X" name="COMPASS_PMOT3_X" documentation="Compensation for X axis of motor3" user="Advanced">
+</param>
+<param humanName="Compass per-motor3 Y" name="COMPASS_PMOT3_Y" documentation="Compensation for Y axis of motor3" user="Advanced">
+</param>
+<param humanName="Compass per-motor3 Z" name="COMPASS_PMOT3_Z" documentation="Compensation for Z axis of motor3" user="Advanced">
+</param>
+<param humanName="Compass per-motor4 X" name="COMPASS_PMOT4_X" documentation="Compensation for X axis of motor4" user="Advanced">
+</param>
+<param humanName="Compass per-motor4 Y" name="COMPASS_PMOT4_Y" documentation="Compensation for Y axis of motor4" user="Advanced">
+</param>
+<param humanName="Compass per-motor4 Z" name="COMPASS_PMOT4_Z" documentation="Compensation for Z axis of motor4" user="Advanced">
+</param>
+</parameters>
+<parameters name="EK2_">
+<param humanName="Enable EKF2" name="EK2_ENABLE" documentation="This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code=" 1">Enabled</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="GPS mode control" name="EK2_GPS_TYPE" documentation="This controls use of GPS measurements : 0 = use 3D velocity &amp; 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors." user="Advanced">
+<values>
+<value code="0">GPS 3D Vel and 2D Pos</value>
+<value code=" 1">GPS 2D vel and 2D pos</value>
+<value code=" 2">GPS 2D pos</value>
+<value code=" 3">No GPS</value>
+</values>
+</param>
+<param humanName="GPS horizontal velocity measurement noise (m/s)" name="EK2_VELNE_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements." user="Advanced">
+<field name="Range">0.05 5.0</field>
+<field name="Increment">0.05</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="GPS vertical velocity measurement noise (m/s)" name="EK2_VELD_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements." user="Advanced">
+<field name="Range">0.05 5.0</field>
+<field name="Increment">0.05</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="GPS velocity innovation gate size" name="EK2_VEL_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="GPS horizontal position measurement noise (m)" name="EK2_POSNE_M_NSE" documentation="This sets the GPS horizontal position or external navigation system position observation noise. Increasing it reduces the weighting of GPS horizontal position or external navigation system position measurements." user="Advanced">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="GPS position measurement gate size" name="EK2_POS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="GPS glitch radius gate size (m)" name="EK2_GLITCH_RAD" documentation="This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position." user="Advanced">
+<field name="Range">10 100</field>
+<field name="Increment">5</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Primary altitude sensor source" name="EK2_ALT_SOURCE" documentation='Primary height sensor used by the EKF. If the selected option cannot be used, baro is used. 1 uses the range finder and only with optical flow navigation (EK2_GPS_TYPE = 3), Do not use "1" for terrain following. NOTE: the EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground.' user="Advanced">
+<values>
+<value code="0">Use Baro</value>
+<value code=" 1">Use Range Finder</value>
+<value code=" 2">Use GPS</value>
+<value code=" 3">Use Range Beacon</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Altitude measurement noise (m)" name="EK2_ALT_M_NSE" documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors." user="Advanced">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Height measurement gate size" name="EK2_HGT_I_GATE" documentation="This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Height measurement delay (msec)" name="EK2_HGT_DELAY" documentation="This is the number of msec that the Height measurements lag behind the inertial measurements." user="Advanced">
+<field name="Range">0 250</field>
+<field name="Increment">10</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Magnetometer measurement noise (Gauss)" name="EK2_MAG_M_NSE" documentation="This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
+<field name="Range">0.01 0.5</field>
+<field name="Increment">0.01</field>
+<field name="Units">Gauss</field>
+<field name="UnitText">gauss</field>
+</param>
+<param humanName="Magnetometer default fusion mode" name="EK2_MAG_CAL" documentation="This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK2_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK2_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK2_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK2_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter." user="Advanced">
+<values>
+<value code="0">When flying</value>
+<value code="1">When manoeuvring</value>
+<value code="2">Never</value>
+<value code="3">After first climb yaw reset</value>
+<value code="4">Always</value>
+</values>
+</param>
+<param humanName="Magnetometer measurement gate size" name="EK2_MAG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Equivalent airspeed measurement noise (m/s)" name="EK2_EAS_M_NSE" documentation="This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements." user="Advanced">
+<field name="Range">0.5 5.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Airspeed measurement gate size" name="EK2_EAS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Range finder measurement noise (m)" name="EK2_RNG_M_NSE" documentation="This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Range finder measurement gate size" name="EK2_RNG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Maximum valid optical flow rate" name="EK2_MAX_FLOW" documentation="This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter" user="Advanced">
+<field name="Range">1.0 4.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Optical flow measurement noise (rad/s)" name="EK2_FLOW_M_NSE" documentation="This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
+<field name="Range">0.05 1.0</field>
+<field name="Increment">0.05</field>
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Optical Flow measurement gate size" name="EK2_FLOW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Optical Flow measurement delay (msec)" name="EK2_FLOW_DELAY" documentation="This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
+<field name="Range">0 127</field>
+<field name="Increment">10</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Rate gyro noise (rad/s)" name="EK2_GYRO_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more." user="Advanced">
+<field name="Range">0.0001 0.1</field>
+<field name="Increment">0.0001</field>
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Accelerometer noise (m/s^2)" name="EK2_ACC_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more." user="Advanced">
+<field name="Range">0.01 1.0</field>
+<field name="Increment">0.01</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Rate gyro bias stability (rad/s/s)" name="EK2_GBIAS_P_NSE" documentation="This state  process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier." user="Advanced">
+<field name="Range">0.00001 0.001</field>
+<field name="Units">rad/s/s</field>
+<field name="UnitText">radians per square second</field>
+</param>
+<param humanName="Rate gyro scale factor stability (1/s)" name="EK2_GSCL_P_NSE" documentation="This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier." user="Advanced">
+<field name="Range">0.000001 0.001</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Accelerometer bias stability (m/s^3)" name="EK2_ABIAS_P_NSE" documentation="This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier." user="Advanced">
+<field name="Range">0.00001 0.005</field>
+<field name="Units">m/s/s/s</field>
+<field name="UnitText">meters per cubic second</field>
+</param>
+<param humanName="Wind velocity process noise (m/s^2)" name="EK2_WIND_P_NSE" documentation="This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier." user="Advanced">
+<field name="Range">0.01 1.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Height rate to wind process noise scaler" name="EK2_WIND_PSCALE" documentation="This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser." user="Advanced">
+<field name="Range">0.0 1.0</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="GPS preflight check" name="EK2_GPS_CHECK" documentation="This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat." user="Advanced">
+<field name="Bitmask">0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed</field>
+</param>
+<param humanName="Bitmask of active IMUs" name="EK2_IMU_MASK" documentation="1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start." user="Advanced">
+<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="GPS accuracy check scaler (%)" name="EK2_CHECK_SCALE" documentation="This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error." user="Advanced">
+<field name="Range">50 200</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Non-GPS operation position uncertainty (m)" name="EK2_NOAID_M_NSE" documentation="This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors." user="Advanced">
+<field name="Range">0.5 50.0</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="EKF sensor logging IMU mask" name="EK2_LOG_MASK" documentation="This sets the IMU mask of sensors to do full logging for" user="Advanced">
+<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Yaw measurement noise (rad)" name="EK2_YAW_M_NSE" documentation="This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements." user="Advanced">
+<field name="Range">0.05 1.0</field>
+<field name="Increment">0.05</field>
+<field name="Units">rad</field>
+<field name="UnitText">radians</field>
+</param>
+<param humanName="Yaw measurement gate size" name="EK2_YAW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Output complementary filter time constant (centi-sec)" name="EK2_TAU_OUTPUT" documentation="Sets the time constant of the output complementary filter/predictor in centi-seconds." user="Advanced">
+<field name="Range">10 50</field>
+<field name="Increment">5</field>
+<field name="Units">cs</field>
+<field name="UnitText">centiseconds</field>
+</param>
+<param humanName="Earth magnetic field process noise (gauss/s)" name="EK2_MAGE_P_NSE" documentation="This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier." user="Advanced">
+<field name="Range">0.00001 0.01</field>
+<field name="Units">Gauss/s</field>
+<field name="UnitText">gauss per second</field>
+</param>
+<param humanName="Body magnetic field process noise (gauss/s)" name="EK2_MAGB_P_NSE" documentation="This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier." user="Advanced">
+<field name="Range">0.00001 0.01</field>
+<field name="Units">Gauss/s</field>
+<field name="UnitText">gauss per second</field>
+</param>
+<param humanName="Range finder switch height percentage" name="EK2_RNG_USE_HGT" documentation="Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). Set to -1 when EK2_ALT_SOURCE is not set to range finder.  This is not for terrain following." user="Advanced">
+<field name="Range">-1 70</field>
+<field name="Increment">1</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Maximum terrain gradient" name="EK2_TERR_GRAD" documentation="Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference" user="Advanced">
+<field name="Range">0 0.2</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Range beacon measurement noise (m)" name="EK2_BCN_M_NSE" documentation="This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Range beacon measurement gate size" name="EK2_BCN_I_GTE" documentation="This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Range beacon measurement delay (msec)" name="EK2_BCN_DELAY" documentation="This is the number of msec that the range beacon measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
+<field name="Range">0 127</field>
+<field name="Increment">10</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Range finder max ground speed" name="EK2_RNG_USE_SPD" documentation="The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value." user="Advanced">
+<field name="Range">2.0 6.0</field>
+<field name="Increment">0.5</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Bitmask of active EKF cores that will always use heading fusion" name="EK2_MAG_MASK" documentation="1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely." user="Advanced">
+<field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Bitmask control of EKF reference height correction" name="EK2_OGN_HGT_MASK" documentation="When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default)." user="Advanced">
+<field name="Bitmask">0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position</field>
+<field name="RebootRequired">True</field>
+</param>
+</parameters>
+<parameters name="EK3_">
+<param humanName="Enable EKF3" name="EK3_ENABLE" documentation="This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code=" 1">Enabled</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="GPS mode control" name="EK3_GPS_TYPE" documentation="This controls use of GPS measurements : 0 = use 3D velocity &amp; 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors." user="Advanced">
+<values>
+<value code="0">GPS 3D Vel and 2D Pos</value>
+<value code=" 1">GPS 2D vel and 2D pos</value>
+<value code=" 2">GPS 2D pos</value>
+<value code=" 3">No GPS</value>
+</values>
+</param>
+<param humanName="GPS horizontal velocity measurement noise (m/s)" name="EK3_VELNE_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements." user="Advanced">
+<field name="Range">0.05 5.0</field>
+<field name="Increment">0.05</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="GPS vertical velocity measurement noise (m/s)" name="EK3_VELD_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements." user="Advanced">
+<field name="Range">0.05 5.0</field>
+<field name="Increment">0.05</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="GPS velocity innovation gate size" name="EK3_VEL_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="GPS horizontal position measurement noise (m)" name="EK3_POSNE_M_NSE" documentation="This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements." user="Advanced">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="GPS position measurement gate size" name="EK3_POS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="GPS glitch radius gate size (m)" name="EK3_GLITCH_RAD" documentation="This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position." user="Advanced">
+<field name="Range">10 100</field>
+<field name="Increment">5</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Primary altitude sensor source" name="EK3_ALT_SOURCE" documentation='Primary height sensor used by the EKF. If the selected option cannot be used, baro is used. 1 uses the range finder and only with optical flow navigation (EK2_GPS_TYPE = 3), Do not use "1" for terrain following. NOTE: the EK3_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground.' user="Advanced">
+<values>
+<value code="0">Use Baro</value>
+<value code=" 1">Use Range Finder</value>
+<value code=" 2">Use GPS</value>
+<value code=" 3">Use Range Beacon</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Altitude measurement noise (m)" name="EK3_ALT_M_NSE" documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors." user="Advanced">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Height measurement gate size" name="EK3_HGT_I_GATE" documentation="This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Height measurement delay (msec)" name="EK3_HGT_DELAY" documentation="This is the number of msec that the Height measurements lag behind the inertial measurements." user="Advanced">
+<field name="Range">0 250</field>
+<field name="Increment">10</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Magnetometer measurement noise (Gauss)" name="EK3_MAG_M_NSE" documentation="This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
+<field name="Range">0.01 0.5</field>
+<field name="Increment">0.01</field>
+<field name="Units">Gauss</field>
+<field name="UnitText">gauss</field>
+</param>
+<param humanName="Magnetometer default fusion mode" name="EK3_MAG_CAL" documentation="This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK3_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK3_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK3_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK3_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK3_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter." user="Advanced">
+<values>
+<value code="0">When flying</value>
+<value code="1">When manoeuvring</value>
+<value code="2">Never</value>
+<value code="3">After first climb yaw reset</value>
+<value code="4">Always</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Magnetometer measurement gate size" name="EK3_MAG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Equivalent airspeed measurement noise (m/s)" name="EK3_EAS_M_NSE" documentation="This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements." user="Advanced">
+<field name="Range">0.5 5.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Airspeed measurement gate size" name="EK3_EAS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Range finder measurement noise (m)" name="EK3_RNG_M_NSE" documentation="This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Range finder measurement gate size" name="EK3_RNG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Maximum valid optical flow rate" name="EK3_MAX_FLOW" documentation="This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter" user="Advanced">
+<field name="Range">1.0 4.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Optical flow measurement noise (rad/s)" name="EK3_FLOW_M_NSE" documentation="This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
+<field name="Range">0.05 1.0</field>
+<field name="Increment">0.05</field>
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Optical Flow measurement gate size" name="EK3_FLOW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Optical Flow measurement delay (msec)" name="EK3_FLOW_DELAY" documentation="This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
+<field name="Range">0 250</field>
+<field name="Increment">10</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Rate gyro noise (rad/s)" name="EK3_GYRO_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more." user="Advanced">
+<field name="Range">0.0001 0.1</field>
+<field name="Increment">0.0001</field>
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Accelerometer noise (m/s^2)" name="EK3_ACC_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more." user="Advanced">
+<field name="Range">0.01 1.0</field>
+<field name="Increment">0.01</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Rate gyro bias stability (rad/s/s)" name="EK3_GBIAS_P_NSE" documentation="This state  process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier." user="Advanced">
+<field name="Range">0.00001 0.001</field>
+<field name="Units">rad/s/s</field>
+<field name="UnitText">radians per square second</field>
+</param>
+<param humanName="Accelerometer bias stability (m/s^3)" name="EK3_ABIAS_P_NSE" documentation="This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier." user="Advanced">
+<field name="Range">0.00001 0.005</field>
+<field name="Units">m/s/s/s</field>
+<field name="UnitText">meters per cubic second</field>
+</param>
+<param humanName="Wind velocity process noise (m/s^2)" name="EK3_WIND_P_NSE" documentation="This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier." user="Advanced">
+<field name="Range">0.01 1.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Height rate to wind process noise scaler" name="EK3_WIND_PSCALE" documentation="This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser." user="Advanced">
+<field name="Range">0.0 1.0</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="GPS preflight check" name="EK3_GPS_CHECK" documentation="This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat." user="Advanced">
+<field name="Bitmask">0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed</field>
+</param>
+<param humanName="Bitmask of active IMUs" name="EK3_IMU_MASK" documentation="1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start." user="Advanced">
+<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="GPS accuracy check scaler (%)" name="EK3_CHECK_SCALE" documentation="This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error." user="Advanced">
+<field name="Range">50 200</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Non-GPS operation position uncertainty (m)" name="EK3_NOAID_M_NSE" documentation="This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors." user="Advanced">
+<field name="Range">0.5 50.0</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="EKF sensor logging IMU mask" name="EK3_LOG_MASK" documentation="This sets the IMU mask of sensors to do full logging for" user="Advanced">
+<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Yaw measurement noise (rad)" name="EK3_YAW_M_NSE" documentation="This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements." user="Advanced">
+<field name="Range">0.05 1.0</field>
+<field name="Increment">0.05</field>
+<field name="Units">rad</field>
+<field name="UnitText">radians</field>
+</param>
+<param humanName="Yaw measurement gate size" name="EK3_YAW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Output complementary filter time constant (centi-sec)" name="EK3_TAU_OUTPUT" documentation="Sets the time constant of the output complementary filter/predictor in centi-seconds." user="Advanced">
+<field name="Range">10 50</field>
+<field name="Increment">5</field>
+<field name="Units">cs</field>
+<field name="UnitText">centiseconds</field>
+</param>
+<param humanName="Earth magnetic field process noise (gauss/s)" name="EK3_MAGE_P_NSE" documentation="This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier." user="Advanced">
+<field name="Range">0.00001 0.01</field>
+<field name="Units">Gauss/s</field>
+<field name="UnitText">gauss per second</field>
+</param>
+<param humanName="Body magnetic field process noise (gauss/s)" name="EK3_MAGB_P_NSE" documentation="This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier." user="Advanced">
+<field name="Range">0.00001 0.01</field>
+<field name="Units">Gauss/s</field>
+<field name="UnitText">gauss per second</field>
+</param>
+<param humanName="Range finder switch height percentage" name="EK3_RNG_USE_HGT" documentation="Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). Set to -1 when EK3_ALT_SOURCE is not set to range finder.  This is not for terrain following." user="Advanced">
+<field name="Range">-1 70</field>
+<field name="Increment">1</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Maximum terrain gradient" name="EK3_TERR_GRAD" documentation="Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference" user="Advanced">
+<field name="Range">0 0.2</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Range beacon measurement noise (m)" name="EK3_BCN_M_NSE" documentation="This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Range beacon measurement gate size" name="EK3_BCN_I_GTE" documentation="This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Range beacon measurement delay (msec)" name="EK3_BCN_DELAY" documentation="This is the number of msec that the range beacon measurements lag behind the inertial measurements." user="Advanced">
+<field name="Range">0 250</field>
+<field name="Increment">10</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Range finder max ground speed" name="EK3_RNG_USE_SPD" documentation="The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value." user="Advanced">
+<field name="Range">2.0 6.0</field>
+<field name="Increment">0.5</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Accelerometer bias limit" name="EK3_ACC_BIAS_LIM" documentation="The accelerometer bias state will be limited to +- this value" user="Advanced">
+<field name="Range">0.5 2.5</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Bitmask of active EKF cores that will always use heading fusion" name="EK3_MAG_MASK" documentation="1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely." user="Advanced">
+<field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Bitmask control of EKF reference height correction" name="EK3_OGN_HGT_MASK" documentation="When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default)." user="Advanced">
+<field name="Bitmask">0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Visual odometry minimum velocity error" name="EK3_VIS_VERR_MIN" documentation="This is the 1-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX." user="Advanced">
+<field name="Range">0.05 0.5</field>
+<field name="Increment">0.05</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Visual odometry maximum velocity error" name="EK3_VIS_VERR_MAX" documentation="This is the 1-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX." user="Advanced">
+<field name="Range">0.5 5.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Wheel odometry velocity error" name="EK3_WENC_VERR" documentation="This is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused." user="Advanced">
+<field name="Range">0.01 1.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+</parameters>
+<parameters name="FENCE_">
+<param humanName="Fence enable/disable" name="FENCE_ENABLE" documentation="Allows you to enable (1) or disable (0) the fence functionality" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Fence Type" name="FENCE_TYPE" documentation="Enabled fence types held as bitmask" user="Standard">
+<field name="Bitmask">0:Altitude,1:Circle,2:Polygon</field>
+<values>
+<value code="0">None</value>
+<value code="1">Altitude</value>
+<value code="2">Circle</value>
+<value code="3">Altitude and Circle</value>
+<value code="4">Polygon</value>
+<value code="5">Altitude and Polygon</value>
+<value code="6">Circle and Polygon</value>
+<value code="7">All</value>
+</values>
+</param>
+<param humanName="Fence Action" name="FENCE_ACTION" documentation="What action should be taken when fence is breached" user="Standard">
+<values>
+<value code="0">Report Only</value>
+<value code="1">RTL or Land</value>
+<value code=" 2">Always land</value>
+</values>
+</param>
+<param humanName="Fence Maximum Altitude" name="FENCE_ALT_MAX" documentation="Maximum altitude allowed before geofence triggers" user="Standard">
+<field name="Range">10 1000</field>
+<field name="Increment">1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Circular Fence Radius" name="FENCE_RADIUS" documentation="Circle fence radius which when breached will cause an RTL" user="Standard">
+<field name="Range">30 10000</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Fence Margin" name="FENCE_MARGIN" documentation="Distance that autopilot's should maintain from the fence to avoid a breach" user="Standard">
+<field name="Range">1 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Fence polygon point total" name="FENCE_TOTAL" documentation="Number of polygon points saved in eeprom (do not update manually)" user="Standard">
+<field name="Range">1 20</field>
+</param>
+<param humanName="Fence Minimum Altitude" name="FENCE_ALT_MIN" documentation="Minimum altitude allowed before geofence triggers" user="Standard">
+<field name="Range">-100 100</field>
+<field name="Increment">1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+</parameters>
+<parameters name="FOLL">
+<param humanName="Follow enable/disable" name="FOLL_ENABLE" documentation="Enabled/disable following a target" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Follow target's mavlink system id" name="FOLL_SYSID" documentation="Follow target's mavlink system id" user="Standard">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Follow distance maximum" name="FOLL_DIST_MAX" documentation="Follow distance maximum.  targets further than this will be ignored" user="Standard">
+<field name="Range">1 1000</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Follow offset type" name="FOLL_OFS_TYPE" documentation="Follow offset type" user="Standard">
+<values>
+<value code="0">North-East-Down</value>
+<value code=" 1">Relative to lead vehicle heading</value>
+</values>
+</param>
+<param humanName="Follow offsets in meters north/forward" name="FOLL_OFS_X" documentation="Follow offsets in meters north/forward.  If positive, this vehicle fly ahead or north of lead vehicle.  Depends on FOLL_OFS_TYPE" user="Standard">
+<field name="Range">-100 100</field>
+<field name="Increment">1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Follow offsets in meters east/right" name="FOLL_OFS_Y" documentation="Follow offsets in meters east/right.  If positive, this vehicle fly to the right or east of lead vehicle.  Depends on FOLL_OFS_TYPE" user="Standard">
+<field name="Range">-100 100</field>
+<field name="Increment">1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Follow offsets in meters down" name="FOLL_OFS_Z" documentation="Follow offsets in meters down.  If positive, this vehicle fly below the lead vehicle" user="Standard">
+<field name="Range">-100 100</field>
+<field name="Increment">1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Follow yaw behaviour" name="FOLL_YAW_BEHAVE" documentation="Follow yaw behaviour" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">Face Lead Vehicle</value>
+<value code="2">Same as Lead vehicle</value>
+<value code="3">Direction of Flight</value>
+</values>
+</param>
+<param humanName="Follow position error P gain" name="FOLL_POS_P" documentation="Follow position error P gain.  Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller" user="Standard">
+<field name="Range">0.01 1.00</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Follow altitude type" name="FOLL_ALT_TYPE" documentation="Follow altitude type" user="Standard">
+<values>
+<value code="0">absolute</value>
+<value code=" 1"> relative</value>
+</values>
+</param>
+</parameters>
+<parameters name="GND_">
+<param humanName="Absolute Pressure" name="GND_ABS_PRESS" documentation="calibrated ground pressure in Pascals" user="Advanced">
+<field name="ReadOnly">True</field>
+<field name="Volatile">True</field>
+<field name="Increment">1</field>
+<field name="Units">Pa</field>
+<field name="UnitText">pascal</field>
+</param>
+<param humanName="ground temperature" name="GND_TEMP" documentation="User provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature." user="Advanced">
+<field name="Volatile">True</field>
+<field name="Increment">1</field>
+<field name="Units">degC</field>
+<field name="UnitText">degrees Celsius</field>
+</param>
+<param humanName="altitude offset" name="GND_ALT_OFFSET" documentation="altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Primary barometer" name="GND_PRIMARY" documentation="This selects which barometer will be the primary if multiple barometers are found" user="Advanced">
+<values>
+<value code="0">FirstBaro</value>
+<value code="1">2ndBaro</value>
+<value code="2">3rdBaro</value>
+</values>
+</param>
+<param humanName="External baro bus" name="GND_EXT_BUS" documentation="This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the GND_PROBE_EXT parameter." user="Advanced">
+<values>
+<value code="-1">Disabled</value>
+<value code="0">Bus0</value>
+<value code="1">Bus1</value>
+</values>
+</param>
+<param humanName="Specific Gravity (For water depth measurement)" name="GND_SPEC_GRAV" documentation="This sets the specific gravity of the fluid when flying an underwater ROV.">
+<field name="Values">1.0:Freshwater,1.024:Saltwater</field>
+</param>
+<param humanName="Absolute Pressure" name="GND_ABS_PRESS2" documentation="calibrated ground pressure in Pascals" user="Advanced">
+<field name="ReadOnly">True</field>
+<field name="Volatile">True</field>
+<field name="Increment">1</field>
+<field name="Units">Pa</field>
+<field name="UnitText">pascal</field>
+</param>
+<param humanName="Absolute Pressure" name="GND_ABS_PRESS3" documentation="calibrated ground pressure in Pascals" user="Advanced">
+<field name="ReadOnly">True</field>
+<field name="Volatile">True</field>
+<field name="Increment">1</field>
+<field name="Units">Pa</field>
+<field name="UnitText">pascal</field>
+</param>
+<param humanName="Range in which sample is accepted" name="GND_FLTR_RNG" documentation="This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.">
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="External barometers to probe" name="GND_PROBE_EXT" documentation="This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on GND_EXT_BUS. If GND_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in GND_EXT_BUS." user="Advanced">
+<field name="Bitmask">0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller</field>
+<values>
+<value code="1">BMP085</value>
+<value code="2">BMP280</value>
+<value code="4">MS5611</value>
+<value code="8">MS5607</value>
+<value code="16">MS5637</value>
+<value code="32">FBM320</value>
+<value code="64">DPS280</value>
+<value code="128">LPS25H</value>
+<value code="256">Keller</value>
+</values>
+</param>
+</parameters>
+<parameters name="GPS_">
+<param humanName="GPS type" name="GPS_TYPE" documentation="GPS type" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">AUTO</value>
+<value code="2">uBlox</value>
+<value code="3">MTK</value>
+<value code="4">MTK19</value>
+<value code="5">NMEA</value>
+<value code="6">SiRF</value>
+<value code="7">HIL</value>
+<value code="8">SwiftNav</value>
+<value code="9">UAVCAN</value>
+<value code="10">SBF</value>
+<value code="11">GSOF</value>
+<value code="13">ERB</value>
+<value code="14">MAV</value>
+<value code="15">NOVA</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="2nd GPS type" name="GPS_TYPE2" documentation="GPS type of 2nd GPS" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">AUTO</value>
+<value code="2">uBlox</value>
+<value code="3">MTK</value>
+<value code="4">MTK19</value>
+<value code="5">NMEA</value>
+<value code="6">SiRF</value>
+<value code="7">HIL</value>
+<value code="8">SwiftNav</value>
+<value code="9">UAVCAN</value>
+<value code="10">SBF</value>
+<value code="11">GSOF</value>
+<value code="13">ERB</value>
+<value code="14">MAV</value>
+<value code="15">NOVA</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Navigation filter setting" name="GPS_NAVFILTER" documentation="Navigation filter engine setting" user="Advanced">
+<values>
+<value code="0">Portable</value>
+<value code="2">Stationary</value>
+<value code="3">Pedestrian</value>
+<value code="4">Automotive</value>
+<value code="5">Sea</value>
+<value code="6">Airborne1G</value>
+<value code="7">Airborne2G</value>
+<value code="8">Airborne4G</value>
+</values>
+</param>
+<param humanName="Automatic Switchover Setting" name="GPS_AUTO_SWITCH" documentation="Automatic switchover to GPS reporting best lock" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">UseBest</value>
+<value code="2">Blend</value>
+<value code="3">UseSecond</value>
+</values>
+</param>
+<param humanName="Minimum Lock Type Accepted for DGPS" name="GPS_MIN_DGPS" documentation="Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode." user="Advanced">
+<values>
+<value code="0">Any</value>
+<value code="50">FloatRTK</value>
+<value code="100">IntegerRTK</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="SBAS Mode" name="GPS_SBAS_MODE" documentation="This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+<value code="2">NoChange</value>
+</values>
+</param>
+<param humanName="Minimum elevation" name="GPS_MIN_ELEV" documentation="This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default." user="Advanced">
+<field name="Range">-100 90</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Destination for GPS_INJECT_DATA MAVLink packets" name="GPS_INJECT_TO" documentation="The GGS can send raw serial packets to inject data to multiple GPSes." user="Advanced">
+<values>
+<value code="0">send to first GPS</value>
+<value code="1">send to 2nd GPS</value>
+<value code="127">send to all</value>
+</values>
+</param>
+<param humanName="Swift Binary Protocol Logging Mask" name="GPS_SBP_LOGMASK" documentation="Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged" user="Advanced">
+<values>
+<value code="0">None (0x0000)</value>
+<value code="-1">All (0xFFFF)</value>
+<value code="-256">External only (0xFF00)</value>
+</values>
+</param>
+<param humanName="Raw data logging" name="GPS_RAW_DATA" documentation="Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into dataflash log; on Septentrio this will log on the equipment's SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming" user="Advanced">
+<values>
+<value code="0">Ignore</value>
+<value code="1">Always log</value>
+<value code="2">Stop logging when disarmed (SBF only)</value>
+<value code="5">Only log every five samples (uBlox only)</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="GNSS system configuration" name="GPS_GNSS_MODE" documentation="Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
+<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS</field>
+<values>
+<value code="0">Leave as currently configured</value>
+<value code=" 1">GPS-NoSBAS</value>
+<value code=" 3">GPS+SBAS</value>
+<value code=" 4">Galileo-NoSBAS</value>
+<value code=" 6">Galileo+SBAS</value>
+<value code=" 8">Beidou</value>
+<value code=" 51">GPS+IMES+QZSS+SBAS (Japan Only)</value>
+<value code=" 64">GLONASS</value>
+<value code=" 66">GLONASS+SBAS</value>
+<value code=" 67">GPS+GLONASS+SBAS</value>
+</values>
+</param>
+<param humanName="Save GPS configuration" name="GPS_SAVE_CFG" documentation="Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above." user="Advanced">
+<values>
+<value code="0">Do not save config</value>
+<value code="1">Save config</value>
+<value code="2">Save only when needed</value>
+</values>
+</param>
+<param humanName="GNSS system configuration" name="GPS_GNSS_MODE2" documentation="Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
+<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS</field>
+<values>
+<value code="0">Leave as currently configured</value>
+<value code=" 1">GPS-NoSBAS</value>
+<value code=" 3">GPS+SBAS</value>
+<value code=" 4">Galileo-NoSBAS</value>
+<value code=" 6">Galileo+SBAS</value>
+<value code=" 8">Beidou</value>
+<value code=" 51">GPS+IMES+QZSS+SBAS (Japan Only)</value>
+<value code=" 64">GLONASS</value>
+<value code=" 66">GLONASS+SBAS</value>
+<value code=" 67">GPS+GLONASS+SBAS</value>
+</values>
+</param>
+<param humanName="Automatic GPS configuration" name="GPS_AUTO_CONFIG" documentation="Controls if the autopilot should automatically configure the GPS based on the parameters and default settings" user="Advanced">
+<values>
+<value code="0">Disables automatic configuration</value>
+<value code="1">Enable automatic configuration</value>
+</values>
+</param>
+<param humanName="GPS update rate in milliseconds" name="GPS_RATE_MS" documentation="Controls how often the GPS should provide a position update. Lowering below 5Hz is not allowed" user="Advanced">
+<field name="Range">50 200</field>
+<values>
+<value code="100">10Hz</value>
+<value code="125">8Hz</value>
+<value code="200">5Hz</value>
+</values>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+</param>
+<param humanName="GPS 2 update rate in milliseconds" name="GPS_RATE_MS2" documentation="Controls how often the GPS should provide a position update. Lowering below 5Hz is not allowed" user="Advanced">
+<field name="Range">50 200</field>
+<values>
+<value code="100">10Hz</value>
+<value code="125">8Hz</value>
+<value code="200">5Hz</value>
+</values>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+</param>
+<param humanName="Antenna X position offset" name="GPS_POS1_X" documentation="X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Antenna Y position offset" name="GPS_POS1_Y" documentation="Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Antenna Z position offset" name="GPS_POS1_Z" documentation="Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Antenna X position offset" name="GPS_POS2_X" documentation="X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Antenna Y position offset" name="GPS_POS2_Y" documentation="Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Antenna Z position offset" name="GPS_POS2_Z" documentation="Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="GPS delay in milliseconds" name="GPS_DELAY_MS" documentation="Controls the amount of GPS  measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type." user="Advanced">
+<field name="Range">0 250</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="GPS 2 delay in milliseconds" name="GPS_DELAY_MS2" documentation="Controls the amount of GPS  measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type." user="Advanced">
+<field name="Range">0 250</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Multi GPS Blending Mask" name="GPS_BLEND_MASK" documentation="Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2" user="Advanced">
+<field name="Bitmask">0:Horiz Pos,1:Vert Pos,2:Speed</field>
+</param>
+<param humanName="Blending time constant" name="GPS_BLEND_TC" documentation="Controls the slowest time constant applied to the calculation of GPS position and height offsets used to adjust different GPS receivers for steady state position differences." user="Advanced">
+<field name="Range">5.0 30.0</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+</parameters>
+<parameters name="INS_">
+<param humanName="Gyro offsets of X axis" name="INS_GYROFFS_X" documentation="Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Gyro offsets of Y axis" name="INS_GYROFFS_Y" documentation="Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Gyro offsets of Z axis" name="INS_GYROFFS_Z" documentation="Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Gyro2 offsets of X axis" name="INS_GYR2OFFS_X" documentation="Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Gyro2 offsets of Y axis" name="INS_GYR2OFFS_Y" documentation="Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Gyro2 offsets of Z axis" name="INS_GYR2OFFS_Z" documentation="Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Gyro3 offsets of X axis" name="INS_GYR3OFFS_X" documentation="Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Gyro3 offsets of Y axis" name="INS_GYR3OFFS_Y" documentation="Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Gyro3 offsets of Z axis" name="INS_GYR3OFFS_Z" documentation="Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Accelerometer scaling of X axis" name="INS_ACCSCAL_X" documentation="Accelerometer scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
+</param>
+<param humanName="Accelerometer scaling of Y axis" name="INS_ACCSCAL_Y" documentation="Accelerometer scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
+</param>
+<param humanName="Accelerometer scaling of Z axis" name="INS_ACCSCAL_Z" documentation="Accelerometer scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
+</param>
+<param humanName="Accelerometer offsets of X axis" name="INS_ACCOFFS_X" documentation="Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Accelerometer offsets of Y axis" name="INS_ACCOFFS_Y" documentation="Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Accelerometer offsets of Z axis" name="INS_ACCOFFS_Z" documentation="Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Accelerometer2 scaling of X axis" name="INS_ACC2SCAL_X" documentation="Accelerometer2 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
+</param>
+<param humanName="Accelerometer2 scaling of Y axis" name="INS_ACC2SCAL_Y" documentation="Accelerometer2 scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
+</param>
+<param humanName="Accelerometer2 scaling of Z axis" name="INS_ACC2SCAL_Z" documentation="Accelerometer2 scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
+</param>
+<param humanName="Accelerometer2 offsets of X axis" name="INS_ACC2OFFS_X" documentation="Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Accelerometer2 offsets of Y axis" name="INS_ACC2OFFS_Y" documentation="Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Accelerometer2 offsets of Z axis" name="INS_ACC2OFFS_Z" documentation="Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Accelerometer3 scaling of X axis" name="INS_ACC3SCAL_X" documentation="Accelerometer3 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
+</param>
+<param humanName="Accelerometer3 scaling of Y axis" name="INS_ACC3SCAL_Y" documentation="Accelerometer3 scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
+</param>
+<param humanName="Accelerometer3 scaling of Z axis" name="INS_ACC3SCAL_Z" documentation="Accelerometer3 scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
+</param>
+<param humanName="Accelerometer3 offsets of X axis" name="INS_ACC3OFFS_X" documentation="Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Accelerometer3 offsets of Y axis" name="INS_ACC3OFFS_Y" documentation="Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Accelerometer3 offsets of Z axis" name="INS_ACC3OFFS_Z" documentation="Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Gyro filter cutoff frequency" name="INS_GYRO_FILTER" documentation="Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)" user="Advanced">
+<field name="Range">0 127</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Accel filter cutoff frequency" name="INS_ACCEL_FILTER" documentation="Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)" user="Advanced">
+<field name="Range">0 127</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Use first IMU for attitude, velocity and position estimates" name="INS_USE" documentation="Use first IMU for attitude, velocity and position estimates" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Use second IMU for attitude, velocity and position estimates" name="INS_USE2" documentation="Use second IMU for attitude, velocity and position estimates" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Use third IMU for attitude, velocity and position estimates" name="INS_USE3" documentation="Use third IMU for attitude, velocity and position estimates" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Stillness threshold for detecting if we are moving" name="INS_STILL_THRESH" documentation="Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5" user="Advanced">
+<field name="Range">0.05 50</field>
+</param>
+<param humanName="Gyro Calibration scheme" name="INS_GYR_CAL" documentation="Conrols when automatic gyro calibration is performed" user="Advanced">
+<values>
+<value code="0">Never</value>
+<value code=" 1">Start-up only</value>
+</values>
+</param>
+<param humanName="Accel cal trim option" name="INS_TRIM_OPTION" documentation="Specifies how the accel cal routine determines the trims" user="Advanced">
+<values>
+<value code="0">Don't adjust the trims</value>
+<value code="1">Assume first orientation was level</value>
+<value code="2">Assume ACC_BODYFIX is perfectly aligned to the vehicle</value>
+</values>
+</param>
+<param humanName="Body-fixed accelerometer" name="INS_ACC_BODYFIX" documentation="The body-fixed accelerometer to be used for trim calculation" user="Advanced">
+<values>
+<value code="1">IMU 1</value>
+<value code="2">IMU 2</value>
+<value code="3">IMU 3</value>
+</values>
+</param>
+<param humanName="IMU accelerometer X position" name="INS_POS1_X" documentation="X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="IMU accelerometer Y position" name="INS_POS1_Y" documentation="Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="IMU accelerometer Z position" name="INS_POS1_Z" documentation="Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="IMU accelerometer X position" name="INS_POS2_X" documentation="X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="IMU accelerometer Y position" name="INS_POS2_Y" documentation="Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="IMU accelerometer Z position" name="INS_POS2_Z" documentation="Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="IMU accelerometer X position" name="INS_POS3_X" documentation="X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="IMU accelerometer Y position" name="INS_POS3_Y" documentation="Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="IMU accelerometer Z position" name="INS_POS3_Z" documentation="Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Gyro ID" name="INS_GYR_ID" documentation="Gyro sensor ID, taking into account its type, bus and instance" user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="Gyro2 ID" name="INS_GYR2_ID" documentation="Gyro2 sensor ID, taking into account its type, bus and instance" user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="Gyro3 ID" name="INS_GYR3_ID" documentation="Gyro3 sensor ID, taking into account its type, bus and instance" user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="Accelerometer ID" name="INS_ACC_ID" documentation="Accelerometer sensor ID, taking into account its type, bus and instance" user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="Accelerometer2 ID" name="INS_ACC2_ID" documentation="Accelerometer2 sensor ID, taking into account its type, bus and instance" user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="Accelerometer3 ID" name="INS_ACC3_ID" documentation="Accelerometer3 sensor ID, taking into account its type, bus and instance" user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="Fast sampling mask" name="INS_FAST_SAMPLE" documentation="Mask of IMUs to enable fast sampling on, if available" user="Advanced">
+<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU</field>
+<values>
+<value code="1">FirstIMUOnly</value>
+<value code="3">FirstAndSecondIMU</value>
+</values>
+</param>
+</parameters>
+<parameters name="INS_LOG_">
+<param humanName="sample count per batch" name="INS_LOG_BAT_CNT" documentation="Number of samples to take when logging streams of IMU sensor readings.  Will be rounded down to a multiple of 32." user="Advanced">
+<field name="Increment">32</field>
+</param>
+<param humanName="Sensor Bitmask" name="INS_LOG_BAT_MASK" documentation="Bitmap of which IMUs to log batch data for" user="Advanced">
+<field name="Bitmask">0:IMU1,1:IMU2,2:IMU3</field>
+<values>
+<value code="0">None</value>
+<value code="1">First IMU</value>
+<value code="255">All</value>
+</values>
+</param>
+<param humanName="Batch Logging Options Mask" name="INS_LOG_BAT_OPT" documentation="Options for the BatchSampler" user="Advanced">
+<field name="Bitmask">0:Sensor-Rate Logging (sample at full sensor rate seen by AP)</field>
+</param>
+<param humanName="logging interval" name="INS_LOG_BAT_LGIN" documentation="Interval between pushing samples to the AP_Logger log">
+<field name="Increment">10</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+</param>
+<param humanName="logging count" name="INS_LOG_BAT_LGCT" documentation="Number of samples to push to count every INS_LOG_BAT_LGIN">
+<field name="Increment">1</field>
+</param>
+</parameters>
+<parameters name="INS_NOTCH_">
+<param humanName="Enable" name="INS_NOTCH_ENABLE" documentation="Enable notch filter" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Frequency" name="INS_NOTCH_FREQ" documentation="Notch center frequency in Hz" user="Advanced">
+<field name="Range">10 200</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Bandwidth" name="INS_NOTCH_BW" documentation="Notch bandwidth in Hz" user="Advanced">
+<field name="Range">5 50</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Attenuation" name="INS_NOTCH_ATT" documentation="Notch attenuation in dB" user="Advanced">
+<field name="Range">5 30</field>
+<field name="Units">dB</field>
+<field name="UnitText">decibel</field>
+</param>
+</parameters>
+<parameters name="LOG">
+<param humanName="AP_Logger Backend Storage type" name="LOG_BACKEND_TYPE" documentation="Bitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected." user="Standard">
+<field name="Bitmask">0:File,1:MAVLink,2:Block</field>
+</param>
+<param humanName="Maximum AP_Logger File Backend buffer size (in kilobytes)" name="LOG_FILE_BUFSIZE" documentation='The AP_Logger_File backend uses a buffer to store data before writing to the block device.  Raising this value may reduce "gaps" in your SD card logging.  This buffer size may be reduced depending on available memory.  PixHawk requires at least 4 kilobytes.  Maximum value available here is 64 kilobytes.' user="Standard">
+</param>
+<param humanName="Enable logging while disarmed" name="LOG_DISARMED" documentation="If LOG_DISARMED is set to 1 then logging will be enabled while disarmed. This can make for very large logfiles but can help a lot when tracking down startup issues" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Enable logging of information needed for Replay" name="LOG_REPLAY" documentation="If LOG_REPLAY is set to 1 then the EKF2 state estimator will log detailed information needed for diagnosing problems with the Kalman filter. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Stop logging to current file on disarm" name="LOG_FILE_DSRMROT" documentation="When set, the current log file is closed when the vehicle is disarmed.  If LOG_DISARMED is set then a fresh log will be opened." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Maximum AP_Logger MAVLink Backend buffer size" name="LOG_MAV_BUFSIZE" documentation="Maximum amount of memory to allocate to AP_Logger-over-mavlink" user="Advanced">
+<field name="Units">kB</field>
+<field name="UnitText">kilobytes</field>
+</param>
+</parameters>
+<parameters name="MIS_">
+<param humanName="Total mission commands" name="MIS_TOTAL" documentation="The number of mission mission items that has been loaded by the ground station. Do not change this manually." user="Advanced">
+<field name="Range">0 32766</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Mission Restart when entering Auto mode" name="MIS_RESTART" documentation="Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)" user="Advanced">
+<values>
+<value code="0">Resume Mission</value>
+<value code=" 1">Restart Mission</value>
+</values>
+</param>
+<param humanName="Mission options bitmask" name="MIS_OPTIONS" documentation="Bitmask of what options to use in missions." user="Advanced">
+<field name="Bitmask">0:Clear Mission on reboot</field>
+</param>
+</parameters>
+<parameters name="MNT">
+<param humanName="Mount default operating mode" name="MNT_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
+<values>
+<value code="0">Retracted</value>
+<value code="1">Neutral</value>
+<value code="2">MavLink Targeting</value>
+<value code="3">RC Targeting</value>
+<value code="4">GPS Point</value>
+</values>
+</param>
+<param humanName="Mount roll angle when in retracted position" name="MNT_RETRACT_X" documentation="Mount roll angle when in retracted position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Mount tilt/pitch angle when in retracted position" name="MNT_RETRACT_Y" documentation="Mount tilt/pitch angle when in retracted position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Mount yaw/pan angle when in retracted position" name="MNT_RETRACT_Z" documentation="Mount yaw/pan angle when in retracted position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Mount roll angle when in neutral position" name="MNT_NEUTRAL_X" documentation="Mount roll angle when in neutral position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Mount tilt/pitch angle when in neutral position" name="MNT_NEUTRAL_Y" documentation="Mount tilt/pitch angle when in neutral position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Mount pan/yaw angle when in neutral position" name="MNT_NEUTRAL_Z" documentation="Mount pan/yaw angle when in neutral position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Stabilize mount's roll angle" name="MNT_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Stabilize mount's pitch/tilt angle" name="MNT_STAB_TILT" documentation="enable tilt/pitch stabilisation relative to Earth" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Stabilize mount pan/yaw angle" name="MNT_STAB_PAN" documentation="enable pan/yaw stabilisation relative to Earth" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="roll RC input channel" name="MNT_RC_IN_ROLL" documentation="0 for none, any other for the RC channel to be used to control roll movements" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="5">RC5</value>
+<value code="6">RC6</value>
+<value code="7">RC7</value>
+<value code="8">RC8</value>
+<value code="9">RC9</value>
+<value code="10">RC10</value>
+<value code="11">RC11</value>
+<value code="12">RC12</value>
+</values>
+</param>
+<param humanName="Minimum roll angle" name="MNT_ANGMIN_ROL" documentation="Minimum physical roll angular position of mount." user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Maximum roll angle" name="MNT_ANGMAX_ROL" documentation="Maximum physical roll angular position of the mount" user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="tilt (pitch) RC input channel" name="MNT_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="5">RC5</value>
+<value code="6">RC6</value>
+<value code="7">RC7</value>
+<value code="8">RC8</value>
+<value code="9">RC9</value>
+<value code="10">RC10</value>
+<value code="11">RC11</value>
+<value code="12">RC12</value>
+</values>
+</param>
+<param humanName="Minimum tilt angle" name="MNT_ANGMIN_TIL" documentation="Minimum physical tilt (pitch) angular position of mount." user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Maximum tilt angle" name="MNT_ANGMAX_TIL" documentation="Maximum physical tilt (pitch) angular position of the mount" user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="pan (yaw) RC input channel" name="MNT_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="5">RC5</value>
+<value code="6">RC6</value>
+<value code="7">RC7</value>
+<value code="8">RC8</value>
+<value code="9">RC9</value>
+<value code="10">RC10</value>
+<value code="11">RC11</value>
+<value code="12">RC12</value>
+</values>
+</param>
+<param humanName="Minimum pan angle" name="MNT_ANGMIN_PAN" documentation="Minimum physical pan (yaw) angular position of mount." user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Maximum pan angle" name="MNT_ANGMAX_PAN" documentation="Maximum physical pan (yaw) angular position of the mount" user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="mount joystick speed" name="MNT_JSTICK_SPD" documentation="0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second." user="Standard">
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Roll stabilization lead time" name="MNT_LEAD_RLL" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
+<field name="Range">0.0 0.2</field>
+<field name="Increment">.005</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Pitch stabilization lead time" name="MNT_LEAD_PTCH" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
+<field name="Range">0.0 0.2</field>
+<field name="Increment">.005</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Mount Type" name="MNT_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
+<values>
+<value code="0">None</value>
+<value code=" 1">Servo</value>
+<value code=" 2">3DR Solo</value>
+<value code=" 3">Alexmos Serial</value>
+<value code=" 4">SToRM32 MAVLink</value>
+<value code=" 5">SToRM32 Serial</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Mount default operating mode" name="MNT2_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
+<values>
+<value code="0">Retracted</value>
+<value code="1">Neutral</value>
+<value code="2">MavLink Targeting</value>
+<value code="3">RC Targeting</value>
+<value code="4">GPS Point</value>
+</values>
+</param>
+<param humanName="Mount2 roll angle when in retracted position" name="MNT2_RETRACT_X" documentation="Mount2 roll angle when in retracted position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Mount2 tilt/pitch angle when in retracted position" name="MNT2_RETRACT_Y" documentation="Mount2 tilt/pitch angle when in retracted position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Mount2 yaw/pan angle when in retracted position" name="MNT2_RETRACT_Z" documentation="Mount2 yaw/pan angle when in retracted position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Mount2 roll angle when in neutral position" name="MNT2_NEUTRAL_X" documentation="Mount2 roll angle when in neutral position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Mount2 tilt/pitch angle when in neutral position" name="MNT2_NEUTRAL_Y" documentation="Mount2 tilt/pitch angle when in neutral position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Mount2 pan/yaw angle when in neutral position" name="MNT2_NEUTRAL_Z" documentation="Mount2 pan/yaw angle when in neutral position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Stabilize Mount2's roll angle" name="MNT2_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Stabilize Mount2's pitch/tilt angle" name="MNT2_STAB_TILT" documentation="enable tilt/pitch stabilisation relative to Earth" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Stabilize mount2 pan/yaw angle" name="MNT2_STAB_PAN" documentation="enable pan/yaw stabilisation relative to Earth" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Mount2's roll RC input channel" name="MNT2_RC_IN_ROLL" documentation="0 for none, any other for the RC channel to be used to control roll movements" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="5">RC5</value>
+<value code="6">RC6</value>
+<value code="7">RC7</value>
+<value code="8">RC8</value>
+<value code="9">RC9</value>
+<value code="10">RC10</value>
+<value code="11">RC11</value>
+<value code="12">RC12</value>
+</values>
+</param>
+<param humanName="Mount2's minimum roll angle" name="MNT2_ANGMIN_ROL" documentation="Mount2's minimum physical roll angular position" user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Mount2's maximum roll angle" name="MNT2_ANGMAX_ROL" documentation="Mount2's maximum physical roll angular position" user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Mount2's tilt (pitch) RC input channel" name="MNT2_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="5">RC5</value>
+<value code="6">RC6</value>
+<value code="7">RC7</value>
+<value code="8">RC8</value>
+<value code="9">RC9</value>
+<value code="10">RC10</value>
+<value code="11">RC11</value>
+<value code="12">RC12</value>
+</values>
+</param>
+<param humanName="Mount2's minimum tilt angle" name="MNT2_ANGMIN_TIL" documentation="Mount2's minimum physical tilt (pitch) angular position" user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Mount2's maximum tilt angle" name="MNT2_ANGMAX_TIL" documentation="Mount2's maximum physical tilt (pitch) angular position" user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Mount2's pan (yaw) RC input channel" name="MNT2_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="5">RC5</value>
+<value code="6">RC6</value>
+<value code="7">RC7</value>
+<value code="8">RC8</value>
+<value code="9">RC9</value>
+<value code="10">RC10</value>
+<value code="11">RC11</value>
+<value code="12">RC12</value>
+</values>
+</param>
+<param humanName="Mount2's minimum pan angle" name="MNT2_ANGMIN_PAN" documentation="Mount2's minimum physical pan (yaw) angular position" user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Mount2's maximum pan angle" name="MNT2_ANGMAX_PAN" documentation="MOunt2's maximum physical pan (yaw) angular position" user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Mount2's Roll stabilization lead time" name="MNT2_LEAD_RLL" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
+<field name="Range">0.0 0.2</field>
+<field name="Increment">.005</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Mount2's Pitch stabilization lead time" name="MNT2_LEAD_PTCH" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
+<field name="Range">0.0 0.2</field>
+<field name="Increment">.005</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Mount2 Type" name="MNT2_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
+<values>
+<value code="0">None</value>
+<value code=" 1">Servo</value>
+<value code=" 2">3DR Solo</value>
+<value code=" 3">Alexmos Serial</value>
+<value code=" 4">SToRM32 MAVLink</value>
+<value code=" 5">SToRM32 Serial</value>
+</values>
+</param>
+</parameters>
+<parameters name="MOT_">
+<param humanName="Motor Output PWM type" name="MOT_PWM_TYPE" documentation="This selects the output PWM type as regular PWM, OneShot, Brushed motor support using PWM (duty cycle) with separated direction signal, Brushed motor support with separate throttle and direction PWM (duty cyle)" user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">OneShot</value>
+<value code="2">OneShot125</value>
+<value code="3">BrushedWithRelay</value>
+<value code="4">BrushedBiPolar</value>
+<value code="5">DShot150</value>
+<value code="6">DShot300</value>
+<value code="7">DShot600</value>
+<value code="8">DShot1200</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Motor Output PWM freq for brushed motors" name="MOT_PWM_FREQ" documentation="Motor Output PWM freq for brushed motors" user="Advanced">
+<field name="Range">1 20</field>
+<field name="Increment">1</field>
+<field name="Units">kHz</field>
+<field name="UnitText">kilohertz</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Motor PWM output disabled when disarmed" name="MOT_SAFE_DISARM" documentation="Disables motor PWM output when disarmed" user="Advanced">
+<values>
+<value code="0">PWM enabled while disarmed</value>
+<value code=" 1">PWM disabled while disarmed</value>
+</values>
+</param>
+<param humanName="Throttle minimum" name="MOT_THR_MIN" documentation="Throttle minimum percentage the autopilot will apply. This is useful for handling a deadzone around low throttle and for preventing internal combustion motors cutting out during missions." user="Standard">
+<field name="Range">0 20</field>
+<field name="Increment">1</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Throttle maximum" name="MOT_THR_MAX" documentation="Throttle maximum percentage the autopilot will apply. This can be used to prevent overheating an ESC or motor on an electric rover" user="Standard">
+<field name="Range">30 100</field>
+<field name="Increment">1</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Throttle slew rate" name="MOT_SLEWRATE" documentation="Throttle slew rate as a percentage of total range per second. A value of 100 allows the motor to change over its full range in one second.  A value of zero disables the limit.  Note some NiMH powered rovers require a lower setting of 40 to reduce current demand to avoid brownouts." user="Standard">
+<field name="Range">0 1000</field>
+<field name="Increment">1</field>
+<field name="Units">%/s</field>
+<field name="UnitText">percent per second</field>
+</param>
+<param humanName="Thrust Curve Expo" name="MOT_THST_EXPO" documentation="Thrust curve exponent (-1 to +1 with 0 being linear)" user="Advanced">
+<field name="Range">-1.0 1.0</field>
+</param>
+<param humanName="Vector thrust throttle base" name="MOT_VEC_THR_BASE" documentation="Throttle level above which steering is scaled down when using vector thrust.  zero to disable vectored thrust" user="Advanced">
+<field name="Range">0 100</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Motor speed scaling base speed" name="MOT_SPD_SCA_BASE" documentation="Speed above which steering is scaled down when using regular steering/throttle vehicles.  zero to disable speed scaling" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+</parameters>
+<parameters name="NAVL1_">
+<param humanName="L1 control period" name="NAVL1_PERIOD" documentation="Period in seconds of L1 tracking loop. This parameter is the primary control for agressiveness of turns in auto mode. This needs to be larger for less responsive airframes. The default of 20 is quite conservative, but for most RC aircraft will lead to reasonable flight. For smaller more agile aircraft a value closer to 15 is appropriate, or even as low as 10 for some very agile aircraft. When tuning, change this value in small increments, as a value that is much too small (say 5 or 10 below the right value) can lead to very radical turns, and a risk of stalling." user="Standard">
+<field name="Range">1 60</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="L1 control damping ratio" name="NAVL1_DAMPING" documentation="Damping ratio for L1 control. Increase this in increments of 0.05 if you are getting overshoot in path tracking. You should not need a value below 0.7 or above 0.85." user="Advanced">
+<field name="Range">0.6 1.0</field>
+<field name="Increment">0.05</field>
+</param>
+<param humanName="L1 control crosstrack integrator gain" name="NAVL1_XTRACK_I" documentation="Crosstrack error integrator gain. This gain is applied to the crosstrack error to ensure it converges to zero. Set to zero to disable. Smaller values converge slower, higher values will cause crosstrack error oscillation." user="Advanced">
+<field name="Range">0 0.1</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Loiter Radius Bank Angle Limit" name="NAVL1_LIM_BANK" documentation="The sealevel bank angle limit for a continous loiter. (Used to calculate airframe loading limits at higher altitudes). Setting to 0, will instead just scale the loiter radius directly" user="Advanced">
+<field name="Range">0 89</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+</parameters>
+<parameters name="NTF_">
+<param humanName="LED Brightness" name="NTF_LED_BRIGHT" documentation="Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting." user="Advanced">
+<values>
+<value code="0">Off</value>
+<value code="1">Low</value>
+<value code="2">Medium</value>
+<value code="3">High</value>
+</values>
+</param>
+<param humanName="Buzzer enable" name="NTF_BUZZ_ENABLE" documentation="Enable or disable the buzzer." user="Advanced">
+<values>
+<value code="0">Disable</value>
+<value code="1">Enable</value>
+</values>
+</param>
+<param humanName="Setup for MAVLink LED override" name="NTF_LED_OVERRIDE" documentation="This sets up the board RGB LED for override by MAVLink. Normal notify LED control is disabled" user="Advanced">
+<values>
+<value code="0">Disable</value>
+<value code="1">Enable</value>
+</values>
+</param>
+<param humanName="Type of on-board I2C display" name="NTF_DISPLAY_TYPE" documentation="This sets up the type of on-board I2C display. Disabled by default." user="Advanced">
+<values>
+<value code="0">Disable</value>
+<value code="1">ssd1306</value>
+<value code="2">sh1106</value>
+</values>
+</param>
+<param humanName="OreoLED Theme" name="NTF_OREO_THEME" documentation="Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Aircraft</value>
+<value code="2">Rover</value>
+</values>
+</param>
+<param humanName="Buzzer pin" name="NTF_BUZZ_PIN" documentation="Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET!" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+</values>
+</param>
+<param humanName="LED Driver Types" name="NTF_LED_TYPES" documentation="Controls what types of LEDs will be enabled" user="Advanced">
+<field name="Bitmask">0:Build in LED, 1:Internal ToshibaLED, 2:External ToshibaLED, 3:External PCA9685, 4:Oreo LED, 5:UAVCAN, 6:NCP5623 External, 7:NCP5623 Internal</field>
+</param>
+</parameters>
+<parameters name="OSD">
+<param humanName="OSD type" name="OSD_TYPE" documentation="OSD type" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">MAX7456</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Screen switch transmitter channel" name="OSD_CHAN" documentation="This sets the channel used to switch different OSD screens." user="Standard">
+<values>
+<value code="0">Disable</value>
+<value code="5">Chan5</value>
+<value code="6">Chan6</value>
+<value code="7">Chan7</value>
+<value code="8">Chan8</value>
+<value code="9">Chan9</value>
+<value code="10">Chan10</value>
+<value code="11">Chan11</value>
+<value code="12">Chan12</value>
+<value code="13">Chan13</value>
+<value code="14">Chan14</value>
+<value code="15">Chan15</value>
+<value code="16">Chan16</value>
+</values>
+</param>
+<param humanName="OSD Options" name="OSD_OPTIONS" documentation="This sets options that change the display" user="Standard">
+<field name="Bitmask">0:UseDecimalPack, 1:InvertedWindPointer, 2:InvertedAHRoll</field>
+</param>
+<param humanName="OSD Font" name="OSD_FONT" documentation="This sets which OSD font to use. It is an integer from 0 to the number of fonts available" user="Standard">
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="OSD vertical offset" name="OSD_V_OFFSET" documentation="Sets vertical offset of the osd inside image" user="Standard">
+<field name="Range">0 31</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="OSD horizontal offset" name="OSD_H_OFFSET" documentation="Sets horizontal offset of the osd inside image" user="Standard">
+<field name="Range">0 63</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="RSSI warn level (in %)" name="OSD_W_RSSI" documentation="Set level at which RSSI item will flash" user="Standard">
+<field name="Range">0 99</field>
+</param>
+<param humanName="NSAT warn level" name="OSD_W_NSAT" documentation="Set level at which NSAT item will flash" user="Standard">
+<field name="Range">1 30</field>
+</param>
+<param humanName="BAT_VOLT warn level" name="OSD_W_BATVOLT" documentation="Set level at which BAT_VOLT item will flash" user="Standard">
+<field name="Range">0 100</field>
+</param>
+<param humanName="Display Units" name="OSD_UNITS" documentation="Sets the units to use in displaying items" user="Standard">
+<values>
+<value code="0">Metric</value>
+<value code="1">Imperial</value>
+<value code="2">SI</value>
+<value code="3">Aviation</value>
+</values>
+</param>
+<param humanName="Message display duration in seconds" name="OSD_MSG_TIME" documentation="Sets message duration seconds" user="Standard">
+<field name="Range">1 20</field>
+</param>
+</parameters>
+<parameters name="OSD1_">
+<param humanName="Enable screen" name="OSD1_ENABLE" documentation="Enable this screen" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Transmitter switch screen minimum pwm" name="OSD1_CHAN_MIN" documentation="This sets the PWM lower limit for this screen" user="Standard">
+<field name="Range">900 2100</field>
+</param>
+<param humanName="Transmitter switch screen maximum pwm" name="OSD1_CHAN_MAX" documentation="This sets the PWM upper limit for this screen" user="Standard">
+<field name="Range">900 2100</field>
+</param>
+</parameters>
+<parameters name="OSD1_ALTITUDE">
+<param humanName="Enable" name="OSD1_ALTITUDE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_ALTITUDE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_ALTITUDE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_ASPD2">
+<param humanName="Enable" name="OSD1_ASPD2_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_ASPD2_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_ASPD2_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_ATEMP">
+<param humanName="Enable" name="OSD1_ATEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_ATEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_ATEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_BAT2USED">
+<param humanName="Enable" name="OSD1_BAT2USED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_BAT2USED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_BAT2USED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_BAT2VLT">
+<param humanName="Enable" name="OSD1_BAT2VLT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_BAT2VLT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_BAT2VLT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_BATUSED">
+<param humanName="Enable" name="OSD1_BATUSED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_BATUSED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_BATUSED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_BATVOLT">
+<param humanName="Enable" name="OSD1_BATVOLT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_BATVOLT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_BATVOLT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_BLHAMPS">
+<param humanName="Enable" name="OSD1_BLHAMPS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_BLHAMPS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_BLHAMPS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_BLHRPM">
+<param humanName="Enable" name="OSD1_BLHRPM_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_BLHRPM_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_BLHRPM_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_BLHTEMP">
+<param humanName="Enable" name="OSD1_BLHTEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_BLHTEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_BLHTEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_BTEMP">
+<param humanName="Enable" name="OSD1_BTEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_BTEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_BTEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_CLIMBEFF">
+<param humanName="Enable" name="OSD1_CLIMBEFF_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_CLIMBEFF_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_CLIMBEFF_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_CURRENT">
+<param humanName="Enable" name="OSD1_CURRENT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_CURRENT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_CURRENT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_DIST">
+<param humanName="Enable" name="OSD1_DIST_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_DIST_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_DIST_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_EFF">
+<param humanName="Enable" name="OSD1_EFF_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_EFF_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_EFF_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_FLTIME">
+<param humanName="Enable" name="OSD1_FLTIME_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_FLTIME_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_FLTIME_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_FLTMODE">
+<param humanName="Enable" name="OSD1_FLTMODE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_FLTMODE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_FLTMODE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_GPSLAT">
+<param humanName="Enable" name="OSD1_GPSLAT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_GPSLAT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_GPSLAT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_GPSLONG">
+<param humanName="Enable" name="OSD1_GPSLONG_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_GPSLONG_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_GPSLONG_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_GSPEED">
+<param humanName="Enable" name="OSD1_GSPEED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_GSPEED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_GSPEED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_HDOP">
+<param humanName="Enable" name="OSD1_HDOP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_HDOP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_HDOP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_HOME">
+<param humanName="Enable" name="OSD1_HOME_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_HOME_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_HOME_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_HORIZON">
+<param humanName="Enable" name="OSD1_HORIZON_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_HORIZON_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_HORIZON_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_MESSAGE">
+<param humanName="Enable" name="OSD1_MESSAGE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_MESSAGE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_MESSAGE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_PITCH">
+<param humanName="Enable" name="OSD1_PITCH_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_PITCH_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_PITCH_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_ROLL">
+<param humanName="Enable" name="OSD1_ROLL_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_ROLL_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_ROLL_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_RSSI">
+<param humanName="Enable" name="OSD1_RSSI_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_RSSI_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_RSSI_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_SATS">
+<param humanName="Enable" name="OSD1_SATS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_SATS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_SATS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_STATS">
+<param humanName="Enable" name="OSD1_STATS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_STATS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_STATS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_TEMP">
+<param humanName="Enable" name="OSD1_TEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_TEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_TEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_WAYPOINT">
+<param humanName="Enable" name="OSD1_WAYPOINT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_WAYPOINT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_WAYPOINT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_XTRACK">
+<param humanName="Enable" name="OSD1_XTRACK_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_XTRACK_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_XTRACK_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_">
+<param humanName="Enable screen" name="OSD2_ENABLE" documentation="Enable this screen" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Transmitter switch screen minimum pwm" name="OSD2_CHAN_MIN" documentation="This sets the PWM lower limit for this screen" user="Standard">
+<field name="Range">900 2100</field>
+</param>
+<param humanName="Transmitter switch screen maximum pwm" name="OSD2_CHAN_MAX" documentation="This sets the PWM upper limit for this screen" user="Standard">
+<field name="Range">900 2100</field>
+</param>
+</parameters>
+<parameters name="OSD2_ALTITUDE">
+<param humanName="Enable" name="OSD2_ALTITUDE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_ALTITUDE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_ALTITUDE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_ASPD2">
+<param humanName="Enable" name="OSD2_ASPD2_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_ASPD2_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_ASPD2_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_ATEMP">
+<param humanName="Enable" name="OSD2_ATEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_ATEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_ATEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_BAT2USED">
+<param humanName="Enable" name="OSD2_BAT2USED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_BAT2USED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_BAT2USED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_BAT2VLT">
+<param humanName="Enable" name="OSD2_BAT2VLT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_BAT2VLT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_BAT2VLT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_BATUSED">
+<param humanName="Enable" name="OSD2_BATUSED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_BATUSED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_BATUSED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_BATVOLT">
+<param humanName="Enable" name="OSD2_BATVOLT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_BATVOLT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_BATVOLT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_BLHAMPS">
+<param humanName="Enable" name="OSD2_BLHAMPS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_BLHAMPS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_BLHAMPS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_BLHRPM">
+<param humanName="Enable" name="OSD2_BLHRPM_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_BLHRPM_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_BLHRPM_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_BLHTEMP">
+<param humanName="Enable" name="OSD2_BLHTEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_BLHTEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_BLHTEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_BTEMP">
+<param humanName="Enable" name="OSD2_BTEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_BTEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_BTEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_CLIMBEFF">
+<param humanName="Enable" name="OSD2_CLIMBEFF_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_CLIMBEFF_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_CLIMBEFF_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_CURRENT">
+<param humanName="Enable" name="OSD2_CURRENT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_CURRENT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_CURRENT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_DIST">
+<param humanName="Enable" name="OSD2_DIST_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_DIST_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_DIST_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_EFF">
+<param humanName="Enable" name="OSD2_EFF_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_EFF_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_EFF_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_FLTIME">
+<param humanName="Enable" name="OSD2_FLTIME_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_FLTIME_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_FLTIME_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_FLTMODE">
+<param humanName="Enable" name="OSD2_FLTMODE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_FLTMODE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_FLTMODE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_GPSLAT">
+<param humanName="Enable" name="OSD2_GPSLAT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_GPSLAT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_GPSLAT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_GPSLONG">
+<param humanName="Enable" name="OSD2_GPSLONG_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_GPSLONG_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_GPSLONG_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_GSPEED">
+<param humanName="Enable" name="OSD2_GSPEED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_GSPEED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_GSPEED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_HDOP">
+<param humanName="Enable" name="OSD2_HDOP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_HDOP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_HDOP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_HOME">
+<param humanName="Enable" name="OSD2_HOME_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_HOME_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_HOME_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_HORIZON">
+<param humanName="Enable" name="OSD2_HORIZON_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_HORIZON_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_HORIZON_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_MESSAGE">
+<param humanName="Enable" name="OSD2_MESSAGE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_MESSAGE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_MESSAGE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_PITCH">
+<param humanName="Enable" name="OSD2_PITCH_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_PITCH_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_PITCH_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_ROLL">
+<param humanName="Enable" name="OSD2_ROLL_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_ROLL_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_ROLL_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_RSSI">
+<param humanName="Enable" name="OSD2_RSSI_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_RSSI_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_RSSI_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_SATS">
+<param humanName="Enable" name="OSD2_SATS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_SATS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_SATS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_STATS">
+<param humanName="Enable" name="OSD2_STATS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_STATS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_STATS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_TEMP">
+<param humanName="Enable" name="OSD2_TEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_TEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_TEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_WAYPOINT">
+<param humanName="Enable" name="OSD2_WAYPOINT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_WAYPOINT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_WAYPOINT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_XTRACK">
+<param humanName="Enable" name="OSD2_XTRACK_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_XTRACK_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_XTRACK_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_">
+<param humanName="Enable screen" name="OSD3_ENABLE" documentation="Enable this screen" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Transmitter switch screen minimum pwm" name="OSD3_CHAN_MIN" documentation="This sets the PWM lower limit for this screen" user="Standard">
+<field name="Range">900 2100</field>
+</param>
+<param humanName="Transmitter switch screen maximum pwm" name="OSD3_CHAN_MAX" documentation="This sets the PWM upper limit for this screen" user="Standard">
+<field name="Range">900 2100</field>
+</param>
+</parameters>
+<parameters name="OSD3_ALTITUDE">
+<param humanName="Enable" name="OSD3_ALTITUDE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_ALTITUDE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_ALTITUDE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_ASPD2">
+<param humanName="Enable" name="OSD3_ASPD2_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_ASPD2_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_ASPD2_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_ATEMP">
+<param humanName="Enable" name="OSD3_ATEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_ATEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_ATEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_BAT2USED">
+<param humanName="Enable" name="OSD3_BAT2USED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_BAT2USED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_BAT2USED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_BAT2VLT">
+<param humanName="Enable" name="OSD3_BAT2VLT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_BAT2VLT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_BAT2VLT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_BATUSED">
+<param humanName="Enable" name="OSD3_BATUSED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_BATUSED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_BATUSED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_BATVOLT">
+<param humanName="Enable" name="OSD3_BATVOLT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_BATVOLT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_BATVOLT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_BLHAMPS">
+<param humanName="Enable" name="OSD3_BLHAMPS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_BLHAMPS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_BLHAMPS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_BLHRPM">
+<param humanName="Enable" name="OSD3_BLHRPM_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_BLHRPM_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_BLHRPM_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_BLHTEMP">
+<param humanName="Enable" name="OSD3_BLHTEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_BLHTEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_BLHTEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_BTEMP">
+<param humanName="Enable" name="OSD3_BTEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_BTEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_BTEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_CLIMBEFF">
+<param humanName="Enable" name="OSD3_CLIMBEFF_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_CLIMBEFF_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_CLIMBEFF_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_CURRENT">
+<param humanName="Enable" name="OSD3_CURRENT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_CURRENT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_CURRENT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_DIST">
+<param humanName="Enable" name="OSD3_DIST_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_DIST_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_DIST_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_EFF">
+<param humanName="Enable" name="OSD3_EFF_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_EFF_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_EFF_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_FLTIME">
+<param humanName="Enable" name="OSD3_FLTIME_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_FLTIME_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_FLTIME_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_FLTMODE">
+<param humanName="Enable" name="OSD3_FLTMODE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_FLTMODE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_FLTMODE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_GPSLAT">
+<param humanName="Enable" name="OSD3_GPSLAT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_GPSLAT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_GPSLAT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_GPSLONG">
+<param humanName="Enable" name="OSD3_GPSLONG_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_GPSLONG_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_GPSLONG_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_GSPEED">
+<param humanName="Enable" name="OSD3_GSPEED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_GSPEED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_GSPEED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_HDOP">
+<param humanName="Enable" name="OSD3_HDOP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_HDOP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_HDOP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_HOME">
+<param humanName="Enable" name="OSD3_HOME_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_HOME_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_HOME_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_HORIZON">
+<param humanName="Enable" name="OSD3_HORIZON_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_HORIZON_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_HORIZON_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_MESSAGE">
+<param humanName="Enable" name="OSD3_MESSAGE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_MESSAGE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_MESSAGE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_PITCH">
+<param humanName="Enable" name="OSD3_PITCH_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_PITCH_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_PITCH_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_ROLL">
+<param humanName="Enable" name="OSD3_ROLL_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_ROLL_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_ROLL_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_RSSI">
+<param humanName="Enable" name="OSD3_RSSI_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_RSSI_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_RSSI_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_SATS">
+<param humanName="Enable" name="OSD3_SATS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_SATS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_SATS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_STATS">
+<param humanName="Enable" name="OSD3_STATS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_STATS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_STATS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_TEMP">
+<param humanName="Enable" name="OSD3_TEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_TEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_TEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_WAYPOINT">
+<param humanName="Enable" name="OSD3_WAYPOINT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_WAYPOINT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_WAYPOINT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_XTRACK">
+<param humanName="Enable" name="OSD3_XTRACK_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_XTRACK_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_XTRACK_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_">
+<param humanName="Enable screen" name="OSD4_ENABLE" documentation="Enable this screen" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Transmitter switch screen minimum pwm" name="OSD4_CHAN_MIN" documentation="This sets the PWM lower limit for this screen" user="Standard">
+<field name="Range">900 2100</field>
+</param>
+<param humanName="Transmitter switch screen maximum pwm" name="OSD4_CHAN_MAX" documentation="This sets the PWM upper limit for this screen" user="Standard">
+<field name="Range">900 2100</field>
+</param>
+</parameters>
+<parameters name="OSD4_ALTITUDE">
+<param humanName="Enable" name="OSD4_ALTITUDE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_ALTITUDE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_ALTITUDE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_ASPD2">
+<param humanName="Enable" name="OSD4_ASPD2_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_ASPD2_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_ASPD2_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_ATEMP">
+<param humanName="Enable" name="OSD4_ATEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_ATEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_ATEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_BAT2USED">
+<param humanName="Enable" name="OSD4_BAT2USED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_BAT2USED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_BAT2USED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_BAT2VLT">
+<param humanName="Enable" name="OSD4_BAT2VLT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_BAT2VLT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_BAT2VLT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_BATUSED">
+<param humanName="Enable" name="OSD4_BATUSED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_BATUSED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_BATUSED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_BATVOLT">
+<param humanName="Enable" name="OSD4_BATVOLT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_BATVOLT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_BATVOLT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_BLHAMPS">
+<param humanName="Enable" name="OSD4_BLHAMPS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_BLHAMPS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_BLHAMPS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_BLHRPM">
+<param humanName="Enable" name="OSD4_BLHRPM_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_BLHRPM_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_BLHRPM_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_BLHTEMP">
+<param humanName="Enable" name="OSD4_BLHTEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_BLHTEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_BLHTEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_BTEMP">
+<param humanName="Enable" name="OSD4_BTEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_BTEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_BTEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_CLIMBEFF">
+<param humanName="Enable" name="OSD4_CLIMBEFF_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_CLIMBEFF_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_CLIMBEFF_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_CURRENT">
+<param humanName="Enable" name="OSD4_CURRENT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_CURRENT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_CURRENT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_DIST">
+<param humanName="Enable" name="OSD4_DIST_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_DIST_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_DIST_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_EFF">
+<param humanName="Enable" name="OSD4_EFF_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_EFF_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_EFF_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_FLTIME">
+<param humanName="Enable" name="OSD4_FLTIME_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_FLTIME_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_FLTIME_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_FLTMODE">
+<param humanName="Enable" name="OSD4_FLTMODE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_FLTMODE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_FLTMODE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_GPSLAT">
+<param humanName="Enable" name="OSD4_GPSLAT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_GPSLAT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_GPSLAT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_GPSLONG">
+<param humanName="Enable" name="OSD4_GPSLONG_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_GPSLONG_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_GPSLONG_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_GSPEED">
+<param humanName="Enable" name="OSD4_GSPEED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_GSPEED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_GSPEED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_HDOP">
+<param humanName="Enable" name="OSD4_HDOP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_HDOP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_HDOP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_HOME">
+<param humanName="Enable" name="OSD4_HOME_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_HOME_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_HOME_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_HORIZON">
+<param humanName="Enable" name="OSD4_HORIZON_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_HORIZON_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_HORIZON_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_MESSAGE">
+<param humanName="Enable" name="OSD4_MESSAGE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_MESSAGE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_MESSAGE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_PITCH">
+<param humanName="Enable" name="OSD4_PITCH_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_PITCH_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_PITCH_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_ROLL">
+<param humanName="Enable" name="OSD4_ROLL_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_ROLL_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_ROLL_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_RSSI">
+<param humanName="Enable" name="OSD4_RSSI_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_RSSI_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_RSSI_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_SATS">
+<param humanName="Enable" name="OSD4_SATS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_SATS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_SATS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_STATS">
+<param humanName="Enable" name="OSD4_STATS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_STATS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_STATS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_TEMP">
+<param humanName="Enable" name="OSD4_TEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_TEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_TEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_WAYPOINT">
+<param humanName="Enable" name="OSD4_WAYPOINT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_WAYPOINT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_WAYPOINT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_XTRACK">
+<param humanName="Enable" name="OSD4_XTRACK_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_XTRACK_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_XTRACK_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="PRX">
+<param humanName="Proximity type" name="PRX_TYPE" documentation="What type of proximity sensor is connected" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">LightWareSF40C</value>
+<value code="2">MAVLink</value>
+<value code="3">TeraRangerTower</value>
+<value code="4">RangeFinder</value>
+<value code="5">RPLidarA2</value>
+<value code="6">TeraRangerTowerEvo</value>
+<value code="10">SITL</value>
+<value code="11">MorseSITL</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Proximity sensor orientation" name="PRX_ORIENT" documentation="Proximity sensor orientation" user="Standard">
+<values>
+<value code="0">Default</value>
+<value code="1">Upside Down</value>
+</values>
+</param>
+<param humanName="Proximity sensor yaw correction" name="PRX_YAW_CORR" documentation="Proximity sensor yaw correction" user="Standard">
+<field name="Range">-180 180</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Proximity sensor ignore angle 1" name="PRX_IGN_ANG1" documentation="Proximity sensor ignore angle 1" user="Standard">
+<field name="Range">0 360</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Proximity sensor ignore width 1" name="PRX_IGN_WID1" documentation="Proximity sensor ignore width 1" user="Standard">
+<field name="Range">0 45</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Proximity sensor ignore angle 2" name="PRX_IGN_ANG2" documentation="Proximity sensor ignore angle 2" user="Standard">
+<field name="Range">0 360</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Proximity sensor ignore width 2" name="PRX_IGN_WID2" documentation="Proximity sensor ignore width 2" user="Standard">
+<field name="Range">0 45</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Proximity sensor ignore angle 3" name="PRX_IGN_ANG3" documentation="Proximity sensor ignore angle 3" user="Standard">
+<field name="Range">0 360</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Proximity sensor ignore width 3" name="PRX_IGN_WID3" documentation="Proximity sensor ignore width 3" user="Standard">
+<field name="Range">0 45</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Proximity sensor ignore angle 4" name="PRX_IGN_ANG4" documentation="Proximity sensor ignore angle 4" user="Standard">
+<field name="Range">0 360</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Proximity sensor ignore width 4" name="PRX_IGN_WID4" documentation="Proximity sensor ignore width 4" user="Standard">
+<field name="Range">0 45</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Proximity sensor ignore angle 5" name="PRX_IGN_ANG5" documentation="Proximity sensor ignore angle 5" user="Standard">
+<field name="Range">0 360</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Proximity sensor ignore width 5" name="PRX_IGN_WID5" documentation="Proximity sensor ignore width 5" user="Standard">
+<field name="Range">0 45</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Proximity sensor ignore angle 6" name="PRX_IGN_ANG6" documentation="Proximity sensor ignore angle 6" user="Standard">
+<field name="Range">0 360</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Proximity sensor ignore width 6" name="PRX_IGN_WID6" documentation="Proximity sensor ignore width 6" user="Standard">
+<field name="Range">0 45</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Second Proximity type" name="PRX2_TYPE" documentation="What type of proximity sensor is connected" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">LightWareSF40C</value>
+<value code="2">MAVLink</value>
+<value code="3">TeraRangerTower</value>
+<value code="4">RangeFinder</value>
+<value code="5">RPLidarA2</value>
+<value code="6">TeraRangerTowerEvo</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Second Proximity sensor orientation" name="PRX2_ORIENT" documentation="Second Proximity sensor orientation" user="Standard">
+<values>
+<value code="0">Default</value>
+<value code="1">Upside Down</value>
+</values>
+</param>
+<param humanName="Second Proximity sensor yaw correction" name="PRX2_YAW_CORR" documentation="Second Proximity sensor yaw correction" user="Standard">
+<field name="Range">-180 180</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+</parameters>
+<parameters name="RALLY_">
+<param humanName="Rally Total" name="RALLY_TOTAL" documentation="Number of rally points currently loaded" user="Advanced">
+</param>
+<param humanName="Rally Limit" name="RALLY_LIMIT_KM" documentation="Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">km</field>
+<field name="UnitText">kilometers</field>
+</param>
+<param humanName="Rally Include Home" name="RALLY_INCL_HOME" documentation="Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL" user="Standard">
+<values>
+<value code="0">DoNotIncludeHome</value>
+<value code="1">IncludeHome</value>
+</values>
+</param>
+</parameters>
+<parameters name="RC">
+<param humanName="RC override timeout" name="RC_OVERRIDE_TIME" documentation="Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled" user="Advanced">
+<field name="Range">0.0 120.0</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="RC options" name="RC_OPTIONS" documentation="RC input options" user="Advanced">
+<field name="Bitmask">0:Ignore RC Reciever, 1:Ignore MAVLink Overrides</field>
+</param>
+</parameters>
+<parameters name="RC10_">
+<param humanName="RC min PWM" name="RC10_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC trim PWM" name="RC10_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC max PWM" name="RC10_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC reversed" name="RC10_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="RC dead-zone" name="RC10_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC input option" name="RC10_OPTION" documentation="Function assigned to this RC channel" user="Standard">
+<values>
+<value code="0">Do Nothing</value>
+<value code=" 4">RTL</value>
+<value code=" 7">Save WP</value>
+<value code=" 9">Camera Trigger</value>
+<value code=" 16">Auto</value>
+<value code=" 28">Relay On/Off</value>
+<value code=" 30">Lost Rover Sound</value>
+<value code=" 34">Relay2 On/Off</value>
+<value code=" 35">Relay3 On/Off</value>
+<value code=" 36">Relay4 On/Off</value>
+<value code=" 40">Proximity Avoidance</value>
+<value code=" 41">ArmDisarm</value>
+<value code=" 42">SmartRTL</value>
+<value code=" 46">RC Override Enable</value>
+<value code=" 50">LearnCruise</value>
+<value code=" 51">Manual</value>
+<value code=" 52">Acro</value>
+<value code=" 53">Steering</value>
+<value code=" 54">Hold</value>
+<value code=" 55">Guided</value>
+<value code=" 56">Loiter</value>
+<value code=" 57">Follow</value>
+<value code=" 58">Clear Waypoints</value>
+<value code=" 59">Simple</value>
+<value code=" 62">Compass Learn</value>
+<value code=" 63">Sailboat Tack</value>
+<value code=" 65">GPS Disable</value>
+<value code=" 66"> Relay5</value>
+<value code=" 67"> Relay6</value>
+</values>
+</param>
+</parameters>
+<parameters name="RC11_">
+<param humanName="RC min PWM" name="RC11_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC trim PWM" name="RC11_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC max PWM" name="RC11_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC reversed" name="RC11_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="RC dead-zone" name="RC11_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC input option" name="RC11_OPTION" documentation="Function assigned to this RC channel" user="Standard">
+<values>
+<value code="0">Do Nothing</value>
+<value code=" 4">RTL</value>
+<value code=" 7">Save WP</value>
+<value code=" 9">Camera Trigger</value>
+<value code=" 16">Auto</value>
+<value code=" 28">Relay On/Off</value>
+<value code=" 30">Lost Rover Sound</value>
+<value code=" 34">Relay2 On/Off</value>
+<value code=" 35">Relay3 On/Off</value>
+<value code=" 36">Relay4 On/Off</value>
+<value code=" 40">Proximity Avoidance</value>
+<value code=" 41">ArmDisarm</value>
+<value code=" 42">SmartRTL</value>
+<value code=" 46">RC Override Enable</value>
+<value code=" 50">LearnCruise</value>
+<value code=" 51">Manual</value>
+<value code=" 52">Acro</value>
+<value code=" 53">Steering</value>
+<value code=" 54">Hold</value>
+<value code=" 55">Guided</value>
+<value code=" 56">Loiter</value>
+<value code=" 57">Follow</value>
+<value code=" 58">Clear Waypoints</value>
+<value code=" 59">Simple</value>
+<value code=" 62">Compass Learn</value>
+<value code=" 63">Sailboat Tack</value>
+<value code=" 65">GPS Disable</value>
+<value code=" 66"> Relay5</value>
+<value code=" 67"> Relay6</value>
+</values>
+</param>
+</parameters>
+<parameters name="RC12_">
+<param humanName="RC min PWM" name="RC12_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC trim PWM" name="RC12_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC max PWM" name="RC12_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC reversed" name="RC12_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="RC dead-zone" name="RC12_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC input option" name="RC12_OPTION" documentation="Function assigned to this RC channel" user="Standard">
+<values>
+<value code="0">Do Nothing</value>
+<value code=" 4">RTL</value>
+<value code=" 7">Save WP</value>
+<value code=" 9">Camera Trigger</value>
+<value code=" 16">Auto</value>
+<value code=" 28">Relay On/Off</value>
+<value code=" 30">Lost Rover Sound</value>
+<value code=" 34">Relay2 On/Off</value>
+<value code=" 35">Relay3 On/Off</value>
+<value code=" 36">Relay4 On/Off</value>
+<value code=" 40">Proximity Avoidance</value>
+<value code=" 41">ArmDisarm</value>
+<value code=" 42">SmartRTL</value>
+<value code=" 46">RC Override Enable</value>
+<value code=" 50">LearnCruise</value>
+<value code=" 51">Manual</value>
+<value code=" 52">Acro</value>
+<value code=" 53">Steering</value>
+<value code=" 54">Hold</value>
+<value code=" 55">Guided</value>
+<value code=" 56">Loiter</value>
+<value code=" 57">Follow</value>
+<value code=" 58">Clear Waypoints</value>
+<value code=" 59">Simple</value>
+<value code=" 62">Compass Learn</value>
+<value code=" 63">Sailboat Tack</value>
+<value code=" 65">GPS Disable</value>
+<value code=" 66"> Relay5</value>
+<value code=" 67"> Relay6</value>
+</values>
+</param>
+</parameters>
+<parameters name="RC13_">
+<param humanName="RC min PWM" name="RC13_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC trim PWM" name="RC13_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC max PWM" name="RC13_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC reversed" name="RC13_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="RC dead-zone" name="RC13_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC input option" name="RC13_OPTION" documentation="Function assigned to this RC channel" user="Standard">
+<values>
+<value code="0">Do Nothing</value>
+<value code=" 4">RTL</value>
+<value code=" 7">Save WP</value>
+<value code=" 9">Camera Trigger</value>
+<value code=" 16">Auto</value>
+<value code=" 28">Relay On/Off</value>
+<value code=" 30">Lost Rover Sound</value>
+<value code=" 34">Relay2 On/Off</value>
+<value code=" 35">Relay3 On/Off</value>
+<value code=" 36">Relay4 On/Off</value>
+<value code=" 40">Proximity Avoidance</value>
+<value code=" 41">ArmDisarm</value>
+<value code=" 42">SmartRTL</value>
+<value code=" 46">RC Override Enable</value>
+<value code=" 50">LearnCruise</value>
+<value code=" 51">Manual</value>
+<value code=" 52">Acro</value>
+<value code=" 53">Steering</value>
+<value code=" 54">Hold</value>
+<value code=" 55">Guided</value>
+<value code=" 56">Loiter</value>
+<value code=" 57">Follow</value>
+<value code=" 58">Clear Waypoints</value>
+<value code=" 59">Simple</value>
+<value code=" 62">Compass Learn</value>
+<value code=" 63">Sailboat Tack</value>
+<value code=" 65">GPS Disable</value>
+<value code=" 66"> Relay5</value>
+<value code=" 67"> Relay6</value>
+</values>
+</param>
+</parameters>
+<parameters name="RC14_">
+<param humanName="RC min PWM" name="RC14_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC trim PWM" name="RC14_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC max PWM" name="RC14_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC reversed" name="RC14_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="RC dead-zone" name="RC14_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC input option" name="RC14_OPTION" documentation="Function assigned to this RC channel" user="Standard">
+<values>
+<value code="0">Do Nothing</value>
+<value code=" 4">RTL</value>
+<value code=" 7">Save WP</value>
+<value code=" 9">Camera Trigger</value>
+<value code=" 16">Auto</value>
+<value code=" 28">Relay On/Off</value>
+<value code=" 30">Lost Rover Sound</value>
+<value code=" 34">Relay2 On/Off</value>
+<value code=" 35">Relay3 On/Off</value>
+<value code=" 36">Relay4 On/Off</value>
+<value code=" 40">Proximity Avoidance</value>
+<value code=" 41">ArmDisarm</value>
+<value code=" 42">SmartRTL</value>
+<value code=" 46">RC Override Enable</value>
+<value code=" 50">LearnCruise</value>
+<value code=" 51">Manual</value>
+<value code=" 52">Acro</value>
+<value code=" 53">Steering</value>
+<value code=" 54">Hold</value>
+<value code=" 55">Guided</value>
+<value code=" 56">Loiter</value>
+<value code=" 57">Follow</value>
+<value code=" 58">Clear Waypoints</value>
+<value code=" 59">Simple</value>
+<value code=" 62">Compass Learn</value>
+<value code=" 63">Sailboat Tack</value>
+<value code=" 65">GPS Disable</value>
+<value code=" 66"> Relay5</value>
+<value code=" 67"> Relay6</value>
+</values>
+</param>
+</parameters>
+<parameters name="RC15_">
+<param humanName="RC min PWM" name="RC15_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC trim PWM" name="RC15_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC max PWM" name="RC15_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC reversed" name="RC15_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="RC dead-zone" name="RC15_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC input option" name="RC15_OPTION" documentation="Function assigned to this RC channel" user="Standard">
+<values>
+<value code="0">Do Nothing</value>
+<value code=" 4">RTL</value>
+<value code=" 7">Save WP</value>
+<value code=" 9">Camera Trigger</value>
+<value code=" 16">Auto</value>
+<value code=" 28">Relay On/Off</value>
+<value code=" 30">Lost Rover Sound</value>
+<value code=" 34">Relay2 On/Off</value>
+<value code=" 35">Relay3 On/Off</value>
+<value code=" 36">Relay4 On/Off</value>
+<value code=" 40">Proximity Avoidance</value>
+<value code=" 41">ArmDisarm</value>
+<value code=" 42">SmartRTL</value>
+<value code=" 46">RC Override Enable</value>
+<value code=" 50">LearnCruise</value>
+<value code=" 51">Manual</value>
+<value code=" 52">Acro</value>
+<value code=" 53">Steering</value>
+<value code=" 54">Hold</value>
+<value code=" 55">Guided</value>
+<value code=" 56">Loiter</value>
+<value code=" 57">Follow</value>
+<value code=" 58">Clear Waypoints</value>
+<value code=" 59">Simple</value>
+<value code=" 62">Compass Learn</value>
+<value code=" 63">Sailboat Tack</value>
+<value code=" 65">GPS Disable</value>
+<value code=" 66"> Relay5</value>
+<value code=" 67"> Relay6</value>
+</values>
+</param>
+</parameters>
+<parameters name="RC16_">
+<param humanName="RC min PWM" name="RC16_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC trim PWM" name="RC16_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC max PWM" name="RC16_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC reversed" name="RC16_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="RC dead-zone" name="RC16_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC input option" name="RC16_OPTION" documentation="Function assigned to this RC channel" user="Standard">
+<values>
+<value code="0">Do Nothing</value>
+<value code=" 4">RTL</value>
+<value code=" 7">Save WP</value>
+<value code=" 9">Camera Trigger</value>
+<value code=" 16">Auto</value>
+<value code=" 28">Relay On/Off</value>
+<value code=" 30">Lost Rover Sound</value>
+<value code=" 34">Relay2 On/Off</value>
+<value code=" 35">Relay3 On/Off</value>
+<value code=" 36">Relay4 On/Off</value>
+<value code=" 40">Proximity Avoidance</value>
+<value code=" 41">ArmDisarm</value>
+<value code=" 42">SmartRTL</value>
+<value code=" 46">RC Override Enable</value>
+<value code=" 50">LearnCruise</value>
+<value code=" 51">Manual</value>
+<value code=" 52">Acro</value>
+<value code=" 53">Steering</value>
+<value code=" 54">Hold</value>
+<value code=" 55">Guided</value>
+<value code=" 56">Loiter</value>
+<value code=" 57">Follow</value>
+<value code=" 58">Clear Waypoints</value>
+<value code=" 59">Simple</value>
+<value code=" 62">Compass Learn</value>
+<value code=" 63">Sailboat Tack</value>
+<value code=" 65">GPS Disable</value>
+<value code=" 66"> Relay5</value>
+<value code=" 67"> Relay6</value>
+</values>
+</param>
+</parameters>
+<parameters name="RC1_">
+<param humanName="RC min PWM" name="RC1_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC trim PWM" name="RC1_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC max PWM" name="RC1_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC reversed" name="RC1_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="RC dead-zone" name="RC1_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC input option" name="RC1_OPTION" documentation="Function assigned to this RC channel" user="Standard">
+<values>
+<value code="0">Do Nothing</value>
+<value code=" 4">RTL</value>
+<value code=" 7">Save WP</value>
+<value code=" 9">Camera Trigger</value>
+<value code=" 16">Auto</value>
+<value code=" 28">Relay On/Off</value>
+<value code=" 30">Lost Rover Sound</value>
+<value code=" 34">Relay2 On/Off</value>
+<value code=" 35">Relay3 On/Off</value>
+<value code=" 36">Relay4 On/Off</value>
+<value code=" 40">Proximity Avoidance</value>
+<value code=" 41">ArmDisarm</value>
+<value code=" 42">SmartRTL</value>
+<value code=" 46">RC Override Enable</value>
+<value code=" 50">LearnCruise</value>
+<value code=" 51">Manual</value>
+<value code=" 52">Acro</value>
+<value code=" 53">Steering</value>
+<value code=" 54">Hold</value>
+<value code=" 55">Guided</value>
+<value code=" 56">Loiter</value>
+<value code=" 57">Follow</value>
+<value code=" 58">Clear Waypoints</value>
+<value code=" 59">Simple</value>
+<value code=" 62">Compass Learn</value>
+<value code=" 63">Sailboat Tack</value>
+<value code=" 65">GPS Disable</value>
+<value code=" 66"> Relay5</value>
+<value code=" 67"> Relay6</value>
+</values>
+</param>
+</parameters>
+<parameters name="RC2_">
+<param humanName="RC min PWM" name="RC2_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC trim PWM" name="RC2_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC max PWM" name="RC2_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC reversed" name="RC2_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="RC dead-zone" name="RC2_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC input option" name="RC2_OPTION" documentation="Function assigned to this RC channel" user="Standard">
+<values>
+<value code="0">Do Nothing</value>
+<value code=" 4">RTL</value>
+<value code=" 7">Save WP</value>
+<value code=" 9">Camera Trigger</value>
+<value code=" 16">Auto</value>
+<value code=" 28">Relay On/Off</value>
+<value code=" 30">Lost Rover Sound</value>
+<value code=" 34">Relay2 On/Off</value>
+<value code=" 35">Relay3 On/Off</value>
+<value code=" 36">Relay4 On/Off</value>
+<value code=" 40">Proximity Avoidance</value>
+<value code=" 41">ArmDisarm</value>
+<value code=" 42">SmartRTL</value>
+<value code=" 46">RC Override Enable</value>
+<value code=" 50">LearnCruise</value>
+<value code=" 51">Manual</value>
+<value code=" 52">Acro</value>
+<value code=" 53">Steering</value>
+<value code=" 54">Hold</value>
+<value code=" 55">Guided</value>
+<value code=" 56">Loiter</value>
+<value code=" 57">Follow</value>
+<value code=" 58">Clear Waypoints</value>
+<value code=" 59">Simple</value>
+<value code=" 62">Compass Learn</value>
+<value code=" 63">Sailboat Tack</value>
+<value code=" 65">GPS Disable</value>
+<value code=" 66"> Relay5</value>
+<value code=" 67"> Relay6</value>
+</values>
+</param>
+</parameters>
+<parameters name="RC3_">
+<param humanName="RC min PWM" name="RC3_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC trim PWM" name="RC3_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC max PWM" name="RC3_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC reversed" name="RC3_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="RC dead-zone" name="RC3_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC input option" name="RC3_OPTION" documentation="Function assigned to this RC channel" user="Standard">
+<values>
+<value code="0">Do Nothing</value>
+<value code=" 4">RTL</value>
+<value code=" 7">Save WP</value>
+<value code=" 9">Camera Trigger</value>
+<value code=" 16">Auto</value>
+<value code=" 28">Relay On/Off</value>
+<value code=" 30">Lost Rover Sound</value>
+<value code=" 34">Relay2 On/Off</value>
+<value code=" 35">Relay3 On/Off</value>
+<value code=" 36">Relay4 On/Off</value>
+<value code=" 40">Proximity Avoidance</value>
+<value code=" 41">ArmDisarm</value>
+<value code=" 42">SmartRTL</value>
+<value code=" 46">RC Override Enable</value>
+<value code=" 50">LearnCruise</value>
+<value code=" 51">Manual</value>
+<value code=" 52">Acro</value>
+<value code=" 53">Steering</value>
+<value code=" 54">Hold</value>
+<value code=" 55">Guided</value>
+<value code=" 56">Loiter</value>
+<value code=" 57">Follow</value>
+<value code=" 58">Clear Waypoints</value>
+<value code=" 59">Simple</value>
+<value code=" 62">Compass Learn</value>
+<value code=" 63">Sailboat Tack</value>
+<value code=" 65">GPS Disable</value>
+<value code=" 66"> Relay5</value>
+<value code=" 67"> Relay6</value>
+</values>
+</param>
+</parameters>
+<parameters name="RC4_">
+<param humanName="RC min PWM" name="RC4_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC trim PWM" name="RC4_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC max PWM" name="RC4_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC reversed" name="RC4_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="RC dead-zone" name="RC4_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC input option" name="RC4_OPTION" documentation="Function assigned to this RC channel" user="Standard">
+<values>
+<value code="0">Do Nothing</value>
+<value code=" 4">RTL</value>
+<value code=" 7">Save WP</value>
+<value code=" 9">Camera Trigger</value>
+<value code=" 16">Auto</value>
+<value code=" 28">Relay On/Off</value>
+<value code=" 30">Lost Rover Sound</value>
+<value code=" 34">Relay2 On/Off</value>
+<value code=" 35">Relay3 On/Off</value>
+<value code=" 36">Relay4 On/Off</value>
+<value code=" 40">Proximity Avoidance</value>
+<value code=" 41">ArmDisarm</value>
+<value code=" 42">SmartRTL</value>
+<value code=" 46">RC Override Enable</value>
+<value code=" 50">LearnCruise</value>
+<value code=" 51">Manual</value>
+<value code=" 52">Acro</value>
+<value code=" 53">Steering</value>
+<value code=" 54">Hold</value>
+<value code=" 55">Guided</value>
+<value code=" 56">Loiter</value>
+<value code=" 57">Follow</value>
+<value code=" 58">Clear Waypoints</value>
+<value code=" 59">Simple</value>
+<value code=" 62">Compass Learn</value>
+<value code=" 63">Sailboat Tack</value>
+<value code=" 65">GPS Disable</value>
+<value code=" 66"> Relay5</value>
+<value code=" 67"> Relay6</value>
+</values>
+</param>
+</parameters>
+<parameters name="RC5_">
+<param humanName="RC min PWM" name="RC5_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC trim PWM" name="RC5_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC max PWM" name="RC5_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC reversed" name="RC5_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="RC dead-zone" name="RC5_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC input option" name="RC5_OPTION" documentation="Function assigned to this RC channel" user="Standard">
+<values>
+<value code="0">Do Nothing</value>
+<value code=" 4">RTL</value>
+<value code=" 7">Save WP</value>
+<value code=" 9">Camera Trigger</value>
+<value code=" 16">Auto</value>
+<value code=" 28">Relay On/Off</value>
+<value code=" 30">Lost Rover Sound</value>
+<value code=" 34">Relay2 On/Off</value>
+<value code=" 35">Relay3 On/Off</value>
+<value code=" 36">Relay4 On/Off</value>
+<value code=" 40">Proximity Avoidance</value>
+<value code=" 41">ArmDisarm</value>
+<value code=" 42">SmartRTL</value>
+<value code=" 46">RC Override Enable</value>
+<value code=" 50">LearnCruise</value>
+<value code=" 51">Manual</value>
+<value code=" 52">Acro</value>
+<value code=" 53">Steering</value>
+<value code=" 54">Hold</value>
+<value code=" 55">Guided</value>
+<value code=" 56">Loiter</value>
+<value code=" 57">Follow</value>
+<value code=" 58">Clear Waypoints</value>
+<value code=" 59">Simple</value>
+<value code=" 62">Compass Learn</value>
+<value code=" 63">Sailboat Tack</value>
+<value code=" 65">GPS Disable</value>
+<value code=" 66"> Relay5</value>
+<value code=" 67"> Relay6</value>
+</values>
+</param>
+</parameters>
+<parameters name="RC6_">
+<param humanName="RC min PWM" name="RC6_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC trim PWM" name="RC6_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC max PWM" name="RC6_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC reversed" name="RC6_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="RC dead-zone" name="RC6_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC input option" name="RC6_OPTION" documentation="Function assigned to this RC channel" user="Standard">
+<values>
+<value code="0">Do Nothing</value>
+<value code=" 4">RTL</value>
+<value code=" 7">Save WP</value>
+<value code=" 9">Camera Trigger</value>
+<value code=" 16">Auto</value>
+<value code=" 28">Relay On/Off</value>
+<value code=" 30">Lost Rover Sound</value>
+<value code=" 34">Relay2 On/Off</value>
+<value code=" 35">Relay3 On/Off</value>
+<value code=" 36">Relay4 On/Off</value>
+<value code=" 40">Proximity Avoidance</value>
+<value code=" 41">ArmDisarm</value>
+<value code=" 42">SmartRTL</value>
+<value code=" 46">RC Override Enable</value>
+<value code=" 50">LearnCruise</value>
+<value code=" 51">Manual</value>
+<value code=" 52">Acro</value>
+<value code=" 53">Steering</value>
+<value code=" 54">Hold</value>
+<value code=" 55">Guided</value>
+<value code=" 56">Loiter</value>
+<value code=" 57">Follow</value>
+<value code=" 58">Clear Waypoints</value>
+<value code=" 59">Simple</value>
+<value code=" 62">Compass Learn</value>
+<value code=" 63">Sailboat Tack</value>
+<value code=" 65">GPS Disable</value>
+<value code=" 66"> Relay5</value>
+<value code=" 67"> Relay6</value>
+</values>
+</param>
+</parameters>
+<parameters name="RC7_">
+<param humanName="RC min PWM" name="RC7_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC trim PWM" name="RC7_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC max PWM" name="RC7_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC reversed" name="RC7_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="RC dead-zone" name="RC7_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC input option" name="RC7_OPTION" documentation="Function assigned to this RC channel" user="Standard">
+<values>
+<value code="0">Do Nothing</value>
+<value code=" 4">RTL</value>
+<value code=" 7">Save WP</value>
+<value code=" 9">Camera Trigger</value>
+<value code=" 16">Auto</value>
+<value code=" 28">Relay On/Off</value>
+<value code=" 30">Lost Rover Sound</value>
+<value code=" 34">Relay2 On/Off</value>
+<value code=" 35">Relay3 On/Off</value>
+<value code=" 36">Relay4 On/Off</value>
+<value code=" 40">Proximity Avoidance</value>
+<value code=" 41">ArmDisarm</value>
+<value code=" 42">SmartRTL</value>
+<value code=" 46">RC Override Enable</value>
+<value code=" 50">LearnCruise</value>
+<value code=" 51">Manual</value>
+<value code=" 52">Acro</value>
+<value code=" 53">Steering</value>
+<value code=" 54">Hold</value>
+<value code=" 55">Guided</value>
+<value code=" 56">Loiter</value>
+<value code=" 57">Follow</value>
+<value code=" 58">Clear Waypoints</value>
+<value code=" 59">Simple</value>
+<value code=" 62">Compass Learn</value>
+<value code=" 63">Sailboat Tack</value>
+<value code=" 65">GPS Disable</value>
+<value code=" 66"> Relay5</value>
+<value code=" 67"> Relay6</value>
+</values>
+</param>
+</parameters>
+<parameters name="RC8_">
+<param humanName="RC min PWM" name="RC8_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC trim PWM" name="RC8_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC max PWM" name="RC8_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC reversed" name="RC8_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="RC dead-zone" name="RC8_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC input option" name="RC8_OPTION" documentation="Function assigned to this RC channel" user="Standard">
+<values>
+<value code="0">Do Nothing</value>
+<value code=" 4">RTL</value>
+<value code=" 7">Save WP</value>
+<value code=" 9">Camera Trigger</value>
+<value code=" 16">Auto</value>
+<value code=" 28">Relay On/Off</value>
+<value code=" 30">Lost Rover Sound</value>
+<value code=" 34">Relay2 On/Off</value>
+<value code=" 35">Relay3 On/Off</value>
+<value code=" 36">Relay4 On/Off</value>
+<value code=" 40">Proximity Avoidance</value>
+<value code=" 41">ArmDisarm</value>
+<value code=" 42">SmartRTL</value>
+<value code=" 46">RC Override Enable</value>
+<value code=" 50">LearnCruise</value>
+<value code=" 51">Manual</value>
+<value code=" 52">Acro</value>
+<value code=" 53">Steering</value>
+<value code=" 54">Hold</value>
+<value code=" 55">Guided</value>
+<value code=" 56">Loiter</value>
+<value code=" 57">Follow</value>
+<value code=" 58">Clear Waypoints</value>
+<value code=" 59">Simple</value>
+<value code=" 62">Compass Learn</value>
+<value code=" 63">Sailboat Tack</value>
+<value code=" 65">GPS Disable</value>
+<value code=" 66"> Relay5</value>
+<value code=" 67"> Relay6</value>
+</values>
+</param>
+</parameters>
+<parameters name="RC9_">
+<param humanName="RC min PWM" name="RC9_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC trim PWM" name="RC9_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC max PWM" name="RC9_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC reversed" name="RC9_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="RC dead-zone" name="RC9_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
+<field name="Range">0 200</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="RC input option" name="RC9_OPTION" documentation="Function assigned to this RC channel" user="Standard">
+<values>
+<value code="0">Do Nothing</value>
+<value code=" 4">RTL</value>
+<value code=" 7">Save WP</value>
+<value code=" 9">Camera Trigger</value>
+<value code=" 16">Auto</value>
+<value code=" 28">Relay On/Off</value>
+<value code=" 30">Lost Rover Sound</value>
+<value code=" 34">Relay2 On/Off</value>
+<value code=" 35">Relay3 On/Off</value>
+<value code=" 36">Relay4 On/Off</value>
+<value code=" 40">Proximity Avoidance</value>
+<value code=" 41">ArmDisarm</value>
+<value code=" 42">SmartRTL</value>
+<value code=" 46">RC Override Enable</value>
+<value code=" 50">LearnCruise</value>
+<value code=" 51">Manual</value>
+<value code=" 52">Acro</value>
+<value code=" 53">Steering</value>
+<value code=" 54">Hold</value>
+<value code=" 55">Guided</value>
+<value code=" 56">Loiter</value>
+<value code=" 57">Follow</value>
+<value code=" 58">Clear Waypoints</value>
+<value code=" 59">Simple</value>
+<value code=" 62">Compass Learn</value>
+<value code=" 63">Sailboat Tack</value>
+<value code=" 65">GPS Disable</value>
+<value code=" 66"> Relay5</value>
+<value code=" 67"> Relay6</value>
+</values>
+</param>
+</parameters>
+<parameters name="RCMAP_">
+<param humanName="Roll channel" name="RCMAP_ROLL" documentation="Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect." user="Advanced">
+<field name="Range">1 8</field>
+<field name="Increment">1</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Pitch channel" name="RCMAP_PITCH" documentation="Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect." user="Advanced">
+<field name="Range">1 8</field>
+<field name="Increment">1</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Throttle channel" name="RCMAP_THROTTLE" documentation="Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Warning APM 2.X: Changing the throttle channel could produce unexpected fail-safe results if connection between receiver and on-board PPM Encoder is lost. Disabling on-board PPM Encoder is recommended.  Reboot is required for changes to take effect." user="Advanced">
+<field name="Range">1 8</field>
+<field name="Increment">1</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Yaw channel" name="RCMAP_YAW" documentation="Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect." user="Advanced">
+<field name="Range">1 8</field>
+<field name="Increment">1</field>
+<field name="RebootRequired">True</field>
+</param>
+</parameters>
+<parameters name="RELAY_">
+<param humanName="First Relay Pin" name="RELAY_PIN" documentation="Digital pin number for first relay control. This is the pin used for camera control." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="49">BB Blue GP0 pin 4</value>
+<value code="50">Pixhawk AUXOUT1</value>
+<value code="51">Pixhawk AUXOUT2</value>
+<value code="52">Pixhawk AUXOUT3</value>
+<value code="53">Pixhawk AUXOUT4</value>
+<value code="54">Pixhawk AUXOUT5</value>
+<value code="55">Pixhawk AUXOUT6</value>
+<value code="57">BB Blue GP0 pin 3</value>
+<value code="111">PX4 FMU Relay1</value>
+<value code="112">PX4 FMU Relay2</value>
+<value code="113">PX4IO Relay1/BB Blue GP0 pin 6</value>
+<value code="114">PX4IO Relay2</value>
+<value code="115">PX4IO ACC1</value>
+<value code="116">PX4IO ACC2/BB Blue GP0 pin 5</value>
+</values>
+</param>
+<param humanName="Second Relay Pin" name="RELAY_PIN2" documentation="Digital pin number for 2nd relay control." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="49">BB Blue GP0 pin 4</value>
+<value code="50">Pixhawk AUXOUT1</value>
+<value code="51">Pixhawk AUXOUT2</value>
+<value code="52">Pixhawk AUXOUT3</value>
+<value code="53">Pixhawk AUXOUT4</value>
+<value code="54">Pixhawk AUXOUT5</value>
+<value code="55">Pixhawk AUXOUT6</value>
+<value code="57">BB Blue GP0 pin 3</value>
+<value code="111">PX4 FMU Relay1</value>
+<value code="112">PX4 FMU Relay2</value>
+<value code="113">PX4IO Relay1/BB Blue GP0 pin 6</value>
+<value code="114">PX4IO Relay2</value>
+<value code="115">PX4IO ACC1</value>
+<value code="116">PX4IO ACC2/BB Blue GP0 pin 5</value>
+</values>
+</param>
+<param humanName="Third Relay Pin" name="RELAY_PIN3" documentation="Digital pin number for 3rd relay control." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="49">BB Blue GP0 pin 4</value>
+<value code="50">Pixhawk AUXOUT1</value>
+<value code="51">Pixhawk AUXOUT2</value>
+<value code="52">Pixhawk AUXOUT3</value>
+<value code="53">Pixhawk AUXOUT4</value>
+<value code="54">Pixhawk AUXOUT5</value>
+<value code="55">Pixhawk AUXOUT6</value>
+<value code="57">BB Blue GP0 pin 3</value>
+<value code="111">PX4 FMU Relay1</value>
+<value code="112">PX4 FMU Relay2</value>
+<value code="113">PX4IO Relay1/BB Blue GP0 pin 6</value>
+<value code="114">PX4IO Relay2</value>
+<value code="115">PX4IO ACC1</value>
+<value code="116">PX4IO ACC2/BB Blue GP0 pin 5</value>
+</values>
+</param>
+<param humanName="Fourth Relay Pin" name="RELAY_PIN4" documentation="Digital pin number for 4th relay control." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="49">BB Blue GP0 pin 4</value>
+<value code="50">Pixhawk AUXOUT1</value>
+<value code="51">Pixhawk AUXOUT2</value>
+<value code="52">Pixhawk AUXOUT3</value>
+<value code="53">Pixhawk AUXOUT4</value>
+<value code="54">Pixhawk AUXOUT5</value>
+<value code="55">Pixhawk AUXOUT6</value>
+<value code="57">BB Blue GP0 pin 3</value>
+<value code="111">PX4 FMU Relay1</value>
+<value code="112">PX4 FMU Relay2</value>
+<value code="113">PX4IO Relay1/BB Blue GP0 pin 6</value>
+<value code="114">PX4IO Relay2</value>
+<value code="115">PX4IO ACC1</value>
+<value code="116">PX4IO ACC2/BB Blue GP0 pin 5</value>
+</values>
+</param>
+<param humanName="Default relay state" name="RELAY_DEFAULT" documentation="The state of the relay on boot." user="Standard">
+<values>
+<value code="0">Off</value>
+<value code="1">On</value>
+<value code="2">NoChange</value>
+</values>
+</param>
+<param humanName="Fifth Relay Pin" name="RELAY_PIN5" documentation="Digital pin number for 5th relay control." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="49">BB Blue GP0 pin 4</value>
+<value code="50">Pixhawk AUXOUT1</value>
+<value code="51">Pixhawk AUXOUT2</value>
+<value code="52">Pixhawk AUXOUT3</value>
+<value code="53">Pixhawk AUXOUT4</value>
+<value code="54">Pixhawk AUXOUT5</value>
+<value code="55">Pixhawk AUXOUT6</value>
+<value code="57">BB Blue GP0 pin 3</value>
+<value code="111">PX4 FMU Relay1</value>
+<value code="112">PX4 FMU Relay2</value>
+<value code="113">PX4IO Relay1/BB Blue GP0 pin 6</value>
+<value code="114">PX4IO Relay2</value>
+<value code="115">PX4IO ACC1</value>
+<value code="116">PX4IO ACC2/BB Blue GP0 pin 5</value>
+</values>
+</param>
+<param humanName="Sixth Relay Pin" name="RELAY_PIN6" documentation="Digital pin number for 6th relay control." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="49">BB Blue GP0 pin 4</value>
+<value code="50">Pixhawk AUXOUT1</value>
+<value code="51">Pixhawk AUXOUT2</value>
+<value code="52">Pixhawk AUXOUT3</value>
+<value code="53">Pixhawk AUXOUT4</value>
+<value code="54">Pixhawk AUXOUT5</value>
+<value code="55">Pixhawk AUXOUT6</value>
+<value code="57">BB Blue GP0 pin 3</value>
+<value code="111">PX4 FMU Relay1</value>
+<value code="112">PX4 FMU Relay2</value>
+<value code="113">PX4IO Relay1/BB Blue GP0 pin 6</value>
+<value code="114">PX4IO Relay2</value>
+<value code="115">PX4IO ACC1</value>
+<value code="116">PX4IO ACC2/BB Blue GP0 pin 5</value>
+</values>
+</param>
+</parameters>
+<parameters name="RNGFND">
+<param humanName="Rangefinder type" name="RNGFND_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">Analog</value>
+<value code="2">MaxbotixI2C</value>
+<value code="3">LidarLiteV2-I2C</value>
+<value code="5">PX4-PWM</value>
+<value code="6">BBB-PRU</value>
+<value code="7">LightWareI2C</value>
+<value code="8">LightWareSerial</value>
+<value code="9">Bebop</value>
+<value code="10">MAVLink</value>
+<value code="11">uLanding</value>
+<value code="12">LeddarOne</value>
+<value code="13">MaxbotixSerial</value>
+<value code="14">TeraRangerI2C</value>
+<value code="15">LidarLiteV3-I2C</value>
+<value code="16">VL53L0X</value>
+<value code="17">NMEA</value>
+<value code="18">WASP-LRF</value>
+<value code="19">BenewakeTF02</value>
+<value code="20">BenewakeTFmini</value>
+<value code="21">LidarLiteV3HP-I2C</value>
+<value code="22">PWM</value>
+</values>
+</param>
+<param humanName="Rangefinder pin" name="RNGFND_PIN" documentation="Pin that rangefinder is connected to, analogue pins for analogue sensors, GPIO pins for PWM sensors. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
+<values>
+<value code="-1">Not Used</value>
+<value code=" 11">PX4-airspeed port</value>
+<value code=" 15">Pixhawk-airspeed port</value>
+<value code=" 50">GPIO1</value>
+<value code="51">GPIO2</value>
+<value code="52">GPIO3</value>
+<value code="53">GPIO4</value>
+<value code="54">GPIO5</value>
+<value code="55">GPIO6</value>
+</values>
+</param>
+<param humanName="Rangefinder scaling" name="RNGFND_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
+<field name="Increment">0.001</field>
+<field name="Units">m/V</field>
+<field name="UnitText">meters per volt</field>
+</param>
+<param humanName="rangefinder offset" name="RNGFND_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
+<field name="Increment">0.001</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Rangefinder function" name="RNGFND_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
+<values>
+<value code="0">Linear</value>
+<value code="1">Inverted</value>
+<value code="2">Hyperbolic</value>
+</values>
+</param>
+<param humanName="Rangefinder minimum distance" name="RNGFND_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Rangefinder maximum distance" name="RNGFND_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Rangefinder stop pin" name="RNGFND_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Standard">
+<values>
+<value code="-1">Not Used</value>
+<value code="50">Pixhawk AUXOUT1</value>
+<value code="51">Pixhawk AUXOUT2</value>
+<value code="52">Pixhawk AUXOUT3</value>
+<value code="53">Pixhawk AUXOUT4</value>
+<value code="54">Pixhawk AUXOUT5</value>
+<value code="55">Pixhawk AUXOUT6</value>
+<value code="111">PX4 FMU Relay1</value>
+<value code="112">PX4 FMU Relay2</value>
+<value code="113">PX4IO Relay1</value>
+<value code="114">PX4IO Relay2</value>
+<value code="115">PX4IO ACC1</value>
+<value code="116">PX4IO ACC2</value>
+</values>
+</param>
+<param humanName="Rangefinder settle time" name="RNGFND_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Standard">
+<field name="Increment">1</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+</param>
+<param humanName="Ratiometric" name="RNGFND_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
+<values>
+<value code="0">No</value>
+<value code="1">Yes</value>
+</values>
+</param>
+<param humanName="Powersave range" name="RNGFND_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
+<field name="Range">0 32767</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
+<field name="Range">5 127</field>
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Bus address of sensor" name="RNGFND_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
+<field name="Range">0 127</field>
+<field name="Increment">1</field>
+</param>
+<param humanName=" X position offset" name="RNGFND_POS_X" documentation="X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Y position offset" name="RNGFND_POS_Y" documentation="Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Z position offset" name="RNGFND_POS_Z" documentation="Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Rangefinder orientation" name="RNGFND_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
+<values>
+<value code="0">Forward</value>
+<value code=" 1">Forward-Right</value>
+<value code=" 2">Right</value>
+<value code=" 3">Back-Right</value>
+<value code=" 4">Back</value>
+<value code=" 5">Back-Left</value>
+<value code=" 6">Left</value>
+<value code=" 7">Forward-Left</value>
+<value code=" 24">Up</value>
+<value code=" 25">Down</value>
+</values>
+</param>
+<param humanName="Second Rangefinder type" name="RNGFND2_TYPE" documentation="What type of rangefinder device that is connected" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">Analog</value>
+<value code="2">MaxbotixI2C</value>
+<value code="3">LidarLiteV2-I2C</value>
+<value code="5">PX4-PWM</value>
+<value code="6">BBB-PRU</value>
+<value code="7">LightWareI2C</value>
+<value code="8">LightWareSerial</value>
+<value code="9">Bebop</value>
+<value code="10">MAVLink</value>
+<value code="11">uLanding</value>
+<value code="12">LeddarOne</value>
+<value code="13">MaxbotixSerial</value>
+<value code="14">TeraRangerI2C</value>
+<value code="15">LidarLiteV3-I2C</value>
+<value code="16">VL53L0X</value>
+<value code="17">NMEA</value>
+<value code="18">WASP-LRF</value>
+<value code="19">BenewakeTF02</value>
+<value code="20">BenewakeTFmini</value>
+<value code="21">LidarLiteV3HP-I2C</value>
+<value code="22">PWM</value>
+</values>
+</param>
+<param humanName="Rangefinder pin" name="RNGFND2_PIN" documentation="Pin that rangefinder is connected to, analogue pins for analogue sensors, GPIO pins for PWM sensors. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Advanced">
+<values>
+<value code="-1">Not Used</value>
+<value code=" 11">PX4-airspeed port</value>
+<value code=" 15">Pixhawk-airspeed port</value>
+</values>
+</param>
+<param humanName="Rangefinder scaling" name="RNGFND2_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Advanced">
+<field name="Increment">0.001</field>
+<field name="Units">m/V</field>
+<field name="UnitText">meters per volt</field>
+</param>
+<param humanName="rangefinder offset" name="RNGFND2_OFFSET" documentation="Offset in volts for zero distance" user="Advanced">
+<field name="Increment">0.001</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Rangefinder function" name="RNGFND2_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Advanced">
+<values>
+<value code="0">Linear</value>
+<value code="1">Inverted</value>
+<value code="2">Hyperbolic</value>
+</values>
+</param>
+<param humanName="Rangefinder minimum distance" name="RNGFND2_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Rangefinder maximum distance" name="RNGFND2_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Rangefinder stop pin" name="RNGFND2_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Advanced">
+<values>
+<value code="-1">Not Used</value>
+<value code="50">Pixhawk AUXOUT1</value>
+<value code="51">Pixhawk AUXOUT2</value>
+<value code="52">Pixhawk AUXOUT3</value>
+<value code="53">Pixhawk AUXOUT4</value>
+<value code="54">Pixhawk AUXOUT5</value>
+<value code="55">Pixhawk AUXOUT6</value>
+<value code="111">PX4 FMU Relay1</value>
+<value code="112">PX4 FMU Relay2</value>
+<value code="113">PX4IO Relay1</value>
+<value code="114">PX4IO Relay2</value>
+<value code="115">PX4IO ACC1</value>
+<value code="116">PX4IO ACC2</value>
+</values>
+</param>
+<param humanName="Sonar settle time" name="RNGFND2_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+</param>
+<param humanName="Ratiometric" name="RNGFND2_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Advanced">
+<values>
+<value code="0">No</value>
+<value code="1">Yes</value>
+</values>
+</param>
+<param humanName="Distance (in cm) from the second range finder to the ground" name="RNGFND2_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the second range finder should return when the vehicle is on the ground." user="Advanced">
+<field name="Range">0 127</field>
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Bus address of second rangefinder" name="RNGFND2_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Advanced">
+<field name="Range">0 127</field>
+<field name="Increment">1</field>
+</param>
+<param humanName=" X position offset" name="RNGFND2_POS_X" documentation="X position of the second rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Y position offset" name="RNGFND2_POS_Y" documentation="Y position of the second rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Z position offset" name="RNGFND2_POS_Z" documentation="Z position of the second rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Rangefinder 2 orientation" name="RNGFND2_ORIENT" documentation="Orientation of 2nd rangefinder" user="Advanced">
+<values>
+<value code="0">Forward</value>
+<value code=" 1">Forward-Right</value>
+<value code=" 2">Right</value>
+<value code=" 3">Back-Right</value>
+<value code=" 4">Back</value>
+<value code=" 5">Back-Left</value>
+<value code=" 6">Left</value>
+<value code=" 7">Forward-Left</value>
+<value code=" 24">Up</value>
+<value code=" 25">Down</value>
+</values>
+</param>
+<param humanName="Third Rangefinder type" name="RNGFND3_TYPE" documentation="What type of rangefinder device that is connected" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">Analog</value>
+<value code="2">MaxbotixI2C</value>
+<value code="3">LidarLiteV2-I2C</value>
+<value code="5">PX4-PWM</value>
+<value code="6">BBB-PRU</value>
+<value code="7">LightWareI2C</value>
+<value code="8">LightWareSerial</value>
+<value code="9">Bebop</value>
+<value code="10">MAVLink</value>
+<value code="11">uLanding</value>
+<value code="12">LeddarOne</value>
+<value code="13">MaxbotixSerial</value>
+<value code="14">TeraRangerI2C</value>
+<value code="15">LidarLiteV3-I2C</value>
+<value code="16">VL53L0X</value>
+<value code="17">NMEA</value>
+<value code="18">WASP-LRF</value>
+<value code="19">BenewakeTF02</value>
+<value code="20">BenewakeTFmini</value>
+<value code="21">LidarLiteV3HP-I2C</value>
+<value code="22">PWM</value>
+</values>
+</param>
+<param humanName="Rangefinder pin" name="RNGFND3_PIN" documentation="Pin that rangefinder is connected to, analogue pins for analogue sensors, GPIO pins for PWM sensors. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Advanced">
+<values>
+<value code="-1">Not Used</value>
+<value code=" 11">PX4-airspeed port</value>
+<value code=" 15">Pixhawk-airspeed port</value>
+</values>
+</param>
+<param humanName="Rangefinder scaling" name="RNGFND3_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Advanced">
+<field name="Increment">0.001</field>
+<field name="Units">m/V</field>
+<field name="UnitText">meters per volt</field>
+</param>
+<param humanName="rangefinder offset" name="RNGFND3_OFFSET" documentation="Offset in volts for zero distance" user="Advanced">
+<field name="Increment">0.001</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Rangefinder function" name="RNGFND3_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Advanced">
+<values>
+<value code="0">Linear</value>
+<value code="1">Inverted</value>
+<value code="2">Hyperbolic</value>
+</values>
+</param>
+<param humanName="Rangefinder minimum distance" name="RNGFND3_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Rangefinder maximum distance" name="RNGFND3_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Rangefinder stop pin" name="RNGFND3_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Advanced">
+<values>
+<value code="-1">Not Used</value>
+<value code="50">Pixhawk AUXOUT1</value>
+<value code="51">Pixhawk AUXOUT2</value>
+<value code="52">Pixhawk AUXOUT3</value>
+<value code="53">Pixhawk AUXOUT4</value>
+<value code="54">Pixhawk AUXOUT5</value>
+<value code="55">Pixhawk AUXOUT6</value>
+<value code="111">PX4 FMU Relay1</value>
+<value code="112">PX4 FMU Relay2</value>
+<value code="113">PX4IO Relay1</value>
+<value code="114">PX4IO Relay2</value>
+<value code="115">PX4IO ACC1</value>
+<value code="116">PX4IO ACC2</value>
+</values>
+</param>
+<param humanName="Sonar settle time" name="RNGFND3_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+</param>
+<param humanName="Ratiometric" name="RNGFND3_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Advanced">
+<values>
+<value code="0">No</value>
+<value code="1">Yes</value>
+</values>
+</param>
+<param humanName="Distance (in cm) from the third range finder to the ground" name="RNGFND3_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the third range finder should return when the vehicle is on the ground." user="Advanced">
+<field name="Range">0 127</field>
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Bus address of third rangefinder" name="RNGFND3_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Advanced">
+<field name="Range">0 127</field>
+<field name="Increment">1</field>
+</param>
+<param humanName=" X position offset" name="RNGFND3_POS_X" documentation="X position of the third rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Y position offset" name="RNGFND3_POS_Y" documentation="Y position of the third rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Z position offset" name="RNGFND3_POS_Z" documentation="Z position of the third rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Rangefinder 3 orientation" name="RNGFND3_ORIENT" documentation="Orientation of 3rd rangefinder" user="Advanced">
+<values>
+<value code="0">Forward</value>
+<value code=" 1">Forward-Right</value>
+<value code=" 2">Right</value>
+<value code=" 3">Back-Right</value>
+<value code=" 4">Back</value>
+<value code=" 5">Back-Left</value>
+<value code=" 6">Left</value>
+<value code=" 7">Forward-Left</value>
+<value code=" 24">Up</value>
+<value code=" 25">Down</value>
+</values>
+</param>
+<param humanName="Fourth Rangefinder type" name="RNGFND4_TYPE" documentation="What type of rangefinder device that is connected" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">Analog</value>
+<value code="2">MaxbotixI2C</value>
+<value code="3">LidarLiteV2-I2C</value>
+<value code="5">PX4-PWM</value>
+<value code="6">BBB-PRU</value>
+<value code="7">LightWareI2C</value>
+<value code="8">LightWareSerial</value>
+<value code="9">Bebop</value>
+<value code="10">MAVLink</value>
+<value code="11">uLanding</value>
+<value code="12">LeddarOne</value>
+<value code="13">MaxbotixSerial</value>
+<value code="14">TeraRangerI2C</value>
+<value code="15">LidarLiteV3-I2C</value>
+<value code="16">VL53L0X</value>
+<value code="17">NMEA</value>
+<value code="18">WASP-LRF</value>
+<value code="19">BenewakeTF02</value>
+<value code="20">BenewakeTFmini</value>
+<value code="21">LidarLiteV3HP-I2C</value>
+<value code="22">PWM</value>
+</values>
+</param>
+<param humanName="Rangefinder pin" name="RNGFND4_PIN" documentation="Pin that rangefinder is connected to, analogue pins for analogue sensors, GPIO pins for PWM sensors. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Advanced">
+<values>
+<value code="-1">Not Used</value>
+<value code=" 11">PX4-airspeed port</value>
+<value code=" 15">Pixhawk-airspeed port</value>
+</values>
+</param>
+<param humanName="Rangefinder scaling" name="RNGFND4_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Advanced">
+<field name="Increment">0.001</field>
+<field name="Units">m/V</field>
+<field name="UnitText">meters per volt</field>
+</param>
+<param humanName="rangefinder offset" name="RNGFND4_OFFSET" documentation="Offset in volts for zero distance" user="Advanced">
+<field name="Increment">0.001</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Rangefinder function" name="RNGFND4_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Advanced">
+<values>
+<value code="0">Linear</value>
+<value code="1">Inverted</value>
+<value code="2">Hyperbolic</value>
+</values>
+</param>
+<param humanName="Rangefinder minimum distance" name="RNGFND4_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Rangefinder maximum distance" name="RNGFND4_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Rangefinder stop pin" name="RNGFND4_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Advanced">
+<values>
+<value code="-1">Not Used</value>
+<value code="50">Pixhawk AUXOUT1</value>
+<value code="51">Pixhawk AUXOUT2</value>
+<value code="52">Pixhawk AUXOUT3</value>
+<value code="53">Pixhawk AUXOUT4</value>
+<value code="54">Pixhawk AUXOUT5</value>
+<value code="55">Pixhawk AUXOUT6</value>
+<value code="111">PX4 FMU Relay1</value>
+<value code="112">PX4 FMU Relay2</value>
+<value code="113">PX4IO Relay1</value>
+<value code="114">PX4IO Relay2</value>
+<value code="115">PX4IO ACC1</value>
+<value code="116">PX4IO ACC2</value>
+</values>
+</param>
+<param humanName="Sonar settle time" name="RNGFND4_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+</param>
+<param humanName="Ratiometric" name="RNGFND4_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Advanced">
+<values>
+<value code="0">No</value>
+<value code="1">Yes</value>
+</values>
+</param>
+<param humanName="Distance (in cm) from the fourth range finder to the ground" name="RNGFND4_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the fourth range finder should return when the vehicle is on the ground." user="Advanced">
+<field name="Range">0 127</field>
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Bus address of fourth rangefinder" name="RNGFND4_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Advanced">
+<field name="Range">0 127</field>
+<field name="Increment">1</field>
+</param>
+<param humanName=" X position offset" name="RNGFND4_POS_X" documentation="X position of the fourth rangefinder in body frame. Use the zero range datum point if supplied." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Y position offset" name="RNGFND4_POS_Y" documentation="Y position of the fourth rangefinder in body frame. Use the zero range datum point if supplied." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Z position offset" name="RNGFND4_POS_Z" documentation="Z position of the fourth rangefinder in body frame. Use the zero range datum point if supplied." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Rangefinder 4 orientation" name="RNGFND4_ORIENT" documentation="Orientation of 4th range finder" user="Advanced">
+<values>
+<value code="0">Forward</value>
+<value code=" 1">Forward-Right</value>
+<value code=" 2">Right</value>
+<value code=" 3">Back-Right</value>
+<value code=" 4">Back</value>
+<value code=" 5">Back-Left</value>
+<value code=" 6">Left</value>
+<value code=" 7">Forward-Left</value>
+<value code=" 24">Up</value>
+<value code=" 25">Down</value>
+</values>
+</param>
+</parameters>
+<parameters name="RNGFND2_">
+<param humanName="Moving Average Range" name="RNGFND2_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Moving Median Filter" name="RNGFND2_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Frequency" name="RNGFND2_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
+<field name="Range">0 10000</field>
+</param>
+<param humanName="Multi-pulse averages" name="RNGFND2_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Sensitivity threshold" name="RNGFND2_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
+<field name="Range">-1 255</field>
+</param>
+<param humanName="Baud rate" name="RNGFND2_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
+<values>
+<value code="0">Low Speed</value>
+<value code="1">High Speed</value>
+</values>
+</param>
+</parameters>
+<parameters name="RNGFND3_">
+<param humanName="Moving Average Range" name="RNGFND3_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Moving Median Filter" name="RNGFND3_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Frequency" name="RNGFND3_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
+<field name="Range">0 10000</field>
+</param>
+<param humanName="Multi-pulse averages" name="RNGFND3_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Sensitivity threshold" name="RNGFND3_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
+<field name="Range">-1 255</field>
+</param>
+<param humanName="Baud rate" name="RNGFND3_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
+<values>
+<value code="0">Low Speed</value>
+<value code="1">High Speed</value>
+</values>
+</param>
+</parameters>
+<parameters name="RNGFND4_">
+<param humanName="Moving Average Range" name="RNGFND4_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Moving Median Filter" name="RNGFND4_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Frequency" name="RNGFND4_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
+<field name="Range">0 10000</field>
+</param>
+<param humanName="Multi-pulse averages" name="RNGFND4_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Sensitivity threshold" name="RNGFND4_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
+<field name="Range">-1 255</field>
+</param>
+<param humanName="Baud rate" name="RNGFND4_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
+<values>
+<value code="0">Low Speed</value>
+<value code="1">High Speed</value>
+</values>
+</param>
+</parameters>
+<parameters name="RNGFND_">
+<param humanName="Moving Average Range" name="RNGFND_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Moving Median Filter" name="RNGFND_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Frequency" name="RNGFND_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
+<field name="Range">0 10000</field>
+</param>
+<param humanName="Multi-pulse averages" name="RNGFND_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Sensitivity threshold" name="RNGFND_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
+<field name="Range">-1 255</field>
+</param>
+<param humanName="Baud rate" name="RNGFND_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
+<values>
+<value code="0">Low Speed</value>
+<value code="1">High Speed</value>
+</values>
+</param>
+</parameters>
+<parameters name="RSSI_">
+<param humanName="RSSI Type" name="RSSI_TYPE" documentation="Radio Receiver RSSI type. If your radio receiver supports RSSI of some kind, set it here, then set its associated RSSI_XXXXX parameters, if any." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">AnalogPin</value>
+<value code="2">RCChannelPwmValue</value>
+<value code="3">ReceiverProtocol</value>
+<value code="4">PWMInputPin</value>
+</values>
+</param>
+<param humanName="Receiver RSSI sensing pin" name="RSSI_ANA_PIN" documentation="Pin used to read the RSSI voltage or PWM value" user="Standard">
+<values>
+<value code="11">Pixracer</value>
+<value code="13">Pixhawk ADC4</value>
+<value code="14">Pixhawk ADC3</value>
+<value code="15">Pixhawk ADC6</value>
+<value code="15">Pixhawk2 ADC</value>
+<value code="50">PixhawkAUX1</value>
+<value code="51">PixhawkAUX2</value>
+<value code="52">PixhawkAUX3</value>
+<value code="53">PixhawkAUX4</value>
+<value code="54">PixhawkAUX5</value>
+<value code="55">PixhawkAUX6</value>
+<value code="103">Pixhawk SBUS</value>
+</values>
+</param>
+<param humanName="RSSI pin's lowest voltage" name="RSSI_PIN_LOW" documentation="RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers put out inverted values so this value may be higher than RSSI_PIN_HIGH" user="Standard">
+<field name="Range">0 5.0</field>
+<field name="Increment">0.01</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="RSSI pin's highest voltage" name="RSSI_PIN_HIGH" documentation="RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers put out inverted values so this value may be lower than RSSI_PIN_LOW" user="Standard">
+<field name="Range">0 5.0</field>
+<field name="Increment">0.01</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Receiver RSSI channel number" name="RSSI_CHANNEL" documentation="The channel number where RSSI will be output by the radio receiver (5 and above)." user="Standard">
+<field name="Range">0 16</field>
+</param>
+<param humanName="RSSI PWM low value" name="RSSI_CHAN_LOW" documentation="PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers output inverted values so this value may be lower than RSSI_CHAN_HIGH" user="Standard">
+<field name="Range">0 2000</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Receiver RSSI PWM high value" name="RSSI_CHAN_HIGH" documentation="PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers output inverted values so this value may be higher than RSSI_CHAN_LOW" user="Standard">
+<field name="Range">0 2000</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+</parameters>
+<parameters name="SCHED_">
+<param humanName="Scheduler debug level" name="SCHED_DEBUG" documentation='Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.' user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="2">ShowSlips</value>
+<value code="3">ShowOverruns</value>
+</values>
+</param>
+<param humanName="Scheduling main loop rate" name="SCHED_LOOP_RATE" documentation="This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart. Values over 400 are considered highly experimental." user="Advanced">
+<values>
+<value code="50">50Hz</value>
+<value code="100">100Hz</value>
+<value code="200">200Hz</value>
+<value code="250">250Hz</value>
+<value code="300">300Hz</value>
+<value code="400">400Hz</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+</parameters>
+<parameters name="SERIAL">
+<param humanName="Serial0 baud rate" name="SERIAL0_BAUD" documentation="The baud rate used on the USB console. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
+<values>
+<value code="1">1200</value>
+<value code="2">2400</value>
+<value code="4">4800</value>
+<value code="9">9600</value>
+<value code="19">19200</value>
+<value code="38">38400</value>
+<value code="57">57600</value>
+<value code="111">111100</value>
+<value code="115">115200</value>
+<value code="256">256000</value>
+<value code="460">460800</value>
+<value code="500">500000</value>
+<value code="921">921600</value>
+<value code="1500">1500000</value>
+</values>
+</param>
+<param humanName="Console protocol selection" name="SERIAL0_PROTOCOL" documentation="Control what protocol to use on the console. " user="Standard">
+<values>
+<value code="1">MAVlink1</value>
+<value code=" 2">MAVLink2</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Telem1 protocol selection" name="SERIAL1_PROTOCOL" documentation="Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
+<values>
+<value code="-1">None</value>
+<value code=" 1">MAVLink1</value>
+<value code=" 2">MAVLink2</value>
+<value code=" 3">Frsky D</value>
+<value code=" 4">Frsky SPort</value>
+<value code=" 5">GPS</value>
+<value code=" 7">Alexmos Gimbal Serial</value>
+<value code=" 8">SToRM32 Gimbal Serial</value>
+<value code=" 9">Rangefinder</value>
+<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
+<value code=" 11">Lidar360</value>
+<value code=" 13">Beacon</value>
+<value code=" 14">Volz servo out</value>
+<value code=" 15">SBus servo out</value>
+<value code=" 16">ESC Telemetry</value>
+<value code=" 17">Devo Telemetry</value>
+<value code=" 18">OpticalFlow</value>
+<value code=" 19">RobotisServo</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Telem1 Baud Rate" name="SERIAL1_BAUD" documentation="The baud rate used on the Telem1 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
+<values>
+<value code="1">1200</value>
+<value code="2">2400</value>
+<value code="4">4800</value>
+<value code="9">9600</value>
+<value code="19">19200</value>
+<value code="38">38400</value>
+<value code="57">57600</value>
+<value code="111">111100</value>
+<value code="115">115200</value>
+<value code="256">256000</value>
+<value code="500">500000</value>
+<value code="921">921600</value>
+<value code="1500">1500000</value>
+</values>
+</param>
+<param humanName="Telemetry 2 protocol selection" name="SERIAL2_PROTOCOL" documentation="Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
+<values>
+<value code="-1">None</value>
+<value code=" 1">MAVLink1</value>
+<value code=" 2">MAVLink2</value>
+<value code=" 3">Frsky D</value>
+<value code=" 4">Frsky SPort</value>
+<value code=" 5">GPS</value>
+<value code=" 7">Alexmos Gimbal Serial</value>
+<value code=" 8">SToRM32 Gimbal Serial</value>
+<value code=" 9">Rangefinder</value>
+<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
+<value code=" 11">Lidar360</value>
+<value code=" 13">Beacon</value>
+<value code=" 14">Volz servo out</value>
+<value code=" 15">SBus servo out</value>
+<value code=" 16">ESC Telemetry</value>
+<value code=" 17">Devo Telemetry</value>
+<value code=" 18">OpticalFlow</value>
+<value code=" 19">RobotisServo</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Telemetry 2 Baud Rate" name="SERIAL2_BAUD" documentation="The baud rate of the Telem2 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
+<values>
+<value code="1">1200</value>
+<value code="2">2400</value>
+<value code="4">4800</value>
+<value code="9">9600</value>
+<value code="19">19200</value>
+<value code="38">38400</value>
+<value code="57">57600</value>
+<value code="111">111100</value>
+<value code="115">115200</value>
+<value code="256">256000</value>
+<value code="500">500000</value>
+<value code="921">921600</value>
+<value code="1500">1500000</value>
+</values>
+</param>
+<param humanName="Serial 3 (GPS) protocol selection" name="SERIAL3_PROTOCOL" documentation="Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
+<values>
+<value code="-1">None</value>
+<value code=" 1">MAVLink1</value>
+<value code=" 2">MAVLink2</value>
+<value code=" 3">Frsky D</value>
+<value code=" 4">Frsky SPort</value>
+<value code=" 5">GPS</value>
+<value code=" 7">Alexmos Gimbal Serial</value>
+<value code=" 8">SToRM32 Gimbal Serial</value>
+<value code=" 9">Rangefinder</value>
+<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
+<value code=" 11">Lidar360</value>
+<value code=" 13">Beacon</value>
+<value code=" 14">Volz servo out</value>
+<value code=" 15">SBus servo out</value>
+<value code=" 16">ESC Telemetry</value>
+<value code=" 17">Devo Telemetry</value>
+<value code=" 18">OpticalFlow</value>
+<value code=" 19">RobotisServo</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Serial 3 (GPS) Baud Rate" name="SERIAL3_BAUD" documentation="The baud rate used for the Serial 3 (GPS). Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
+<values>
+<value code="1">1200</value>
+<value code="2">2400</value>
+<value code="4">4800</value>
+<value code="9">9600</value>
+<value code="19">19200</value>
+<value code="38">38400</value>
+<value code="57">57600</value>
+<value code="111">111100</value>
+<value code="115">115200</value>
+<value code="256">256000</value>
+<value code="500">500000</value>
+<value code="921">921600</value>
+<value code="1500">1500000</value>
+</values>
+</param>
+<param humanName="Serial4 protocol selection" name="SERIAL4_PROTOCOL" documentation="Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
+<values>
+<value code="-1">None</value>
+<value code=" 1">MAVLink1</value>
+<value code=" 2">MAVLink2</value>
+<value code=" 3">Frsky D</value>
+<value code=" 4">Frsky SPort</value>
+<value code=" 5">GPS</value>
+<value code=" 7">Alexmos Gimbal Serial</value>
+<value code=" 8">SToRM32 Gimbal Serial</value>
+<value code=" 9">Rangefinder</value>
+<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
+<value code=" 11">Lidar360</value>
+<value code=" 13">Beacon</value>
+<value code=" 14">Volz servo out</value>
+<value code=" 15">SBus servo out</value>
+<value code=" 16">ESC Telemetry</value>
+<value code=" 17">Devo Telemetry</value>
+<value code=" 18">OpticalFlow</value>
+<value code=" 19">RobotisServo</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Serial 4 Baud Rate" name="SERIAL4_BAUD" documentation="The baud rate used for Serial4. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
+<values>
+<value code="1">1200</value>
+<value code="2">2400</value>
+<value code="4">4800</value>
+<value code="9">9600</value>
+<value code="19">19200</value>
+<value code="38">38400</value>
+<value code="57">57600</value>
+<value code="111">111100</value>
+<value code="115">115200</value>
+<value code="256">256000</value>
+<value code="500">500000</value>
+<value code="921">921600</value>
+<value code="1500">1500000</value>
+</values>
+</param>
+<param humanName="Serial5 protocol selection" name="SERIAL5_PROTOCOL" documentation="Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
+<values>
+<value code="-1">None</value>
+<value code=" 1">MAVLink1</value>
+<value code=" 2">MAVLink2</value>
+<value code=" 3">Frsky D</value>
+<value code=" 4">Frsky SPort</value>
+<value code=" 5">GPS</value>
+<value code=" 7">Alexmos Gimbal Serial</value>
+<value code=" 8">SToRM32 Gimbal Serial</value>
+<value code=" 9">Rangefinder</value>
+<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
+<value code=" 11">Lidar360</value>
+<value code=" 13">Beacon</value>
+<value code=" 14">Volz servo out</value>
+<value code=" 15">SBus servo out</value>
+<value code=" 16">ESC Telemetry</value>
+<value code=" 17">Devo Telemetry</value>
+<value code=" 18">OpticalFlow</value>
+<value code=" 19">RobotisServo</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Serial 5 Baud Rate" name="SERIAL5_BAUD" documentation="The baud rate used for Serial5. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
+<values>
+<value code="1">1200</value>
+<value code="2">2400</value>
+<value code="4">4800</value>
+<value code="9">9600</value>
+<value code="19">19200</value>
+<value code="38">38400</value>
+<value code="57">57600</value>
+<value code="111">111100</value>
+<value code="115">115200</value>
+<value code="256">256000</value>
+<value code="500">500000</value>
+<value code="921">921600</value>
+<value code="1500">1500000</value>
+</values>
+</param>
+<param humanName="Serial6 protocol selection" name="SERIAL6_PROTOCOL" documentation="Control what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
+<values>
+<value code="-1">None</value>
+<value code=" 1">MAVLink1</value>
+<value code=" 2">MAVLink2</value>
+<value code=" 3">Frsky D</value>
+<value code=" 4">Frsky SPort</value>
+<value code=" 5">GPS</value>
+<value code=" 7">Alexmos Gimbal Serial</value>
+<value code=" 8">SToRM32 Gimbal Serial</value>
+<value code=" 9">Rangefinder</value>
+<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
+<value code=" 11">Lidar360</value>
+<value code=" 13">Beacon</value>
+<value code=" 14">Volz servo out</value>
+<value code=" 15">SBus servo out</value>
+<value code=" 16">ESC Telemetry</value>
+<value code=" 17">Devo Telemetry</value>
+<value code=" 18">OpticalFlow</value>
+<value code=" 19">RobotisServo</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Serial 6 Baud Rate" name="SERIAL6_BAUD" documentation="The baud rate used for Serial6. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
+<values>
+<value code="1">1200</value>
+<value code="2">2400</value>
+<value code="4">4800</value>
+<value code="9">9600</value>
+<value code="19">19200</value>
+<value code="38">38400</value>
+<value code="57">57600</value>
+<value code="111">111100</value>
+<value code="115">115200</value>
+<value code="256">256000</value>
+<value code="500">500000</value>
+<value code="921">921600</value>
+<value code="1500">1500000</value>
+</values>
+</param>
+<param humanName="Telem1 options" name="SERIAL1_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards." user="Advanced">
+<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Telem2 options" name="SERIAL2_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
+<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Serial3 options" name="SERIAL3_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
+<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Serial4 options" name="SERIAL4_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
+<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Serial5 options" name="SERIAL5_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
+<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Serial6 options" name="SERIAL6_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire." user="Advanced">
+<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 4:Swap</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Serial passthru first port" name="SERIAL_PASS1" documentation="This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port" user="Advanced">
+<values>
+<value code="-1">Disabled</value>
+<value code="0">Serial0</value>
+<value code="1">Serial1</value>
+<value code="2">Serial2</value>
+<value code="3">Serial3</value>
+<value code="4">Serial4</value>
+<value code="5">Serial5</value>
+<value code="6">Serial6</value>
+</values>
+</param>
+<param humanName="Serial passthru second port" name="SERIAL_PASS2" documentation="This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port" user="Advanced">
+<values>
+<value code="-1">Disabled</value>
+<value code="0">Serial0</value>
+<value code="1">Serial1</value>
+<value code="2">Serial2</value>
+<value code="3">Serial3</value>
+<value code="4">Serial4</value>
+<value code="5">Serial5</value>
+<value code="6">Serial6</value>
+</values>
+</param>
+<param humanName="Serial passthru timeout" name="SERIAL_PASSTIMO" documentation="This sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout." user="Advanced">
+<field name="Range">0 120</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+</parameters>
+<parameters name="SERVO">
+<param humanName="Automatic servo trim" name="SERVO_AUTO_TRIM" documentation="This enables automatic servo trim in flight. Servos will be trimed in stabilized flight modes when the aircraft is close to level. Changes to servo trim will be saved every 10 seconds and will persist between flights." user="Advanced">
+<values>
+<value code="0">Disable</value>
+<value code="1">Enable</value>
+</values>
+</param>
+<param humanName="Servo default output rate" name="SERVO_RATE" documentation="This sets the default output rate in Hz for all outputs." user="Advanced">
+<field name="Range">25 400</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+</parameters>
+<parameters name="SERVO10_">
+<param humanName="Minimum PWM" name="SERVO10_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO10_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO10_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO10_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO10_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="88">Winch</value>
+<value code="89">Main Sail</value>
+<value code="90">Camera ISO</value>
+<value code="91">Camera Focus</value>
+<value code="92">Camera Shutter Speed</value>
+<value code="94">Script 1</value>
+<value code="95">Script 2</value>
+<value code="96">Script 3</value>
+<value code="97">Script 4</value>
+<value code="98">Script 5</value>
+<value code="99">Script 6</value>
+<value code="100">Script 7</value>
+<value code="101">Script 8</value>
+<value code="102">Script 9</value>
+<value code="103">Script 10</value>
+<value code="104">Script 11</value>
+<value code="105">Script 12</value>
+<value code="106">Script 13</value>
+<value code="107">Script 14</value>
+<value code="108">Script 15</value>
+<value code="109">Script 16</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO11_">
+<param humanName="Minimum PWM" name="SERVO11_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO11_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO11_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO11_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO11_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="88">Winch</value>
+<value code="89">Main Sail</value>
+<value code="90">Camera ISO</value>
+<value code="91">Camera Focus</value>
+<value code="92">Camera Shutter Speed</value>
+<value code="94">Script 1</value>
+<value code="95">Script 2</value>
+<value code="96">Script 3</value>
+<value code="97">Script 4</value>
+<value code="98">Script 5</value>
+<value code="99">Script 6</value>
+<value code="100">Script 7</value>
+<value code="101">Script 8</value>
+<value code="102">Script 9</value>
+<value code="103">Script 10</value>
+<value code="104">Script 11</value>
+<value code="105">Script 12</value>
+<value code="106">Script 13</value>
+<value code="107">Script 14</value>
+<value code="108">Script 15</value>
+<value code="109">Script 16</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO12_">
+<param humanName="Minimum PWM" name="SERVO12_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO12_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO12_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO12_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO12_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="88">Winch</value>
+<value code="89">Main Sail</value>
+<value code="90">Camera ISO</value>
+<value code="91">Camera Focus</value>
+<value code="92">Camera Shutter Speed</value>
+<value code="94">Script 1</value>
+<value code="95">Script 2</value>
+<value code="96">Script 3</value>
+<value code="97">Script 4</value>
+<value code="98">Script 5</value>
+<value code="99">Script 6</value>
+<value code="100">Script 7</value>
+<value code="101">Script 8</value>
+<value code="102">Script 9</value>
+<value code="103">Script 10</value>
+<value code="104">Script 11</value>
+<value code="105">Script 12</value>
+<value code="106">Script 13</value>
+<value code="107">Script 14</value>
+<value code="108">Script 15</value>
+<value code="109">Script 16</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO13_">
+<param humanName="Minimum PWM" name="SERVO13_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO13_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO13_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO13_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO13_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="88">Winch</value>
+<value code="89">Main Sail</value>
+<value code="90">Camera ISO</value>
+<value code="91">Camera Focus</value>
+<value code="92">Camera Shutter Speed</value>
+<value code="94">Script 1</value>
+<value code="95">Script 2</value>
+<value code="96">Script 3</value>
+<value code="97">Script 4</value>
+<value code="98">Script 5</value>
+<value code="99">Script 6</value>
+<value code="100">Script 7</value>
+<value code="101">Script 8</value>
+<value code="102">Script 9</value>
+<value code="103">Script 10</value>
+<value code="104">Script 11</value>
+<value code="105">Script 12</value>
+<value code="106">Script 13</value>
+<value code="107">Script 14</value>
+<value code="108">Script 15</value>
+<value code="109">Script 16</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO14_">
+<param humanName="Minimum PWM" name="SERVO14_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO14_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO14_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO14_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO14_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="88">Winch</value>
+<value code="89">Main Sail</value>
+<value code="90">Camera ISO</value>
+<value code="91">Camera Focus</value>
+<value code="92">Camera Shutter Speed</value>
+<value code="94">Script 1</value>
+<value code="95">Script 2</value>
+<value code="96">Script 3</value>
+<value code="97">Script 4</value>
+<value code="98">Script 5</value>
+<value code="99">Script 6</value>
+<value code="100">Script 7</value>
+<value code="101">Script 8</value>
+<value code="102">Script 9</value>
+<value code="103">Script 10</value>
+<value code="104">Script 11</value>
+<value code="105">Script 12</value>
+<value code="106">Script 13</value>
+<value code="107">Script 14</value>
+<value code="108">Script 15</value>
+<value code="109">Script 16</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO15_">
+<param humanName="Minimum PWM" name="SERVO15_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO15_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO15_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO15_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO15_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="88">Winch</value>
+<value code="89">Main Sail</value>
+<value code="90">Camera ISO</value>
+<value code="91">Camera Focus</value>
+<value code="92">Camera Shutter Speed</value>
+<value code="94">Script 1</value>
+<value code="95">Script 2</value>
+<value code="96">Script 3</value>
+<value code="97">Script 4</value>
+<value code="98">Script 5</value>
+<value code="99">Script 6</value>
+<value code="100">Script 7</value>
+<value code="101">Script 8</value>
+<value code="102">Script 9</value>
+<value code="103">Script 10</value>
+<value code="104">Script 11</value>
+<value code="105">Script 12</value>
+<value code="106">Script 13</value>
+<value code="107">Script 14</value>
+<value code="108">Script 15</value>
+<value code="109">Script 16</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO16_">
+<param humanName="Minimum PWM" name="SERVO16_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO16_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO16_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO16_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO16_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="88">Winch</value>
+<value code="89">Main Sail</value>
+<value code="90">Camera ISO</value>
+<value code="91">Camera Focus</value>
+<value code="92">Camera Shutter Speed</value>
+<value code="94">Script 1</value>
+<value code="95">Script 2</value>
+<value code="96">Script 3</value>
+<value code="97">Script 4</value>
+<value code="98">Script 5</value>
+<value code="99">Script 6</value>
+<value code="100">Script 7</value>
+<value code="101">Script 8</value>
+<value code="102">Script 9</value>
+<value code="103">Script 10</value>
+<value code="104">Script 11</value>
+<value code="105">Script 12</value>
+<value code="106">Script 13</value>
+<value code="107">Script 14</value>
+<value code="108">Script 15</value>
+<value code="109">Script 16</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO1_">
+<param humanName="Minimum PWM" name="SERVO1_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO1_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO1_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO1_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO1_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="88">Winch</value>
+<value code="89">Main Sail</value>
+<value code="90">Camera ISO</value>
+<value code="91">Camera Focus</value>
+<value code="92">Camera Shutter Speed</value>
+<value code="94">Script 1</value>
+<value code="95">Script 2</value>
+<value code="96">Script 3</value>
+<value code="97">Script 4</value>
+<value code="98">Script 5</value>
+<value code="99">Script 6</value>
+<value code="100">Script 7</value>
+<value code="101">Script 8</value>
+<value code="102">Script 9</value>
+<value code="103">Script 10</value>
+<value code="104">Script 11</value>
+<value code="105">Script 12</value>
+<value code="106">Script 13</value>
+<value code="107">Script 14</value>
+<value code="108">Script 15</value>
+<value code="109">Script 16</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO2_">
+<param humanName="Minimum PWM" name="SERVO2_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO2_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO2_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO2_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO2_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="88">Winch</value>
+<value code="89">Main Sail</value>
+<value code="90">Camera ISO</value>
+<value code="91">Camera Focus</value>
+<value code="92">Camera Shutter Speed</value>
+<value code="94">Script 1</value>
+<value code="95">Script 2</value>
+<value code="96">Script 3</value>
+<value code="97">Script 4</value>
+<value code="98">Script 5</value>
+<value code="99">Script 6</value>
+<value code="100">Script 7</value>
+<value code="101">Script 8</value>
+<value code="102">Script 9</value>
+<value code="103">Script 10</value>
+<value code="104">Script 11</value>
+<value code="105">Script 12</value>
+<value code="106">Script 13</value>
+<value code="107">Script 14</value>
+<value code="108">Script 15</value>
+<value code="109">Script 16</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO3_">
+<param humanName="Minimum PWM" name="SERVO3_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO3_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO3_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO3_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO3_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="88">Winch</value>
+<value code="89">Main Sail</value>
+<value code="90">Camera ISO</value>
+<value code="91">Camera Focus</value>
+<value code="92">Camera Shutter Speed</value>
+<value code="94">Script 1</value>
+<value code="95">Script 2</value>
+<value code="96">Script 3</value>
+<value code="97">Script 4</value>
+<value code="98">Script 5</value>
+<value code="99">Script 6</value>
+<value code="100">Script 7</value>
+<value code="101">Script 8</value>
+<value code="102">Script 9</value>
+<value code="103">Script 10</value>
+<value code="104">Script 11</value>
+<value code="105">Script 12</value>
+<value code="106">Script 13</value>
+<value code="107">Script 14</value>
+<value code="108">Script 15</value>
+<value code="109">Script 16</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO4_">
+<param humanName="Minimum PWM" name="SERVO4_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO4_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO4_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO4_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO4_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="88">Winch</value>
+<value code="89">Main Sail</value>
+<value code="90">Camera ISO</value>
+<value code="91">Camera Focus</value>
+<value code="92">Camera Shutter Speed</value>
+<value code="94">Script 1</value>
+<value code="95">Script 2</value>
+<value code="96">Script 3</value>
+<value code="97">Script 4</value>
+<value code="98">Script 5</value>
+<value code="99">Script 6</value>
+<value code="100">Script 7</value>
+<value code="101">Script 8</value>
+<value code="102">Script 9</value>
+<value code="103">Script 10</value>
+<value code="104">Script 11</value>
+<value code="105">Script 12</value>
+<value code="106">Script 13</value>
+<value code="107">Script 14</value>
+<value code="108">Script 15</value>
+<value code="109">Script 16</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO5_">
+<param humanName="Minimum PWM" name="SERVO5_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO5_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO5_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO5_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO5_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="88">Winch</value>
+<value code="89">Main Sail</value>
+<value code="90">Camera ISO</value>
+<value code="91">Camera Focus</value>
+<value code="92">Camera Shutter Speed</value>
+<value code="94">Script 1</value>
+<value code="95">Script 2</value>
+<value code="96">Script 3</value>
+<value code="97">Script 4</value>
+<value code="98">Script 5</value>
+<value code="99">Script 6</value>
+<value code="100">Script 7</value>
+<value code="101">Script 8</value>
+<value code="102">Script 9</value>
+<value code="103">Script 10</value>
+<value code="104">Script 11</value>
+<value code="105">Script 12</value>
+<value code="106">Script 13</value>
+<value code="107">Script 14</value>
+<value code="108">Script 15</value>
+<value code="109">Script 16</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO6_">
+<param humanName="Minimum PWM" name="SERVO6_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO6_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO6_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO6_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO6_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="88">Winch</value>
+<value code="89">Main Sail</value>
+<value code="90">Camera ISO</value>
+<value code="91">Camera Focus</value>
+<value code="92">Camera Shutter Speed</value>
+<value code="94">Script 1</value>
+<value code="95">Script 2</value>
+<value code="96">Script 3</value>
+<value code="97">Script 4</value>
+<value code="98">Script 5</value>
+<value code="99">Script 6</value>
+<value code="100">Script 7</value>
+<value code="101">Script 8</value>
+<value code="102">Script 9</value>
+<value code="103">Script 10</value>
+<value code="104">Script 11</value>
+<value code="105">Script 12</value>
+<value code="106">Script 13</value>
+<value code="107">Script 14</value>
+<value code="108">Script 15</value>
+<value code="109">Script 16</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO7_">
+<param humanName="Minimum PWM" name="SERVO7_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO7_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO7_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO7_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO7_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="88">Winch</value>
+<value code="89">Main Sail</value>
+<value code="90">Camera ISO</value>
+<value code="91">Camera Focus</value>
+<value code="92">Camera Shutter Speed</value>
+<value code="94">Script 1</value>
+<value code="95">Script 2</value>
+<value code="96">Script 3</value>
+<value code="97">Script 4</value>
+<value code="98">Script 5</value>
+<value code="99">Script 6</value>
+<value code="100">Script 7</value>
+<value code="101">Script 8</value>
+<value code="102">Script 9</value>
+<value code="103">Script 10</value>
+<value code="104">Script 11</value>
+<value code="105">Script 12</value>
+<value code="106">Script 13</value>
+<value code="107">Script 14</value>
+<value code="108">Script 15</value>
+<value code="109">Script 16</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO8_">
+<param humanName="Minimum PWM" name="SERVO8_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO8_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO8_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO8_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO8_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="88">Winch</value>
+<value code="89">Main Sail</value>
+<value code="90">Camera ISO</value>
+<value code="91">Camera Focus</value>
+<value code="92">Camera Shutter Speed</value>
+<value code="94">Script 1</value>
+<value code="95">Script 2</value>
+<value code="96">Script 3</value>
+<value code="97">Script 4</value>
+<value code="98">Script 5</value>
+<value code="99">Script 6</value>
+<value code="100">Script 7</value>
+<value code="101">Script 8</value>
+<value code="102">Script 9</value>
+<value code="103">Script 10</value>
+<value code="104">Script 11</value>
+<value code="105">Script 12</value>
+<value code="106">Script 13</value>
+<value code="107">Script 14</value>
+<value code="108">Script 15</value>
+<value code="109">Script 16</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO9_">
+<param humanName="Minimum PWM" name="SERVO9_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">500 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Maximum PWM" name="SERVO9_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Trim PWM" name="SERVO9_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
+<field name="Range">800 2200</field>
+<field name="Increment">1</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo reverse" name="SERVO9_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reversed</value>
+</values>
+</param>
+<param humanName="Servo output function" name="SERVO9_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">RCPassThru</value>
+<value code="2">Flap</value>
+<value code="3">Flap_auto</value>
+<value code="4">Aileron</value>
+<value code="6">mount_pan</value>
+<value code="7">mount_tilt</value>
+<value code="8">mount_roll</value>
+<value code="9">mount_open</value>
+<value code="10">camera_trigger</value>
+<value code="11">release</value>
+<value code="12">mount2_pan</value>
+<value code="13">mount2_tilt</value>
+<value code="14">mount2_roll</value>
+<value code="15">mount2_open</value>
+<value code="16">DifferentialSpoilerLeft1</value>
+<value code="17">DifferentialSpoilerRight1</value>
+<value code="19">Elevator</value>
+<value code="21">Rudder</value>
+<value code="24">FlaperonLeft</value>
+<value code="25">FlaperonRight</value>
+<value code="26">GroundSteering</value>
+<value code="27">Parachute</value>
+<value code="28">EPM</value>
+<value code="29">LandingGear</value>
+<value code="30">EngineRunEnable</value>
+<value code="31">HeliRSC</value>
+<value code="32">HeliTailRSC</value>
+<value code="33">Motor1</value>
+<value code="34">Motor2</value>
+<value code="35">Motor3</value>
+<value code="36">Motor4</value>
+<value code="37">Motor5</value>
+<value code="38">Motor6</value>
+<value code="39">Motor7</value>
+<value code="40">Motor8</value>
+<value code="41">MotorTilt</value>
+<value code="51">RCIN1</value>
+<value code="52">RCIN2</value>
+<value code="53">RCIN3</value>
+<value code="54">RCIN4</value>
+<value code="55">RCIN5</value>
+<value code="56">RCIN6</value>
+<value code="57">RCIN7</value>
+<value code="58">RCIN8</value>
+<value code="59">RCIN9</value>
+<value code="60">RCIN10</value>
+<value code="61">RCIN11</value>
+<value code="62">RCIN12</value>
+<value code="63">RCIN13</value>
+<value code="64">RCIN14</value>
+<value code="65">RCIN15</value>
+<value code="66">RCIN16</value>
+<value code="67">Ignition</value>
+<value code="68">Choke</value>
+<value code="69">Starter</value>
+<value code="70">Throttle</value>
+<value code="71">TrackerYaw</value>
+<value code="72">TrackerPitch</value>
+<value code="73">ThrottleLeft</value>
+<value code="74">ThrottleRight</value>
+<value code="75">tiltMotorLeft</value>
+<value code="76">tiltMotorRight</value>
+<value code="77">ElevonLeft</value>
+<value code="78">ElevonRight</value>
+<value code="79">VTailLeft</value>
+<value code="80">VTailRight</value>
+<value code="81">BoostThrottle</value>
+<value code="82">Motor9</value>
+<value code="83">Motor10</value>
+<value code="84">Motor11</value>
+<value code="85">Motor12</value>
+<value code="86">DifferentialSpoilerLeft2</value>
+<value code="87">DifferentialSpoilerRight2</value>
+<value code="88">Winch</value>
+<value code="89">Main Sail</value>
+<value code="90">Camera ISO</value>
+<value code="91">Camera Focus</value>
+<value code="92">Camera Shutter Speed</value>
+<value code="94">Script 1</value>
+<value code="95">Script 2</value>
+<value code="96">Script 3</value>
+<value code="97">Script 4</value>
+<value code="98">Script 5</value>
+<value code="99">Script 6</value>
+<value code="100">Script 7</value>
+<value code="101">Script 8</value>
+<value code="102">Script 9</value>
+<value code="103">Script 10</value>
+<value code="104">Script 11</value>
+<value code="105">Script 12</value>
+<value code="106">Script 13</value>
+<value code="107">Script 14</value>
+<value code="108">Script 15</value>
+<value code="109">Script 16</value>
+</values>
+</param>
+</parameters>
+<parameters name="SERVO_BLH_">
+<param humanName="BLHeli Channel Bitmask" name="SERVO_BLH_MASK" documentation="Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any)" user="Advanced">
+<field name="Bitmask">0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16</field>
+</param>
+<param humanName="BLHeli auto-enable for multicopter motors" name="SERVO_BLH_AUTO" documentation="If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="BLHeli internal interface test" name="SERVO_BLH_TEST" documentation="Setting SERVO_BLH_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC. The debug output is displayed on the USB console." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">TestMotor1</value>
+<value code="2">TestMotor2</value>
+<value code="3">TestMotor3</value>
+<value code="4">TestMotor4</value>
+<value code="5">TestMotor5</value>
+<value code="6">TestMotor6</value>
+<value code="7">TestMotor7</value>
+<value code="8">TestMotor8</value>
+</values>
+</param>
+<param humanName="BLHeli protocol timeout" name="SERVO_BLH_TMOUT" documentation="This sets the inactivity timeout for the BLHeli protocol in seconds. If no packets are received in this time normal MAVLink operations are resumed. A value of 0 means no timeout" user="Standard">
+<field name="Range">0 300</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="BLHeli telemetry rate" name="SERVO_BLH_TRATE" documentation="This sets the rate in Hz for requesting telemetry from ESCs. It is the rate per ESC. Setting to zero disables telemetry requests" user="Standard">
+<field name="Range">0 500</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="BLHeli debug level" name="SERVO_BLH_DEBUG" documentation="When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="BLHeli output type override" name="SERVO_BLH_OTYPE" documentation="When set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group." user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">OneShot</value>
+<value code="2">OneShot125</value>
+<value code="3">Brushed</value>
+<value code="4">DShot150</value>
+<value code="5">DShot300</value>
+<value code="6">DShot600</value>
+<value code="7">DShot1200</value>
+</values>
+</param>
+<param humanName="Control port" name="SERVO_BLH_PORT" documentation="This sets the telemetry port to use for blheli pass-thru" user="Advanced">
+<values>
+<value code="0">Console</value>
+<value code="1">Telem1</value>
+<value code="2">Telem2</value>
+<value code="3">Telem3</value>
+<value code="4">Telem4</value>
+<value code="5">Telem5</value>
+</values>
+</param>
+<param humanName="BLHeli Motor Poles" name="SERVO_BLH_POLES" documentation="This allows calculation of true RPM from ESC's eRPM. The default is 14." user="Advanced">
+<field name="Range">1 127</field>
+</param>
+<param humanName="BLHeli bitmask of reversible channels" name="SERVO_BLH_REMASK" documentation="Mask of channels which are reversible. This is used for ESCs which have been configured in '3D' mode, allowing for the motor to spin in either direction" user="Advanced">
+<field name="Bitmask">0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16</field>
+</param>
+</parameters>
+<parameters name="SERVO_ROB_">
+<param humanName="Robotis servo position min" name="SERVO_ROB_POSMIN" documentation="Position minimum at servo min value. This should be within the position control range of the servos, normally 0 to 4095" user="Standard">
+<field name="Range">0 4095</field>
+</param>
+<param humanName="Robotis servo position max" name="SERVO_ROB_POSMAX" documentation="Position maximum at servo max value. This should be within the position control range of the servos, normally 0 to 4095" user="Standard">
+<field name="Range">0 4095</field>
+</param>
+</parameters>
+<parameters name="SERVO_SBUS_">
+<param humanName="SBUS default output rate" name="SERVO_SBUS_RATE" documentation="This sets the SBUS output frame rate in Hz." user="Advanced">
+<field name="Range">25 250</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+</parameters>
+<parameters name="SERVO_VOLZ_">
+<param humanName="Channel Bitmask" name="SERVO_VOLZ_MASK" documentation="Enable of volz servo protocol to specific channels" user="Standard">
+<field name="Bitmask">0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16</field>
+</param>
+</parameters>
+<parameters name="SIM_GRPE_">
+<param humanName="Gripper servo Sim enable/disable" name="SIM_GRPE_ENABLE" documentation="Allows you to enable (1) or disable (0) the gripper servo simulation" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Gripper emp pin" name="SIM_GRPE_PIN" documentation="The pin number that the gripper emp is connected to. (start at 1)" user="Advanced">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="SIM_GRPS_">
+<param humanName="Gripper servo Sim enable/disable" name="SIM_GRPS_ENABLE" documentation="Allows you to enable (1) or disable (0) the gripper servo simulation" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Gripper servo pin" name="SIM_GRPS_PIN" documentation="The pin number that the gripper servo is connected to. (start at 1)" user="Advanced">
+<field name="Range">0 15</field>
+</param>
+<param humanName="Gripper Grab PWM" name="SIM_GRPS_GRAB" documentation="PWM value in microseconds sent to Gripper to initiate grabbing the cargo" user="Advanced">
+<field name="Range">1000 2000</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Gripper Release PWM" name="SIM_GRPS_RELEASE" documentation="PWM value in microseconds sent to Gripper to release the cargo" user="Advanced">
+<field name="Range">1000 2000</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Gripper close direction" name="SIM_GRPS_REVERSE" documentation="Reverse the closing direction." user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">Reverse</value>
+</values>
+</param>
+</parameters>
+<parameters name="SIM_SPR_">
+<param humanName="Gripper servo Sim enable/disable" name="SIM_SPR_ENABLE" documentation="Allows you to enable (1) or disable (0) the gripper servo simulation" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Sprayer pump pin" name="SIM_SPR_PUMP" documentation="The pin number that the Sprayer pump is connected to. (start at 1)" user="Advanced">
+<field name="Range">0 15</field>
+</param>
+<param humanName="Sprayer spinner servo pin" name="SIM_SPR_SPIN" documentation="The pin number that the Sprayer spinner servo is connected to. (start at 1)" user="Advanced">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="SPRAYER_">
+<param humanName="Sprayer enable/disable" name="SPRAYER_ENABLE" documentation="Allows you to enable (1) or disable (0) the sprayer" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Pump speed" name="SPRAYER_PUMP_RATE" documentation="Desired pump speed when traveling 1m/s expressed as a percentage" user="Standard">
+<field name="Range">0 100</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Spinner rotation speed" name="SPRAYER_SPINNER" documentation="Spinner's rotation speed in PWM (a higher rate will disperse the spray over a wider area horizontally)" user="Standard">
+<field name="Range">1000 2000</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+</param>
+<param humanName="Speed minimum" name="SPRAYER_SPEED_MIN" documentation="Speed minimum at which we will begin spraying" user="Standard">
+<field name="Range">0 1000</field>
+<field name="Units">cm/s</field>
+<field name="UnitText">centimeters per second</field>
+</param>
+<param humanName="Pump speed minimum" name="SPRAYER_PUMP_MIN" documentation="Minimum pump speed expressed as a percentage" user="Standard">
+<field name="Range">0 100</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+</parameters>
+<parameters name="SR0_">
+<param humanName="Raw sensor stream rate" name="SR0_RAW_SENS" documentation="Raw sensor stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extended status stream rate to ground station" name="SR0_EXT_STAT" documentation="Extended status stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="RC Channel stream rate to ground station" name="SR0_RC_CHAN" documentation="RC Channel stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Raw Control stream rate to ground station" name="SR0_RAW_CTRL" documentation="Raw Control stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Position stream rate to ground station" name="SR0_POSITION" documentation="Position stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extra data type 1 stream rate to ground station" name="SR0_EXTRA1" documentation="Extra data type 1 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extra data type 2 stream rate to ground station" name="SR0_EXTRA2" documentation="Extra data type 2 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extra data type 3 stream rate to ground station" name="SR0_EXTRA3" documentation="Extra data type 3 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Parameter stream rate to ground station" name="SR0_PARAMS" documentation="Parameter stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+</parameters>
+<parameters name="SR1_">
+<param humanName="Raw sensor stream rate" name="SR1_RAW_SENS" documentation="Raw sensor stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extended status stream rate to ground station" name="SR1_EXT_STAT" documentation="Extended status stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="RC Channel stream rate to ground station" name="SR1_RC_CHAN" documentation="RC Channel stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Raw Control stream rate to ground station" name="SR1_RAW_CTRL" documentation="Raw Control stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Position stream rate to ground station" name="SR1_POSITION" documentation="Position stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extra data type 1 stream rate to ground station" name="SR1_EXTRA1" documentation="Extra data type 1 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extra data type 2 stream rate to ground station" name="SR1_EXTRA2" documentation="Extra data type 2 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extra data type 3 stream rate to ground station" name="SR1_EXTRA3" documentation="Extra data type 3 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Parameter stream rate to ground station" name="SR1_PARAMS" documentation="Parameter stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+</parameters>
+<parameters name="SR2_">
+<param humanName="Raw sensor stream rate" name="SR2_RAW_SENS" documentation="Raw sensor stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extended status stream rate to ground station" name="SR2_EXT_STAT" documentation="Extended status stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="RC Channel stream rate to ground station" name="SR2_RC_CHAN" documentation="RC Channel stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Raw Control stream rate to ground station" name="SR2_RAW_CTRL" documentation="Raw Control stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Position stream rate to ground station" name="SR2_POSITION" documentation="Position stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extra data type 1 stream rate to ground station" name="SR2_EXTRA1" documentation="Extra data type 1 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extra data type 2 stream rate to ground station" name="SR2_EXTRA2" documentation="Extra data type 2 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extra data type 3 stream rate to ground station" name="SR2_EXTRA3" documentation="Extra data type 3 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Parameter stream rate to ground station" name="SR2_PARAMS" documentation="Parameter stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+</parameters>
+<parameters name="SR3_">
+<param humanName="Raw sensor stream rate" name="SR3_RAW_SENS" documentation="Raw sensor stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extended status stream rate to ground station" name="SR3_EXT_STAT" documentation="Extended status stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="RC Channel stream rate to ground station" name="SR3_RC_CHAN" documentation="RC Channel stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Raw Control stream rate to ground station" name="SR3_RAW_CTRL" documentation="Raw Control stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Position stream rate to ground station" name="SR3_POSITION" documentation="Position stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extra data type 1 stream rate to ground station" name="SR3_EXTRA1" documentation="Extra data type 1 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extra data type 2 stream rate to ground station" name="SR3_EXTRA2" documentation="Extra data type 2 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Extra data type 3 stream rate to ground station" name="SR3_EXTRA3" documentation="Extra data type 3 stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Parameter stream rate to ground station" name="SR3_PARAMS" documentation="Parameter stream rate to ground station" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+</parameters>
+<parameters name="SRTL_">
+<param humanName="SmartRTL accuracy" name="SRTL_ACCURACY" documentation="SmartRTL accuracy. The minimum distance between points." user="Advanced">
+<field name="Range">0 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="SmartRTL maximum number of points on path" name="SRTL_POINTS" documentation="SmartRTL maximum number of points on path. Set to 0 to disable SmartRTL.  100 points consumes about 3k of memory." user="Advanced">
+<field name="Range">0 500</field>
+<field name="RebootRequired">True</field>
+</param>
+</parameters>
+<parameters name="STAT">
+<param humanName="Boot Count" name="STAT_BOOTCNT" documentation="Number of times board has been booted" user="Standard">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="Total FlightTime" name="STAT_FLTTIME" documentation="Total FlightTime (seconds)" user="Standard">
+<field name="ReadOnly">True</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Total RunTime" name="STAT_RUNTIME" documentation="Total time autopilot has run" user="Standard">
+<field name="ReadOnly">True</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Reset time" name="STAT_RESET" documentation="Seconds since January 1st 2016 (Unix epoch+1451606400) since reset (set to 0 to reset statistics)" user="Standard">
+<field name="ReadOnly">True</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+</parameters>
+<parameters name="VISO">
+<param humanName="Visual odometry camera connection type" name="VISO_TYPE" documentation="Visual odometry camera connection type" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">MAV</value>
+</values>
+</param>
+<param humanName="Visual odometry camera X position offset" name="VISO_POS_X" documentation="X position of the camera in body frame. Positive X is forward of the origin." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Visual odometry camera Y position offset" name="VISO_POS_Y" documentation="Y position of the camera in body frame. Positive Y is to the right of the origin." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Visual odometry camera Z position offset" name="VISO_POS_Z" documentation="Z position of the camera in body frame. Positive Z is down from the origin." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Visual odometery camera orientation" name="VISO_ORIENT" documentation="Visual odometery camera orientation" user="Advanced">
+<values>
+<value code="0">Forward</value>
+<value code=" 2">Right</value>
+<value code=" 4">Back</value>
+<value code=" 6">Left</value>
+<value code=" 24">Up</value>
+<value code=" 25">Down</value>
+</values>
+</param>
+</parameters>
+<parameters name="WENC">
+<param humanName="WheelEncoder type" name="WENC_TYPE" documentation="What type of WheelEncoder is connected" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">Quadrature</value>
+</values>
+</param>
+<param humanName="WheelEncoder counts per revolution" name="WENC_CPR" documentation="WheelEncoder counts per full revolution of the wheel" user="Standard">
+<field name="Increment">1</field>
+</param>
+<param humanName="Wheel radius" name="WENC_RADIUS" documentation="Wheel radius" user="Standard">
+<field name="Increment">0.001</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Wheel's X position offset" name="WENC_POS_X" documentation="X position of the center of the wheel in body frame. Positive X is forward of the origin." user="Standard">
+<field name="Increment">0.01</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Wheel's Y position offset" name="WENC_POS_Y" documentation="Y position of the center of the wheel in body frame. Positive Y is to the right of the origin." user="Standard">
+<field name="Increment">0.01</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Wheel's Z position offset" name="WENC_POS_Z" documentation="Z position of the center of the wheel in body frame. Positive Z is down from the origin." user="Standard">
+<field name="Increment">0.01</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Input Pin A" name="WENC_PINA" documentation="Input Pin A" user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">PixhawkAUX1</value>
+<value code="51">PixhawkAUX2</value>
+<value code="52">PixhawkAUX3</value>
+<value code="53">PixhawkAUX4</value>
+<value code="54">PixhawkAUX5</value>
+<value code="55">PixhawkAUX6</value>
+</values>
+</param>
+<param humanName="Input Pin B" name="WENC_PINB" documentation="Input Pin B" user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">PixhawkAUX1</value>
+<value code="51">PixhawkAUX2</value>
+<value code="52">PixhawkAUX3</value>
+<value code="53">PixhawkAUX4</value>
+<value code="54">PixhawkAUX5</value>
+<value code="55">PixhawkAUX6</value>
+</values>
+</param>
+<param humanName="Second WheelEncoder type" name="WENC2_TYPE" documentation="What type of WheelEncoder sensor is connected" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">Quadrature</value>
+</values>
+</param>
+<param humanName="WheelEncoder 2 counts per revolution" name="WENC2_CPR" documentation="WheelEncoder 2 counts per full revolution of the wheel" user="Standard">
+<field name="Increment">1</field>
+</param>
+<param humanName="Wheel2's radius" name="WENC2_RADIUS" documentation="Wheel2's radius" user="Standard">
+<field name="Increment">0.001</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Wheel2's X position offset" name="WENC2_POS_X" documentation="X position of the center of the second wheel in body frame. Positive X is forward of the origin." user="Standard">
+<field name="Increment">0.01</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Wheel2's Y position offset" name="WENC2_POS_Y" documentation="Y position of the center of the second wheel in body frame. Positive Y is to the right of the origin." user="Standard">
+<field name="Increment">0.01</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Wheel2's Z position offset" name="WENC2_POS_Z" documentation="Z position of the center of the second wheel in body frame. Positive Z is down from the origin." user="Standard">
+<field name="Increment">0.01</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Second Encoder Input Pin A" name="WENC2_PINA" documentation="Second Encoder Input Pin A" user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">PixhawkAUX1</value>
+<value code="51">PixhawkAUX2</value>
+<value code="52">PixhawkAUX3</value>
+<value code="53">PixhawkAUX4</value>
+<value code="54">PixhawkAUX5</value>
+<value code="55">PixhawkAUX6</value>
+</values>
+</param>
+<param humanName="Second Encoder Input Pin B" name="WENC2_PINB" documentation="Second Encoder Input Pin B" user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">PixhawkAUX1</value>
+<value code="51">PixhawkAUX2</value>
+<value code="52">PixhawkAUX3</value>
+<value code="53">PixhawkAUX4</value>
+<value code="54">PixhawkAUX5</value>
+<value code="55">PixhawkAUX6</value>
+</values>
+</param>
+</parameters>
+<parameters name="WNDVN_">
+<param humanName="Wind Vane Type" name="WNDVN_TYPE" documentation="Wind Vane type" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">Heading when armed</value>
+<value code="2">RC input offset heading when armed</value>
+<value code="3">Analog</value>
+</values>
+</param>
+<param humanName="Wind vane sensor RC Input Channel" name="WNDVN_RC_IN_NO" documentation="RC Input Channel to use as wind angle value" user="Standard">
+<field name="Range">0 16</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Wind vane analog voltage pin for direction" name="WNDVN_DIR_PIN" documentation="Analog input pin to read as wind vane direction" user="Standard">
+<values>
+<value code="11">Pixracer</value>
+<value code="13">Pixhawk ADC4</value>
+<value code="14">Pixhawk ADC3</value>
+<value code="15">Pixhawk ADC6</value>
+<value code="15">Pixhawk2 ADC</value>
+<value code="50">PixhawkAUX1</value>
+<value code="51">PixhawkAUX2</value>
+<value code="52">PixhawkAUX3</value>
+<value code="53">PixhawkAUX4</value>
+<value code="54">PixhawkAUX5</value>
+<value code="55">PixhawkAUX6</value>
+<value code="103">Pixhawk SBUS</value>
+</values>
+</param>
+<param humanName="Wind vane voltage minimum" name="WNDVN_DIR_V_MIN" documentation="Minimum voltage supplied by analog wind vane" user="Standard">
+<field name="Range">0 5.0</field>
+<field name="Increment">0.01</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Wind vane voltage maximum" name="WNDVN_DIR_V_MAX" documentation="Maximum voltage supplied by analog wind vane" user="Standard">
+<field name="Range">0 5.0</field>
+<field name="Increment">0.01</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Wind vane headwind offset" name="WNDVN_DIR_OFS" documentation="Angle offset when analog windvane is indicating a headwind, ie 0 degress relative to vehicle" user="Standard">
+<field name="Range">0 360</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Wind vane direction low pass filter frequency" name="WNDVN_DIR_FILT" documentation="Wind vane direction low pass filter frequency, a value of -1 disables filter" user="Standard">
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Wind vane calibration start" name="WNDVN_CAL" documentation="Start wind vane calibration by setting this to 1" user="Standard">
+<values>
+<value code="0">None</value>
+<value code=" 1">Calibrate</value>
+</values>
+</param>
+<param humanName="Wind vane deadzone when using analog sensor" name="WNDVN_DIR_DZ" documentation="Wind vane deadzone when using analog sensor" user="Standard">
+<field name="Range">0 360</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Wind vane cut off wind speed" name="WNDVN_SPEED_MIN" documentation="Wind vane direction will be ignored when apparent wind speeds are below this value (if wind speed sensor is present).  If the apparent wind is consistently below this value the vane will not work" user="Standard">
+<field name="Range">0 5</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Wind speed sensor Type" name="WNDVN_SPEED_TYPE" documentation="Wind speed sensor type" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">Airspeed library</value>
+<value code="2">Moden Devices Wind Sensor</value>
+<value code="3">SITL</value>
+</values>
+</param>
+<param humanName="Wind vane speed sensor analog pin" name="WNDVN_SPEED_PIN" documentation="Wind speed analog speed input pin for Modern Devices Wind Sensor rev. p" user="Standard">
+<values>
+<value code="11">Pixracer</value>
+<value code="13">Pixhawk ADC4</value>
+<value code="14">Pixhawk ADC3</value>
+<value code="15">Pixhawk ADC6</value>
+<value code="15">Pixhawk2 ADC</value>
+<value code="50">PixhawkAUX1</value>
+<value code="51">PixhawkAUX2</value>
+<value code="52">PixhawkAUX3</value>
+<value code="53">PixhawkAUX4</value>
+<value code="54">PixhawkAUX5</value>
+<value code="55">PixhawkAUX6</value>
+<value code="103">Pixhawk SBUS</value>
+</values>
+</param>
+<param humanName="Wind vane speed sensor analog temp pin" name="WNDVN_TEMP_PIN" documentation="Wind speed sensor analog temp input pin for Moden Devices Wind Sensor rev. p, set to -1 to diasble temp readings" user="Standard">
+<values>
+<value code="11">Pixracer</value>
+<value code="13">Pixhawk ADC4</value>
+<value code="14">Pixhawk ADC3</value>
+<value code="15">Pixhawk ADC6</value>
+<value code="15">Pixhawk2 ADC</value>
+<value code="50">PixhawkAUX1</value>
+<value code="51">PixhawkAUX2</value>
+<value code="52">PixhawkAUX3</value>
+<value code="53">PixhawkAUX4</value>
+<value code="54">PixhawkAUX5</value>
+<value code="55">PixhawkAUX6</value>
+<value code="103">Pixhawk SBUS</value>
+</values>
+</param>
+<param humanName="Wind speed sensor analog voltage offset" name="WNDVN_SPEED_OFS" documentation="Wind sensor analog voltage offset at zero wind speed" user="Standard">
+<field name="Range">0 3.3</field>
+<field name="Increment">0.01</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Wind speed low pass filter frequency" name="WNDVN_SPEED_FILT" documentation="Wind speed low pass filter frequency, a value of -1 disables filter" user="Standard">
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+</parameters>
+<parameters name="WRC">
+<param humanName="Wheel rate control enable/disable" name="WRC_ENABLE" documentation="Enable or disable wheel rate control" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Wheel max rotation rate" name="WRC_RATE_MAX" documentation="Wheel max rotation rate" user="Standard">
+<field name="Range">0 200</field>
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Wheel rate control feed forward gain" name="WRC_RATE_FF" documentation="Wheel rate control feed forward gain.  Desired rate (in radians/sec) is multiplied by this constant and output to output (in the range -1 to +1)" user="Standard">
+<field name="Range">0.100 2.000</field>
+</param>
+<param humanName="Wheel rate control P gain" name="WRC_RATE_P" documentation="Wheel rate control P gain.  Converts rate error (in radians/sec) to output (in the range -1 to +1)" user="Standard">
+<field name="Range">0.100 2.000</field>
+</param>
+<param humanName="Wheel rate control I gain" name="WRC_RATE_I" documentation="Wheel rate control I gain.  Corrects long term error between the desired rate (in rad/s) and actual" user="Standard">
+<field name="Range">0.000 2.000</field>
+</param>
+<param humanName="Wheel rate control I gain maximum" name="WRC_RATE_IMAX" documentation="Wheel rate control I gain maximum.  Constrains the output (range -1 to +1) that the I term will generate" user="Standard">
+<field name="Range">0.000 1.000</field>
+</param>
+<param humanName="Wheel rate control D gain" name="WRC_RATE_D" documentation="Wheel rate control D gain.  Compensates for short-term change in desired rate vs actual" user="Standard">
+<field name="Range">0.000 0.400</field>
+</param>
+<param humanName="Wheel rate control filter frequency" name="WRC_RATE_FILT" documentation="Wheel rate control input filter.  Lower values reduce noise but add delay." user="Standard">
+<field name="Range">1.000 100.000</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Wheel rate control feed forward gain" name="WRC2_RATE_FF" documentation="Wheel rate control feed forward gain.  Desired rate (in radians/sec) is multiplied by this constant and output to output (in the range -1 to +1)" user="Standard">
+<field name="Range">0.100 2.000</field>
+</param>
+<param humanName="Wheel rate control P gain" name="WRC2_RATE_P" documentation="Wheel rate control P gain.  Converts rate error (in radians/sec) to output (in the range -1 to +1)" user="Standard">
+<field name="Range">0.100 2.000</field>
+</param>
+<param humanName="Wheel rate control I gain" name="WRC2_RATE_I" documentation="Wheel rate control I gain.  Corrects long term error between the desired rate (in rad/s) and actual" user="Standard">
+<field name="Range">0.000 2.000</field>
+</param>
+<param humanName="Wheel rate control I gain maximum" name="WRC2_RATE_IMAX" documentation="Wheel rate control I gain maximum.  Constrains the output (range -1 to +1) that the I term will generate" user="Standard">
+<field name="Range">0.000 1.000</field>
+</param>
+<param humanName="Wheel rate control D gain" name="WRC2_RATE_D" documentation="Wheel rate control D gain.  Compensates for short-term change in desired rate vs actual" user="Standard">
+<field name="Range">0.000 0.400</field>
+</param>
+<param humanName="Wheel rate control filter frequency" name="WRC2_RATE_FILT" documentation="Wheel rate control input filter.  Lower values reduce noise but add delay." user="Standard">
+<field name="Range">1.000 100.000</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+</parameters>
+</libraries></paramfile>
diff --git a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.6.xml b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.6.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f22fe26e3b607b4bec38d4fb1c3d6e2c32837919
--- /dev/null
+++ b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.6.xml
@@ -0,0 +1,12830 @@
+<?xml version="1.0" encoding="utf-8"?>
+        <!-- Dynamically generated list of documented parameters (generated by param_parse.py) -->    
+        <paramfile>
+        <vehicles>
+        <parameters name="APMrover2">
+<param humanName="Eeprom format version number" name="APMrover2:FORMAT_VERSION" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
+</param>
+<param humanName="Log bitmask" name="APMrover2:LOG_BITMASK" documentation="Bitmap of what log types to enable in on-board logger. This value is made up of the sum of each of the log types you want to be saved. On boards supporting microSD cards or other large block-storage devices it is usually best just to enable all log types by setting this to 65535. The individual bits are ATTITUDE_FAST=1, ATTITUDE_MEDIUM=2, GPS=4, PerformanceMonitoring=8, ControlTuning=16, NavigationTuning=32, Mode=64, IMU=128, Commands=256, Battery=512, Compass=1024, TECS=2048, Camera=4096, RCandServo=8192, Rangefinder=16384, Arming=32768, FullLogs=65535" user="Advanced">
+<field name="Bitmask">0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:THR,5:NTUN,7:IMU,8:CMD,9:CURRENT,10:RANGEFINDER,11:COMPASS,12:CAMERA,13:STEERING,14:RC,15:ARM/DISARM,19:IMU_RAW</field>
+<values>
+<value code="0">Disabled</value>
+<value code="65535">Default</value>
+</values>
+</param>
+<param humanName="Reset Switch Channel" name="APMrover2:RST_SWITCH_CH" documentation="RC channel to use to reset to last flight mode after geofence takeover." user="Advanced">
+</param>
+<param humanName="Initial driving mode" name="APMrover2:INITIAL_MODE" documentation="This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver. Usually used in combination with when AUTO_TRIGGER_PIN or AUTO_KICKSTART." user="Advanced">
+<values>
+<value code="0">Manual</value>
+<value code="1">Acro</value>
+<value code="3">Steering</value>
+<value code="4">Hold</value>
+<value code="5">Loiter</value>
+<value code="6">Follow</value>
+<value code="7">Simple</value>
+<value code="10">Auto</value>
+<value code="11">RTL</value>
+<value code="12">SmartRTL</value>
+<value code="15">Guided</value>
+</values>
+</param>
+<param humanName="MAVLink system ID of this vehicle" name="APMrover2:SYSID_THIS_MAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
+<field name="Range">1 255</field>
+</param>
+<param humanName="MAVLink ground station ID" name="APMrover2:SYSID_MYGCS" documentation="The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match." user="Advanced">
+<field name="Range">1 255</field>
+</param>
+<param humanName="Telemetry startup delay" name="APMrover2:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Standard">
+<field name="Range">0 30</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="GCS PID tuning mask" name="APMrover2:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
+<field name="Bitmask">0:Steering,1:Throttle,2:Pitch,3:Left Wheel,4:Right Wheel,5:Sailboat Heel</field>
+<values>
+<value code="0">None</value>
+<value code="1">Steering</value>
+<value code="2">Throttle</value>
+<value code="4">Pitch</value>
+<value code="8">Left Wheel</value>
+<value code="16">Right Wheel</value>
+<value code="32">Sailboat Heel</value>
+</values>
+</param>
+<param humanName="Auto mode trigger pin" name="APMrover2:AUTO_TRIGGER_PIN" documentation="pin number to use to enable the throttle in auto mode. If set to -1 then don't use a trigger, otherwise this is a pin number which if held low in auto mode will enable the motor to run. If the switch is released while in AUTO then the motor will stop again. This can be used in combination with INITIAL_MODE to give a 'press button to start' rover with no receiver." user="standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="0">APM TriggerPin0</value>
+<value code="1">APM TriggerPin1</value>
+<value code="2">APM TriggerPin2</value>
+<value code="3">APM TriggerPin3</value>
+<value code="4">APM TriggerPin4</value>
+<value code="5">APM TriggerPin5</value>
+<value code="6">APM TriggerPin6</value>
+<value code="7">APM TriggerPin7</value>
+<value code="8">APM TriggerPin8</value>
+<value code="50">Pixhawk TriggerPin50</value>
+<value code="51">Pixhawk TriggerPin51</value>
+<value code="52">Pixhawk TriggerPin52</value>
+<value code="53">Pixhawk TriggerPin53</value>
+<value code="54">Pixhawk TriggerPin54</value>
+<value code="55">Pixhawk TriggerPin55</value>
+</values>
+</param>
+<param humanName="Auto mode trigger kickstart acceleration" name="APMrover2:AUTO_KICKSTART" documentation="X acceleration in meters/second/second to use to trigger the motor start in auto mode. If set to zero then auto throttle starts immediately when the mode switch happens, otherwise the rover waits for the X acceleration to go above this value before it will start the motor" user="standard">
+<field name="Range">0 20</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Target cruise speed in auto modes" name="APMrover2:CRUISE_SPEED" documentation="The target speed in auto missions." user="Standard">
+<field name="Range">0 100</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Pivot turn angle" name="APMrover2:PIVOT_TURN_ANGLE" documentation="Navigation angle threshold in degrees to switch to pivot steering when SKID_STEER_OUT is 1. This allows you to setup a skid steering rover to turn on the spot in auto mode when the angle it needs to turn it greater than this angle. An angle of zero means to disable pivot turning. Note that you will probably also want to set a low value for WP_RADIUS to get neat turns." user="Standard">
+<field name="Range">0 360</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Base throttle percentage in auto" name="APMrover2:CRUISE_THROTTLE" documentation="The base throttle percentage to use in auto mode. The CRUISE_SPEED parameter controls the target speed, but the rover starts with the CRUISE_THROTTLE setting as the initial estimate for how much throttle is needed to achieve that speed. It then adjusts the throttle based on how fast the rover is actually going." user="Standard">
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Pilot input steering type" name="APMrover2:PILOT_STEER_TYPE" documentation="Set this to 1 for skid steering input rovers (tank track style in RC controller). When enabled, servo1 is used for the left track control, servo3 is used for right track control" user="Standard">
+<values>
+<value code="0">Default</value>
+<value code="1">Two Paddles Input</value>
+<value code="2">Direction reversed when backing up</value>
+<value code="3">Direction unchanged when backing up</value>
+</values>
+</param>
+<param humanName="Failsafe Action" name="APMrover2:FS_ACTION" documentation="What to do on a failsafe event" user="Standard">
+<values>
+<value code="0">Nothing</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL or RTL</value>
+<value code="4">SmartRTL or Hold</value>
+</values>
+</param>
+<param humanName="Failsafe timeout" name="APMrover2:FS_TIMEOUT" documentation="The time in seconds that a failsafe condition must persist before the failsafe action is triggered" user="Standard">
+<field name="Range">1 100</field>
+<field name="Increment">0.5</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Throttle Failsafe Enable" name="APMrover2:FS_THR_ENABLE" documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel to a low value. This can be used to detect the RC transmitter going out of range. Failsafe will be triggered when the throttle channel goes below the FS_THR_VALUE for FS_TIMEOUT seconds." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+<value code="2">Enabled Continue with Mission in Auto</value>
+</values>
+</param>
+<param humanName="Throttle Failsafe Value" name="APMrover2:FS_THR_VALUE" documentation="The PWM level on the throttle channel below which throttle failsafe triggers." user="Standard">
+<field name="Range">910 1100</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="GCS failsafe enable" name="APMrover2:FS_GCS_ENABLE" documentation="Enable ground control station telemetry failsafe. When enabled the Rover will execute the FS_ACTION when it fails to receive MAVLink heartbeat packets for FS_TIMEOUT seconds." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+<value code="2">Enabled Continue with Mission in Auto</value>
+</values>
+</param>
+<param humanName="Crash check action" name="APMrover2:FS_CRASH_CHECK" documentation="What to do on a crash event. When enabled the rover will go to hold if a crash is detected." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Hold</value>
+<value code="2">HoldAndDisarm</value>
+</values>
+</param>
+<param humanName="EKF Failsafe Action" name="APMrover2:FS_EKF_ACTION" documentation="Controls the action that will be taken when an EKF failsafe is invoked" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Hold</value>
+</values>
+</param>
+<param humanName="EKF failsafe variance threshold" name="APMrover2:FS_EKF_THRESH" documentation="Allows setting the maximum acceptable compass and velocity variance" user="Advanced">
+<field name="Values">0.6:Strict, 0.8:Default, 1.0:Relaxed</field>
+</param>
+<param humanName="Object avoidance trigger distance" name="APMrover2:RNGFND_TRIGGR_CM" documentation="The distance from an obstacle in centimeters at which the rangefinder triggers a turn to avoid the obstacle" user="Standard">
+<field name="Range">0 1000</field>
+<field name="Increment">1</field>
+<field name="Units">cm</field>
+<field name="UnitText">centimeters</field>
+</param>
+<param humanName="Object avoidance turn aggressiveness and direction" name="APMrover2:RNGFND_TURN_ANGL" documentation="The aggressiveness and direction of turn to avoid an obstacle.  Large positive or negative values (i.e. -450 or 450) cause turns up to the vehicle's maximum lateral acceleration (TURN_MAX_G) while values near zero cause gentle turns. Positive means to turn right, negative means turn left." user="Standard">
+<field name="Range">-450 450</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Object avoidance turn time" name="APMrover2:RNGFND_TURN_TIME" documentation="The amount of time in seconds to apply the RNGFND_TURN_ANGL after detecting an obstacle." user="Standard">
+<field name="Range">0 100</field>
+<field name="Increment">0.1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Object avoidance rangefinder debounce count" name="APMrover2:RNGFND_DEBOUNCE" documentation="The number of 50Hz rangefinder hits needed to trigger an obstacle avoidance event. If you get a lot of false rangefinder events then raise this number, but if you make it too large then it will cause lag in detecting obstacles, which could cause you go hit the obstacle." user="Standard">
+<field name="Range">1 100</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Mode channel" name="APMrover2:MODE_CH" documentation="RC Channel to use for driving mode control" user="Advanced">
+</param>
+<param humanName="Mode1" name="APMrover2:MODE1" documentation="Driving mode for switch position 1 (910 to 1230 and above 2049)" user="Standard">
+<values>
+<value code="0">Manual</value>
+<value code="1">Acro</value>
+<value code="3">Steering</value>
+<value code="4">Hold</value>
+<value code="5">Loiter</value>
+<value code="6">Follow</value>
+<value code="7">Simple</value>
+<value code="10">Auto</value>
+<value code="11">RTL</value>
+<value code="12">SmartRTL</value>
+<value code="15">Guided</value>
+</values>
+</param>
+<param humanName="Mode2" name="APMrover2:MODE2" documentation="Driving mode for switch position 2 (1231 to 1360)" user="Standard">
+<values>
+<value code="0">Manual</value>
+<value code="1">Acro</value>
+<value code="3">Steering</value>
+<value code="4">Hold</value>
+<value code="5">Loiter</value>
+<value code="6">Follow</value>
+<value code="7">Simple</value>
+<value code="10">Auto</value>
+<value code="11">RTL</value>
+<value code="12">SmartRTL</value>
+<value code="15">Guided</value>
+</values>
+</param>
+<param humanName="Mode3" name="APMrover2:MODE3" documentation="Driving mode for switch position 3 (1361 to 1490)" user="Standard">
+<values>
+<value code="0">Manual</value>
+<value code="1">Acro</value>
+<value code="3">Steering</value>
+<value code="4">Hold</value>
+<value code="5">Loiter</value>
+<value code="6">Follow</value>
+<value code="7">Simple</value>
+<value code="10">Auto</value>
+<value code="11">RTL</value>
+<value code="12">SmartRTL</value>
+<value code="15">Guided</value>
+</values>
+</param>
+<param humanName="Mode4" name="APMrover2:MODE4" documentation="Driving mode for switch position 4 (1491 to 1620)" user="Standard">
+<values>
+<value code="0">Manual</value>
+<value code="1">Acro</value>
+<value code="3">Steering</value>
+<value code="4">Hold</value>
+<value code="5">Loiter</value>
+<value code="6">Follow</value>
+<value code="7">Simple</value>
+<value code="10">Auto</value>
+<value code="11">RTL</value>
+<value code="12">SmartRTL</value>
+<value code="15">Guided</value>
+</values>
+</param>
+<param humanName="Mode5" name="APMrover2:MODE5" documentation="Driving mode for switch position 5 (1621 to 1749)" user="Standard">
+<values>
+<value code="0">Manual</value>
+<value code="1">Acro</value>
+<value code="3">Steering</value>
+<value code="4">Hold</value>
+<value code="5">Loiter</value>
+<value code="6">Follow</value>
+<value code="7">Simple</value>
+<value code="10">Auto</value>
+<value code="11">RTL</value>
+<value code="12">SmartRTL</value>
+<value code="15">Guided</value>
+</values>
+</param>
+<param humanName="Mode6" name="APMrover2:MODE6" documentation="Driving mode for switch position 6 (1750 to 2049)" user="Standard">
+<values>
+<value code="0">Manual</value>
+<value code="1">Acro</value>
+<value code="3">Steering</value>
+<value code="4">Hold</value>
+<value code="5">Loiter</value>
+<value code="6">Follow</value>
+<value code="7">Simple</value>
+<value code="10">Auto</value>
+<value code="11">RTL</value>
+<value code="12">SmartRTL</value>
+<value code="15">Guided</value>
+</values>
+</param>
+<param humanName="Waypoint radius" name="APMrover2:WP_RADIUS" documentation="The distance in meters from a waypoint when we consider the waypoint has been reached. This determines when the rover will turn along the next waypoint path." user="Standard">
+<field name="Range">0 1000</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Waypoint overshoot maximum" name="APMrover2:WP_OVERSHOOT" documentation="Waypoint overshoot maximum in meters.  The vehicle will attempt to stay within this many meters of the track as it completes one waypoint and moves to the next." user="Standard">
+<field name="Range">0 10</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Turning maximum G force" name="APMrover2:TURN_MAX_G" documentation="The maximum turning acceleration (in units of gravities) that the rover can handle while remaining stable. The navigation code will keep the lateral acceleration below this level to avoid rolling over or slipping the wheels in turns" user="Standard">
+<field name="Range">0.1 10</field>
+<field name="Increment">0.01</field>
+<field name="Units">gravities</field>
+<field name="UnitText">standard acceleration due to gravity</field>
+</param>
+<param humanName="GCS sysid enforcement" name="APMrover2:SYSID_ENFORCE" documentation="This controls whether packets from other than the expected GCS system ID will be accepted" user="Advanced">
+<values>
+<value code="0">NotEnforced</value>
+<value code="1">Enforced</value>
+</values>
+</param>
+<param humanName="Turn radius of vehicle" name="APMrover2:TURN_RADIUS" documentation="Turn radius of vehicle in meters while at low speeds.  Lower values produce tighter turns in steering mode" user="Standard">
+<field name="Range">0 10</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Acro mode turn rate maximum" name="APMrover2:ACRO_TURN_RATE" documentation="Acro mode turn rate maximum" user="Standard">
+<field name="Range">0 360</field>
+<field name="Increment">1</field>
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
+</param>
+<param humanName="Waypoint speed default" name="APMrover2:WP_SPEED" documentation="Waypoint speed default.  If zero use CRUISE_SPEED." user="Standard">
+<field name="Range">0 100</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Return-to-Launch speed default" name="APMrover2:RTL_SPEED" documentation="Return-to-Launch speed default.  If zero use WP_SPEED or CRUISE_SPEED." user="Standard">
+<field name="Range">0 100</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Frame Class" name="APMrover2:FRAME_CLASS" documentation="Frame Class" user="Standard">
+<values>
+<value code="0">Undefined</value>
+<value code="1">Rover</value>
+<value code="2">Boat</value>
+<value code="3">BalanceBot</value>
+</values>
+</param>
+<param humanName="Pivot turn rate" name="APMrover2:PIVOT_TURN_RATE" documentation="Desired pivot turn rate in deg/s." user="Standard">
+<field name="Range">0 360</field>
+<field name="Increment">1</field>
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
+</param>
+<param humanName="BalanceBot Maximum Pitch" name="APMrover2:BAL_PITCH_MAX" documentation="Pitch angle in degrees at 100% throttle" user="Standard">
+<field name="Range">0 5</field>
+<field name="Increment">0.1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Crash Angle" name="APMrover2:CRASH_ANGLE" documentation="Pitch/Roll angle limit in degrees for crash check. Zero disables check" user="Standard">
+<field name="Range">0 60</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Frame Type" name="APMrover2:FRAME_TYPE" documentation="Frame Type" user="Standard">
+<values>
+<value code="0">Undefined</value>
+<value code="1">Omni3</value>
+<value code="2">OmniX</value>
+<value code="3">OmniPlus</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Loiter type" name="APMrover2:LOIT_TYPE" documentation="Loiter behaviour when moving to the target point" user="Standard">
+<values>
+<value code="0">Forward or reverse to target point</value>
+<value code="1">Always face bow towards target point</value>
+</values>
+</param>
+<param humanName="Simple_Type" name="APMrover2:SIMPLE_TYPE" documentation="Simple mode types" user="Standard">
+<values>
+<value code="0">InitialHeading</value>
+<value code="1">CardinalDirections</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Loiter radius" name="APMrover2:LOIT_RADIUS" documentation="Vehicle will drift when within this distance of the target position" user="Standard">
+<field name="Range">0 20</field>
+<field name="Increment">1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Sail min angle" name="APMrover2:SAIL_ANGLE_MIN" documentation="Mainsheet tight, angle between centerline and boom" user="Standard">
+<field name="Range">0 90</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Sail max angle" name="APMrover2:SAIL_ANGLE_MAX" documentation="Mainsheet loose, angle between centerline and boom" user="Standard">
+<field name="Range">0 90</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Sail ideal angle" name="APMrover2:SAIL_ANGLE_IDEAL" documentation="Ideal angle between sail and apparent wind" user="Standard">
+<field name="Range">0 90</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Sailing maximum heel angle" name="APMrover2:SAIL_HEEL_MAX" documentation="When in auto sail trim modes the heel will be limited to this value using PID control" user="Standard">
+<field name="Range">0 90</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Sailing no go zone angle" name="APMrover2:SAIL_NO_GO_ANGLE" documentation="The typical closest angle to the wind the vehicle will sail at. the vehicle will sail at this angle when going upwind" user="Standard">
+<field name="Range">0 90</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Mission done behave" name="APMrover2:MIS_DONE_BEHAVE" documentation="Mode to become after mission done" user="Standard">
+<values>
+<value code="0">Hold</value>
+<value code="1">Loiter</value>
+<value code=" 2">Acro</value>
+</values>
+</param>
+<param humanName="Balance Bot pitch trim angle" name="APMrover2:BAL_PITCH_TRIM" documentation="Balance Bot pitch trim for balancing. This offsets the tilt of the center of mass." user="Standard">
+<field name="Range">-2 2</field>
+<field name="Increment">0.1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Channel 7 option" name="APMrover2:CH7_OPTION" documentation="What to do use channel 7 for" user="Standard">
+<values>
+<value code="0">Nothing</value>
+<value code="1">SaveWaypoint</value>
+<value code="2">LearnCruiseSpeed</value>
+<value code="3">ArmDisarm</value>
+<value code="4">Manual</value>
+<value code="5">Acro</value>
+<value code="6">Steering</value>
+<value code="7">Hold</value>
+<value code="8">Auto</value>
+<value code="9">RTL</value>
+<value code="10">SmartRTL</value>
+<value code="11">Guided</value>
+<value code="12">Loiter</value>
+</values>
+</param>
+<param humanName="Auxiliary switch channel" name="APMrover2:AUX_CH" documentation="RC Channel to use for auxiliary functions including saving waypoints" user="Advanced">
+</param>
+</parameters>
+</vehicles><libraries><parameters name="AFS_">
+<param humanName="Enable Advanced Failsafe" name="AFS_ENABLE" documentation="This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect" user="Advanced">
+</param>
+<param humanName="Manual Pin" name="AFS_MAN_PIN" documentation="This sets a digital output pin to set high when in manual mode" user="Advanced">
+</param>
+<param humanName="Heartbeat Pin" name="AFS_HB_PIN" documentation="This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination." user="Advanced">
+</param>
+<param humanName="Comms Waypoint" name="AFS_WP_COMMS" documentation="Waypoint number to navigate to on comms loss" user="Advanced">
+</param>
+<param humanName="GPS Loss Waypoint" name="AFS_GPS_LOSS" documentation="Waypoint number to navigate to on GPS lock loss" user="Advanced">
+</param>
+<param humanName="Force Terminate" name="AFS_TERMINATE" documentation="Can be set in flight to force termination of the heartbeat signal" user="Advanced">
+</param>
+<param humanName="Terminate action" name="AFS_TERM_ACTION" documentation="This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup APM to handle it here. Please consult the wiki for more information on the possible values of the parameter" user="Advanced">
+</param>
+<param humanName="Terminate Pin" name="AFS_TERM_PIN" documentation="This sets a digital output pin to set high on flight termination" user="Advanced">
+</param>
+<param humanName="AMSL limit" name="AFS_AMSL_LIMIT" documentation="This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Error margin for GPS based AMSL limit" name="AFS_AMSL_ERR_GPS" documentation="This sets margin for error in GPS derived altitude limit. This error margin is only used if the barometer has failed. If the barometer fails then the GPS will be used to enforce the AMSL_LIMIT, but this margin will be subtracted from the AMSL_LIMIT first, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached. OBC users should set this to comply with their D2 safety case. A value of -1 will mean that barometer failure will lead to immediate termination." user="Advanced">
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="QNH pressure" name="AFS_QNH_PRESSURE" documentation="This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit. A value of zero disables the altitude limit." user="Advanced">
+<field name="Units">mbar</field>
+<field name="UnitText">millibar</field>
+</param>
+<param humanName="Maximum number of GPS loss events" name="AFS_MAX_GPS_LOSS" documentation="Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events." user="Advanced">
+</param>
+<param humanName="Maximum number of comms loss events" name="AFS_MAX_COM_LOSS" documentation="Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events." user="Advanced">
+</param>
+<param humanName="Enable geofence Advanced Failsafe" name="AFS_GEOFENCE" documentation="This enables the geofence part of the AFS. Will only be in effect if AFS_ENABLE is also 1" user="Advanced">
+</param>
+<param humanName="Enable RC Advanced Failsafe" name="AFS_RC" documentation="This enables the RC part of the AFS. Will only be in effect if AFS_ENABLE is also 1" user="Advanced">
+</param>
+<param humanName="Enable RC Termination only in manual control modes" name="AFS_RC_MAN_ONLY" documentation="If this parameter is set to 1, then an RC loss will only cause the plane to terminate in manual control modes. If it is 0, then the plane will terminate in any flight mode." user="Advanced">
+</param>
+<param humanName="Enable dual loss terminate due to failure of both GCS and GPS simultaneously" name="AFS_DUAL_LOSS" documentation='This enables the dual loss termination part of the AFS system. If this parameter is 1 and both GPS and the ground control station fail simultaneously, this will be considered a "dual loss" and cause termination.' user="Advanced">
+</param>
+<param humanName="RC failure time" name="AFS_RC_FAIL_TIME" documentation="This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be (1.5). Use 0 to disable." user="Advanced">
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+</parameters>
+<parameters name="AHRS_">
+<param humanName="AHRS GPS gain" name="AHRS_GPS_GAIN" documentation="This controls how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0." user="Advanced">
+<field name="Range">0.0 1.0</field>
+<field name="Increment">.01</field>
+</param>
+<param humanName="AHRS use GPS for navigation" name="AHRS_GPS_USE" documentation="This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight. Currently this affects only the DCM-based AHRS: the EKF uses GPS whenever it is available." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Yaw P" name="AHRS_YAW_P" documentation="This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly." user="Advanced">
+<field name="Range">0.1 0.4</field>
+<field name="Increment">.01</field>
+</param>
+<param humanName="AHRS RP_P" name="AHRS_RP_P" documentation="This controls how fast the accelerometers correct the attitude" user="Advanced">
+<field name="Range">0.1 0.4</field>
+<field name="Increment">.01</field>
+</param>
+<param humanName="Maximum wind" name="AHRS_WIND_MAX" documentation="This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is." user="Advanced">
+<field name="Range">0 127</field>
+<field name="Increment">1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="AHRS Trim Roll" name="AHRS_TRIM_X" documentation="Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right." user="Standard">
+<field name="Range">-0.1745 +0.1745</field>
+<field name="Increment">0.01</field>
+<field name="Units">rad</field>
+<field name="UnitText">radians</field>
+</param>
+<param humanName="AHRS Trim Pitch" name="AHRS_TRIM_Y" documentation="Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back." user="Standard">
+<field name="Range">-0.1745 +0.1745</field>
+<field name="Increment">0.01</field>
+<field name="Units">rad</field>
+<field name="UnitText">radians</field>
+</param>
+<param humanName="AHRS Trim Yaw" name="AHRS_TRIM_Z" documentation="Not Used" user="Advanced">
+<field name="Range">-0.1745 +0.1745</field>
+<field name="Increment">0.01</field>
+<field name="Units">rad</field>
+<field name="UnitText">radians</field>
+</param>
+<param humanName="Board Orientation" name="AHRS_ORIENTATION" documentation="Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle." user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">Yaw45</value>
+<value code="2">Yaw90</value>
+<value code="3">Yaw135</value>
+<value code="4">Yaw180</value>
+<value code="5">Yaw225</value>
+<value code="6">Yaw270</value>
+<value code="7">Yaw315</value>
+<value code="8">Roll180</value>
+<value code="9">Roll180Yaw45</value>
+<value code="10">Roll180Yaw90</value>
+<value code="11">Roll180Yaw135</value>
+<value code="12">Pitch180</value>
+<value code="13">Roll180Yaw225</value>
+<value code="14">Roll180Yaw270</value>
+<value code="15">Roll180Yaw315</value>
+<value code="16">Roll90</value>
+<value code="17">Roll90Yaw45</value>
+<value code="18">Roll90Yaw90</value>
+<value code="19">Roll90Yaw135</value>
+<value code="20">Roll270</value>
+<value code="21">Roll270Yaw45</value>
+<value code="22">Roll270Yaw90</value>
+<value code="23">Roll270Yaw135</value>
+<value code="24">Pitch90</value>
+<value code="25">Pitch270</value>
+<value code="26">Pitch180Yaw90</value>
+<value code="27">Pitch180Yaw270</value>
+<value code="28">Roll90Pitch90</value>
+<value code="29">Roll180Pitch90</value>
+<value code="30">Roll270Pitch90</value>
+<value code="31">Roll90Pitch180</value>
+<value code="32">Roll270Pitch180</value>
+<value code="33">Roll90Pitch270</value>
+<value code="34">Roll180Pitch270</value>
+<value code="35">Roll270Pitch270</value>
+<value code="36">Roll90Pitch180Yaw90</value>
+<value code="37">Roll90Yaw270</value>
+<value code="38">Yaw293Pitch68Roll180</value>
+<value code="39">Pitch315</value>
+<value code="40">Roll90Pitch315</value>
+<value code="100">Custom</value>
+</values>
+</param>
+<param humanName="AHRS Velocity Complementary Filter Beta Coefficient" name="AHRS_COMP_BETA" documentation="This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less." user="Advanced">
+<field name="Range">0.001 0.5</field>
+<field name="Increment">.01</field>
+</param>
+<param humanName="AHRS GPS Minimum satellites" name="AHRS_GPS_MINSATS" documentation="Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers." user="Advanced">
+<field name="Range">0 10</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Use NavEKF Kalman filter for attitude and position estimation" name="AHRS_EKF_TYPE" documentation="This controls which NavEKF Kalman filter version is used for attitude and position estimation" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="2">Enable EKF2</value>
+<value code="3">Enable EKF3</value>
+</values>
+</param>
+<param humanName="Board orientation roll offset" name="AHRS_CUSTOM_ROLL" documentation="Autopilot mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
+<field name="Range">-180 180</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Board orientation pitch offset" name="AHRS_CUSTOM_PIT" documentation="Autopilot mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
+<field name="Range">-180 180</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Board orientation yaw offset" name="AHRS_CUSTOM_YAW" documentation="Autopilot mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
+<field name="Range">-180 180</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+</parameters>
+<parameters name="ARMING_">
+<param humanName="Require Arming Motors " name="ARMING_REQUIRE" documentation="Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately).  If 1, require rudder stick or GCS arming before arming motors and sends the minimum throttle PWM value to the throttle channel when disarmed.  If 2, require rudder stick or GCS arming and send 0 PWM to throttle channel when disarmed. See the ARMING_CHECK_* parameters to see what checks are done before arming. Note, if setting this parameter to 0 a reboot is required to arm the plane.  Also note, even with this parameter at 0, if ARMING_CHECK parameter is not also zero the plane may fail to arm throttle at boot due to a pre-arm check failure." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">THR_MIN PWM when disarmed</value>
+<value code="2">0 PWM when disarmed</value>
+</values>
+</param>
+<param humanName="Arm Checks to Peform (bitmask)" name="ARMING_CHECK" documentation="Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. The default is no checks, allowing arming at any time. You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72. For most users it is recommended that you set this to 1 to enable all checks." user="Standard">
+<field name="Bitmask">0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC Channels,7:Board voltage,8:Battery Level,9:Airspeed,10:Logging Available,11:Hardware safety switch,12:GPS Configuration,13:System</field>
+<values>
+<value code="0">None</value>
+<value code="1">All</value>
+<value code="2">Barometer</value>
+<value code="4">Compass</value>
+<value code="8">GPS Lock</value>
+<value code="16">INS(INertial Sensors - accels &amp; gyros)</value>
+<value code="32">Parameters(unused)</value>
+<value code="64">RC Channels</value>
+<value code="128">Board voltage</value>
+<value code="256">Battery Level</value>
+<value code="512">Airspeed</value>
+<value code="1024">LoggingAvailable</value>
+<value code="2048">Hardware safety switch</value>
+<value code="4096">GPS configuration</value>
+<value code="8192">System</value>
+</values>
+</param>
+<param humanName="Accelerometer error threshold" name="ARMING_ACCTHRESH" documentation="Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal." user="Advanced">
+<field name="Range">0.25 3.0</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Arming with Rudder enable/disable" name="ARMING_RUDDER" documentation="Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works in manual throttle modes with throttle at zero +- deadzone (RCx_DZ)" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">ArmingOnly</value>
+<value code="2">ArmOrDisarm</value>
+</values>
+</param>
+<param humanName="Required mission items" name="ARMING_MIS_ITEMS" documentation="Bitmask of mission items that are required to be planned in order to arm the aircraft" user="Advanced">
+<field name="Bitmask">0:Land,1:VTOL Land,2:DO_LAND_START,3:Takeoff,4:VTOL Takeoff,5:Rallypoint</field>
+</param>
+</parameters>
+<parameters name="ARSPD">
+<param humanName="Airspeed type" name="ARSPD_TYPE" documentation="Type of airspeed sensor" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">I2C-MS4525D0</value>
+<value code="2">Analog</value>
+<value code="3">I2C-MS5525</value>
+<value code="4">I2C-MS5525 (0x76)</value>
+<value code="5">I2C-MS5525 (0x77)</value>
+<value code="6">I2C-SDP3X</value>
+<value code="7">I2C-DLVR</value>
+<value code="8">UAVCAN</value>
+</values>
+</param>
+<param humanName="Airspeed use" name="ARSPD_USE" documentation="Enables airspeed use for automatic throttle modes and replaces control from THR_TRIM. Continues to display and log airspeed if set to 0. Uses airspeed for control if set to 1. Only uses airspeed when throttle = 0 if set to 2 (useful for gliders with airspeed sensors behind propellers)." user="Standard">
+<values>
+<value code="0">DoNotUse</value>
+<value code="1">Use</value>
+<value code="2">UseWhenZeroThrottle</value>
+</values>
+</param>
+<param humanName="Airspeed offset" name="ARSPD_OFFSET" documentation="Airspeed calibration offset" user="Advanced">
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Airspeed ratio" name="ARSPD_RATIO" documentation="Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure." user="Advanced">
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Airspeed pin" name="ARSPD_PIN" documentation="The pin number that the airspeed sensor is connected to for analog sensors. Set to 15 on the Pixhawk for the analog airspeed port. " user="Advanced">
+</param>
+<param humanName="Automatic airspeed ratio calibration" name="ARSPD_AUTOCAL" documentation="Enables automatic adjustment of ARSPD_RATIO during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is &gt; 5%. Should not be left enabled." user="Advanced">
+</param>
+<param humanName="Control pitot tube order" name="ARSPD_TUBE_ORDER" documentation="Changes the pitot tube order to specify the dynamic pressure side of the sensor. Accepts either if set to 2. Accepts only one side if set to 0 or 1 and can help detect excessive pressure on the static port without indicating positive airspeed." user="Advanced">
+</param>
+<param humanName="Skip airspeed calibration on startup" name="ARSPD_SKIP_CAL" documentation="This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot." user="Advanced">
+<values>
+<value code="0">Disable</value>
+<value code="1">Enable</value>
+</values>
+</param>
+<param humanName="The PSI range of the device" name="ARSPD_PSI_RANGE" documentation="This parameter allows you to to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device" user="Advanced">
+</param>
+<param humanName="Airspeed I2C bus" name="ARSPD_BUS" documentation="Bus number of the I2C bus where the airspeed sensor is connected" user="Advanced">
+<values>
+<value code="0">Bus0(internal)</value>
+<value code="1">Bus1(external)</value>
+<value code="2">Bus2(auxillary)</value>
+</values>
+</param>
+<param humanName="Primary airspeed sensor" name="ARSPD_PRIMARY" documentation="This selects which airspeed sensor will be the primary if multiple sensors are found" user="Advanced">
+<values>
+<value code="0">FirstSensor</value>
+<value code="1">2ndSensor</value>
+</values>
+</param>
+<param humanName="Airspeed options bitmask" name="ARSPD_OPTIONS" documentation="Bitmask of options to use with airspeed." user="Advanced">
+<field name="Bitmask">0:Disable on sensor failure,1:Re-enable on sensor recovery</field>
+</param>
+<param humanName="Second Airspeed type" name="ARSPD2_TYPE" documentation="Type of 2nd airspeed sensor" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">I2C-MS4525D0</value>
+<value code="2">Analog</value>
+<value code="3">I2C-MS5525</value>
+<value code="4">I2C-MS5525 (0x76)</value>
+<value code="5">I2C-MS5525 (0x77)</value>
+<value code="6">I2C-SDP3X</value>
+<value code="7">I2C-DLVR</value>
+<value code="8">UAVCAN</value>
+</values>
+</param>
+<param humanName="Enable use of 2nd airspeed sensor" name="ARSPD2_USE" documentation="use airspeed for flight control. When set to 0 airspeed sensor can be logged and displayed on a GCS but won't be used for flight. When set to 1 it will be logged and used. When set to 2 it will be only used when the throttle is zero, which can be useful in gliders with airspeed sensors behind a propeller" user="Standard">
+<values>
+<value code="0">Don't Use</value>
+<value code="1">use</value>
+<value code="2">UseWhenZeroThrottle</value>
+</values>
+</param>
+<param humanName="Airspeed offset for 2nd airspeed sensor" name="ARSPD2_OFFSET" documentation="Airspeed calibration offset" user="Advanced">
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Airspeed ratio for 2nd airspeed sensor" name="ARSPD2_RATIO" documentation="Airspeed calibration ratio" user="Advanced">
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Airspeed pin for 2nd airspeed sensor" name="ARSPD2_PIN" documentation="Pin number indicating location of analog airspeed sensors. Pixhawk/Cube if set to 15. " user="Advanced">
+</param>
+<param humanName="Automatic airspeed ratio calibration for 2nd airspeed sensor" name="ARSPD2_AUTOCAL" documentation="If this is enabled then the autopilot will automatically adjust the ARSPD_RATIO during flight, based upon an estimation filter using ground speed and true airspeed. The automatic calibration will save the new ratio to EEPROM every 2 minutes if it changes by more than 5%. This option should be enabled for a calibration flight then disabled again when calibration is complete. Leaving it enabled all the time is not recommended." user="Advanced">
+</param>
+<param humanName="Control pitot tube order of 2nd airspeed sensor" name="ARSPD2_TUBE_ORDR" documentation="This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the top connector on the sensor needs to be the dynamic pressure. If set to 1 then the bottom connector needs to be the dynamic pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft it receiving excessive pressure on the static port, which would otherwise be seen as a positive airspeed." user="Advanced">
+</param>
+<param humanName="Skip airspeed calibration on startup for 2nd sensor" name="ARSPD2_SKIP_CAL" documentation="This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot." user="Advanced">
+<values>
+<value code="0">Disable</value>
+<value code="1">Enable</value>
+</values>
+</param>
+<param humanName="The PSI range of the device for 2nd sensor" name="ARSPD2_PSI_RANGE" documentation="This parameter allows you to to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device" user="Advanced">
+</param>
+<param humanName="Airspeed I2C bus for 2nd sensor" name="ARSPD2_BUS" documentation="The bus number of the I2C bus to look for the sensor on" user="Advanced">
+<values>
+<value code="0">Bus0(internal)</value>
+<value code="1">Bus1(external)</value>
+<value code="2">Bus2(auxillary)</value>
+</values>
+</param>
+</parameters>
+<parameters name="ATC">
+<param humanName="Steering control rate P gain" name="ATC_STR_RAT_P" documentation="Steering control rate P gain.  Converts the turn rate error (in radians/sec) to a steering control output (in the range -1 to +1)" user="Standard">
+<field name="Range">0.000 2.000</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Steering control I gain" name="ATC_STR_RAT_I" documentation="Steering control I gain.  Corrects long term error between the desired turn rate (in rad/s) and actual" user="Standard">
+<field name="Range">0.000 2.000</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Steering control I gain maximum" name="ATC_STR_RAT_IMAX" documentation="Steering control I gain maximum.  Constraings the steering output (range -1 to +1) that the I term will generate" user="Standard">
+<field name="Range">0.000 1.000</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Steering control D gain" name="ATC_STR_RAT_D" documentation="Steering control D gain.  Compensates for short-term change in desired turn rate vs actual" user="Standard">
+<field name="Range">0.000 0.400</field>
+<field name="Increment">0.001</field>
+</param>
+<param humanName="Steering control feed forward" name="ATC_STR_RAT_FF" documentation="Steering control feed forward" user="Standard">
+<field name="Range">0.000 3.000</field>
+<field name="Increment">0.001</field>
+</param>
+<param humanName="Steering control filter frequency" name="ATC_STR_RAT_FILT" documentation="Steering control input filter.  Lower values reduce noise but add delay." user="Standard">
+<field name="Range">0.000 100.000</field>
+<field name="Increment">0.1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Speed control P gain" name="ATC_SPEED_P" documentation="Speed control P gain.  Converts the error between the desired speed (in m/s) and actual speed to a motor output (in the range -1 to +1)" user="Standard">
+<field name="Range">0.010 2.000</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Speed control I gain" name="ATC_SPEED_I" documentation="Speed control I gain.  Corrects long term error between the desired speed (in m/s) and actual speed" user="Standard">
+<field name="Range">0.000 2.000</field>
+</param>
+<param humanName="Speed control I gain maximum" name="ATC_SPEED_IMAX" documentation="Speed control I gain maximum.  Constraings the maximum motor output (range -1 to +1) that the I term will generate" user="Standard">
+<field name="Range">0.000 1.000</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Speed control D gain" name="ATC_SPEED_D" documentation="Speed control D gain.  Compensates for short-term change in desired speed vs actual" user="Standard">
+<field name="Range">0.000 0.400</field>
+<field name="Increment">0.001</field>
+</param>
+<param humanName="Speed control feed forward" name="ATC_SPEED_FF" documentation="Speed control feed forward" user="Standard">
+<field name="Range">0.000 0.500</field>
+<field name="Increment">0.001</field>
+</param>
+<param humanName="Speed control filter frequency" name="ATC_SPEED_FILT" documentation="Speed control input filter.  Lower values reduce noise but add delay." user="Standard">
+<field name="Range">0.000 100.000</field>
+<field name="Increment">0.1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Speed control acceleration (and deceleration) maximum in m/s/s" name="ATC_ACCEL_MAX" documentation="Speed control acceleration (and deceleration) maximum in m/s/s.  0 to disable acceleration limiting" user="Standard">
+<field name="Range">0.0 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Speed control brake enable/disable" name="ATC_BRAKE" documentation="Speed control brake enable/disable. Allows sending a reversed output to the motors to slow the vehicle." user="Standard">
+<values>
+<value code="0">Disable</value>
+<value code="1">Enable</value>
+</values>
+</param>
+<param humanName="Speed control stop speed" name="ATC_STOP_SPEED" documentation="Speed control stop speed.  Motor outputs to zero once vehicle speed falls below this value" user="Standard">
+<field name="Range">0.00 0.50</field>
+<field name="Increment">0.01</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Steering control angle P gain" name="ATC_STR_ANG_P" documentation="Steering control angle P gain.  Converts the error between the desired heading/yaw (in radians) and actual heading/yaw to a desired turn rate (in rad/sec)" user="Standard">
+<field name="Range">1.000 10.000</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Steering control angular acceleration maximum" name="ATC_STR_ACC_MAX" documentation="Steering control angular acceleartion maximum (in deg/s/s).  0 to disable acceleration limiting" user="Standard">
+<field name="Range">0 1000</field>
+<field name="Increment">0.1</field>
+<field name="Units">deg/s/s</field>
+<field name="UnitText">degrees per square second</field>
+</param>
+<param humanName="Steering control rotation rate maximum" name="ATC_STR_RAT_MAX" documentation="Steering control rotation rate maximum in deg/s.  0 to remove rate limiting" user="Standard">
+<field name="Range">0 1000</field>
+<field name="Increment">0.1</field>
+<field name="Units">deg/s</field>
+<field name="UnitText">degrees per second</field>
+</param>
+<param humanName="Speed control deceleration maximum in m/s/s" name="ATC_DECEL_MAX" documentation="Speed control and deceleration maximum in m/s/s.  0 to use ATC_ACCEL_MAX for deceleration" user="Standard">
+<field name="Range">0.0 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Pitch control P gain" name="ATC_BAL_P" documentation="Pitch control P gain for BalanceBots.  Converts the error between the desired pitch (in radians) and actual pitch to a motor output (in the range -1 to +1)" user="Standard">
+<field name="Range">0.000 2.000</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Pitch control I gain" name="ATC_BAL_I" documentation="Pitch control I gain for BalanceBots.  Corrects long term error between the desired pitch (in radians) and actual pitch" user="Standard">
+<field name="Range">0.000 2.000</field>
+</param>
+<param humanName="Pitch control I gain maximum" name="ATC_BAL_IMAX" documentation="Pitch control I gain maximum.  Constrains the maximum motor output (range -1 to +1) that the I term will generate" user="Standard">
+<field name="Range">0.000 1.000</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Pitch control D gain" name="ATC_BAL_D" documentation="Pitch control D gain.  Compensates for short-term change in desired pitch vs actual" user="Standard">
+<field name="Range">0.000 0.100</field>
+<field name="Increment">0.001</field>
+</param>
+<param humanName="Pitch control feed forward" name="ATC_BAL_FF" documentation="Pitch control feed forward" user="Standard">
+<field name="Range">0.000 0.500</field>
+<field name="Increment">0.001</field>
+</param>
+<param humanName="Pitch control filter frequency" name="ATC_BAL_FILT" documentation="Pitch control input filter.  Lower values reduce noise but add delay." user="Standard">
+<field name="Range">0.000 100.000</field>
+<field name="Increment">0.1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Pitch control feed forward from speed" name="ATC_BAL_SPD_FF" documentation="Pitch control feed forward from speed" user="Standard">
+<field name="Range">0.0 10.0</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Sail Heel control P gain" name="ATC_SAIL_P" documentation="Sail Heel control P gain for sailboats.  Converts the error between the desired heel angle (in radians) and actual heel to a main sail output (in the range -1 to +1)" user="Standard">
+<field name="Range">0.000 2.000</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Sail Heel control I gain" name="ATC_SAIL_I" documentation="Sail Heel control I gain for sailboats.  Corrects long term error between the desired heel angle (in radians) and actual" user="Standard">
+<field name="Range">0.000 2.000</field>
+</param>
+<param humanName="Sail Heel control I gain maximum" name="ATC_SAIL_IMAX" documentation="Sail Heel control I gain maximum.  Constrains the maximum I term contribution to the main sail output (range -1 to +1)" user="Standard">
+<field name="Range">0.000 1.000</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Sail Heel control D gain" name="ATC_SAIL_D" documentation="Sail Heel control D gain.  Compensates for short-term change in desired heel angle vs actual" user="Standard">
+<field name="Range">0.000 0.100</field>
+<field name="Increment">0.001</field>
+</param>
+<param humanName="Sail Heel control feed forward" name="ATC_SAIL_FF" documentation="Sail Heel control feed forward" user="Standard">
+<field name="Range">0.000 0.500</field>
+<field name="Increment">0.001</field>
+</param>
+<param humanName="Sail Heel control filter frequency" name="ATC_SAIL_FILT" documentation="Sail Heel control input filter.  Lower values reduce noise but add delay." user="Standard">
+<field name="Range">0.000 100.000</field>
+<field name="Increment">0.1</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+</parameters>
+<parameters name="AVOID_">
+<param humanName="Avoidance control enable/disable" name="AVOID_ENABLE" documentation="Enabled/disable stopping at fence" user="Standard">
+<field name="Bitmask">0:StopAtFence,1:UseProximitySensor,2:StopAtBeaconFence</field>
+<values>
+<value code="0">None</value>
+<value code="1">StopAtFence</value>
+<value code="2">UseProximitySensor</value>
+<value code="3">StopAtFence and UseProximitySensor</value>
+<value code="4">StopAtBeaconFence</value>
+<value code="7">All</value>
+</values>
+</param>
+<param humanName="Avoidance max lean angle in non-GPS flight modes" name="AVOID_ANGLE_MAX" documentation="Max lean angle used to avoid obstacles while in non-GPS modes" user="Standard">
+<field name="Range">0 4500</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Avoidance distance maximum in non-GPS flight modes" name="AVOID_DIST_MAX" documentation="Distance from object at which obstacle avoidance will begin in non-GPS modes" user="Standard">
+<field name="Range">1 30</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Avoidance distance margin in GPS modes" name="AVOID_MARGIN" documentation="Vehicle will attempt to stay at least this distance (in meters) from objects while in GPS modes" user="Standard">
+<field name="Range">1 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Avoidance behaviour" name="AVOID_BEHAVE" documentation="Avoidance behaviour (slide or stop)" user="Standard">
+<values>
+<value code="0">Slide</value>
+<value code="1">Stop</value>
+</values>
+</param>
+</parameters>
+<parameters name="BATT2_">
+<param humanName="Battery monitoring" name="BATT2_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="3">Analog Voltage Only</value>
+<value code="4">Analog Voltage and Current</value>
+<value code="5">Solo</value>
+<value code="6">Bebop</value>
+<value code="7">SMBus-Maxell</value>
+<value code="8">UAVCAN-BatteryInfo</value>
+<value code="9">BLHeli ESC</value>
+<value code="10">SumOfFollowing</value>
+<value code="11">FuelFlow</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Voltage sensing pin" name="BATT2_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 13">Pixhawk2_PM2</value>
+<value code=" 100">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Current sensing pin" name="BATT2_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 14">Pixhawk2_PM2</value>
+<value code=" 101">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Voltage Multiplier" name="BATT2_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+<param humanName="Amps per volt" name="BATT2_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+<field name="Units">A/V</field>
+<field name="UnitText">ampere per volt</field>
+</param>
+<param humanName="AMP offset" name="BATT2_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery capacity" name="BATT2_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Maximum allowed power (Watts)" name="BATT2_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">W</field>
+<field name="UnitText">watt</field>
+</param>
+<param humanName="Battery serial number" name="BATT2_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+<param humanName="Low voltage timeout" name="BATT2_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+<field name="Range">0 120</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Failsafe voltage source" name="BATT2_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+<values>
+<value code="0">Raw Voltage</value>
+<value code=" 1">Sag Compensated Voltage</value>
+</values>
+</param>
+<param humanName="Low battery voltage" name="BATT2_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Low battery capacity" name="BATT2_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Critical battery voltage" name="BATT2_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery critical capacity" name="BATT2_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2__FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Low battery failsafe action" name="BATT2_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Critical battery failsafe action" name="BATT2_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Required arming voltage" name="BATT2_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Required arming remaining capacity" name="BATT2_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT2__ARM_VOLT parameter." user="Advanced">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+</parameters>
+<parameters name="BATT3_">
+<param humanName="Battery monitoring" name="BATT3_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="3">Analog Voltage Only</value>
+<value code="4">Analog Voltage and Current</value>
+<value code="5">Solo</value>
+<value code="6">Bebop</value>
+<value code="7">SMBus-Maxell</value>
+<value code="8">UAVCAN-BatteryInfo</value>
+<value code="9">BLHeli ESC</value>
+<value code="10">SumOfFollowing</value>
+<value code="11">FuelFlow</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Voltage sensing pin" name="BATT3_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 13">Pixhawk2_PM2</value>
+<value code=" 100">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Current sensing pin" name="BATT3_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 14">Pixhawk2_PM2</value>
+<value code=" 101">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Voltage Multiplier" name="BATT3_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+<param humanName="Amps per volt" name="BATT3_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+<field name="Units">A/V</field>
+<field name="UnitText">ampere per volt</field>
+</param>
+<param humanName="AMP offset" name="BATT3_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery capacity" name="BATT3_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Maximum allowed power (Watts)" name="BATT3_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">W</field>
+<field name="UnitText">watt</field>
+</param>
+<param humanName="Battery serial number" name="BATT3_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+<param humanName="Low voltage timeout" name="BATT3_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+<field name="Range">0 120</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Failsafe voltage source" name="BATT3_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+<values>
+<value code="0">Raw Voltage</value>
+<value code=" 1">Sag Compensated Voltage</value>
+</values>
+</param>
+<param humanName="Low battery voltage" name="BATT3_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Low battery capacity" name="BATT3_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Critical battery voltage" name="BATT3_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery critical capacity" name="BATT3_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3__FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Low battery failsafe action" name="BATT3_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Critical battery failsafe action" name="BATT3_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Required arming voltage" name="BATT3_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Required arming remaining capacity" name="BATT3_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT3__ARM_VOLT parameter." user="Advanced">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+</parameters>
+<parameters name="BATT4_">
+<param humanName="Battery monitoring" name="BATT4_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="3">Analog Voltage Only</value>
+<value code="4">Analog Voltage and Current</value>
+<value code="5">Solo</value>
+<value code="6">Bebop</value>
+<value code="7">SMBus-Maxell</value>
+<value code="8">UAVCAN-BatteryInfo</value>
+<value code="9">BLHeli ESC</value>
+<value code="10">SumOfFollowing</value>
+<value code="11">FuelFlow</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Voltage sensing pin" name="BATT4_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 13">Pixhawk2_PM2</value>
+<value code=" 100">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Current sensing pin" name="BATT4_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 14">Pixhawk2_PM2</value>
+<value code=" 101">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Voltage Multiplier" name="BATT4_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+<param humanName="Amps per volt" name="BATT4_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+<field name="Units">A/V</field>
+<field name="UnitText">ampere per volt</field>
+</param>
+<param humanName="AMP offset" name="BATT4_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery capacity" name="BATT4_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Maximum allowed power (Watts)" name="BATT4_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">W</field>
+<field name="UnitText">watt</field>
+</param>
+<param humanName="Battery serial number" name="BATT4_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+<param humanName="Low voltage timeout" name="BATT4_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+<field name="Range">0 120</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Failsafe voltage source" name="BATT4_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+<values>
+<value code="0">Raw Voltage</value>
+<value code=" 1">Sag Compensated Voltage</value>
+</values>
+</param>
+<param humanName="Low battery voltage" name="BATT4_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Low battery capacity" name="BATT4_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Critical battery voltage" name="BATT4_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery critical capacity" name="BATT4_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4__FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Low battery failsafe action" name="BATT4_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Critical battery failsafe action" name="BATT4_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Required arming voltage" name="BATT4_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Required arming remaining capacity" name="BATT4_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT4__ARM_VOLT parameter." user="Advanced">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+</parameters>
+<parameters name="BATT5_">
+<param humanName="Battery monitoring" name="BATT5_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="3">Analog Voltage Only</value>
+<value code="4">Analog Voltage and Current</value>
+<value code="5">Solo</value>
+<value code="6">Bebop</value>
+<value code="7">SMBus-Maxell</value>
+<value code="8">UAVCAN-BatteryInfo</value>
+<value code="9">BLHeli ESC</value>
+<value code="10">SumOfFollowing</value>
+<value code="11">FuelFlow</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Voltage sensing pin" name="BATT5_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 13">Pixhawk2_PM2</value>
+<value code=" 100">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Current sensing pin" name="BATT5_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 14">Pixhawk2_PM2</value>
+<value code=" 101">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Voltage Multiplier" name="BATT5_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+<param humanName="Amps per volt" name="BATT5_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+<field name="Units">A/V</field>
+<field name="UnitText">ampere per volt</field>
+</param>
+<param humanName="AMP offset" name="BATT5_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery capacity" name="BATT5_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Maximum allowed power (Watts)" name="BATT5_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">W</field>
+<field name="UnitText">watt</field>
+</param>
+<param humanName="Battery serial number" name="BATT5_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+<param humanName="Low voltage timeout" name="BATT5_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+<field name="Range">0 120</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Failsafe voltage source" name="BATT5_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+<values>
+<value code="0">Raw Voltage</value>
+<value code=" 1">Sag Compensated Voltage</value>
+</values>
+</param>
+<param humanName="Low battery voltage" name="BATT5_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Low battery capacity" name="BATT5_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Critical battery voltage" name="BATT5_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery critical capacity" name="BATT5_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5__FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Low battery failsafe action" name="BATT5_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Critical battery failsafe action" name="BATT5_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Required arming voltage" name="BATT5_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Required arming remaining capacity" name="BATT5_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT5__ARM_VOLT parameter." user="Advanced">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+</parameters>
+<parameters name="BATT6_">
+<param humanName="Battery monitoring" name="BATT6_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="3">Analog Voltage Only</value>
+<value code="4">Analog Voltage and Current</value>
+<value code="5">Solo</value>
+<value code="6">Bebop</value>
+<value code="7">SMBus-Maxell</value>
+<value code="8">UAVCAN-BatteryInfo</value>
+<value code="9">BLHeli ESC</value>
+<value code="10">SumOfFollowing</value>
+<value code="11">FuelFlow</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Voltage sensing pin" name="BATT6_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 13">Pixhawk2_PM2</value>
+<value code=" 100">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Current sensing pin" name="BATT6_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 14">Pixhawk2_PM2</value>
+<value code=" 101">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Voltage Multiplier" name="BATT6_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+<param humanName="Amps per volt" name="BATT6_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+<field name="Units">A/V</field>
+<field name="UnitText">ampere per volt</field>
+</param>
+<param humanName="AMP offset" name="BATT6_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery capacity" name="BATT6_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Maximum allowed power (Watts)" name="BATT6_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">W</field>
+<field name="UnitText">watt</field>
+</param>
+<param humanName="Battery serial number" name="BATT6_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+<param humanName="Low voltage timeout" name="BATT6_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+<field name="Range">0 120</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Failsafe voltage source" name="BATT6_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+<values>
+<value code="0">Raw Voltage</value>
+<value code=" 1">Sag Compensated Voltage</value>
+</values>
+</param>
+<param humanName="Low battery voltage" name="BATT6_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Low battery capacity" name="BATT6_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Critical battery voltage" name="BATT6_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery critical capacity" name="BATT6_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6__FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Low battery failsafe action" name="BATT6_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Critical battery failsafe action" name="BATT6_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Required arming voltage" name="BATT6_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Required arming remaining capacity" name="BATT6_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT6__ARM_VOLT parameter." user="Advanced">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+</parameters>
+<parameters name="BATT7_">
+<param humanName="Battery monitoring" name="BATT7_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="3">Analog Voltage Only</value>
+<value code="4">Analog Voltage and Current</value>
+<value code="5">Solo</value>
+<value code="6">Bebop</value>
+<value code="7">SMBus-Maxell</value>
+<value code="8">UAVCAN-BatteryInfo</value>
+<value code="9">BLHeli ESC</value>
+<value code="10">SumOfFollowing</value>
+<value code="11">FuelFlow</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Voltage sensing pin" name="BATT7_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 13">Pixhawk2_PM2</value>
+<value code=" 100">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Current sensing pin" name="BATT7_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 14">Pixhawk2_PM2</value>
+<value code=" 101">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Voltage Multiplier" name="BATT7_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+<param humanName="Amps per volt" name="BATT7_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+<field name="Units">A/V</field>
+<field name="UnitText">ampere per volt</field>
+</param>
+<param humanName="AMP offset" name="BATT7_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery capacity" name="BATT7_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Maximum allowed power (Watts)" name="BATT7_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">W</field>
+<field name="UnitText">watt</field>
+</param>
+<param humanName="Battery serial number" name="BATT7_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+<param humanName="Low voltage timeout" name="BATT7_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+<field name="Range">0 120</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Failsafe voltage source" name="BATT7_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+<values>
+<value code="0">Raw Voltage</value>
+<value code=" 1">Sag Compensated Voltage</value>
+</values>
+</param>
+<param humanName="Low battery voltage" name="BATT7_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Low battery capacity" name="BATT7_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Critical battery voltage" name="BATT7_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery critical capacity" name="BATT7_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7__FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Low battery failsafe action" name="BATT7_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Critical battery failsafe action" name="BATT7_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Required arming voltage" name="BATT7_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Required arming remaining capacity" name="BATT7_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT7__ARM_VOLT parameter." user="Advanced">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+</parameters>
+<parameters name="BATT8_">
+<param humanName="Battery monitoring" name="BATT8_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="3">Analog Voltage Only</value>
+<value code="4">Analog Voltage and Current</value>
+<value code="5">Solo</value>
+<value code="6">Bebop</value>
+<value code="7">SMBus-Maxell</value>
+<value code="8">UAVCAN-BatteryInfo</value>
+<value code="9">BLHeli ESC</value>
+<value code="10">SumOfFollowing</value>
+<value code="11">FuelFlow</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Voltage sensing pin" name="BATT8_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 13">Pixhawk2_PM2</value>
+<value code=" 100">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Current sensing pin" name="BATT8_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 14">Pixhawk2_PM2</value>
+<value code=" 101">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Voltage Multiplier" name="BATT8_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+<param humanName="Amps per volt" name="BATT8_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+<field name="Units">A/V</field>
+<field name="UnitText">ampere per volt</field>
+</param>
+<param humanName="AMP offset" name="BATT8_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery capacity" name="BATT8_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Maximum allowed power (Watts)" name="BATT8_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">W</field>
+<field name="UnitText">watt</field>
+</param>
+<param humanName="Battery serial number" name="BATT8_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+<param humanName="Low voltage timeout" name="BATT8_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+<field name="Range">0 120</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Failsafe voltage source" name="BATT8_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+<values>
+<value code="0">Raw Voltage</value>
+<value code=" 1">Sag Compensated Voltage</value>
+</values>
+</param>
+<param humanName="Low battery voltage" name="BATT8_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Low battery capacity" name="BATT8_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Critical battery voltage" name="BATT8_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery critical capacity" name="BATT8_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8__FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Low battery failsafe action" name="BATT8_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Critical battery failsafe action" name="BATT8_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Required arming voltage" name="BATT8_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Required arming remaining capacity" name="BATT8_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT8__ARM_VOLT parameter." user="Advanced">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+</parameters>
+<parameters name="BATT9_">
+<param humanName="Battery monitoring" name="BATT9_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="3">Analog Voltage Only</value>
+<value code="4">Analog Voltage and Current</value>
+<value code="5">Solo</value>
+<value code="6">Bebop</value>
+<value code="7">SMBus-Maxell</value>
+<value code="8">UAVCAN-BatteryInfo</value>
+<value code="9">BLHeli ESC</value>
+<value code="10">SumOfFollowing</value>
+<value code="11">FuelFlow</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Voltage sensing pin" name="BATT9_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 13">Pixhawk2_PM2</value>
+<value code=" 100">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Current sensing pin" name="BATT9_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 14">Pixhawk2_PM2</value>
+<value code=" 101">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Voltage Multiplier" name="BATT9_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+<param humanName="Amps per volt" name="BATT9_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+<field name="Units">A/V</field>
+<field name="UnitText">ampere per volt</field>
+</param>
+<param humanName="AMP offset" name="BATT9_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery capacity" name="BATT9_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Maximum allowed power (Watts)" name="BATT9_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">W</field>
+<field name="UnitText">watt</field>
+</param>
+<param humanName="Battery serial number" name="BATT9_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+<param humanName="Low voltage timeout" name="BATT9_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+<field name="Range">0 120</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Failsafe voltage source" name="BATT9_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+<values>
+<value code="0">Raw Voltage</value>
+<value code=" 1">Sag Compensated Voltage</value>
+</values>
+</param>
+<param humanName="Low battery voltage" name="BATT9_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Low battery capacity" name="BATT9_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Critical battery voltage" name="BATT9_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery critical capacity" name="BATT9_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9__FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Low battery failsafe action" name="BATT9_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Critical battery failsafe action" name="BATT9_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Required arming voltage" name="BATT9_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Required arming remaining capacity" name="BATT9_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT9__ARM_VOLT parameter." user="Advanced">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+</parameters>
+<parameters name="BATT_">
+<param humanName="Battery monitoring" name="BATT_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="3">Analog Voltage Only</value>
+<value code="4">Analog Voltage and Current</value>
+<value code="5">Solo</value>
+<value code="6">Bebop</value>
+<value code="7">SMBus-Maxell</value>
+<value code="8">UAVCAN-BatteryInfo</value>
+<value code="9">BLHeli ESC</value>
+<value code="10">SumOfFollowing</value>
+<value code="11">FuelFlow</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Voltage sensing pin" name="BATT_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 13">Pixhawk2_PM2</value>
+<value code=" 100">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Battery Current sensing pin" name="BATT_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
+<value code=" 14">Pixhawk2_PM2</value>
+<value code=" 101">PX4-v1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Voltage Multiplier" name="BATT_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
+</param>
+<param humanName="Amps per volt" name="BATT_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
+<field name="Units">A/V</field>
+<field name="UnitText">ampere per volt</field>
+</param>
+<param humanName="AMP offset" name="BATT_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery capacity" name="BATT_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Maximum allowed power (Watts)" name="BATT_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
+<field name="Increment">1</field>
+<field name="Units">W</field>
+<field name="UnitText">watt</field>
+</param>
+<param humanName="Battery serial number" name="BATT_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
+</param>
+<param humanName="Low voltage timeout" name="BATT_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
+<field name="Range">0 120</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Failsafe voltage source" name="BATT_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
+<values>
+<value code="0">Raw Voltage</value>
+<value code=" 1">Sag Compensated Voltage</value>
+</values>
+</param>
+<param humanName="Low battery voltage" name="BATT_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Low battery capacity" name="BATT_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Critical battery voltage" name="BATT_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Battery critical capacity" name="BATT_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT__FS_CRT_ACT parameter." user="Standard">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+<param humanName="Low battery failsafe action" name="BATT_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Critical battery failsafe action" name="BATT_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">RTL</value>
+<value code="2">Hold</value>
+<value code="3">SmartRTL</value>
+<value code="4">SmartRTL or Hold</value>
+<value code="5">Terminate</value>
+</values>
+</param>
+<param humanName="Required arming voltage" name="BATT_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Required arming remaining capacity" name="BATT_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT__ARM_VOLT parameter." user="Advanced">
+<field name="Increment">50</field>
+<field name="Units">mAh</field>
+<field name="UnitText">milliampere hour</field>
+</param>
+</parameters>
+<parameters name="BCN">
+<param humanName="Beacon based position estimation device type" name="BCN_TYPE" documentation="What type of beacon based position estimation device is connected" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">Pozyx</value>
+<value code="2">Marvelmind</value>
+</values>
+</param>
+<param humanName="Beacon origin's latitude" name="BCN_LATITUDE" documentation="Beacon origin's latitude" user="Advanced">
+<field name="Range">-90 90</field>
+<field name="Increment">0.000001</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Beacon origin's longitude" name="BCN_LONGITUDE" documentation="Beacon origin's longitude" user="Advanced">
+<field name="Range">-180 180</field>
+<field name="Increment">0.000001</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Beacon origin's altitude above sealevel in meters" name="BCN_ALT" documentation="Beacon origin's altitude above sealevel in meters" user="Advanced">
+<field name="Range">0 10000</field>
+<field name="Increment">1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Beacon systems rotation from north in degrees" name="BCN_ORIENT_YAW" documentation="Beacon systems rotation from north in degrees" user="Advanced">
+<field name="Range">-180 +180</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+</parameters>
+<parameters name="BRD_">
+<param humanName="Auxiliary pin config" name="BRD_PWM_COUNT" documentation="Controls number of FMU outputs which are setup for PWM. All unassigned pins can be used for GPIO" user="Advanced">
+<values>
+<value code="0">No PWMs</value>
+<value code="1">One PWMs</value>
+<value code="2">Two PWMs</value>
+<value code="3">Three PWMs</value>
+<value code="4">Four PWMs</value>
+<value code="5">Five PWMs</value>
+<value code="6">Six PWMs</value>
+<value code="7">Seven PWMs</value>
+<value code="8">Eight PWMs</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Serial 1 flow control" name="BRD_SER1_RTSCTS" documentation="Enable flow control on serial 1 (telemetry 1) on Pixhawk. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+<value code="2">Auto</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Serial 2 flow control" name="BRD_SER2_RTSCTS" documentation="Enable flow control on serial 2 (telemetry 2) on Pixhawk and STATE. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+<value code="2">Auto</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Enable use of safety arming switch" name="BRD_SAFETYENABLE" documentation="This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName=" SBUS output rate" name="BRD_SBUS_OUT" documentation="This sets the SBUS output frame rate in Hz" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">50Hz</value>
+<value code="2">75Hz</value>
+<value code="3">100Hz</value>
+<value code="4">150Hz</value>
+<value code="5">200Hz</value>
+<value code="6">250Hz</value>
+<value code="7">300Hz</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="User-defined serial number" name="BRD_SERIAL_NUM" documentation="User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot" user="Standard">
+<field name="Range">-32768 32767</field>
+</param>
+<param humanName="Channels which ignore the safety switch state" name="BRD_SAFETY_MASK" documentation="A bitmask which controls what channels can move while the safety switch has not been pressed" user="Advanced">
+<field name="Bitmask">0:Ch1,1:Ch2,2:Ch3,3:Ch4,4:Ch5,5:Ch6,6:Ch7,7:Ch8,8:Ch9,9:Ch10,10:Ch11,11:Ch12,12:Ch13,13:Ch14</field>
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Target IMU temperature" name="BRD_IMU_TARGTEMP" documentation="This sets the target IMU temperature for boards with controllable IMU heating units. DO NOT SET -1 on The Cube. A value of -1 sets PH1 behaviour " user="Advanced">
+<field name="Range">-1 80</field>
+<field name="Units">degC</field>
+<field name="UnitText">degrees Celsius</field>
+</param>
+<param humanName="Board type" name="BRD_TYPE" documentation="This allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4)" user="Advanced">
+<values>
+<value code="0">AUTO</value>
+<value code="1">PX4V1</value>
+<value code="2">Pixhawk</value>
+<value code="3">Cube/Pixhawk2</value>
+<value code="4">Pixracer</value>
+<value code="5">PixhawkMini</value>
+<value code="6">Pixhawk2Slim</value>
+<value code="7">VRBrain 5.1</value>
+<value code="8">VRBrain 5.2</value>
+<value code="9">VR Micro Brain 5.1</value>
+<value code="10">VR Micro Brain 5.2</value>
+<value code="11">VRBrain Core 1.0</value>
+<value code="12">VRBrain 5.4</value>
+<value code="13">Intel Aero FC</value>
+<value code="20">AUAV2.1</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Enable IO co-processor" name="BRD_IO_ENABLE" documentation="This allows for the IO co-processor on FMUv1 and FMUv2 to be disabled" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Options for safety button behavior" name="BRD_SAFETYOPTION" documentation="This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed" user="Standard">
+<field name="Bitmask">0:ActiveForSafetyEnable,1:ActiveForSafetyDisable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms</field>
+</param>
+<param humanName="Autopilot board voltage requirement" name="BRD_VBUS_MIN" documentation="Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check." user="Advanced">
+<field name="Range">4.0 5.5</field>
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="Servo voltage requirement" name="BRD_VSERVO_MIN" documentation="Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check." user="Advanced">
+<field name="Range">3.3 12.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">V</field>
+<field name="UnitText">volt</field>
+</param>
+<param humanName="microSD slowdown" name="BRD_SD_SLOWDOWN" documentation="This is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used." user="Advanced">
+<field name="Range">0 32</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Set PWM Out Voltage" name="BRD_PWM_VOLT_SEL" documentation="This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output." user="Advanced">
+<values>
+<value code="0">3.3V</value>
+<value code="1">5V</value>
+</values>
+</param>
+<param humanName="Board options" name="BRD_OPTIONS" documentation="Board specific option flags" user="Advanced">
+<field name="Bitmask">0:Enable hardware watchdog</field>
+</param>
+</parameters>
+<parameters name="BRD_RADIO">
+<param humanName="Set type of direct attached radio" name="BRD_RADIO_TYPE" documentation="This enables support for direct attached radio receivers" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">CYRF6936</value>
+</values>
+</param>
+<param humanName="protocol" name="BRD_RADIO_PROT" documentation="Select air protocol" user="Advanced">
+<values>
+<value code="0">Auto</value>
+<value code="1">DSM2</value>
+<value code="2">DSMX</value>
+</values>
+</param>
+<param humanName="debug level" name="BRD_RADIO_DEBUG" documentation="radio debug level" user="Advanced">
+<field name="Range">0 4</field>
+</param>
+<param humanName="disable receive CRC" name="BRD_RADIO_DISCRC" documentation="disable receive CRC (for debug)" user="Advanced">
+<values>
+<value code="0">NotDisabled</value>
+<value code="1">Disabled</value>
+</values>
+</param>
+<param humanName="RSSI signal strength" name="BRD_RADIO_SIGCH" documentation="Channel to show receive RSSI signal strength, or zero for disabled" user="Advanced">
+<field name="Range">0 16</field>
+</param>
+<param humanName="Packet rate channel" name="BRD_RADIO_PPSCH" documentation="Channel to show received packet-per-second rate, or zero for disabled" user="Advanced">
+<field name="Range">0 16</field>
+</param>
+<param humanName="Enable telemetry" name="BRD_RADIO_TELEM" documentation="If this is non-zero then telemetry packets will be sent over DSM" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Telemetry Transmit power" name="BRD_RADIO_TXPOW" documentation="Set telemetry transmit power. This is the power level (from 1 to 8) for telemetry packets sent from the RX to the TX" user="Advanced">
+<field name="Range">1 8</field>
+</param>
+<param humanName="Put radio into FCC test mode" name="BRD_RADIO_FCCTST" documentation="If this is enabled then the radio will continuously transmit as required for FCC testing. The transmit channel is set by the value of the parameter. The radio will not work for RC input while this is enabled" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">MinChannel</value>
+<value code="2">MidChannel</value>
+<value code="3">MaxChannel</value>
+<value code="4">MinChannelCW</value>
+<value code="5">MidChannelCW</value>
+<value code="6">MaxChannelCW</value>
+</values>
+</param>
+<param humanName="Stick input mode" name="BRD_RADIO_STKMD" documentation="This selects between different stick input modes. The default is mode2, which has throttle on the left stick and pitch on the right stick. You can instead set mode1, which has throttle on the right stick and pitch on the left stick." user="Advanced">
+<values>
+<value code="1">Mode1</value>
+<value code="2">Mode2</value>
+</values>
+</param>
+<param humanName="Set radio to factory test channel" name="BRD_RADIO_TESTCH" documentation="This sets the radio to a fixed test channel for factory testing. Using a fixed channel avoids the need for binding in factory testing." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">TestChan1</value>
+<value code="2">TestChan2</value>
+<value code="3">TestChan3</value>
+<value code="4">TestChan4</value>
+<value code="5">TestChan5</value>
+<value code="6">TestChan6</value>
+<value code="7">TestChan7</value>
+<value code="8">TestChan8</value>
+</values>
+</param>
+<param humanName="RSSI value channel for telemetry data on transmitter" name="BRD_RADIO_TSIGCH" documentation="Channel to show telemetry RSSI value as received by TX" user="Advanced">
+<field name="Range">0 16</field>
+</param>
+<param humanName="Telemetry PPS channel" name="BRD_RADIO_TPPSCH" documentation="Channel to show telemetry packets-per-second value, as received at TX" user="Advanced">
+<field name="Range">0 16</field>
+</param>
+<param humanName="Transmitter transmit power" name="BRD_RADIO_TXMAX" documentation="Set transmitter maximum transmit power (from 1 to 8)" user="Advanced">
+<field name="Range">1 8</field>
+</param>
+<param humanName="Transmitter buzzer adjustment" name="BRD_RADIO_BZOFS" documentation="Set transmitter buzzer note adjustment (adjust frequency up)" user="Advanced">
+<field name="Range">0 40</field>
+</param>
+<param humanName="Auto-bind time" name="BRD_RADIO_ABTIME" documentation="When non-zero this sets the time with no transmitter packets before we start looking for auto-bind packets." user="Advanced">
+<field name="Range">0 120</field>
+</param>
+<param humanName="Auto-bind level" name="BRD_RADIO_ABLVL" documentation="This sets the minimum RSSI of an auto-bind packet for it to be accepted. This should be set so that auto-bind will only happen at short range to minimise the change of an auto-bind happening accidentially" user="Advanced">
+<field name="Range">0 31</field>
+</param>
+</parameters>
+<parameters name="BRD_RTC">
+<param humanName="Allowed sources of RTC time" name="BRD_RTC_TYPES" documentation="Specifies which sources of UTC time will be accepted" user="Advanced">
+<field name="Bitmask">0:GPS,1:MAVLINK_SYSTEM_TIME,2:HW</field>
+</param>
+</parameters>
+<parameters name="BTN_">
+<param humanName="Enable button reporting" name="BTN_ENABLE" documentation="This enables the button checking module. When this is disabled the parameters for setting button inputs are not visible" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code=" 1">Enabled</value>
+</values>
+</param>
+<param humanName="First button Pin" name="BTN_PIN1" documentation="Digital pin number for first button input. " user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">AUXOUT1</value>
+<value code="51">AUXOUT2</value>
+<value code="52">AUXOUT3</value>
+<value code="53">AUXOUT4</value>
+<value code="54">AUXOUT5</value>
+<value code="55">AUXOUT6</value>
+</values>
+</param>
+<param humanName="Second button Pin" name="BTN_PIN2" documentation="Digital pin number for second button input. " user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">AUXOUT1</value>
+<value code="51">AUXOUT2</value>
+<value code="52">AUXOUT3</value>
+<value code="53">AUXOUT4</value>
+<value code="54">AUXOUT5</value>
+<value code="55">AUXOUT6</value>
+</values>
+</param>
+<param humanName="Third button Pin" name="BTN_PIN3" documentation="Digital pin number for third button input. " user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">AUXOUT1</value>
+<value code="51">AUXOUT2</value>
+<value code="52">AUXOUT3</value>
+<value code="53">AUXOUT4</value>
+<value code="54">AUXOUT5</value>
+<value code="55">AUXOUT6</value>
+</values>
+</param>
+<param humanName="Fourth button Pin" name="BTN_PIN4" documentation="Digital pin number for fourth button input. " user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">AUXOUT1</value>
+<value code="51">AUXOUT2</value>
+<value code="52">AUXOUT3</value>
+<value code="53">AUXOUT4</value>
+<value code="54">AUXOUT5</value>
+<value code="55">AUXOUT6</value>
+</values>
+</param>
+<param humanName="Report send time" name="BTN_REPORT_SEND" documentation="The duration in seconds that a BUTTON_CHANGE report is repeatedly sent to the GCS regarding a button changing state. Note that the BUTTON_CHANGE message is MAVLink2 only." user="Standard">
+<field name="Range">0 3600</field>
+</param>
+</parameters>
+<parameters name="CAM_">
+<param humanName="Camera shutter (trigger) type" name="CAM_TRIGG_TYPE" documentation="how to trigger the camera to take a picture" user="Standard">
+<values>
+<value code="0">Servo</value>
+<value code="1">Relay</value>
+</values>
+</param>
+<param humanName="Duration that shutter is held open" name="CAM_DURATION" documentation="How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)" user="Standard">
+<field name="Range">0 50</field>
+<field name="Units">ds</field>
+<field name="UnitText">deciseconds</field>
+</param>
+<param humanName="Servo ON PWM value" name="CAM_SERVO_ON" documentation="PWM value in microseconds to move servo to when shutter is activated" user="Standard">
+<field name="Range">1000 2000</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Servo OFF PWM value" name="CAM_SERVO_OFF" documentation="PWM value in microseconds to move servo to when shutter is deactivated" user="Standard">
+<field name="Range">1000 2000</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Camera trigger distance" name="CAM_TRIGG_DIST" documentation="Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the GPS position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight." user="Standard">
+<field name="Range">0 1000</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Relay ON value" name="CAM_RELAY_ON" documentation="This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera" user="Standard">
+<values>
+<value code="0">Low</value>
+<value code="1">High</value>
+</values>
+</param>
+<param humanName="Minimum time between photos" name="CAM_MIN_INTERVAL" documentation="Postpone shooting if previous picture was taken less than preset time(ms) ago." user="Standard">
+<field name="Range">0 10000</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+</param>
+<param humanName="Maximum photo roll angle." name="CAM_MAX_ROLL" documentation="Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll)." user="Standard">
+<field name="Range">0 180</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Camera feedback pin" name="CAM_FEEDBACK_PIN" documentation="pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. See also the CAM_FEEDBACK_POL option." user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="50">AUX1</value>
+<value code="51">AUX2</value>
+<value code="52">AUX3</value>
+<value code="53">AUX4</value>
+<value code="54">AUX5</value>
+<value code="55">AUX6</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Camera feedback pin polarity" name="CAM_FEEDBACK_POL" documentation="Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low" user="Standard">
+<values>
+<value code="0">TriggerLow</value>
+<value code="1">TriggerHigh</value>
+</values>
+</param>
+<param humanName="Distance-trigging in AUTO mode only" name="CAM_AUTO_ONLY" documentation="When enabled, trigging by distance is done in AUTO mode only." user="Standard">
+<values>
+<value code="0">Always</value>
+<value code="1">Only when in AUTO</value>
+</values>
+</param>
+<param humanName="Type of camera (0: None, 1: BMMCC)" name="CAM_TYPE" documentation="Set the camera type that is being used, certain cameras have custom functions that need further configuration, this enables that." user="Standard">
+<values>
+<value code="0">Default</value>
+<value code="1">BMMCC</value>
+</values>
+</param>
+</parameters>
+<parameters name="CAN_D1_">
+<param humanName="Enable use of specific protocol over virtual driver" name="CAN_D1_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">UAVCAN</value>
+<value code="2">KDECAN</value>
+<value code="3">ToshibaCAN</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+</parameters>
+<parameters name="CAN_D1_KDE_">
+<param humanName="Number of motor poles" name="CAN_D1_KDE_NPOLE" documentation="Sets the number of motor poles to calculate the correct RPM value">
+</param>
+</parameters>
+<parameters name="CAN_D1_UC_">
+<param humanName="UAVCAN node that is used for this network" name="CAN_D1_UC_NODE" documentation="UAVCAN node should be set implicitly" user="Advanced">
+<field name="Range">1 250</field>
+</param>
+<param humanName="RC Out channels to be transmitted as servo over UAVCAN" name="CAN_D1_UC_SRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over UAVCAN" user="Advanced">
+<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</field>
+</param>
+<param humanName="RC Out channels to be transmitted as ESC over UAVCAN" name="CAN_D1_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN" user="Advanced">
+<field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
+</param>
+<param humanName="Servo output rate" name="CAN_D1_UC_SRV_RT" documentation="Maximum transmit rate for servo outputs" user="Advanced">
+<field name="Range">1 200</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+</parameters>
+<parameters name="CAN_D2_">
+<param humanName="Enable use of specific protocol over virtual driver" name="CAN_D2_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">UAVCAN</value>
+<value code="2">KDECAN</value>
+<value code="3">ToshibaCAN</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+</parameters>
+<parameters name="CAN_D2_KDE_">
+<param humanName="Number of motor poles" name="CAN_D2_KDE_NPOLE" documentation="Sets the number of motor poles to calculate the correct RPM value">
+</param>
+</parameters>
+<parameters name="CAN_D2_UC_">
+<param humanName="UAVCAN node that is used for this network" name="CAN_D2_UC_NODE" documentation="UAVCAN node should be set implicitly" user="Advanced">
+<field name="Range">1 250</field>
+</param>
+<param humanName="RC Out channels to be transmitted as servo over UAVCAN" name="CAN_D2_UC_SRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over UAVCAN" user="Advanced">
+<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</field>
+</param>
+<param humanName="RC Out channels to be transmitted as ESC over UAVCAN" name="CAN_D2_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN" user="Advanced">
+<field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
+</param>
+<param humanName="Servo output rate" name="CAN_D2_UC_SRV_RT" documentation="Maximum transmit rate for servo outputs" user="Advanced">
+<field name="Range">1 200</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+</parameters>
+<parameters name="CAN_D3_">
+<param humanName="Enable use of specific protocol over virtual driver" name="CAN_D3_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">UAVCAN</value>
+<value code="2">KDECAN</value>
+<value code="3">ToshibaCAN</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+</parameters>
+<parameters name="CAN_D3_KDE_">
+<param humanName="Number of motor poles" name="CAN_D3_KDE_NPOLE" documentation="Sets the number of motor poles to calculate the correct RPM value">
+</param>
+</parameters>
+<parameters name="CAN_D3_UC_">
+<param humanName="UAVCAN node that is used for this network" name="CAN_D3_UC_NODE" documentation="UAVCAN node should be set implicitly" user="Advanced">
+<field name="Range">1 250</field>
+</param>
+<param humanName="RC Out channels to be transmitted as servo over UAVCAN" name="CAN_D3_UC_SRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over UAVCAN" user="Advanced">
+<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</field>
+</param>
+<param humanName="RC Out channels to be transmitted as ESC over UAVCAN" name="CAN_D3_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN" user="Advanced">
+<field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
+</param>
+<param humanName="Servo output rate" name="CAN_D3_UC_SRV_RT" documentation="Maximum transmit rate for servo outputs" user="Advanced">
+<field name="Range">1 200</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+</parameters>
+<parameters name="CAN_P1_">
+<param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P1_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">First driver</value>
+<value code="2">Second driver</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Bitrate of CAN interface" name="CAN_P1_BITRATE" documentation="Bit rate can be set up to from 10000 to 1000000" user="Advanced">
+<field name="Range">10000 1000000</field>
+</param>
+<param humanName="Level of debug for CAN devices" name="CAN_P1_DEBUG" documentation="Enabling this option will provide debug messages" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Major messages</value>
+<value code="2">All messages</value>
+</values>
+</param>
+</parameters>
+<parameters name="CAN_P2_">
+<param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P2_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">First driver</value>
+<value code="2">Second driver</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Bitrate of CAN interface" name="CAN_P2_BITRATE" documentation="Bit rate can be set up to from 10000 to 1000000" user="Advanced">
+<field name="Range">10000 1000000</field>
+</param>
+<param humanName="Level of debug for CAN devices" name="CAN_P2_DEBUG" documentation="Enabling this option will provide debug messages" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Major messages</value>
+<value code="2">All messages</value>
+</values>
+</param>
+</parameters>
+<parameters name="CAN_P3_">
+<param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P3_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">First driver</value>
+<value code="2">Second driver</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Bitrate of CAN interface" name="CAN_P3_BITRATE" documentation="Bit rate can be set up to from 10000 to 1000000" user="Advanced">
+<field name="Range">10000 1000000</field>
+</param>
+<param humanName="Level of debug for CAN devices" name="CAN_P3_DEBUG" documentation="Enabling this option will provide debug messages" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Major messages</value>
+<value code="2">All messages</value>
+</values>
+</param>
+</parameters>
+<parameters name="CAN_SLCAN_">
+<param humanName="SLCAN Route" name="CAN_SLCAN_CPORT" documentation="CAN Driver ID to be routed to SLCAN, 0 means no routing" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">First driver</value>
+<value code="2">Second driver</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="SLCAN Serial Port" name="CAN_SLCAN_SERNUM" documentation="Serial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial. This parameter is automatically reset on reboot or on timeout. See CAN_SLCAN_TIMOUT for timeout details" user="Standard">
+<values>
+<value code="-1">Disabled</value>
+<value code="0">Serial0</value>
+<value code="1">Serial1</value>
+<value code="2">Serial2</value>
+<value code="3">Serial3</value>
+<value code="4">Serial4</value>
+<value code="5">Serial5</value>
+<value code="6">Serial6</value>
+</values>
+</param>
+<param humanName="SLCAN Timeout" name="CAN_SLCAN_TIMOUT" documentation="Duration of inactivity after which SLCAN is switched back to original protocol in seconds." user="Standard">
+<field name="Range">0 32767</field>
+</param>
+</parameters>
+<parameters name="COMPASS_">
+<param humanName="Compass offsets in milligauss on the X axis" name="COMPASS_OFS_X" documentation="Offset to be added to the compass x-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Compass offsets in milligauss on the Y axis" name="COMPASS_OFS_Y" documentation="Offset to be added to the compass y-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Compass offsets in milligauss on the Z axis" name="COMPASS_OFS_Z" documentation="Offset to be added to the compass z-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Compass declination" name="COMPASS_DEC" documentation="An angle to compensate between the true north and magnetic north" user="Standard">
+<field name="Range">-3.142 3.142</field>
+<field name="Increment">0.01</field>
+<field name="Units">rad</field>
+<field name="UnitText">radians</field>
+</param>
+<param humanName="Learn compass offsets automatically" name="COMPASS_LEARN" documentation="Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Internal-Learning</value>
+<value code="2">EKF-Learning</value>
+<value code="3">InFlight-Learning</value>
+</values>
+</param>
+<param humanName="Use compass for yaw" name="COMPASS_USE" documentation="Enable or disable the use of the compass (instead of the GPS) for determining heading" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Auto Declination" name="COMPASS_AUTODEC" documentation="Enable or disable the automatic calculation of the declination based on gps location" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Motor interference compensation type" name="COMPASS_MOTCT" documentation="Set motor interference compensation type to disabled, throttle or current.  Do not change manually." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Use Throttle</value>
+<value code="2">Use Current</value>
+</values>
+</param>
+<param humanName="Motor interference compensation for body frame X axis" name="COMPASS_MOT_X" documentation="Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Motor interference compensation for body frame Y axis" name="COMPASS_MOT_Y" documentation="Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Motor interference compensation for body frame Z axis" name="COMPASS_MOT_Z" documentation="Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Compass orientation" name="COMPASS_ORIENT" documentation="The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used." user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">Yaw45</value>
+<value code="2">Yaw90</value>
+<value code="3">Yaw135</value>
+<value code="4">Yaw180</value>
+<value code="5">Yaw225</value>
+<value code="6">Yaw270</value>
+<value code="7">Yaw315</value>
+<value code="8">Roll180</value>
+<value code="9">Roll180Yaw45</value>
+<value code="10">Roll180Yaw90</value>
+<value code="11">Roll180Yaw135</value>
+<value code="12">Pitch180</value>
+<value code="13">Roll180Yaw225</value>
+<value code="14">Roll180Yaw270</value>
+<value code="15">Roll180Yaw315</value>
+<value code="16">Roll90</value>
+<value code="17">Roll90Yaw45</value>
+<value code="18">Roll90Yaw90</value>
+<value code="19">Roll90Yaw135</value>
+<value code="20">Roll270</value>
+<value code="21">Roll270Yaw45</value>
+<value code="22">Roll270Yaw90</value>
+<value code="23">Roll270Yaw135</value>
+<value code="24">Pitch90</value>
+<value code="25">Pitch270</value>
+<value code="26">Pitch180Yaw90</value>
+<value code="27">Pitch180Yaw270</value>
+<value code="28">Roll90Pitch90</value>
+<value code="29">Roll180Pitch90</value>
+<value code="30">Roll270Pitch90</value>
+<value code="31">Roll90Pitch180</value>
+<value code="32">Roll270Pitch180</value>
+<value code="33">Roll90Pitch270</value>
+<value code="34">Roll180Pitch270</value>
+<value code="35">Roll270Pitch270</value>
+<value code="36">Roll90Pitch180Yaw90</value>
+<value code="37">Roll90Yaw270</value>
+<value code="38">Yaw293Pitch68Roll180</value>
+<value code="39">Pitch315</value>
+<value code="40">Roll90Pitch315</value>
+</values>
+</param>
+<param humanName="Compass is attached via an external cable" name="COMPASS_EXTERNAL" documentation="Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
+<values>
+<value code="0">Internal</value>
+<value code="1">External</value>
+<value code="2">ForcedExternal</value>
+</values>
+</param>
+<param humanName="Compass2 offsets in milligauss on the X axis" name="COMPASS_OFS2_X" documentation="Offset to be added to compass2's x-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Compass2 offsets in milligauss on the Y axis" name="COMPASS_OFS2_Y" documentation="Offset to be added to compass2's y-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Compass2 offsets in milligauss on the Z axis" name="COMPASS_OFS2_Z" documentation="Offset to be added to compass2's z-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Motor interference compensation to compass2 for body frame X axis" name="COMPASS_MOT2_X" documentation="Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Motor interference compensation to compass2 for body frame Y axis" name="COMPASS_MOT2_Y" documentation="Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Motor interference compensation to compass2 for body frame Z axis" name="COMPASS_MOT2_Z" documentation="Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Choose primary compass" name="COMPASS_PRIMARY" documentation="If more than one compass is available, this selects which compass is the primary. When external compasses are connected, they will be ordered first. NOTE: If no external compass is attached, this parameter is ignored." user="Advanced">
+<values>
+<value code="0">FirstCompass</value>
+<value code="1">SecondCompass</value>
+<value code="2">ThirdCompass</value>
+</values>
+</param>
+<param humanName="Compass3 offsets in milligauss on the X axis" name="COMPASS_OFS3_X" documentation="Offset to be added to compass3's x-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Compass3 offsets in milligauss on the Y axis" name="COMPASS_OFS3_Y" documentation="Offset to be added to compass3's y-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Compass3 offsets in milligauss on the Z axis" name="COMPASS_OFS3_Z" documentation="Offset to be added to compass3's z-axis values to compensate for metal in the frame" user="Advanced">
+<field name="Range">-400 400</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss</field>
+<field name="UnitText">milligauss</field>
+</param>
+<param humanName="Motor interference compensation to compass3 for body frame X axis" name="COMPASS_MOT3_X" documentation="Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Motor interference compensation to compass3 for body frame Y axis" name="COMPASS_MOT3_Y" documentation="Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Motor interference compensation to compass3 for body frame Z axis" name="COMPASS_MOT3_Z" documentation="Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
+<field name="Range">-1000 1000</field>
+<field name="Increment">1</field>
+<field name="Units">mGauss/A</field>
+<field name="UnitText">milligauss per ampere</field>
+</param>
+<param humanName="Compass device id" name="COMPASS_DEV_ID" documentation="Compass device id.  Automatically detected, do not set manually" user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="Compass2 device id" name="COMPASS_DEV_ID2" documentation="Second compass's device id.  Automatically detected, do not set manually" user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="Compass3 device id" name="COMPASS_DEV_ID3" documentation="Third compass's device id.  Automatically detected, do not set manually" user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="Compass2 used for yaw" name="COMPASS_USE2" documentation="Enable or disable the second compass for determining heading." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Compass2 orientation" name="COMPASS_ORIENT2" documentation="The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used." user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">Yaw45</value>
+<value code="2">Yaw90</value>
+<value code="3">Yaw135</value>
+<value code="4">Yaw180</value>
+<value code="5">Yaw225</value>
+<value code="6">Yaw270</value>
+<value code="7">Yaw315</value>
+<value code="8">Roll180</value>
+<value code="9">Roll180Yaw45</value>
+<value code="10">Roll180Yaw90</value>
+<value code="11">Roll180Yaw135</value>
+<value code="12">Pitch180</value>
+<value code="13">Roll180Yaw225</value>
+<value code="14">Roll180Yaw270</value>
+<value code="15">Roll180Yaw315</value>
+<value code="16">Roll90</value>
+<value code="17">Roll90Yaw45</value>
+<value code="18">Roll90Yaw90</value>
+<value code="19">Roll90Yaw135</value>
+<value code="20">Roll270</value>
+<value code="21">Roll270Yaw45</value>
+<value code="22">Roll270Yaw90</value>
+<value code="23">Roll270Yaw135</value>
+<value code="24">Pitch90</value>
+<value code="25">Pitch270</value>
+<value code="26">Pitch180Yaw90</value>
+<value code="27">Pitch180Yaw270</value>
+<value code="28">Roll90Pitch90</value>
+<value code="29">Roll180Pitch90</value>
+<value code="30">Roll270Pitch90</value>
+<value code="31">Roll90Pitch180</value>
+<value code="32">Roll270Pitch180</value>
+<value code="33">Roll90Pitch270</value>
+<value code="34">Roll180Pitch270</value>
+<value code="35">Roll270Pitch270</value>
+<value code="36">Roll90Pitch180Yaw90</value>
+<value code="37">Roll90Yaw270</value>
+<value code="38">Yaw293Pitch68Roll180</value>
+<value code="39">Pitch315</value>
+<value code="40">Roll90Pitch315</value>
+</values>
+</param>
+<param humanName="Compass2 is attached via an external cable" name="COMPASS_EXTERN2" documentation="Configure second compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
+<values>
+<value code="0">Internal</value>
+<value code="1">External</value>
+<value code="2">ForcedExternal</value>
+</values>
+</param>
+<param humanName="Compass3 used for yaw" name="COMPASS_USE3" documentation="Enable or disable the third compass for determining heading." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Compass3 orientation" name="COMPASS_ORIENT3" documentation="The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used." user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">Yaw45</value>
+<value code="2">Yaw90</value>
+<value code="3">Yaw135</value>
+<value code="4">Yaw180</value>
+<value code="5">Yaw225</value>
+<value code="6">Yaw270</value>
+<value code="7">Yaw315</value>
+<value code="8">Roll180</value>
+<value code="9">Roll180Yaw45</value>
+<value code="10">Roll180Yaw90</value>
+<value code="11">Roll180Yaw135</value>
+<value code="12">Pitch180</value>
+<value code="13">Roll180Yaw225</value>
+<value code="14">Roll180Yaw270</value>
+<value code="15">Roll180Yaw315</value>
+<value code="16">Roll90</value>
+<value code="17">Roll90Yaw45</value>
+<value code="18">Roll90Yaw90</value>
+<value code="19">Roll90Yaw135</value>
+<value code="20">Roll270</value>
+<value code="21">Roll270Yaw45</value>
+<value code="22">Roll270Yaw90</value>
+<value code="23">Roll270Yaw135</value>
+<value code="24">Pitch90</value>
+<value code="25">Pitch270</value>
+<value code="26">Pitch180Yaw90</value>
+<value code="27">Pitch180Yaw270</value>
+<value code="28">Roll90Pitch90</value>
+<value code="29">Roll180Pitch90</value>
+<value code="30">Roll270Pitch90</value>
+<value code="31">Roll90Pitch180</value>
+<value code="32">Roll270Pitch180</value>
+<value code="33">Roll90Pitch270</value>
+<value code="34">Roll180Pitch270</value>
+<value code="35">Roll270Pitch270</value>
+<value code="36">Roll90Pitch180Yaw90</value>
+<value code="37">Roll90Yaw270</value>
+<value code="38">Yaw293Pitch68Roll180</value>
+<value code="39">Pitch315</value>
+<value code="40">Roll90Pitch315</value>
+</values>
+</param>
+<param humanName="Compass3 is attached via an external cable" name="COMPASS_EXTERN3" documentation="Configure third compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
+<values>
+<value code="0">Internal</value>
+<value code="1">External</value>
+<value code="2">ForcedExternal</value>
+</values>
+</param>
+<param humanName="Compass soft-iron diagonal X component" name="COMPASS_DIA_X" documentation="DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass soft-iron diagonal Y component" name="COMPASS_DIA_Y" documentation="DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass soft-iron diagonal Z component" name="COMPASS_DIA_Z" documentation="DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass soft-iron off-diagonal X component" name="COMPASS_ODI_X" documentation="ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass soft-iron off-diagonal Y component" name="COMPASS_ODI_Y" documentation="ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass soft-iron off-diagonal Z component" name="COMPASS_ODI_Z" documentation="ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass2 soft-iron diagonal X component" name="COMPASS_DIA2_X" documentation="DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass2 soft-iron diagonal Y component" name="COMPASS_DIA2_Y" documentation="DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass2 soft-iron diagonal Z component" name="COMPASS_DIA2_Z" documentation="DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass2 soft-iron off-diagonal X component" name="COMPASS_ODI2_X" documentation="ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass2 soft-iron off-diagonal Y component" name="COMPASS_ODI2_Y" documentation="ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass2 soft-iron off-diagonal Z component" name="COMPASS_ODI2_Z" documentation="ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass3 soft-iron diagonal X component" name="COMPASS_DIA3_X" documentation="DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass3 soft-iron diagonal Y component" name="COMPASS_DIA3_Y" documentation="DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass3 soft-iron diagonal Z component" name="COMPASS_DIA3_Z" documentation="DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass3 soft-iron off-diagonal X component" name="COMPASS_ODI3_X" documentation="ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass3 soft-iron off-diagonal Y component" name="COMPASS_ODI3_Y" documentation="ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass3 soft-iron off-diagonal Z component" name="COMPASS_ODI3_Z" documentation="ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
+</param>
+<param humanName="Compass calibration fitness" name="COMPASS_CAL_FIT" documentation="This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value." user="Advanced">
+<field name="Range">4 32</field>
+<values>
+<value code="4">Very Strict</value>
+<value code="8">Strict</value>
+<value code="16">Default</value>
+<value code="32">Relaxed</value>
+</values>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="Compass maximum offset" name="COMPASS_OFFS_MAX" documentation="This sets the maximum allowed compass offset in calibration and arming checks" user="Advanced">
+<field name="Range">500 3000</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Compass disable driver type mask" name="COMPASS_TYPEMASK" documentation="This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup" user="Advanced">
+<field name="Bitmask">0:HMC5883,1:LSM303D,2:AK8963,3:BMM150,4:LSM9DS1,5:LIS3MDL,6:AK09916,7:IST8310,8:ICM20948,9:MMC3416,11:UAVCAN,12:QMC5883,14:MAG3110,15:IST8308</field>
+</param>
+<param humanName="Range in which sample is accepted" name="COMPASS_FLTR_RNG" documentation="This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.">
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Automatically check orientation" name="COMPASS_AUTO_ROT" documentation="When enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected.">
+<values>
+<value code="0">Disabled</value>
+<value code="1">CheckOnly</value>
+<value code="2">CheckAndFix</value>
+</values>
+</param>
+<param humanName="Compass device id expected" name="COMPASS_EXP_DID" documentation="The expected value of COMPASS_DEV_ID, used by arming checks. Setting this to -1 means &quot;don't care.&quot;" user="Advanced">
+</param>
+<param humanName="Compass2 device id expected" name="COMPASS_EXP_DID2" documentation="The expected value of COMPASS_DEV_ID2, used by arming checks. Setting this to -1 means &quot;don't care.&quot;" user="Advanced">
+</param>
+<param humanName="Compass3 device id expected" name="COMPASS_EXP_DID3" documentation="The expected value of COMPASS_DEV_ID3, used by arming checks. Setting this to -1 means &quot;don't care.&quot;" user="Advanced">
+</param>
+<param humanName="Enable Compass" name="COMPASS_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+</parameters>
+<parameters name="COMPASS_PMOT">
+<param humanName="per-motor compass correction enable" name="COMPASS_PMOT_EN" documentation="This enables per-motor compass corrections" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="per-motor exponential correction" name="COMPASS_PMOT_EXP" documentation="This is the exponential correction for the power output of the motor for per-motor compass correction" user="Advanced">
+<field name="Range">0 2</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Compass per-motor1 X" name="COMPASS_PMOT1_X" documentation="Compensation for X axis of motor1" user="Advanced">
+</param>
+<param humanName="Compass per-motor1 Y" name="COMPASS_PMOT1_Y" documentation="Compensation for Y axis of motor1" user="Advanced">
+</param>
+<param humanName="Compass per-motor1 Z" name="COMPASS_PMOT1_Z" documentation="Compensation for Z axis of motor1" user="Advanced">
+</param>
+<param humanName="Compass per-motor2 X" name="COMPASS_PMOT2_X" documentation="Compensation for X axis of motor2" user="Advanced">
+</param>
+<param humanName="Compass per-motor2 Y" name="COMPASS_PMOT2_Y" documentation="Compensation for Y axis of motor2" user="Advanced">
+</param>
+<param humanName="Compass per-motor2 Z" name="COMPASS_PMOT2_Z" documentation="Compensation for Z axis of motor2" user="Advanced">
+</param>
+<param humanName="Compass per-motor3 X" name="COMPASS_PMOT3_X" documentation="Compensation for X axis of motor3" user="Advanced">
+</param>
+<param humanName="Compass per-motor3 Y" name="COMPASS_PMOT3_Y" documentation="Compensation for Y axis of motor3" user="Advanced">
+</param>
+<param humanName="Compass per-motor3 Z" name="COMPASS_PMOT3_Z" documentation="Compensation for Z axis of motor3" user="Advanced">
+</param>
+<param humanName="Compass per-motor4 X" name="COMPASS_PMOT4_X" documentation="Compensation for X axis of motor4" user="Advanced">
+</param>
+<param humanName="Compass per-motor4 Y" name="COMPASS_PMOT4_Y" documentation="Compensation for Y axis of motor4" user="Advanced">
+</param>
+<param humanName="Compass per-motor4 Z" name="COMPASS_PMOT4_Z" documentation="Compensation for Z axis of motor4" user="Advanced">
+</param>
+</parameters>
+<parameters name="EK2_">
+<param humanName="Enable EKF2" name="EK2_ENABLE" documentation="This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code=" 1">Enabled</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="GPS mode control" name="EK2_GPS_TYPE" documentation="This controls use of GPS measurements : 0 = use 3D velocity &amp; 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors." user="Advanced">
+<values>
+<value code="0">GPS 3D Vel and 2D Pos</value>
+<value code=" 1">GPS 2D vel and 2D pos</value>
+<value code=" 2">GPS 2D pos</value>
+<value code=" 3">No GPS</value>
+</values>
+</param>
+<param humanName="GPS horizontal velocity measurement noise (m/s)" name="EK2_VELNE_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements." user="Advanced">
+<field name="Range">0.05 5.0</field>
+<field name="Increment">0.05</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="GPS vertical velocity measurement noise (m/s)" name="EK2_VELD_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements." user="Advanced">
+<field name="Range">0.05 5.0</field>
+<field name="Increment">0.05</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="GPS velocity innovation gate size" name="EK2_VEL_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="GPS horizontal position measurement noise (m)" name="EK2_POSNE_M_NSE" documentation="This sets the GPS horizontal position or external navigation system position observation noise. Increasing it reduces the weighting of GPS horizontal position or external navigation system position measurements." user="Advanced">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="GPS position measurement gate size" name="EK2_POS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="GPS glitch radius gate size (m)" name="EK2_GLITCH_RAD" documentation="This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position." user="Advanced">
+<field name="Range">10 100</field>
+<field name="Increment">5</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Primary altitude sensor source" name="EK2_ALT_SOURCE" documentation='Primary height sensor used by the EKF. If the selected option cannot be used, baro is used. 1 uses the range finder and only with optical flow navigation (EK2_GPS_TYPE = 3), Do not use "1" for terrain following. NOTE: the EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground.' user="Advanced">
+<values>
+<value code="0">Use Baro</value>
+<value code=" 1">Use Range Finder</value>
+<value code=" 2">Use GPS</value>
+<value code=" 3">Use Range Beacon</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Altitude measurement noise (m)" name="EK2_ALT_M_NSE" documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors." user="Advanced">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Height measurement gate size" name="EK2_HGT_I_GATE" documentation="This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Height measurement delay (msec)" name="EK2_HGT_DELAY" documentation="This is the number of msec that the Height measurements lag behind the inertial measurements." user="Advanced">
+<field name="Range">0 250</field>
+<field name="Increment">10</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Magnetometer measurement noise (Gauss)" name="EK2_MAG_M_NSE" documentation="This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
+<field name="Range">0.01 0.5</field>
+<field name="Increment">0.01</field>
+<field name="Units">Gauss</field>
+<field name="UnitText">gauss</field>
+</param>
+<param humanName="Magnetometer default fusion mode" name="EK2_MAG_CAL" documentation="This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK2_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK2_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK2_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK2_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter." user="Advanced">
+<values>
+<value code="0">When flying</value>
+<value code="1">When manoeuvring</value>
+<value code="2">Never</value>
+<value code="3">After first climb yaw reset</value>
+<value code="4">Always</value>
+</values>
+</param>
+<param humanName="Magnetometer measurement gate size" name="EK2_MAG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Equivalent airspeed measurement noise (m/s)" name="EK2_EAS_M_NSE" documentation="This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements." user="Advanced">
+<field name="Range">0.5 5.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Airspeed measurement gate size" name="EK2_EAS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Range finder measurement noise (m)" name="EK2_RNG_M_NSE" documentation="This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Range finder measurement gate size" name="EK2_RNG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Maximum valid optical flow rate" name="EK2_MAX_FLOW" documentation="This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter" user="Advanced">
+<field name="Range">1.0 4.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Optical flow measurement noise (rad/s)" name="EK2_FLOW_M_NSE" documentation="This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
+<field name="Range">0.05 1.0</field>
+<field name="Increment">0.05</field>
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Optical Flow measurement gate size" name="EK2_FLOW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Optical Flow measurement delay (msec)" name="EK2_FLOW_DELAY" documentation="This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
+<field name="Range">0 127</field>
+<field name="Increment">10</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Rate gyro noise (rad/s)" name="EK2_GYRO_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more." user="Advanced">
+<field name="Range">0.0001 0.1</field>
+<field name="Increment">0.0001</field>
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Accelerometer noise (m/s^2)" name="EK2_ACC_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more." user="Advanced">
+<field name="Range">0.01 1.0</field>
+<field name="Increment">0.01</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Rate gyro bias stability (rad/s/s)" name="EK2_GBIAS_P_NSE" documentation="This state  process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier." user="Advanced">
+<field name="Range">0.00001 0.001</field>
+<field name="Units">rad/s/s</field>
+<field name="UnitText">radians per square second</field>
+</param>
+<param humanName="Rate gyro scale factor stability (1/s)" name="EK2_GSCL_P_NSE" documentation="This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier." user="Advanced">
+<field name="Range">0.000001 0.001</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Accelerometer bias stability (m/s^3)" name="EK2_ABIAS_P_NSE" documentation="This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier." user="Advanced">
+<field name="Range">0.00001 0.005</field>
+<field name="Units">m/s/s/s</field>
+<field name="UnitText">meters per cubic second</field>
+</param>
+<param humanName="Wind velocity process noise (m/s^2)" name="EK2_WIND_P_NSE" documentation="This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier." user="Advanced">
+<field name="Range">0.01 1.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Height rate to wind process noise scaler" name="EK2_WIND_PSCALE" documentation="This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser." user="Advanced">
+<field name="Range">0.0 1.0</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="GPS preflight check" name="EK2_GPS_CHECK" documentation="This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat." user="Advanced">
+<field name="Bitmask">0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed</field>
+</param>
+<param humanName="Bitmask of active IMUs" name="EK2_IMU_MASK" documentation="1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start." user="Advanced">
+<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="GPS accuracy check scaler (%)" name="EK2_CHECK_SCALE" documentation="This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error." user="Advanced">
+<field name="Range">50 200</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Non-GPS operation position uncertainty (m)" name="EK2_NOAID_M_NSE" documentation="This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors." user="Advanced">
+<field name="Range">0.5 50.0</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="EKF sensor logging IMU mask" name="EK2_LOG_MASK" documentation="This sets the IMU mask of sensors to do full logging for" user="Advanced">
+<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Yaw measurement noise (rad)" name="EK2_YAW_M_NSE" documentation="This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements." user="Advanced">
+<field name="Range">0.05 1.0</field>
+<field name="Increment">0.05</field>
+<field name="Units">rad</field>
+<field name="UnitText">radians</field>
+</param>
+<param humanName="Yaw measurement gate size" name="EK2_YAW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Output complementary filter time constant (centi-sec)" name="EK2_TAU_OUTPUT" documentation="Sets the time constant of the output complementary filter/predictor in centi-seconds." user="Advanced">
+<field name="Range">10 50</field>
+<field name="Increment">5</field>
+<field name="Units">cs</field>
+<field name="UnitText">centiseconds</field>
+</param>
+<param humanName="Earth magnetic field process noise (gauss/s)" name="EK2_MAGE_P_NSE" documentation="This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier." user="Advanced">
+<field name="Range">0.00001 0.01</field>
+<field name="Units">Gauss/s</field>
+<field name="UnitText">gauss per second</field>
+</param>
+<param humanName="Body magnetic field process noise (gauss/s)" name="EK2_MAGB_P_NSE" documentation="This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier." user="Advanced">
+<field name="Range">0.00001 0.01</field>
+<field name="Units">Gauss/s</field>
+<field name="UnitText">gauss per second</field>
+</param>
+<param humanName="Range finder switch height percentage" name="EK2_RNG_USE_HGT" documentation="Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). Set to -1 when EK2_ALT_SOURCE is not set to range finder.  This is not for terrain following." user="Advanced">
+<field name="Range">-1 70</field>
+<field name="Increment">1</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Maximum terrain gradient" name="EK2_TERR_GRAD" documentation="Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height." user="Advanced">
+<field name="Range">0 0.2</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Range beacon measurement noise (m)" name="EK2_BCN_M_NSE" documentation="This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Range beacon measurement gate size" name="EK2_BCN_I_GTE" documentation="This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Range beacon measurement delay (msec)" name="EK2_BCN_DELAY" documentation="This is the number of msec that the range beacon measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
+<field name="Range">0 127</field>
+<field name="Increment">10</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Range finder max ground speed" name="EK2_RNG_USE_SPD" documentation="The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value." user="Advanced">
+<field name="Range">2.0 6.0</field>
+<field name="Increment">0.5</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Bitmask of active EKF cores that will always use heading fusion" name="EK2_MAG_MASK" documentation="1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely." user="Advanced">
+<field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Bitmask control of EKF reference height correction" name="EK2_OGN_HGT_MASK" documentation="When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default)." user="Advanced">
+<field name="Bitmask">0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="external navigation system measurement delay (msec)" name="EK2_EXTNAV_DELAY" documentation="This is the number of msec that the external navigation system measurements lag behind the inertial measurements." user="Advanced">
+<field name="Range">0 127</field>
+<field name="Increment">1</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Optical flow use bitmask" name="EK2_FLOW_USE" documentation="Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator." user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">Navigation</value>
+<value code="2">Terrain</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+</parameters>
+<parameters name="EK3_">
+<param humanName="Enable EKF3" name="EK3_ENABLE" documentation="This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code=" 1">Enabled</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="GPS mode control" name="EK3_GPS_TYPE" documentation="This controls use of GPS measurements : 0 = use 3D velocity &amp; 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors." user="Advanced">
+<values>
+<value code="0">GPS 3D Vel and 2D Pos</value>
+<value code=" 1">GPS 2D vel and 2D pos</value>
+<value code=" 2">GPS 2D pos</value>
+<value code=" 3">No GPS</value>
+</values>
+</param>
+<param humanName="GPS horizontal velocity measurement noise (m/s)" name="EK3_VELNE_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements." user="Advanced">
+<field name="Range">0.05 5.0</field>
+<field name="Increment">0.05</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="GPS vertical velocity measurement noise (m/s)" name="EK3_VELD_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements." user="Advanced">
+<field name="Range">0.05 5.0</field>
+<field name="Increment">0.05</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="GPS velocity innovation gate size" name="EK3_VEL_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="GPS horizontal position measurement noise (m)" name="EK3_POSNE_M_NSE" documentation="This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements." user="Advanced">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="GPS position measurement gate size" name="EK3_POS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="GPS glitch radius gate size (m)" name="EK3_GLITCH_RAD" documentation="This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position." user="Advanced">
+<field name="Range">10 100</field>
+<field name="Increment">5</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Primary altitude sensor source" name="EK3_ALT_SOURCE" documentation='Primary height sensor used by the EKF. If the selected option cannot be used, baro is used. 1 uses the range finder and only with optical flow navigation (EK2_GPS_TYPE = 3), Do not use "1" for terrain following. NOTE: the EK3_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground.' user="Advanced">
+<values>
+<value code="0">Use Baro</value>
+<value code=" 1">Use Range Finder</value>
+<value code=" 2">Use GPS</value>
+<value code=" 3">Use Range Beacon</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Altitude measurement noise (m)" name="EK3_ALT_M_NSE" documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors." user="Advanced">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Height measurement gate size" name="EK3_HGT_I_GATE" documentation="This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Height measurement delay (msec)" name="EK3_HGT_DELAY" documentation="This is the number of msec that the Height measurements lag behind the inertial measurements." user="Advanced">
+<field name="Range">0 250</field>
+<field name="Increment">10</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Magnetometer measurement noise (Gauss)" name="EK3_MAG_M_NSE" documentation="This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
+<field name="Range">0.01 0.5</field>
+<field name="Increment">0.01</field>
+<field name="Units">Gauss</field>
+<field name="UnitText">gauss</field>
+</param>
+<param humanName="Magnetometer default fusion mode" name="EK3_MAG_CAL" documentation="This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK3_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK3_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK3_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK3_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK3_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter." user="Advanced">
+<values>
+<value code="0">When flying</value>
+<value code="1">When manoeuvring</value>
+<value code="2">Never</value>
+<value code="3">After first climb yaw reset</value>
+<value code="4">Always</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Magnetometer measurement gate size" name="EK3_MAG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Equivalent airspeed measurement noise (m/s)" name="EK3_EAS_M_NSE" documentation="This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements." user="Advanced">
+<field name="Range">0.5 5.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Airspeed measurement gate size" name="EK3_EAS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Range finder measurement noise (m)" name="EK3_RNG_M_NSE" documentation="This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Range finder measurement gate size" name="EK3_RNG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Maximum valid optical flow rate" name="EK3_MAX_FLOW" documentation="This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter" user="Advanced">
+<field name="Range">1.0 4.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Optical flow measurement noise (rad/s)" name="EK3_FLOW_M_NSE" documentation="This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
+<field name="Range">0.05 1.0</field>
+<field name="Increment">0.05</field>
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Optical Flow measurement gate size" name="EK3_FLOW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Optical Flow measurement delay (msec)" name="EK3_FLOW_DELAY" documentation="This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
+<field name="Range">0 250</field>
+<field name="Increment">10</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Rate gyro noise (rad/s)" name="EK3_GYRO_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more." user="Advanced">
+<field name="Range">0.0001 0.1</field>
+<field name="Increment">0.0001</field>
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Accelerometer noise (m/s^2)" name="EK3_ACC_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more." user="Advanced">
+<field name="Range">0.01 1.0</field>
+<field name="Increment">0.01</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Rate gyro bias stability (rad/s/s)" name="EK3_GBIAS_P_NSE" documentation="This state  process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier." user="Advanced">
+<field name="Range">0.00001 0.001</field>
+<field name="Units">rad/s/s</field>
+<field name="UnitText">radians per square second</field>
+</param>
+<param humanName="Accelerometer bias stability (m/s^3)" name="EK3_ABIAS_P_NSE" documentation="This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier." user="Advanced">
+<field name="Range">0.00001 0.005</field>
+<field name="Units">m/s/s/s</field>
+<field name="UnitText">meters per cubic second</field>
+</param>
+<param humanName="Wind velocity process noise (m/s^2)" name="EK3_WIND_P_NSE" documentation="This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier." user="Advanced">
+<field name="Range">0.01 1.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Height rate to wind process noise scaler" name="EK3_WIND_PSCALE" documentation="This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser." user="Advanced">
+<field name="Range">0.0 1.0</field>
+<field name="Increment">0.1</field>
+</param>
+<param humanName="GPS preflight check" name="EK3_GPS_CHECK" documentation="This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat." user="Advanced">
+<field name="Bitmask">0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed</field>
+</param>
+<param humanName="Bitmask of active IMUs" name="EK3_IMU_MASK" documentation="1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start." user="Advanced">
+<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="GPS accuracy check scaler (%)" name="EK3_CHECK_SCALE" documentation="This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error." user="Advanced">
+<field name="Range">50 200</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Non-GPS operation position uncertainty (m)" name="EK3_NOAID_M_NSE" documentation="This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors." user="Advanced">
+<field name="Range">0.5 50.0</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="EKF sensor logging IMU mask" name="EK3_LOG_MASK" documentation="This sets the IMU mask of sensors to do full logging for" user="Advanced">
+<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Yaw measurement noise (rad)" name="EK3_YAW_M_NSE" documentation="This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements." user="Advanced">
+<field name="Range">0.05 1.0</field>
+<field name="Increment">0.05</field>
+<field name="Units">rad</field>
+<field name="UnitText">radians</field>
+</param>
+<param humanName="Yaw measurement gate size" name="EK3_YAW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Output complementary filter time constant (centi-sec)" name="EK3_TAU_OUTPUT" documentation="Sets the time constant of the output complementary filter/predictor in centi-seconds." user="Advanced">
+<field name="Range">10 50</field>
+<field name="Increment">5</field>
+<field name="Units">cs</field>
+<field name="UnitText">centiseconds</field>
+</param>
+<param humanName="Earth magnetic field process noise (gauss/s)" name="EK3_MAGE_P_NSE" documentation="This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier." user="Advanced">
+<field name="Range">0.00001 0.01</field>
+<field name="Units">Gauss/s</field>
+<field name="UnitText">gauss per second</field>
+</param>
+<param humanName="Body magnetic field process noise (gauss/s)" name="EK3_MAGB_P_NSE" documentation="This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier." user="Advanced">
+<field name="Range">0.00001 0.01</field>
+<field name="Units">Gauss/s</field>
+<field name="UnitText">gauss per second</field>
+</param>
+<param humanName="Range finder switch height percentage" name="EK3_RNG_USE_HGT" documentation="Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). Set to -1 when EK3_ALT_SOURCE is not set to range finder.  This is not for terrain following." user="Advanced">
+<field name="Range">-1 70</field>
+<field name="Increment">1</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Maximum terrain gradient" name="EK3_TERR_GRAD" documentation="Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference" user="Advanced">
+<field name="Range">0 0.2</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Range beacon measurement noise (m)" name="EK3_BCN_M_NSE" documentation="This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
+<field name="Range">0.1 10.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Range beacon measurement gate size" name="EK3_BCN_I_GTE" documentation="This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
+<field name="Range">100 1000</field>
+<field name="Increment">25</field>
+</param>
+<param humanName="Range beacon measurement delay (msec)" name="EK3_BCN_DELAY" documentation="This is the number of msec that the range beacon measurements lag behind the inertial measurements." user="Advanced">
+<field name="Range">0 250</field>
+<field name="Increment">10</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Range finder max ground speed" name="EK3_RNG_USE_SPD" documentation="The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value." user="Advanced">
+<field name="Range">2.0 6.0</field>
+<field name="Increment">0.5</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Accelerometer bias limit" name="EK3_ACC_BIAS_LIM" documentation="The accelerometer bias state will be limited to +- this value" user="Advanced">
+<field name="Range">0.5 2.5</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Bitmask of active EKF cores that will always use heading fusion" name="EK3_MAG_MASK" documentation="1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely." user="Advanced">
+<field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Bitmask control of EKF reference height correction" name="EK3_OGN_HGT_MASK" documentation="When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default)." user="Advanced">
+<field name="Bitmask">0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Visual odometry minimum velocity error" name="EK3_VIS_VERR_MIN" documentation="This is the 1-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX." user="Advanced">
+<field name="Range">0.05 0.5</field>
+<field name="Increment">0.05</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Visual odometry maximum velocity error" name="EK3_VIS_VERR_MAX" documentation="This is the 1-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX." user="Advanced">
+<field name="Range">0.5 5.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Wheel odometry velocity error" name="EK3_WENC_VERR" documentation="This is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused." user="Advanced">
+<field name="Range">0.01 1.0</field>
+<field name="Increment">0.1</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+<param humanName="Optical flow use bitmask" name="EK3_FLOW_USE" documentation="Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator." user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">Navigation</value>
+<value code="2">Terrain</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+</parameters>
+<parameters name="FENCE_">
+<param humanName="Fence enable/disable" name="FENCE_ENABLE" documentation="Allows you to enable (1) or disable (0) the fence functionality" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Fence Type" name="FENCE_TYPE" documentation="Enabled fence types held as bitmask" user="Standard">
+<field name="Bitmask">0:Altitude,1:Circle,2:Polygon</field>
+<values>
+<value code="0">None</value>
+<value code="1">Altitude</value>
+<value code="2">Circle</value>
+<value code="3">Altitude and Circle</value>
+<value code="4">Polygon</value>
+<value code="5">Altitude and Polygon</value>
+<value code="6">Circle and Polygon</value>
+<value code="7">All</value>
+</values>
+</param>
+<param humanName="Fence Action" name="FENCE_ACTION" documentation="What action should be taken when fence is breached" user="Standard">
+<values>
+<value code="0">Report Only</value>
+<value code="1">RTL or Land</value>
+<value code="2">Always Land</value>
+<value code="3">SmartRTL or RTL or Land</value>
+<value code="4">Brake or Land</value>
+</values>
+</param>
+<param humanName="Fence Maximum Altitude" name="FENCE_ALT_MAX" documentation="Maximum altitude allowed before geofence triggers" user="Standard">
+<field name="Range">10 1000</field>
+<field name="Increment">1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Circular Fence Radius" name="FENCE_RADIUS" documentation="Circle fence radius which when breached will cause an RTL" user="Standard">
+<field name="Range">30 10000</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Fence Margin" name="FENCE_MARGIN" documentation="Distance that autopilot's should maintain from the fence to avoid a breach" user="Standard">
+<field name="Range">1 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Fence polygon point total" name="FENCE_TOTAL" documentation="Number of polygon points saved in eeprom (do not update manually)" user="Standard">
+<field name="Range">1 20</field>
+</param>
+<param humanName="Fence Minimum Altitude" name="FENCE_ALT_MIN" documentation="Minimum altitude allowed before geofence triggers" user="Standard">
+<field name="Range">-100 100</field>
+<field name="Increment">1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+</parameters>
+<parameters name="FOLL">
+<param humanName="Follow enable/disable" name="FOLL_ENABLE" documentation="Enabled/disable following a target" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Follow target's mavlink system id" name="FOLL_SYSID" documentation="Follow target's mavlink system id" user="Standard">
+<field name="Range">0 255</field>
+</param>
+<param humanName="Follow distance maximum" name="FOLL_DIST_MAX" documentation="Follow distance maximum.  targets further than this will be ignored" user="Standard">
+<field name="Range">1 1000</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Follow offset type" name="FOLL_OFS_TYPE" documentation="Follow offset type" user="Standard">
+<values>
+<value code="0">North-East-Down</value>
+<value code=" 1">Relative to lead vehicle heading</value>
+</values>
+</param>
+<param humanName="Follow offsets in meters north/forward" name="FOLL_OFS_X" documentation="Follow offsets in meters north/forward.  If positive, this vehicle fly ahead or north of lead vehicle.  Depends on FOLL_OFS_TYPE" user="Standard">
+<field name="Range">-100 100</field>
+<field name="Increment">1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Follow offsets in meters east/right" name="FOLL_OFS_Y" documentation="Follow offsets in meters east/right.  If positive, this vehicle fly to the right or east of lead vehicle.  Depends on FOLL_OFS_TYPE" user="Standard">
+<field name="Range">-100 100</field>
+<field name="Increment">1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Follow offsets in meters down" name="FOLL_OFS_Z" documentation="Follow offsets in meters down.  If positive, this vehicle fly below the lead vehicle" user="Standard">
+<field name="Range">-100 100</field>
+<field name="Increment">1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Follow yaw behaviour" name="FOLL_YAW_BEHAVE" documentation="Follow yaw behaviour" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">Face Lead Vehicle</value>
+<value code="2">Same as Lead vehicle</value>
+<value code="3">Direction of Flight</value>
+</values>
+</param>
+<param humanName="Follow position error P gain" name="FOLL_POS_P" documentation="Follow position error P gain.  Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller" user="Standard">
+<field name="Range">0.01 1.00</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Follow altitude type" name="FOLL_ALT_TYPE" documentation="Follow altitude type" user="Standard">
+<values>
+<value code="0">absolute</value>
+<value code=" 1"> relative</value>
+</values>
+</param>
+</parameters>
+<parameters name="GND_">
+<param humanName="Absolute Pressure" name="GND_ABS_PRESS" documentation="calibrated ground pressure in Pascals" user="Advanced">
+<field name="ReadOnly">True</field>
+<field name="Volatile">True</field>
+<field name="Increment">1</field>
+<field name="Units">Pa</field>
+<field name="UnitText">pascal</field>
+</param>
+<param humanName="ground temperature" name="GND_TEMP" documentation="User provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature." user="Advanced">
+<field name="Volatile">True</field>
+<field name="Increment">1</field>
+<field name="Units">degC</field>
+<field name="UnitText">degrees Celsius</field>
+</param>
+<param humanName="altitude offset" name="GND_ALT_OFFSET" documentation="altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed." user="Advanced">
+<field name="Increment">0.1</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Primary barometer" name="GND_PRIMARY" documentation="This selects which barometer will be the primary if multiple barometers are found" user="Advanced">
+<values>
+<value code="0">FirstBaro</value>
+<value code="1">2ndBaro</value>
+<value code="2">3rdBaro</value>
+</values>
+</param>
+<param humanName="External baro bus" name="GND_EXT_BUS" documentation="This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the GND_PROBE_EXT parameter." user="Advanced">
+<values>
+<value code="-1">Disabled</value>
+<value code="0">Bus0</value>
+<value code="1">Bus1</value>
+</values>
+</param>
+<param humanName="Specific Gravity (For water depth measurement)" name="GND_SPEC_GRAV" documentation="This sets the specific gravity of the fluid when flying an underwater ROV.">
+<field name="Values">1.0:Freshwater,1.024:Saltwater</field>
+</param>
+<param humanName="Absolute Pressure" name="GND_ABS_PRESS2" documentation="calibrated ground pressure in Pascals" user="Advanced">
+<field name="ReadOnly">True</field>
+<field name="Volatile">True</field>
+<field name="Increment">1</field>
+<field name="Units">Pa</field>
+<field name="UnitText">pascal</field>
+</param>
+<param humanName="Absolute Pressure" name="GND_ABS_PRESS3" documentation="calibrated ground pressure in Pascals" user="Advanced">
+<field name="ReadOnly">True</field>
+<field name="Volatile">True</field>
+<field name="Increment">1</field>
+<field name="Units">Pa</field>
+<field name="UnitText">pascal</field>
+</param>
+<param humanName="Range in which sample is accepted" name="GND_FLTR_RNG" documentation="This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.">
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="External barometers to probe" name="GND_PROBE_EXT" documentation="This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on GND_EXT_BUS. If GND_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in GND_EXT_BUS." user="Advanced">
+<field name="Bitmask">0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller</field>
+<values>
+<value code="1">BMP085</value>
+<value code="2">BMP280</value>
+<value code="4">MS5611</value>
+<value code="8">MS5607</value>
+<value code="16">MS5637</value>
+<value code="32">FBM320</value>
+<value code="64">DPS280</value>
+<value code="128">LPS25H</value>
+<value code="256">Keller</value>
+</values>
+</param>
+</parameters>
+<parameters name="GPS_">
+<param humanName="GPS type" name="GPS_TYPE" documentation="GPS type" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">AUTO</value>
+<value code="2">uBlox</value>
+<value code="3">MTK</value>
+<value code="4">MTK19</value>
+<value code="5">NMEA</value>
+<value code="6">SiRF</value>
+<value code="7">HIL</value>
+<value code="8">SwiftNav</value>
+<value code="9">UAVCAN</value>
+<value code="10">SBF</value>
+<value code="11">GSOF</value>
+<value code="13">ERB</value>
+<value code="14">MAV</value>
+<value code="15">NOVA</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="2nd GPS type" name="GPS_TYPE2" documentation="GPS type of 2nd GPS" user="Advanced">
+<values>
+<value code="0">None</value>
+<value code="1">AUTO</value>
+<value code="2">uBlox</value>
+<value code="3">MTK</value>
+<value code="4">MTK19</value>
+<value code="5">NMEA</value>
+<value code="6">SiRF</value>
+<value code="7">HIL</value>
+<value code="8">SwiftNav</value>
+<value code="9">UAVCAN</value>
+<value code="10">SBF</value>
+<value code="11">GSOF</value>
+<value code="13">ERB</value>
+<value code="14">MAV</value>
+<value code="15">NOVA</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Navigation filter setting" name="GPS_NAVFILTER" documentation="Navigation filter engine setting" user="Advanced">
+<values>
+<value code="0">Portable</value>
+<value code="2">Stationary</value>
+<value code="3">Pedestrian</value>
+<value code="4">Automotive</value>
+<value code="5">Sea</value>
+<value code="6">Airborne1G</value>
+<value code="7">Airborne2G</value>
+<value code="8">Airborne4G</value>
+</values>
+</param>
+<param humanName="Automatic Switchover Setting" name="GPS_AUTO_SWITCH" documentation="Automatic switchover to GPS reporting best lock" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">UseBest</value>
+<value code="2">Blend</value>
+<value code="3">UseSecond</value>
+</values>
+</param>
+<param humanName="Minimum Lock Type Accepted for DGPS" name="GPS_MIN_DGPS" documentation="Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode." user="Advanced">
+<values>
+<value code="0">Any</value>
+<value code="50">FloatRTK</value>
+<value code="100">IntegerRTK</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="SBAS Mode" name="GPS_SBAS_MODE" documentation="This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful." user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+<value code="2">NoChange</value>
+</values>
+</param>
+<param humanName="Minimum elevation" name="GPS_MIN_ELEV" documentation="This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default." user="Advanced">
+<field name="Range">-100 90</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Destination for GPS_INJECT_DATA MAVLink packets" name="GPS_INJECT_TO" documentation="The GGS can send raw serial packets to inject data to multiple GPSes." user="Advanced">
+<values>
+<value code="0">send to first GPS</value>
+<value code="1">send to 2nd GPS</value>
+<value code="127">send to all</value>
+</values>
+</param>
+<param humanName="Swift Binary Protocol Logging Mask" name="GPS_SBP_LOGMASK" documentation="Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged" user="Advanced">
+<values>
+<value code="0">None (0x0000)</value>
+<value code="-1">All (0xFFFF)</value>
+<value code="-256">External only (0xFF00)</value>
+</values>
+</param>
+<param humanName="Raw data logging" name="GPS_RAW_DATA" documentation="Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into logger; on Septentrio this will log on the equipment's SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming" user="Advanced">
+<values>
+<value code="0">Ignore</value>
+<value code="1">Always log</value>
+<value code="2">Stop logging when disarmed (SBF only)</value>
+<value code="5">Only log every five samples (uBlox only)</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="GNSS system configuration" name="GPS_GNSS_MODE" documentation="Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
+<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS</field>
+<values>
+<value code="0">Leave as currently configured</value>
+<value code=" 1">GPS-NoSBAS</value>
+<value code=" 3">GPS+SBAS</value>
+<value code=" 4">Galileo-NoSBAS</value>
+<value code=" 6">Galileo+SBAS</value>
+<value code=" 8">Beidou</value>
+<value code=" 51">GPS+IMES+QZSS+SBAS (Japan Only)</value>
+<value code=" 64">GLONASS</value>
+<value code=" 66">GLONASS+SBAS</value>
+<value code=" 67">GPS+GLONASS+SBAS</value>
+</values>
+</param>
+<param humanName="Save GPS configuration" name="GPS_SAVE_CFG" documentation="Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above." user="Advanced">
+<values>
+<value code="0">Do not save config</value>
+<value code="1">Save config</value>
+<value code="2">Save only when needed</value>
+</values>
+</param>
+<param humanName="GNSS system configuration" name="GPS_GNSS_MODE2" documentation="Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
+<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS</field>
+<values>
+<value code="0">Leave as currently configured</value>
+<value code=" 1">GPS-NoSBAS</value>
+<value code=" 3">GPS+SBAS</value>
+<value code=" 4">Galileo-NoSBAS</value>
+<value code=" 6">Galileo+SBAS</value>
+<value code=" 8">Beidou</value>
+<value code=" 51">GPS+IMES+QZSS+SBAS (Japan Only)</value>
+<value code=" 64">GLONASS</value>
+<value code=" 66">GLONASS+SBAS</value>
+<value code=" 67">GPS+GLONASS+SBAS</value>
+</values>
+</param>
+<param humanName="Automatic GPS configuration" name="GPS_AUTO_CONFIG" documentation="Controls if the autopilot should automatically configure the GPS based on the parameters and default settings" user="Advanced">
+<values>
+<value code="0">Disables automatic configuration</value>
+<value code="1">Enable automatic configuration</value>
+</values>
+</param>
+<param humanName="GPS update rate in milliseconds" name="GPS_RATE_MS" documentation="Controls how often the GPS should provide a position update. Lowering below 5Hz is not allowed" user="Advanced">
+<field name="Range">50 200</field>
+<values>
+<value code="100">10Hz</value>
+<value code="125">8Hz</value>
+<value code="200">5Hz</value>
+</values>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+</param>
+<param humanName="GPS 2 update rate in milliseconds" name="GPS_RATE_MS2" documentation="Controls how often the GPS should provide a position update. Lowering below 5Hz is not allowed" user="Advanced">
+<field name="Range">50 200</field>
+<values>
+<value code="100">10Hz</value>
+<value code="125">8Hz</value>
+<value code="200">5Hz</value>
+</values>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+</param>
+<param humanName="Antenna X position offset" name="GPS_POS1_X" documentation="X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Antenna Y position offset" name="GPS_POS1_Y" documentation="Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Antenna Z position offset" name="GPS_POS1_Z" documentation="Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Antenna X position offset" name="GPS_POS2_X" documentation="X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Antenna Y position offset" name="GPS_POS2_Y" documentation="Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Antenna Z position offset" name="GPS_POS2_Z" documentation="Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="GPS delay in milliseconds" name="GPS_DELAY_MS" documentation="Controls the amount of GPS  measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type." user="Advanced">
+<field name="Range">0 250</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="GPS 2 delay in milliseconds" name="GPS_DELAY_MS2" documentation="Controls the amount of GPS  measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type." user="Advanced">
+<field name="Range">0 250</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Multi GPS Blending Mask" name="GPS_BLEND_MASK" documentation="Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2" user="Advanced">
+<field name="Bitmask">0:Horiz Pos,1:Vert Pos,2:Speed</field>
+</param>
+<param humanName="Blending time constant" name="GPS_BLEND_TC" documentation="Controls the slowest time constant applied to the calculation of GPS position and height offsets used to adjust different GPS receivers for steady state position differences." user="Advanced">
+<field name="Range">5.0 30.0</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+</parameters>
+<parameters name="GRIP_">
+<param humanName="Gripper Enable/Disable" name="GRIP_ENABLE" documentation="Gripper enable/disable" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code=" 1">Enabled</value>
+</values>
+</param>
+<param humanName="Gripper Type" name="GRIP_TYPE" documentation="Gripper enable/disable" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">Servo</value>
+<value code="2">EPM</value>
+</values>
+</param>
+<param humanName="Gripper Grab PWM" name="GRIP_GRAB" documentation="PWM value in microseconds sent to Gripper to initiate grabbing the cargo" user="Advanced">
+<field name="Range">1000 2000</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Gripper Release PWM" name="GRIP_RELEASE" documentation="PWM value in microseconds sent to Gripper to release the cargo" user="Advanced">
+<field name="Range">1000 2000</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Neutral PWM" name="GRIP_NEUTRAL" documentation="PWM value in microseconds sent to grabber when not grabbing or releasing" user="Advanced">
+<field name="Range">1000 2000</field>
+<field name="Units">PWM</field>
+<field name="UnitText">PWM in microseconds</field>
+</param>
+<param humanName="Gripper Regrab interval" name="GRIP_REGRAB" documentation="Time in seconds that gripper will regrab the cargo to ensure grip has not weakened; 0 to disable" user="Advanced">
+<field name="Range">0 255</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="EPM UAVCAN Hardpoint ID" name="GRIP_UAVCAN_ID" documentation="Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface" user="Standard">
+<field name="Range">0 255</field>
+</param>
+</parameters>
+<parameters name="INS_">
+<param humanName="Gyro offsets of X axis" name="INS_GYROFFS_X" documentation="Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Gyro offsets of Y axis" name="INS_GYROFFS_Y" documentation="Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Gyro offsets of Z axis" name="INS_GYROFFS_Z" documentation="Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Gyro2 offsets of X axis" name="INS_GYR2OFFS_X" documentation="Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Gyro2 offsets of Y axis" name="INS_GYR2OFFS_Y" documentation="Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Gyro2 offsets of Z axis" name="INS_GYR2OFFS_Z" documentation="Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Gyro3 offsets of X axis" name="INS_GYR3OFFS_X" documentation="Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Gyro3 offsets of Y axis" name="INS_GYR3OFFS_Y" documentation="Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Gyro3 offsets of Z axis" name="INS_GYR3OFFS_Z" documentation="Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
+<field name="Units">rad/s</field>
+<field name="UnitText">radians per second</field>
+</param>
+<param humanName="Accelerometer scaling of X axis" name="INS_ACCSCAL_X" documentation="Accelerometer scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
+</param>
+<param humanName="Accelerometer scaling of Y axis" name="INS_ACCSCAL_Y" documentation="Accelerometer scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
+</param>
+<param humanName="Accelerometer scaling of Z axis" name="INS_ACCSCAL_Z" documentation="Accelerometer scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
+</param>
+<param humanName="Accelerometer offsets of X axis" name="INS_ACCOFFS_X" documentation="Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Accelerometer offsets of Y axis" name="INS_ACCOFFS_Y" documentation="Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Accelerometer offsets of Z axis" name="INS_ACCOFFS_Z" documentation="Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Accelerometer2 scaling of X axis" name="INS_ACC2SCAL_X" documentation="Accelerometer2 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
+</param>
+<param humanName="Accelerometer2 scaling of Y axis" name="INS_ACC2SCAL_Y" documentation="Accelerometer2 scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
+</param>
+<param humanName="Accelerometer2 scaling of Z axis" name="INS_ACC2SCAL_Z" documentation="Accelerometer2 scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
+</param>
+<param humanName="Accelerometer2 offsets of X axis" name="INS_ACC2OFFS_X" documentation="Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Accelerometer2 offsets of Y axis" name="INS_ACC2OFFS_Y" documentation="Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Accelerometer2 offsets of Z axis" name="INS_ACC2OFFS_Z" documentation="Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Accelerometer3 scaling of X axis" name="INS_ACC3SCAL_X" documentation="Accelerometer3 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
+</param>
+<param humanName="Accelerometer3 scaling of Y axis" name="INS_ACC3SCAL_Y" documentation="Accelerometer3 scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
+</param>
+<param humanName="Accelerometer3 scaling of Z axis" name="INS_ACC3SCAL_Z" documentation="Accelerometer3 scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
+<field name="Range">0.8 1.2</field>
+</param>
+<param humanName="Accelerometer3 offsets of X axis" name="INS_ACC3OFFS_X" documentation="Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Accelerometer3 offsets of Y axis" name="INS_ACC3OFFS_Y" documentation="Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Accelerometer3 offsets of Z axis" name="INS_ACC3OFFS_Z" documentation="Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
+<field name="Range">-3.5 3.5</field>
+<field name="Units">m/s/s</field>
+<field name="UnitText">meters per square second</field>
+</param>
+<param humanName="Gyro filter cutoff frequency" name="INS_GYRO_FILTER" documentation="Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)" user="Advanced">
+<field name="Range">0 127</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Accel filter cutoff frequency" name="INS_ACCEL_FILTER" documentation="Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)" user="Advanced">
+<field name="Range">0 127</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Use first IMU for attitude, velocity and position estimates" name="INS_USE" documentation="Use first IMU for attitude, velocity and position estimates" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Use second IMU for attitude, velocity and position estimates" name="INS_USE2" documentation="Use second IMU for attitude, velocity and position estimates" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Use third IMU for attitude, velocity and position estimates" name="INS_USE3" documentation="Use third IMU for attitude, velocity and position estimates" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Stillness threshold for detecting if we are moving" name="INS_STILL_THRESH" documentation="Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5" user="Advanced">
+<field name="Range">0.05 50</field>
+</param>
+<param humanName="Gyro Calibration scheme" name="INS_GYR_CAL" documentation="Conrols when automatic gyro calibration is performed" user="Advanced">
+<values>
+<value code="0">Never</value>
+<value code=" 1">Start-up only</value>
+</values>
+</param>
+<param humanName="Accel cal trim option" name="INS_TRIM_OPTION" documentation="Specifies how the accel cal routine determines the trims" user="Advanced">
+<values>
+<value code="0">Don't adjust the trims</value>
+<value code="1">Assume first orientation was level</value>
+<value code="2">Assume ACC_BODYFIX is perfectly aligned to the vehicle</value>
+</values>
+</param>
+<param humanName="Body-fixed accelerometer" name="INS_ACC_BODYFIX" documentation="The body-fixed accelerometer to be used for trim calculation" user="Advanced">
+<values>
+<value code="1">IMU 1</value>
+<value code="2">IMU 2</value>
+<value code="3">IMU 3</value>
+</values>
+</param>
+<param humanName="IMU accelerometer X position" name="INS_POS1_X" documentation="X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="IMU accelerometer Y position" name="INS_POS1_Y" documentation="Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="IMU accelerometer Z position" name="INS_POS1_Z" documentation="Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="IMU accelerometer X position" name="INS_POS2_X" documentation="X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="IMU accelerometer Y position" name="INS_POS2_Y" documentation="Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="IMU accelerometer Z position" name="INS_POS2_Z" documentation="Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="IMU accelerometer X position" name="INS_POS3_X" documentation="X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="IMU accelerometer Y position" name="INS_POS3_Y" documentation="Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="IMU accelerometer Z position" name="INS_POS3_Z" documentation="Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
+<field name="Range">-10 10</field>
+<field name="Units">m</field>
+<field name="UnitText">meters</field>
+</param>
+<param humanName="Gyro ID" name="INS_GYR_ID" documentation="Gyro sensor ID, taking into account its type, bus and instance" user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="Gyro2 ID" name="INS_GYR2_ID" documentation="Gyro2 sensor ID, taking into account its type, bus and instance" user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="Gyro3 ID" name="INS_GYR3_ID" documentation="Gyro3 sensor ID, taking into account its type, bus and instance" user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="Accelerometer ID" name="INS_ACC_ID" documentation="Accelerometer sensor ID, taking into account its type, bus and instance" user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="Accelerometer2 ID" name="INS_ACC2_ID" documentation="Accelerometer2 sensor ID, taking into account its type, bus and instance" user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="Accelerometer3 ID" name="INS_ACC3_ID" documentation="Accelerometer3 sensor ID, taking into account its type, bus and instance" user="Advanced">
+<field name="ReadOnly">True</field>
+</param>
+<param humanName="Fast sampling mask" name="INS_FAST_SAMPLE" documentation="Mask of IMUs to enable fast sampling on, if available" user="Advanced">
+<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU</field>
+<values>
+<value code="1">FirstIMUOnly</value>
+<value code="3">FirstAndSecondIMU</value>
+</values>
+</param>
+<param humanName="IMU enable mask" name="INS_ENABLE_MASK" documentation="Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs" user="Advanced">
+<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU</field>
+<values>
+<value code="1">FirstIMUOnly</value>
+<value code="3">FirstAndSecondIMU</value>
+<value code="7">FirstSecondAndThirdIMU</value>
+<value code="127">AllIMUs</value>
+</values>
+</param>
+</parameters>
+<parameters name="INS_LOG_">
+<param humanName="sample count per batch" name="INS_LOG_BAT_CNT" documentation="Number of samples to take when logging streams of IMU sensor readings.  Will be rounded down to a multiple of 32." user="Advanced">
+<field name="Increment">32</field>
+</param>
+<param humanName="Sensor Bitmask" name="INS_LOG_BAT_MASK" documentation="Bitmap of which IMUs to log batch data for" user="Advanced">
+<field name="Bitmask">0:IMU1,1:IMU2,2:IMU3</field>
+<values>
+<value code="0">None</value>
+<value code="1">First IMU</value>
+<value code="255">All</value>
+</values>
+</param>
+<param humanName="Batch Logging Options Mask" name="INS_LOG_BAT_OPT" documentation="Options for the BatchSampler" user="Advanced">
+<field name="Bitmask">0:Sensor-Rate Logging (sample at full sensor rate seen by AP)</field>
+</param>
+<param humanName="logging interval" name="INS_LOG_BAT_LGIN" documentation="Interval between pushing samples to the AP_Logger log">
+<field name="Increment">10</field>
+<field name="Units">ms</field>
+<field name="UnitText">milliseconds</field>
+</param>
+<param humanName="logging count" name="INS_LOG_BAT_LGCT" documentation="Number of samples to push to count every INS_LOG_BAT_LGIN">
+<field name="Increment">1</field>
+</param>
+</parameters>
+<parameters name="INS_NOTCH_">
+<param humanName="Enable" name="INS_NOTCH_ENABLE" documentation="Enable notch filter" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Frequency" name="INS_NOTCH_FREQ" documentation="Notch center frequency in Hz" user="Advanced">
+<field name="Range">10 200</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Bandwidth" name="INS_NOTCH_BW" documentation="Notch bandwidth in Hz" user="Advanced">
+<field name="Range">5 50</field>
+<field name="Units">Hz</field>
+<field name="UnitText">hertz</field>
+</param>
+<param humanName="Attenuation" name="INS_NOTCH_ATT" documentation="Notch attenuation in dB" user="Advanced">
+<field name="Range">5 30</field>
+<field name="Units">dB</field>
+<field name="UnitText">decibel</field>
+</param>
+</parameters>
+<parameters name="LOG">
+<param humanName="AP_Logger Backend Storage type" name="LOG_BACKEND_TYPE" documentation="Bitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected." user="Standard">
+<field name="Bitmask">0:File,1:MAVLink,2:Block</field>
+<values>
+<value code="0">None</value>
+<value code="1">File</value>
+<value code="2">MAVLink</value>
+<value code="3">File and MAVLink</value>
+<value code="4">Block</value>
+<value code="6">Block and MAVLink</value>
+</values>
+</param>
+<param humanName="Maximum AP_Logger File Backend buffer size (in kilobytes)" name="LOG_FILE_BUFSIZE" documentation='The AP_Logger_File backend uses a buffer to store data before writing to the block device.  Raising this value may reduce "gaps" in your SD card logging.  This buffer size may be reduced depending on available memory.  PixHawk requires at least 4 kilobytes.  Maximum value available here is 64 kilobytes.' user="Standard">
+</param>
+<param humanName="Enable logging while disarmed" name="LOG_DISARMED" documentation="If LOG_DISARMED is set to 1 then logging will be enabled while disarmed. This can make for very large logfiles but can help a lot when tracking down startup issues" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Enable logging of information needed for Replay" name="LOG_REPLAY" documentation="If LOG_REPLAY is set to 1 then the EKF2 state estimator will log detailed information needed for diagnosing problems with the Kalman filter. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Stop logging to current file on disarm" name="LOG_FILE_DSRMROT" documentation="When set, the current log file is closed when the vehicle is disarmed.  If LOG_DISARMED is set then a fresh log will be opened." user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Maximum AP_Logger MAVLink Backend buffer size" name="LOG_MAV_BUFSIZE" documentation="Maximum amount of memory to allocate to AP_Logger-over-mavlink" user="Advanced">
+<field name="Units">kB</field>
+<field name="UnitText">kilobytes</field>
+</param>
+</parameters>
+<parameters name="MIS_">
+<param humanName="Total mission commands" name="MIS_TOTAL" documentation="The number of mission mission items that has been loaded by the ground station. Do not change this manually." user="Advanced">
+<field name="Range">0 32766</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Mission Restart when entering Auto mode" name="MIS_RESTART" documentation="Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)" user="Advanced">
+<values>
+<value code="0">Resume Mission</value>
+<value code=" 1">Restart Mission</value>
+</values>
+</param>
+<param humanName="Mission options bitmask" name="MIS_OPTIONS" documentation="Bitmask of what options to use in missions." user="Advanced">
+<field name="Bitmask">0:Clear Mission on reboot</field>
+</param>
+</parameters>
+<parameters name="MNT">
+<param humanName="Mount default operating mode" name="MNT_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
+<values>
+<value code="0">Retracted</value>
+<value code="1">Neutral</value>
+<value code="2">MavLink Targeting</value>
+<value code="3">RC Targeting</value>
+<value code="4">GPS Point</value>
+</values>
+</param>
+<param humanName="Mount roll angle when in retracted position" name="MNT_RETRACT_X" documentation="Mount roll angle when in retracted position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Mount tilt/pitch angle when in retracted position" name="MNT_RETRACT_Y" documentation="Mount tilt/pitch angle when in retracted position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Mount yaw/pan angle when in retracted position" name="MNT_RETRACT_Z" documentation="Mount yaw/pan angle when in retracted position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Mount roll angle when in neutral position" name="MNT_NEUTRAL_X" documentation="Mount roll angle when in neutral position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Mount tilt/pitch angle when in neutral position" name="MNT_NEUTRAL_Y" documentation="Mount tilt/pitch angle when in neutral position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Mount pan/yaw angle when in neutral position" name="MNT_NEUTRAL_Z" documentation="Mount pan/yaw angle when in neutral position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Stabilize mount's roll angle" name="MNT_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Stabilize mount's pitch/tilt angle" name="MNT_STAB_TILT" documentation="enable tilt/pitch stabilisation relative to Earth" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Stabilize mount pan/yaw angle" name="MNT_STAB_PAN" documentation="enable pan/yaw stabilisation relative to Earth" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="roll RC input channel" name="MNT_RC_IN_ROLL" documentation="0 for none, any other for the RC channel to be used to control roll movements" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="5">RC5</value>
+<value code="6">RC6</value>
+<value code="7">RC7</value>
+<value code="8">RC8</value>
+<value code="9">RC9</value>
+<value code="10">RC10</value>
+<value code="11">RC11</value>
+<value code="12">RC12</value>
+</values>
+</param>
+<param humanName="Minimum roll angle" name="MNT_ANGMIN_ROL" documentation="Minimum physical roll angular position of mount." user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Maximum roll angle" name="MNT_ANGMAX_ROL" documentation="Maximum physical roll angular position of the mount" user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="tilt (pitch) RC input channel" name="MNT_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="5">RC5</value>
+<value code="6">RC6</value>
+<value code="7">RC7</value>
+<value code="8">RC8</value>
+<value code="9">RC9</value>
+<value code="10">RC10</value>
+<value code="11">RC11</value>
+<value code="12">RC12</value>
+</values>
+</param>
+<param humanName="Minimum tilt angle" name="MNT_ANGMIN_TIL" documentation="Minimum physical tilt (pitch) angular position of mount." user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Maximum tilt angle" name="MNT_ANGMAX_TIL" documentation="Maximum physical tilt (pitch) angular position of the mount" user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="pan (yaw) RC input channel" name="MNT_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="5">RC5</value>
+<value code="6">RC6</value>
+<value code="7">RC7</value>
+<value code="8">RC8</value>
+<value code="9">RC9</value>
+<value code="10">RC10</value>
+<value code="11">RC11</value>
+<value code="12">RC12</value>
+</values>
+</param>
+<param humanName="Minimum pan angle" name="MNT_ANGMIN_PAN" documentation="Minimum physical pan (yaw) angular position of mount." user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Maximum pan angle" name="MNT_ANGMAX_PAN" documentation="Maximum physical pan (yaw) angular position of the mount" user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="mount joystick speed" name="MNT_JSTICK_SPD" documentation="0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second." user="Standard">
+<field name="Range">0 100</field>
+<field name="Increment">1</field>
+</param>
+<param humanName="Roll stabilization lead time" name="MNT_LEAD_RLL" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
+<field name="Range">0.0 0.2</field>
+<field name="Increment">.005</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Pitch stabilization lead time" name="MNT_LEAD_PTCH" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
+<field name="Range">0.0 0.2</field>
+<field name="Increment">.005</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Mount Type" name="MNT_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
+<values>
+<value code="0">None</value>
+<value code=" 1">Servo</value>
+<value code=" 2">3DR Solo</value>
+<value code=" 3">Alexmos Serial</value>
+<value code=" 4">SToRM32 MAVLink</value>
+<value code=" 5">SToRM32 Serial</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Mount default operating mode" name="MNT2_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
+<values>
+<value code="0">Retracted</value>
+<value code="1">Neutral</value>
+<value code="2">MavLink Targeting</value>
+<value code="3">RC Targeting</value>
+<value code="4">GPS Point</value>
+</values>
+</param>
+<param humanName="Mount2 roll angle when in retracted position" name="MNT2_RETRACT_X" documentation="Mount2 roll angle when in retracted position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Mount2 tilt/pitch angle when in retracted position" name="MNT2_RETRACT_Y" documentation="Mount2 tilt/pitch angle when in retracted position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Mount2 yaw/pan angle when in retracted position" name="MNT2_RETRACT_Z" documentation="Mount2 yaw/pan angle when in retracted position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Mount2 roll angle when in neutral position" name="MNT2_NEUTRAL_X" documentation="Mount2 roll angle when in neutral position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Mount2 tilt/pitch angle when in neutral position" name="MNT2_NEUTRAL_Y" documentation="Mount2 tilt/pitch angle when in neutral position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Mount2 pan/yaw angle when in neutral position" name="MNT2_NEUTRAL_Z" documentation="Mount2 pan/yaw angle when in neutral position" user="Standard">
+<field name="Range">-180.00 179.99</field>
+<field name="Increment">1</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+<param humanName="Stabilize Mount2's roll angle" name="MNT2_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Stabilize Mount2's pitch/tilt angle" name="MNT2_STAB_TILT" documentation="enable tilt/pitch stabilisation relative to Earth" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Stabilize mount2 pan/yaw angle" name="MNT2_STAB_PAN" documentation="enable pan/yaw stabilisation relative to Earth" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Mount2's roll RC input channel" name="MNT2_RC_IN_ROLL" documentation="0 for none, any other for the RC channel to be used to control roll movements" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="5">RC5</value>
+<value code="6">RC6</value>
+<value code="7">RC7</value>
+<value code="8">RC8</value>
+<value code="9">RC9</value>
+<value code="10">RC10</value>
+<value code="11">RC11</value>
+<value code="12">RC12</value>
+</values>
+</param>
+<param humanName="Mount2's minimum roll angle" name="MNT2_ANGMIN_ROL" documentation="Mount2's minimum physical roll angular position" user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Mount2's maximum roll angle" name="MNT2_ANGMAX_ROL" documentation="Mount2's maximum physical roll angular position" user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Mount2's tilt (pitch) RC input channel" name="MNT2_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="5">RC5</value>
+<value code="6">RC6</value>
+<value code="7">RC7</value>
+<value code="8">RC8</value>
+<value code="9">RC9</value>
+<value code="10">RC10</value>
+<value code="11">RC11</value>
+<value code="12">RC12</value>
+</values>
+</param>
+<param humanName="Mount2's minimum tilt angle" name="MNT2_ANGMIN_TIL" documentation="Mount2's minimum physical tilt (pitch) angular position" user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Mount2's maximum tilt angle" name="MNT2_ANGMAX_TIL" documentation="Mount2's maximum physical tilt (pitch) angular position" user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Mount2's pan (yaw) RC input channel" name="MNT2_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="5">RC5</value>
+<value code="6">RC6</value>
+<value code="7">RC7</value>
+<value code="8">RC8</value>
+<value code="9">RC9</value>
+<value code="10">RC10</value>
+<value code="11">RC11</value>
+<value code="12">RC12</value>
+</values>
+</param>
+<param humanName="Mount2's minimum pan angle" name="MNT2_ANGMIN_PAN" documentation="Mount2's minimum physical pan (yaw) angular position" user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Mount2's maximum pan angle" name="MNT2_ANGMAX_PAN" documentation="MOunt2's maximum physical pan (yaw) angular position" user="Standard">
+<field name="Range">-18000 17999</field>
+<field name="Increment">1</field>
+<field name="Units">cdeg</field>
+<field name="UnitText">centidegrees</field>
+</param>
+<param humanName="Mount2's Roll stabilization lead time" name="MNT2_LEAD_RLL" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
+<field name="Range">0.0 0.2</field>
+<field name="Increment">.005</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Mount2's Pitch stabilization lead time" name="MNT2_LEAD_PTCH" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
+<field name="Range">0.0 0.2</field>
+<field name="Increment">.005</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="Mount2 Type" name="MNT2_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
+<values>
+<value code="0">None</value>
+<value code=" 1">Servo</value>
+<value code=" 2">3DR Solo</value>
+<value code=" 3">Alexmos Serial</value>
+<value code=" 4">SToRM32 MAVLink</value>
+<value code=" 5">SToRM32 Serial</value>
+</values>
+</param>
+</parameters>
+<parameters name="MOT_">
+<param humanName="Motor Output PWM type" name="MOT_PWM_TYPE" documentation="This selects the output PWM type as regular PWM, OneShot, Brushed motor support using PWM (duty cycle) with separated direction signal, Brushed motor support with separate throttle and direction PWM (duty cyle)" user="Advanced">
+<values>
+<value code="0">Normal</value>
+<value code="1">OneShot</value>
+<value code="2">OneShot125</value>
+<value code="3">BrushedWithRelay</value>
+<value code="4">BrushedBiPolar</value>
+<value code="5">DShot150</value>
+<value code="6">DShot300</value>
+<value code="7">DShot600</value>
+<value code="8">DShot1200</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Motor Output PWM freq for brushed motors" name="MOT_PWM_FREQ" documentation="Motor Output PWM freq for brushed motors" user="Advanced">
+<field name="Range">1 20</field>
+<field name="Increment">1</field>
+<field name="Units">kHz</field>
+<field name="UnitText">kilohertz</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Motor PWM output disabled when disarmed" name="MOT_SAFE_DISARM" documentation="Disables motor PWM output when disarmed" user="Advanced">
+<values>
+<value code="0">PWM enabled while disarmed</value>
+<value code=" 1">PWM disabled while disarmed</value>
+</values>
+</param>
+<param humanName="Throttle minimum" name="MOT_THR_MIN" documentation="Throttle minimum percentage the autopilot will apply. This is useful for handling a deadzone around low throttle and for preventing internal combustion motors cutting out during missions." user="Standard">
+<field name="Range">0 20</field>
+<field name="Increment">1</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Throttle maximum" name="MOT_THR_MAX" documentation="Throttle maximum percentage the autopilot will apply. This can be used to prevent overheating an ESC or motor on an electric rover" user="Standard">
+<field name="Range">30 100</field>
+<field name="Increment">1</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Throttle slew rate" name="MOT_SLEWRATE" documentation="Throttle slew rate as a percentage of total range per second. A value of 100 allows the motor to change over its full range in one second.  A value of zero disables the limit.  Note some NiMH powered rovers require a lower setting of 40 to reduce current demand to avoid brownouts." user="Standard">
+<field name="Range">0 1000</field>
+<field name="Increment">1</field>
+<field name="Units">%/s</field>
+<field name="UnitText">percent per second</field>
+</param>
+<param humanName="Thrust Curve Expo" name="MOT_THST_EXPO" documentation="Thrust curve exponent (-1 to +1 with 0 being linear)" user="Advanced">
+<field name="Range">-1.0 1.0</field>
+</param>
+<param humanName="Vector thrust throttle base" name="MOT_VEC_THR_BASE" documentation="Throttle level above which steering is scaled down when using vector thrust.  zero to disable vectored thrust" user="Advanced">
+<field name="Range">0 100</field>
+<field name="Units">%</field>
+<field name="UnitText">percent</field>
+</param>
+<param humanName="Motor speed scaling base speed" name="MOT_SPD_SCA_BASE" documentation="Speed above which steering is scaled down when using regular steering/throttle vehicles.  zero to disable speed scaling" user="Advanced">
+<field name="Range">0 10</field>
+<field name="Units">m/s</field>
+<field name="UnitText">meters per second</field>
+</param>
+</parameters>
+<parameters name="NAVL1_">
+<param humanName="L1 control period" name="NAVL1_PERIOD" documentation="Period in seconds of L1 tracking loop. This parameter is the primary control for agressiveness of turns in auto mode. This needs to be larger for less responsive airframes. The default of 20 is quite conservative, but for most RC aircraft will lead to reasonable flight. For smaller more agile aircraft a value closer to 15 is appropriate, or even as low as 10 for some very agile aircraft. When tuning, change this value in small increments, as a value that is much too small (say 5 or 10 below the right value) can lead to very radical turns, and a risk of stalling." user="Standard">
+<field name="Range">1 60</field>
+<field name="Increment">1</field>
+<field name="Units">s</field>
+<field name="UnitText">seconds</field>
+</param>
+<param humanName="L1 control damping ratio" name="NAVL1_DAMPING" documentation="Damping ratio for L1 control. Increase this in increments of 0.05 if you are getting overshoot in path tracking. You should not need a value below 0.7 or above 0.85." user="Advanced">
+<field name="Range">0.6 1.0</field>
+<field name="Increment">0.05</field>
+</param>
+<param humanName="L1 control crosstrack integrator gain" name="NAVL1_XTRACK_I" documentation="Crosstrack error integrator gain. This gain is applied to the crosstrack error to ensure it converges to zero. Set to zero to disable. Smaller values converge slower, higher values will cause crosstrack error oscillation." user="Advanced">
+<field name="Range">0 0.1</field>
+<field name="Increment">0.01</field>
+</param>
+<param humanName="Loiter Radius Bank Angle Limit" name="NAVL1_LIM_BANK" documentation="The sealevel bank angle limit for a continous loiter. (Used to calculate airframe loading limits at higher altitudes). Setting to 0, will instead just scale the loiter radius directly" user="Advanced">
+<field name="Range">0 89</field>
+<field name="Units">deg</field>
+<field name="UnitText">degrees</field>
+</param>
+</parameters>
+<parameters name="NTF_">
+<param humanName="LED Brightness" name="NTF_LED_BRIGHT" documentation="Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting." user="Advanced">
+<values>
+<value code="0">Off</value>
+<value code="1">Low</value>
+<value code="2">Medium</value>
+<value code="3">High</value>
+</values>
+</param>
+<param humanName="Buzzer enable" name="NTF_BUZZ_ENABLE" documentation="Enable or disable the buzzer." user="Advanced">
+<values>
+<value code="0">Disable</value>
+<value code="1">Enable</value>
+</values>
+</param>
+<param humanName="Specifies colour source for the RGBLed" name="NTF_LED_OVERRIDE" documentation='Specifies the source for the colours and brightness for the LED.  OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially "Green" is disarmed (safe-to-approach), "Red" is armed (not safe-to-approach).' user="Advanced">
+<values>
+<value code="0">Standard</value>
+<value code="1">MAVLink</value>
+<value code="2">OutbackChallenge</value>
+</values>
+</param>
+<param humanName="Type of on-board I2C display" name="NTF_DISPLAY_TYPE" documentation="This sets up the type of on-board I2C display. Disabled by default." user="Advanced">
+<values>
+<value code="0">Disable</value>
+<value code="1">ssd1306</value>
+<value code="2">sh1106</value>
+</values>
+</param>
+<param humanName="OreoLED Theme" name="NTF_OREO_THEME" documentation="Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Aircraft</value>
+<value code="2">Rover</value>
+</values>
+</param>
+<param humanName="Buzzer pin" name="NTF_BUZZ_PIN" documentation="Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET!" user="Advanced">
+<values>
+<value code="0">Disabled</value>
+</values>
+</param>
+<param humanName="LED Driver Types" name="NTF_LED_TYPES" documentation="Controls what types of LEDs will be enabled" user="Advanced">
+<field name="Bitmask">0:Build in LED, 1:Internal ToshibaLED, 2:External ToshibaLED, 3:External PCA9685, 4:Oreo LED, 5:UAVCAN, 6:NCP5623 External, 7:NCP5623 Internal</field>
+</param>
+<param humanName="Buzzer-on pin logic level" name="NTF_BUZZ_ON_LVL" documentation="Specifies pin level that indicates buzzer should play" user="Advanced">
+<values>
+<value code="0">LowIsOn</value>
+<value code="1">HighIsOn</value>
+</values>
+</param>
+</parameters>
+<parameters name="OSD">
+<param humanName="OSD type" name="OSD_TYPE" documentation="OSD type" user="Standard">
+<values>
+<value code="0">None</value>
+<value code="1">MAX7456</value>
+</values>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="Screen switch transmitter channel" name="OSD_CHAN" documentation="This sets the channel used to switch different OSD screens." user="Standard">
+<values>
+<value code="0">Disable</value>
+<value code="5">Chan5</value>
+<value code="6">Chan6</value>
+<value code="7">Chan7</value>
+<value code="8">Chan8</value>
+<value code="9">Chan9</value>
+<value code="10">Chan10</value>
+<value code="11">Chan11</value>
+<value code="12">Chan12</value>
+<value code="13">Chan13</value>
+<value code="14">Chan14</value>
+<value code="15">Chan15</value>
+<value code="16">Chan16</value>
+</values>
+</param>
+<param humanName="OSD Options" name="OSD_OPTIONS" documentation="This sets options that change the display" user="Standard">
+<field name="Bitmask">0:UseDecimalPack, 1:InvertedWindPointer, 2:InvertedAHRoll</field>
+</param>
+<param humanName="OSD Font" name="OSD_FONT" documentation="This sets which OSD font to use. It is an integer from 0 to the number of fonts available" user="Standard">
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="OSD vertical offset" name="OSD_V_OFFSET" documentation="Sets vertical offset of the osd inside image" user="Standard">
+<field name="Range">0 31</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="OSD horizontal offset" name="OSD_H_OFFSET" documentation="Sets horizontal offset of the osd inside image" user="Standard">
+<field name="Range">0 63</field>
+<field name="RebootRequired">True</field>
+</param>
+<param humanName="RSSI warn level (in %)" name="OSD_W_RSSI" documentation="Set level at which RSSI item will flash" user="Standard">
+<field name="Range">0 99</field>
+</param>
+<param humanName="NSAT warn level" name="OSD_W_NSAT" documentation="Set level at which NSAT item will flash" user="Standard">
+<field name="Range">1 30</field>
+</param>
+<param humanName="BAT_VOLT warn level" name="OSD_W_BATVOLT" documentation="Set level at which BAT_VOLT item will flash" user="Standard">
+<field name="Range">0 100</field>
+</param>
+<param humanName="Display Units" name="OSD_UNITS" documentation="Sets the units to use in displaying items" user="Standard">
+<values>
+<value code="0">Metric</value>
+<value code="1">Imperial</value>
+<value code="2">SI</value>
+<value code="3">Aviation</value>
+</values>
+</param>
+<param humanName="Message display duration in seconds" name="OSD_MSG_TIME" documentation="Sets message duration seconds" user="Standard">
+<field name="Range">1 20</field>
+</param>
+<param humanName="Arm screen" name="OSD_ARM_SCR" documentation="Screen to be shown on Arm event. Zero to disable the feature." user="Standard">
+<field name="Range">0 4</field>
+</param>
+<param humanName="Disarm screen" name="OSD_DSARM_SCR" documentation="Screen to be shown on disarm event. Zero to disable the feature." user="Standard">
+<field name="Range">0 4</field>
+</param>
+<param humanName="Failsafe screen" name="OSD_FS_SCR" documentation="Screen to be shown on failsafe event. Zero to disable the feature." user="Standard">
+<field name="Range">0 4</field>
+</param>
+</parameters>
+<parameters name="OSD1_">
+<param humanName="Enable screen" name="OSD1_ENABLE" documentation="Enable this screen" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Transmitter switch screen minimum pwm" name="OSD1_CHAN_MIN" documentation="This sets the PWM lower limit for this screen" user="Standard">
+<field name="Range">900 2100</field>
+</param>
+<param humanName="Transmitter switch screen maximum pwm" name="OSD1_CHAN_MAX" documentation="This sets the PWM upper limit for this screen" user="Standard">
+<field name="Range">900 2100</field>
+</param>
+</parameters>
+<parameters name="OSD1_ALTITUDE">
+<param humanName="Enable" name="OSD1_ALTITUDE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_ALTITUDE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_ALTITUDE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_ASPD2">
+<param humanName="Enable" name="OSD1_ASPD2_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_ASPD2_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_ASPD2_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_ATEMP">
+<param humanName="Enable" name="OSD1_ATEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_ATEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_ATEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_BAT2USED">
+<param humanName="Enable" name="OSD1_BAT2USED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_BAT2USED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_BAT2USED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_BAT2VLT">
+<param humanName="Enable" name="OSD1_BAT2VLT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_BAT2VLT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_BAT2VLT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_BATUSED">
+<param humanName="Enable" name="OSD1_BATUSED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_BATUSED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_BATUSED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_BATVOLT">
+<param humanName="Enable" name="OSD1_BATVOLT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_BATVOLT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_BATVOLT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_BLHAMPS">
+<param humanName="Enable" name="OSD1_BLHAMPS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_BLHAMPS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_BLHAMPS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_BLHRPM">
+<param humanName="Enable" name="OSD1_BLHRPM_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_BLHRPM_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_BLHRPM_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_BLHTEMP">
+<param humanName="Enable" name="OSD1_BLHTEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_BLHTEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_BLHTEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_BTEMP">
+<param humanName="Enable" name="OSD1_BTEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_BTEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_BTEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_CLIMBEFF">
+<param humanName="Enable" name="OSD1_CLIMBEFF_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_CLIMBEFF_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_CLIMBEFF_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_CURRENT">
+<param humanName="Enable" name="OSD1_CURRENT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_CURRENT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_CURRENT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_DIST">
+<param humanName="Enable" name="OSD1_DIST_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_DIST_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_DIST_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_EFF">
+<param humanName="Enable" name="OSD1_EFF_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_EFF_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_EFF_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_FLTIME">
+<param humanName="Enable" name="OSD1_FLTIME_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_FLTIME_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_FLTIME_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_FLTMODE">
+<param humanName="Enable" name="OSD1_FLTMODE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_FLTMODE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_FLTMODE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_GPSLAT">
+<param humanName="Enable" name="OSD1_GPSLAT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_GPSLAT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_GPSLAT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_GPSLONG">
+<param humanName="Enable" name="OSD1_GPSLONG_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_GPSLONG_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_GPSLONG_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_GSPEED">
+<param humanName="Enable" name="OSD1_GSPEED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_GSPEED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_GSPEED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_HDOP">
+<param humanName="Enable" name="OSD1_HDOP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_HDOP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_HDOP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_HOME">
+<param humanName="Enable" name="OSD1_HOME_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_HOME_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_HOME_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_HORIZON">
+<param humanName="Enable" name="OSD1_HORIZON_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_HORIZON_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_HORIZON_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_MESSAGE">
+<param humanName="Enable" name="OSD1_MESSAGE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_MESSAGE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_MESSAGE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_PITCH">
+<param humanName="Enable" name="OSD1_PITCH_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_PITCH_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_PITCH_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_ROLL">
+<param humanName="Enable" name="OSD1_ROLL_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_ROLL_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_ROLL_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_RSSI">
+<param humanName="Enable" name="OSD1_RSSI_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_RSSI_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_RSSI_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_SATS">
+<param humanName="Enable" name="OSD1_SATS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_SATS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_SATS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_STATS">
+<param humanName="Enable" name="OSD1_STATS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_STATS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_STATS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_TEMP">
+<param humanName="Enable" name="OSD1_TEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_TEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_TEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_WAYPOINT">
+<param humanName="Enable" name="OSD1_WAYPOINT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_WAYPOINT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_WAYPOINT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD1_XTRACK">
+<param humanName="Enable" name="OSD1_XTRACK_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD1_XTRACK_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD1_XTRACK_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_">
+<param humanName="Enable screen" name="OSD2_ENABLE" documentation="Enable this screen" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Transmitter switch screen minimum pwm" name="OSD2_CHAN_MIN" documentation="This sets the PWM lower limit for this screen" user="Standard">
+<field name="Range">900 2100</field>
+</param>
+<param humanName="Transmitter switch screen maximum pwm" name="OSD2_CHAN_MAX" documentation="This sets the PWM upper limit for this screen" user="Standard">
+<field name="Range">900 2100</field>
+</param>
+</parameters>
+<parameters name="OSD2_ALTITUDE">
+<param humanName="Enable" name="OSD2_ALTITUDE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_ALTITUDE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_ALTITUDE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_ASPD2">
+<param humanName="Enable" name="OSD2_ASPD2_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_ASPD2_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_ASPD2_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_ATEMP">
+<param humanName="Enable" name="OSD2_ATEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_ATEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_ATEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_BAT2USED">
+<param humanName="Enable" name="OSD2_BAT2USED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_BAT2USED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_BAT2USED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_BAT2VLT">
+<param humanName="Enable" name="OSD2_BAT2VLT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_BAT2VLT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_BAT2VLT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_BATUSED">
+<param humanName="Enable" name="OSD2_BATUSED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_BATUSED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_BATUSED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_BATVOLT">
+<param humanName="Enable" name="OSD2_BATVOLT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_BATVOLT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_BATVOLT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_BLHAMPS">
+<param humanName="Enable" name="OSD2_BLHAMPS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_BLHAMPS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_BLHAMPS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_BLHRPM">
+<param humanName="Enable" name="OSD2_BLHRPM_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_BLHRPM_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_BLHRPM_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_BLHTEMP">
+<param humanName="Enable" name="OSD2_BLHTEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_BLHTEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_BLHTEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_BTEMP">
+<param humanName="Enable" name="OSD2_BTEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_BTEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_BTEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_CLIMBEFF">
+<param humanName="Enable" name="OSD2_CLIMBEFF_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_CLIMBEFF_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_CLIMBEFF_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_CURRENT">
+<param humanName="Enable" name="OSD2_CURRENT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_CURRENT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_CURRENT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_DIST">
+<param humanName="Enable" name="OSD2_DIST_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_DIST_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_DIST_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_EFF">
+<param humanName="Enable" name="OSD2_EFF_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_EFF_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_EFF_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_FLTIME">
+<param humanName="Enable" name="OSD2_FLTIME_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_FLTIME_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_FLTIME_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_FLTMODE">
+<param humanName="Enable" name="OSD2_FLTMODE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_FLTMODE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_FLTMODE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_GPSLAT">
+<param humanName="Enable" name="OSD2_GPSLAT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_GPSLAT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_GPSLAT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_GPSLONG">
+<param humanName="Enable" name="OSD2_GPSLONG_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_GPSLONG_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_GPSLONG_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_GSPEED">
+<param humanName="Enable" name="OSD2_GSPEED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_GSPEED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_GSPEED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_HDOP">
+<param humanName="Enable" name="OSD2_HDOP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_HDOP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_HDOP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_HOME">
+<param humanName="Enable" name="OSD2_HOME_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_HOME_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_HOME_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_HORIZON">
+<param humanName="Enable" name="OSD2_HORIZON_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_HORIZON_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_HORIZON_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_MESSAGE">
+<param humanName="Enable" name="OSD2_MESSAGE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_MESSAGE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_MESSAGE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_PITCH">
+<param humanName="Enable" name="OSD2_PITCH_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_PITCH_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_PITCH_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_ROLL">
+<param humanName="Enable" name="OSD2_ROLL_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_ROLL_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_ROLL_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_RSSI">
+<param humanName="Enable" name="OSD2_RSSI_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_RSSI_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_RSSI_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_SATS">
+<param humanName="Enable" name="OSD2_SATS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_SATS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_SATS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_STATS">
+<param humanName="Enable" name="OSD2_STATS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_STATS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_STATS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_TEMP">
+<param humanName="Enable" name="OSD2_TEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_TEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_TEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_WAYPOINT">
+<param humanName="Enable" name="OSD2_WAYPOINT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_WAYPOINT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_WAYPOINT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD2_XTRACK">
+<param humanName="Enable" name="OSD2_XTRACK_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD2_XTRACK_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD2_XTRACK_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_">
+<param humanName="Enable screen" name="OSD3_ENABLE" documentation="Enable this screen" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Transmitter switch screen minimum pwm" name="OSD3_CHAN_MIN" documentation="This sets the PWM lower limit for this screen" user="Standard">
+<field name="Range">900 2100</field>
+</param>
+<param humanName="Transmitter switch screen maximum pwm" name="OSD3_CHAN_MAX" documentation="This sets the PWM upper limit for this screen" user="Standard">
+<field name="Range">900 2100</field>
+</param>
+</parameters>
+<parameters name="OSD3_ALTITUDE">
+<param humanName="Enable" name="OSD3_ALTITUDE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_ALTITUDE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_ALTITUDE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_ASPD2">
+<param humanName="Enable" name="OSD3_ASPD2_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_ASPD2_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_ASPD2_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_ATEMP">
+<param humanName="Enable" name="OSD3_ATEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_ATEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_ATEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_BAT2USED">
+<param humanName="Enable" name="OSD3_BAT2USED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_BAT2USED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_BAT2USED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_BAT2VLT">
+<param humanName="Enable" name="OSD3_BAT2VLT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_BAT2VLT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_BAT2VLT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_BATUSED">
+<param humanName="Enable" name="OSD3_BATUSED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_BATUSED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_BATUSED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_BATVOLT">
+<param humanName="Enable" name="OSD3_BATVOLT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_BATVOLT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_BATVOLT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_BLHAMPS">
+<param humanName="Enable" name="OSD3_BLHAMPS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_BLHAMPS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_BLHAMPS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_BLHRPM">
+<param humanName="Enable" name="OSD3_BLHRPM_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_BLHRPM_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_BLHRPM_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_BLHTEMP">
+<param humanName="Enable" name="OSD3_BLHTEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_BLHTEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_BLHTEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_BTEMP">
+<param humanName="Enable" name="OSD3_BTEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_BTEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_BTEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_CLIMBEFF">
+<param humanName="Enable" name="OSD3_CLIMBEFF_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_CLIMBEFF_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_CLIMBEFF_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_CURRENT">
+<param humanName="Enable" name="OSD3_CURRENT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_CURRENT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_CURRENT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_DIST">
+<param humanName="Enable" name="OSD3_DIST_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_DIST_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_DIST_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_EFF">
+<param humanName="Enable" name="OSD3_EFF_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_EFF_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_EFF_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_FLTIME">
+<param humanName="Enable" name="OSD3_FLTIME_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_FLTIME_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_FLTIME_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_FLTMODE">
+<param humanName="Enable" name="OSD3_FLTMODE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_FLTMODE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_FLTMODE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_GPSLAT">
+<param humanName="Enable" name="OSD3_GPSLAT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_GPSLAT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_GPSLAT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_GPSLONG">
+<param humanName="Enable" name="OSD3_GPSLONG_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_GPSLONG_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_GPSLONG_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_GSPEED">
+<param humanName="Enable" name="OSD3_GSPEED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_GSPEED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_GSPEED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_HDOP">
+<param humanName="Enable" name="OSD3_HDOP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_HDOP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_HDOP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_HOME">
+<param humanName="Enable" name="OSD3_HOME_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_HOME_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_HOME_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_HORIZON">
+<param humanName="Enable" name="OSD3_HORIZON_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_HORIZON_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_HORIZON_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_MESSAGE">
+<param humanName="Enable" name="OSD3_MESSAGE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_MESSAGE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_MESSAGE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_PITCH">
+<param humanName="Enable" name="OSD3_PITCH_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_PITCH_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_PITCH_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_ROLL">
+<param humanName="Enable" name="OSD3_ROLL_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_ROLL_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_ROLL_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_RSSI">
+<param humanName="Enable" name="OSD3_RSSI_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_RSSI_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_RSSI_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_SATS">
+<param humanName="Enable" name="OSD3_SATS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_SATS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_SATS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_STATS">
+<param humanName="Enable" name="OSD3_STATS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_STATS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_STATS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_TEMP">
+<param humanName="Enable" name="OSD3_TEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_TEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_TEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_WAYPOINT">
+<param humanName="Enable" name="OSD3_WAYPOINT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_WAYPOINT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_WAYPOINT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD3_XTRACK">
+<param humanName="Enable" name="OSD3_XTRACK_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD3_XTRACK_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD3_XTRACK_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_">
+<param humanName="Enable screen" name="OSD4_ENABLE" documentation="Enable this screen" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="Transmitter switch screen minimum pwm" name="OSD4_CHAN_MIN" documentation="This sets the PWM lower limit for this screen" user="Standard">
+<field name="Range">900 2100</field>
+</param>
+<param humanName="Transmitter switch screen maximum pwm" name="OSD4_CHAN_MAX" documentation="This sets the PWM upper limit for this screen" user="Standard">
+<field name="Range">900 2100</field>
+</param>
+</parameters>
+<parameters name="OSD4_ALTITUDE">
+<param humanName="Enable" name="OSD4_ALTITUDE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_ALTITUDE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_ALTITUDE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_ASPD2">
+<param humanName="Enable" name="OSD4_ASPD2_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_ASPD2_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_ASPD2_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_ATEMP">
+<param humanName="Enable" name="OSD4_ATEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_ATEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_ATEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_BAT2USED">
+<param humanName="Enable" name="OSD4_BAT2USED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_BAT2USED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_BAT2USED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_BAT2VLT">
+<param humanName="Enable" name="OSD4_BAT2VLT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_BAT2VLT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_BAT2VLT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_BATUSED">
+<param humanName="Enable" name="OSD4_BATUSED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_BATUSED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_BATUSED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_BATVOLT">
+<param humanName="Enable" name="OSD4_BATVOLT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_BATVOLT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_BATVOLT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_BLHAMPS">
+<param humanName="Enable" name="OSD4_BLHAMPS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_BLHAMPS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_BLHAMPS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_BLHRPM">
+<param humanName="Enable" name="OSD4_BLHRPM_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_BLHRPM_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_BLHRPM_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_BLHTEMP">
+<param humanName="Enable" name="OSD4_BLHTEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_BLHTEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_BLHTEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_BTEMP">
+<param humanName="Enable" name="OSD4_BTEMP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_BTEMP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_BTEMP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_CLIMBEFF">
+<param humanName="Enable" name="OSD4_CLIMBEFF_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_CLIMBEFF_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_CLIMBEFF_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_CURRENT">
+<param humanName="Enable" name="OSD4_CURRENT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_CURRENT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_CURRENT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_DIST">
+<param humanName="Enable" name="OSD4_DIST_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_DIST_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_DIST_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_EFF">
+<param humanName="Enable" name="OSD4_EFF_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_EFF_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_EFF_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_FLTIME">
+<param humanName="Enable" name="OSD4_FLTIME_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_FLTIME_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_FLTIME_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_FLTMODE">
+<param humanName="Enable" name="OSD4_FLTMODE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_FLTMODE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_FLTMODE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_GPSLAT">
+<param humanName="Enable" name="OSD4_GPSLAT_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_GPSLAT_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_GPSLAT_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_GPSLONG">
+<param humanName="Enable" name="OSD4_GPSLONG_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_GPSLONG_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_GPSLONG_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_GSPEED">
+<param humanName="Enable" name="OSD4_GSPEED_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_GSPEED_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_GSPEED_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_HDOP">
+<param humanName="Enable" name="OSD4_HDOP_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_HDOP_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_HDOP_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_HOME">
+<param humanName="Enable" name="OSD4_HOME_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_HOME_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_HOME_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_HORIZON">
+<param humanName="Enable" name="OSD4_HORIZON_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_HORIZON_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_HORIZON_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_MESSAGE">
+<param humanName="Enable" name="OSD4_MESSAGE_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_MESSAGE_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_MESSAGE_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_PITCH">
+<param humanName="Enable" name="OSD4_PITCH_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_PITCH_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_PITCH_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_ROLL">
+<param humanName="Enable" name="OSD4_ROLL_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_ROLL_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_ROLL_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_RSSI">
+<param humanName="Enable" name="OSD4_RSSI_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_RSSI_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_RSSI_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_SATS">
+<param humanName="Enable" name="OSD4_SATS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_SATS_X" documentation="Horizontal position on screen" user="Standard">
+<field name="Range">0 29</field>
+</param>
+<param humanName="Y position" name="OSD4_SATS_Y" documentation="Vertical position on screen" user="Standard">
+<field name="Range">0 15</field>
+</param>
+</parameters>
+<parameters name="OSD4_STATS">
+<param humanName="Enable" name="OSD4_STATS_EN" documentation="Enable setting" user="Standard">
+<values>
+<value code="0">Disabled</value>
+<value code="1">Enabled</value>
+</values>
+</param>
+<param humanName="X position" name="OSD4_STATS_X