PX4ParameterFactMetaData.xml

<parameters>
  <version>3</version>
  <parameter_version_major>1</parameter_version_major>
  <parameter_version_minor>15</parameter_version_minor>
  <group name="UAVCAN Motor Parameters" no_code_generation="true">
    <parameter default="75" name="ctl_bw" type="INT32">
      <short_desc>Speed controller bandwidth</short_desc>
      <long_desc>Speed controller bandwidth, in Hz. Higher values result in faster speed and current rise times, but may result in overshoot and higher current consumption. For fixed-wing aircraft, this value should be less than 50 Hz; for multirotors, values up to 100 Hz may provide improvements in responsiveness.</long_desc>
      <unit>Hertz</unit>
      <min>10</min>
      <max>250</max>
    </parameter>
    <parameter default="1" name="ctl_dir" type="INT32">
      <short_desc>Reverse direction</short_desc>
      <long_desc>Motor spin direction as detected during initial enumeration. Use 0 or 1 to reverse direction.</long_desc>
      <min>0</min>
      <max>1</max>
    </parameter>
    <parameter default="1" name="ctl_gain" type="FLOAT">
      <short_desc>Speed (RPM) controller gain</short_desc>
      <long_desc>Speed (RPM) controller gain. Determines controller
            aggressiveness; units are amp-seconds per radian. Systems with
            higher rotational inertia (large props) will need gain increased;
            systems with low rotational inertia (small props) may need gain
            decreased. Higher values result in faster response, but may result
            in oscillation and excessive overshoot. Lower values result in a
            slower, smoother response.</long_desc>
      <unit>amp-seconds per radian</unit>
      <decimal>3</decimal>
      <min>0.00</min>
      <max>1.00</max>
    </parameter>
    <parameter default="3.5" name="ctl_hz_idle" type="FLOAT">
      <short_desc>Idle speed (e Hz)</short_desc>
      <long_desc>Idle speed (e Hz)</long_desc>
      <unit>Hertz</unit>
      <decimal>3</decimal>
      <min>0.0</min>
      <max>100.0</max>
    </parameter>
    <parameter default="25" name="ctl_start_rate" type="INT32">
      <short_desc>Spin-up rate (e Hz/s)</short_desc>
      <long_desc>Spin-up rate (e Hz/s)</long_desc>
      <unit>Hz/s</unit>
      <min>5</min>
      <max>1000</max>
    </parameter>
    <parameter default="0" name="esc_index" type="INT32">
      <short_desc>Index of this ESC in throttle command messages.</short_desc>
      <long_desc>Index of this ESC in throttle command messages.</long_desc>
      <unit>Index</unit>
      <min>0</min>
      <max>15</max>
    </parameter>
    <parameter default="20034" name="id_ext_status" type="INT32">
      <short_desc>Extended status ID</short_desc>
      <long_desc>Extended status ID</long_desc>
      <min>1</min>
      <max>1000000</max>
    </parameter>
    <parameter default="50000" name="int_ext_status" type="INT32">
      <short_desc>Extended status interval (µs)</short_desc>
      <long_desc>Extended status interval (µs)</long_desc>
      <unit>µs</unit>
      <min>0</min>
      <max>1000000</max>
    </parameter>
    <parameter default="50000" name="int_status" type="INT32">
      <short_desc>ESC status interval (µs)</short_desc>
      <long_desc>ESC status interval (µs)</long_desc>
      <unit>µs</unit>
      <max>1000000</max>
    </parameter>
    <parameter default="12" name="mot_i_max" type="FLOAT">
      <short_desc>Motor current limit in amps</short_desc>
      <long_desc>Motor current limit in amps. This determines the maximum
            current controller setpoint, as well as the maximum allowable
            current setpoint slew rate. This value should generally be set to
            the continuous current rating listed in the motor’s specification
            sheet, or set equal to the motor’s specified continuous power
            divided by the motor voltage limit.</long_desc>
      <unit>Amps</unit>
      <decimal>3</decimal>
      <min>1</min>
      <max>80</max>
    </parameter>
    <parameter default="2300" name="mot_kv" type="INT32">
      <short_desc>Motor Kv in RPM per volt</short_desc>
      <long_desc>Motor Kv in RPM per volt. This can be taken from the motor’s
            specification sheet; accuracy will help control performance but
            some deviation from the specified value is acceptable.</long_desc>
      <unit>RPM/v</unit>
      <min>0</min>
      <max>4000</max>
    </parameter>
    <parameter default="0.0" name="mot_ls" type="FLOAT">
      <short_desc>READ ONLY: Motor inductance in henries.</short_desc>
      <long_desc>READ ONLY: Motor inductance in henries. This is measured on start-up.</long_desc>
      <unit>henries</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="14" name="mot_num_poles" type="INT32">
      <short_desc>Number of motor poles.</short_desc>
      <long_desc>Number of motor poles. Used to convert mechanical speeds to
            electrical speeds. This number should be taken from the motor’s
            specification sheet.</long_desc>
      <unit>Poles</unit>
      <min>2</min>
      <max>40</max>
    </parameter>
    <parameter default="0.0" name="mot_rs" type="FLOAT">
      <short_desc>READ ONLY: Motor resistance in ohms</short_desc>
      <long_desc>READ ONLY: Motor resistance in ohms. This is measured on start-up. When
            tuning a new motor, check that this value is approximately equal
            to the value shown in the motor’s specification sheet.</long_desc>
      <unit>Ohms</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0.5" name="mot_v_accel" type="FLOAT">
      <short_desc>Acceleration limit (V)</short_desc>
      <long_desc>Acceleration limit (V)</long_desc>
      <unit>Volts</unit>
      <decimal>3</decimal>
      <min>0.01</min>
      <max>1.00</max>
    </parameter>
    <parameter default="14.8" name="mot_v_max" type="FLOAT">
      <short_desc>Motor voltage limit in volts</short_desc>
      <long_desc>Motor voltage limit in volts. The current controller’s
            commanded voltage will never exceed this value. Note that this may
            safely be above the nominal voltage of the motor; to determine the
            actual motor voltage limit, divide the motor’s rated power by the
            motor current limit.</long_desc>
      <unit>Volts</unit>
      <decimal>3</decimal>
      <min>0</min>
    </parameter>
  </group>
  <group name="UAVCAN GNSS" no_code_generation="true">
    <parameter default="0" name="gnss.warn_dimens" type="INT32">
      <short_desc>device health warning</short_desc>
      <long_desc>Set the device health to Warning if the dimensionality of
              the GNSS solution is less than this value. 3 for the full (3D)
              solution, 2 for planar (2D) solution, 1 for time-only solution,
              0 disables the feature.
      </long_desc>
      <min>0</min>
      <max>3</max>
      <values>
        <value code="0">disables the feature</value>
        <value code="1">time-only solution</value>
        <value code="2">planar (2D) solution</value>
        <value code="3">full (3D) solution</value>
      </values>
    </parameter>
    <parameter default="0" name="gnss.warn_sats" type="INT32">
      <short_desc />
      <long_desc>Set the device health to Warning if the number of satellites
        used in the GNSS solution is below this threshold. Zero
        disables the feature
      </long_desc>
    </parameter>
    <parameter default="2" name="gnss.dyn_model" type="INT32">
      <short_desc>GNSS dynamic model</short_desc>
      <long_desc>Dynamic model used in the GNSS positioning engine. 0 –
        Automotive, 1 – Sea, 2 – Airborne.
      </long_desc>
      <min>0</min>
      <max>2</max>
      <values>
        <value code="0">Automotive</value>
        <value code="1">Sea</value>
        <value code="2">Airborne</value>
      </values>
    </parameter>
    <parameter default="1" name="gnss.old_fix_msg" type="INT32">
      <short_desc>Broadcast old GNSS fix message</short_desc>
      <long_desc>Broadcast the old (deprecated) GNSS fix message
        uavcan.equipment.gnss.Fix alongside the new alternative
        uavcan.equipment.gnss.Fix2. It is recommended to
        disable this feature to reduce the CAN bus traffic.
      </long_desc>
      <min>0</min>
      <max>1</max>
      <values>
        <value code="0">Fix2</value>
        <value code="1">Fix and Fix2</value>
      </values>
    </parameter>
    <parameter default="0" name="uavcan.pubp-pres" type="INT32">
      <short_desc />
      <long_desc>Set the device health to Warning if the number of satellites
        used in the GNSS solution is below this threshold. Zero
        disables the feature
      </long_desc>
      <unit>microseconds</unit>
      <min>0</min>
      <max>1000000</max>
    </parameter>
  </group>
  <group name="Airspeed Validator">
    <parameter default="1" name="ASPD_BETA_GATE" type="INT32">
      <short_desc>Airspeed Selector: Gate size for sideslip angle fusion</short_desc>
      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
      <min>1</min>
      <max>5</max>
      <unit>SD</unit>
    </parameter>
    <parameter default="0.3" name="ASPD_BETA_NOISE" type="FLOAT">
      <short_desc>Airspeed Selector: Wind estimator sideslip measurement noise</short_desc>
      <long_desc>Sideslip measurement noise of the internal wind estimator(s) of the airspeed selector.</long_desc>
      <min>0</min>
      <max>1</max>
      <unit>rad</unit>
    </parameter>
    <parameter default="0" name="ASPD_DO_CHECKS" type="INT32">
      <short_desc>Enable checks on airspeed sensors</short_desc>
      <long_desc>If set to true then the data comming from the airspeed sensors is checked for validity. Only applied if ASPD_PRIMARY &gt; 0.</long_desc>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="ASPD_FALLBACK" type="INT32">
      <short_desc>Enable fallback to secondary airspeed measurement</short_desc>
      <long_desc>If ASPD_DO_CHECKS is set to true, then airspeed estimation can fallback from what specified in ASPD_PRIMARY to secondary source (other airspeed sensors, groundspeed minus windspeed).</long_desc>
      <reboot_required>true</reboot_required>
      <values>
        <value code="0">To other airspeed sensor (if one valid), else disable airspeed</value>
        <value code="1">To other airspeed sensor (if one valid), else to ground-windspeed</value>
      </values>
    </parameter>
    <parameter default="1.0" name="ASPD_FS_INNOV" type="FLOAT">
      <short_desc>Airspeed failsafe consistency threshold (Experimental)</short_desc>
      <long_desc>This specifies the minimum airspeed test ratio required to trigger a failsafe. Larger values make the check less sensitive, smaller values make it more sensitive. Start with a value of 1.0 when tuning. When tas_test_ratio is &gt; 1.0 it indicates the inconsistency between predicted and measured airspeed is large enough to cause the navigation EKF to reject airspeed measurements. The time required to detect a fault when the threshold is exceeded depends on the size of the exceedance and is controlled by the ASPD_FS_INTEG parameter.</long_desc>
      <min>0.5</min>
      <max>3.0</max>
    </parameter>
    <parameter default="-1.0" name="ASPD_FS_INTEG" type="FLOAT">
      <short_desc>Airspeed failsafe consistency delay (Experimental)</short_desc>
      <long_desc>This sets the time integral of airspeed test ratio exceedance above ASPD_FS_INNOV required to trigger a failsafe. For example if ASPD_FS_INNOV is 1 and estimator_status.tas_test_ratio is 2.0, then the exceedance is 1.0 and the integral will rise at a rate of 1.0/second. A negative value disables the check. Larger positive values make the check less sensitive, smaller positive values make it more sensitive.</long_desc>
      <max>30.0</max>
      <unit>s</unit>
    </parameter>
    <parameter default="3" name="ASPD_FS_T1" type="INT32">
      <short_desc>Airspeed failsafe stop delay (Experimental)</short_desc>
      <long_desc>Delay before stopping use of airspeed sensor if checks indicate sensor is bad.</long_desc>
      <min>1</min>
      <max>10</max>
      <unit>s</unit>
    </parameter>
    <parameter default="100" name="ASPD_FS_T2" type="INT32">
      <short_desc>Airspeed failsafe start delay (Experimental)</short_desc>
      <long_desc>Delay before switching back to using airspeed sensor if checks indicate sensor is good.</long_desc>
      <min>10</min>
      <max>1000</max>
      <unit>s</unit>
    </parameter>
    <parameter default="1" name="ASPD_PRIMARY" type="INT32">
      <short_desc>Index or primary airspeed measurement source</short_desc>
      <reboot_required>true</reboot_required>
      <values>
        <value code="-1">Disabled</value>
        <value code="0">Groundspeed minus windspeed</value>
        <value code="1">First airspeed sensor</value>
        <value code="2">Second airspeed sensor</value>
        <value code="3">Third airspeed sensor</value>
      </values>
    </parameter>
    <parameter default="1.0" name="ASPD_SCALE" type="FLOAT">
      <short_desc>Airspeed scale (scale from IAS to CAS/EAS)</short_desc>
      <long_desc>Scale can either be entered manually, or estimated in-flight by setting ASPD_SCALE_EST to 1.</long_desc>
      <min>0.5</min>
      <max>1.5</max>
    </parameter>
    <parameter default="0" name="ASPD_SCALE_EST" type="INT32">
      <short_desc>Automatic airspeed scale estimation on</short_desc>
      <long_desc>Turns the automatic airspeed scale (scale from IAS to CAS/EAS) on or off. It is recommended to fly level altitude while performing the estimation. Set to 1 to start estimation (best when already flying). Set to 0 to end scale estimation. The estimated scale is then saved using the ASPD_SCALE parameter.</long_desc>
    </parameter>
    <parameter default="0.0001" name="ASPD_SC_P_NOISE" type="FLOAT">
      <short_desc>Airspeed Selector: Wind estimator true airspeed scale process noise</short_desc>
      <long_desc>Airspeed scale process noise of the internal wind estimator(s) of the airspeed selector.</long_desc>
      <min>0</min>
      <max>0.1</max>
      <unit>1/s</unit>
    </parameter>
    <parameter default="10.0" name="ASPD_STALL" type="FLOAT">
      <short_desc>Airspeed fault detection stall airspeed. (Experimental)</short_desc>
      <long_desc>This is the minimum indicated airspeed at which the wing can produce 1g of lift. It is used by the airspeed sensor fault detection and failsafe calculation to detect a significant airspeed low measurement error condition and should be set based on flight test for reliable operation.</long_desc>
      <unit>m/s</unit>
    </parameter>
    <parameter default="3" name="ASPD_TAS_GATE" type="INT32">
      <short_desc>Airspeed Selector: Gate size for true airspeed fusion</short_desc>
      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
      <min>1</min>
      <max>5</max>
      <unit>SD</unit>
    </parameter>
    <parameter default="1.4" name="ASPD_TAS_NOISE" type="FLOAT">
      <short_desc>Airspeed Selector: Wind estimator true airspeed measurement noise</short_desc>
      <long_desc>True airspeed measurement noise of the internal wind estimator(s) of the airspeed selector.</long_desc>
      <min>0</min>
      <max>4</max>
      <unit>m/s</unit>
    </parameter>
    <parameter default="0.1" name="ASPD_W_P_NOISE" type="FLOAT">
      <short_desc>Airspeed Selector: Wind estimator wind process noise</short_desc>
      <long_desc>Wind process noise of the internal wind estimator(s) of the airspeed selector.</long_desc>
      <min>0</min>
      <max>1</max>
      <unit>m/s/s</unit>
    </parameter>
  </group>
  <group name="Attitude Q estimator">
    <parameter default="1" name="ATT_ACC_COMP" type="INT32">
      <short_desc>Acceleration compensation based on GPS
velocity</short_desc>
    </parameter>
    <parameter default="0.05" name="ATT_BIAS_MAX" type="FLOAT">
      <short_desc>Gyro bias limit</short_desc>
      <min>0</min>
      <max>2</max>
      <unit>rad/s</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0" name="ATT_EXT_HDG_M" type="INT32">
      <short_desc>External heading usage mode (from Motion capture/Vision)
Set to 1 to use heading estimate from vision.
Set to 2 to use heading from motion capture</short_desc>
      <min>0</min>
      <max>2</max>
      <values>
        <value code="0">None</value>
        <value code="1">Vision</value>
        <value code="2">Motion Capture</value>
      </values>
    </parameter>
    <parameter default="0.0" name="ATT_MAG_DECL" type="FLOAT">
      <short_desc>Magnetic declination, in degrees</short_desc>
      <long_desc>This parameter is not used in normal operation, as the declination is looked up based on the GPS coordinates of the vehicle.</long_desc>
      <unit>deg</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="1" name="ATT_MAG_DECL_A" type="INT32">
      <short_desc>Automatic GPS based declination compensation</short_desc>
    </parameter>
    <parameter default="0.2" name="ATT_W_ACC" type="FLOAT">
      <short_desc>Complimentary filter accelerometer weight</short_desc>
      <min>0</min>
      <max>1</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.1" name="ATT_W_EXT_HDG" type="FLOAT">
      <short_desc>Complimentary filter external heading weight</short_desc>
      <min>0</min>
      <max>1</max>
    </parameter>
    <parameter default="0.1" name="ATT_W_GYRO_BIAS" type="FLOAT">
      <short_desc>Complimentary filter gyroscope bias weight</short_desc>
      <min>0</min>
      <max>1</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.1" name="ATT_W_MAG" type="FLOAT">
      <short_desc>Complimentary filter magnetometer weight</short_desc>
      <long_desc>Set to 0 to avoid using the magnetometer.</long_desc>
      <min>0</min>
      <max>1</max>
      <decimal>2</decimal>
    </parameter>
  </group>
  <group name="Battery Calibration">
    <parameter default="-1.0" name="BAT1_A_PER_V" type="FLOAT">
      <short_desc>Battery 1 current per volt (A/V)</short_desc>
      <long_desc>The voltage seen by the ADC multiplied by this factor will determine the battery current. A value of -1 means to use the board default.</long_desc>
      <decimal>8</decimal>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="-1.0" name="BAT1_CAPACITY" type="FLOAT">
      <short_desc>Battery 1 capacity</short_desc>
      <long_desc>Defines the capacity of battery 1 in mAh.</long_desc>
      <min>-1.0</min>
      <max>100000</max>
      <unit>mAh</unit>
      <decimal>0</decimal>
      <increment>50</increment>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="-1" name="BAT1_I_CHANNEL" type="INT32">
      <short_desc>Battery 1 Current ADC Channel</short_desc>
      <long_desc>This parameter specifies the ADC channel used to monitor current of main power battery. A value of -1 means to use the board default.</long_desc>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="0" name="BAT1_N_CELLS" type="INT32">
      <short_desc>Number of cells for battery 1</short_desc>
      <long_desc>Defines the number of cells the attached battery consists of.</long_desc>
      <reboot_required>True</reboot_required>
      <values>
        <value code="2">2S Battery</value>
        <value code="3">3S Battery</value>
        <value code="4">4S Battery</value>
        <value code="5">5S Battery</value>
        <value code="6">6S Battery</value>
        <value code="7">7S Battery</value>
        <value code="8">8S Battery</value>
        <value code="9">9S Battery</value>
        <value code="10">10S Battery</value>
        <value code="11">11S Battery</value>
        <value code="12">12S Battery</value>
        <value code="13">13S Battery</value>
        <value code="14">14S Battery</value>
        <value code="15">15S Battery</value>
        <value code="16">16S Battery</value>
      </values>
    </parameter>
    <parameter default="-1.0" name="BAT1_R_INTERNAL" type="FLOAT">
      <short_desc>Explicitly defines the per cell internal resistance for battery 1</short_desc>
      <long_desc>If non-negative, then this will be used in place of BAT1_V_LOAD_DROP for all calculations.</long_desc>
      <min>-1.0</min>
      <max>0.2</max>
      <unit>Ohm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="0" name="BAT1_SOURCE" type="INT32">
      <short_desc>Battery 1 monitoring source</short_desc>
      <long_desc>This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.</long_desc>
      <reboot_required>True</reboot_required>
      <values>
        <value code="0">Power Module</value>
        <value code="1">External</value>
        <value code="2">ESCs</value>
      </values>
    </parameter>
    <parameter default="-1" name="BAT1_V_CHANNEL" type="INT32">
      <short_desc>Battery 1 Voltage ADC Channel</short_desc>
      <long_desc>This parameter specifies the ADC channel used to monitor voltage of main power battery. A value of -1 means to use the board default.</long_desc>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="4.05" name="BAT1_V_CHARGED" type="FLOAT">
      <short_desc>Full cell voltage (5C load)</short_desc>
      <long_desc>Defines the voltage where a single cell of battery 1 is considered full under a mild load. This will never be the nominal voltage of 4.2V</long_desc>
      <unit>V</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="-1.0" name="BAT1_V_DIV" type="FLOAT">
      <short_desc>Battery 1 voltage divider (V divider)</short_desc>
      <long_desc>This is the divider from battery 1 voltage to ADC voltage. If using e.g. Mauch power modules the value from the datasheet can be applied straight here. A value of -1 means to use the board default.</long_desc>
      <decimal>8</decimal>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="3.5" name="BAT1_V_EMPTY" type="FLOAT">
      <short_desc>Empty cell voltage (5C load)</short_desc>
      <long_desc>Defines the voltage where a single cell of battery 1 is considered empty. The voltage should be chosen before the steep dropoff to 2.8V. A typical lithium battery can only be discharged down to 10% before it drops off to a voltage level damaging the cells.</long_desc>
      <unit>V</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="0.3" name="BAT1_V_LOAD_DROP" type="FLOAT">
      <short_desc>Voltage drop per cell on full throttle</short_desc>
      <long_desc>This implicitely defines the internal resistance to maximum current ratio for battery 1 and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT1_R_INTERNAL is set.</long_desc>
      <min>0.07</min>
      <max>0.5</max>
      <unit>V</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="-1.0" name="BAT2_A_PER_V" type="FLOAT">
      <short_desc>Battery 2 current per volt (A/V)</short_desc>
      <long_desc>The voltage seen by the ADC multiplied by this factor will determine the battery current. A value of -1 means to use the board default.</long_desc>
      <decimal>8</decimal>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="-1.0" name="BAT2_CAPACITY" type="FLOAT">
      <short_desc>Battery 2 capacity</short_desc>
      <long_desc>Defines the capacity of battery 2 in mAh.</long_desc>
      <min>-1.0</min>
      <max>100000</max>
      <unit>mAh</unit>
      <decimal>0</decimal>
      <increment>50</increment>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="-1" name="BAT2_I_CHANNEL" type="INT32">
      <short_desc>Battery 2 Current ADC Channel</short_desc>
      <long_desc>This parameter specifies the ADC channel used to monitor current of main power battery. A value of -1 means to use the board default.</long_desc>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="0" name="BAT2_N_CELLS" type="INT32">
      <short_desc>Number of cells for battery 2</short_desc>
      <long_desc>Defines the number of cells the attached battery consists of.</long_desc>
      <reboot_required>True</reboot_required>
      <values>
        <value code="2">2S Battery</value>
        <value code="3">3S Battery</value>
        <value code="4">4S Battery</value>
        <value code="5">5S Battery</value>
        <value code="6">6S Battery</value>
        <value code="7">7S Battery</value>
        <value code="8">8S Battery</value>
        <value code="9">9S Battery</value>
        <value code="10">10S Battery</value>
        <value code="11">11S Battery</value>
        <value code="12">12S Battery</value>
        <value code="13">13S Battery</value>
        <value code="14">14S Battery</value>
        <value code="15">15S Battery</value>
        <value code="16">16S Battery</value>
      </values>
    </parameter>
    <parameter default="-1.0" name="BAT2_R_INTERNAL" type="FLOAT">
      <short_desc>Explicitly defines the per cell internal resistance for battery 2</short_desc>
      <long_desc>If non-negative, then this will be used in place of BAT2_V_LOAD_DROP for all calculations.</long_desc>
      <min>-1.0</min>
      <max>0.2</max>
      <unit>Ohm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="0" name="BAT2_SOURCE" type="INT32">
      <short_desc>Battery 2 monitoring source</short_desc>
      <long_desc>This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.</long_desc>
      <reboot_required>True</reboot_required>
      <values>
        <value code="0">Power Module</value>
        <value code="1">External</value>
        <value code="2">ESCs</value>
      </values>
    </parameter>
    <parameter default="-1" name="BAT2_V_CHANNEL" type="INT32">
      <short_desc>Battery 2 Voltage ADC Channel</short_desc>
      <long_desc>This parameter specifies the ADC channel used to monitor voltage of main power battery. A value of -1 means to use the board default.</long_desc>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="4.05" name="BAT2_V_CHARGED" type="FLOAT">
      <short_desc>Full cell voltage (5C load)</short_desc>
      <long_desc>Defines the voltage where a single cell of battery 1 is considered full under a mild load. This will never be the nominal voltage of 4.2V</long_desc>
      <unit>V</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="-1.0" name="BAT2_V_DIV" type="FLOAT">
      <short_desc>Battery 2 voltage divider (V divider)</short_desc>
      <long_desc>This is the divider from battery 2 voltage to ADC voltage. If using e.g. Mauch power modules the value from the datasheet can be applied straight here. A value of -1 means to use the board default.</long_desc>
      <decimal>8</decimal>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="3.5" name="BAT2_V_EMPTY" type="FLOAT">
      <short_desc>Empty cell voltage (5C load)</short_desc>
      <long_desc>Defines the voltage where a single cell of battery 1 is considered empty. The voltage should be chosen before the steep dropoff to 2.8V. A typical lithium battery can only be discharged down to 10% before it drops off to a voltage level damaging the cells.</long_desc>
      <unit>V</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="0.3" name="BAT2_V_LOAD_DROP" type="FLOAT">
      <short_desc>Voltage drop per cell on full throttle</short_desc>
      <long_desc>This implicitely defines the internal resistance to maximum current ratio for battery 1 and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT2_R_INTERNAL is set.</long_desc>
      <min>0.07</min>
      <max>0.5</max>
      <unit>V</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="-1" name="BAT_ADC_CHANNEL" type="INT32">
      <short_desc>This parameter is deprecated. Please use BAT1_ADC_CHANNEL</short_desc>
    </parameter>
    <parameter default="-1.0" name="BAT_A_PER_V" type="FLOAT">
      <short_desc>This parameter is deprecated. Please use BAT1_A_PER_V</short_desc>
      <decimal>8</decimal>
    </parameter>
    <parameter default="-1.0" name="BAT_CAPACITY" type="FLOAT">
      <short_desc>This parameter is deprecated. Please use BAT1_CAPACITY instead</short_desc>
      <long_desc>Defines the capacity of battery 1.</long_desc>
      <min>-1.0</min>
      <max>100000</max>
      <unit>mAh</unit>
      <decimal>0</decimal>
      <increment>50</increment>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0.07" name="BAT_CRIT_THR" type="FLOAT">
      <short_desc>Critical threshold</short_desc>
      <long_desc>Sets the threshold when the battery will be reported as critically low. This has to be lower than the low threshold. This threshold commonly will trigger RTL.</long_desc>
      <min>0.05</min>
      <max>0.1</max>
      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0.05" name="BAT_EMERGEN_THR" type="FLOAT">
      <short_desc>Emergency threshold</short_desc>
      <long_desc>Sets the threshold when the battery will be reported as dangerously low. This has to be lower than the critical threshold. This threshold commonly will trigger landing.</long_desc>
      <min>0.03</min>
      <max>0.07</max>
      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0.15" name="BAT_LOW_THR" type="FLOAT">
      <short_desc>Low threshold</short_desc>
      <long_desc>Sets the threshold when the battery will be reported as low. This has to be higher than the critical threshold.</long_desc>
      <min>0.12</min>
      <max>0.4</max>
      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="BAT_N_CELLS" type="INT32">
      <short_desc>This parameter is deprecated. Please use BAT1_N_CELLS instead</short_desc>
      <long_desc>Defines the number of cells the attached battery consists of.</long_desc>
      <unit>S</unit>
      <reboot_required>true</reboot_required>
      <values>
        <value code="0">Unconfigured</value>
        <value code="2">2S Battery</value>
        <value code="3">3S Battery</value>
        <value code="4">4S Battery</value>
        <value code="5">5S Battery</value>
        <value code="6">6S Battery</value>
        <value code="7">7S Battery</value>
        <value code="8">8S Battery</value>
        <value code="9">9S Battery</value>
        <value code="10">10S Battery</value>
        <value code="11">11S Battery</value>
        <value code="12">12S Battery</value>
        <value code="13">13S Battery</value>
        <value code="14">14S Battery</value>
        <value code="15">15S Battery</value>
        <value code="16">16S Battery</value>
      </values>
    </parameter>
    <parameter default="-1.0" name="BAT_R_INTERNAL" type="FLOAT">
      <short_desc>This parameter is deprecated. Please use BAT1_R_INTERNAL instead</short_desc>
      <long_desc>If non-negative, then this will be used in place of BAT_V_LOAD_DROP for all calculations.</long_desc>
      <min>-1.0</min>
      <max>0.2</max>
      <unit>Ohms</unit>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="BAT_SOURCE" type="INT32">
      <short_desc>This parameter is deprecated. Please use BAT1_SOURCE instead</short_desc>
      <long_desc>Battery monitoring source. This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages.</long_desc>
      <min>0</min>
      <max>1</max>
      <values>
        <value code="0">Power Module</value>
        <value code="1">External</value>
      </values>
    </parameter>
    <parameter default="4.05" name="BAT_V_CHARGED" type="FLOAT">
      <short_desc>This parameter is deprecated. Please use BAT1_V_CHARGED instead</short_desc>
      <long_desc>Defines the voltage where a single cell of battery 1 is considered full under a mild load. This will never be the nominal voltage of 4.2V</long_desc>
      <unit>V</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="-1.0" name="BAT_V_DIV" type="FLOAT">
      <short_desc>This parameter is deprecated. Please use BAT1_V_DIV</short_desc>
      <decimal>8</decimal>
    </parameter>
    <parameter default="3.5" name="BAT_V_EMPTY" type="FLOAT">
      <short_desc>This parameter is deprecated. Please use BAT1_V_EMPTY instead</short_desc>
      <long_desc>Defines the voltage where a single cell of battery 1 is considered empty. The voltage should be chosen before the steep dropoff to 2.8V. A typical lithium battery can only be discharged down to 10% before it drops off to a voltage level damaging the cells.</long_desc>
      <unit>V</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0.3" name="BAT_V_LOAD_DROP" type="FLOAT">
      <short_desc>This parameter is deprecated. Please use BAT1_V_LOAD_DROP instead</short_desc>
      <long_desc>This implicitely defines the internal resistance to maximum current ratio for battery 1 and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT_R_INTERNAL is set.</long_desc>
      <min>0.07</min>
      <max>0.5</max>
      <unit>V</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0.0" name="BAT_V_OFFS_CURR" type="FLOAT">
      <short_desc>Offset in volt as seen by the ADC input of the current sensor</short_desc>
      <long_desc>This offset will be subtracted before calculating the battery current based on the voltage.</long_desc>
      <decimal>8</decimal>
    </parameter>
  </group>
  <group name="Camera Capture">
    <parameter default="0.0" name="CAM_CAP_DELAY" type="FLOAT">
      <short_desc>Camera strobe delay</short_desc>
      <long_desc>This parameter sets the delay between image integration start and strobe firing</long_desc>
      <min>0.0</min>
      <max>100.0</max>
      <unit>ms</unit>
      <decimal>1</decimal>
    </parameter>
  </group>
  <group name="Camera Control">
    <parameter default="0" name="CAM_CAP_EDGE" type="INT32">
      <short_desc>Camera capture edge</short_desc>
      <reboot_required>true</reboot_required>
      <values>
        <value code="0">Falling edge</value>
        <value code="1">Rising edge</value>
      </values>
    </parameter>
    <parameter default="0" name="CAM_CAP_FBACK" type="INT32">
      <short_desc>Camera capture feedback</short_desc>
      <long_desc>Enables camera capture feedback</long_desc>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="CAM_CAP_MODE" type="INT32">
      <short_desc>Camera capture timestamping mode</short_desc>
      <long_desc>Change time measurement</long_desc>
      <reboot_required>true</reboot_required>
      <values>
        <value code="0">Get absolute timestamp</value>
        <value code="1">Get timestamp of mid exposure (active high)</value>
        <value code="2">Get timestamp of mid exposure (active low)</value>
      </values>
    </parameter>
  </group>
  <group name="Camera trigger">
    <parameter default="40.0" name="TRIG_ACT_TIME" type="FLOAT">
      <short_desc>Camera trigger activation time</short_desc>
      <long_desc>This parameter sets the time the trigger needs to pulled high or low.</long_desc>
      <min>0.1</min>
      <max>3000</max>
      <unit>ms</unit>
      <decimal>1</decimal>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="25.0" name="TRIG_DISTANCE" type="FLOAT">
      <short_desc>Camera trigger distance</short_desc>
      <long_desc>Sets the distance at which to trigger the camera.</long_desc>
      <min>0</min>
      <unit>m</unit>
      <decimal>1</decimal>
      <increment>1</increment>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="4" name="TRIG_INTERFACE" type="INT32">
      <short_desc>Camera trigger Interface</short_desc>
      <long_desc>Selects the trigger interface</long_desc>
      <reboot_required>true</reboot_required>
      <values>
        <value code="1">GPIO</value>
        <value code="2">Seagull MAP2 (over PWM)</value>
        <value code="3">MAVLink (forward via MAV_CMD_IMAGE_START_CAPTURE)</value>
        <value code="4">Generic PWM (IR trigger, servo)</value>
      </values>
    </parameter>
    <parameter default="40.0" name="TRIG_INTERVAL" type="FLOAT">
      <short_desc>Camera trigger interval</short_desc>
      <long_desc>This parameter sets the time between two consecutive trigger events</long_desc>
      <min>4.0</min>
      <max>10000.0</max>
      <unit>ms</unit>
      <decimal>1</decimal>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="1.0" name="TRIG_MIN_INTERVA" type="FLOAT">
      <short_desc>Minimum camera trigger interval</short_desc>
      <long_desc>This parameter sets the minimum time between two consecutive trigger events the specific camera setup is supporting.</long_desc>
      <min>1.0</min>
      <max>10000.0</max>
      <unit>ms</unit>
      <decimal>1</decimal>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="TRIG_MODE" type="INT32">
      <short_desc>Camera trigger mode</short_desc>
      <min>0</min>
      <max>4</max>
      <reboot_required>true</reboot_required>
      <values>
        <value code="0">Disable</value>
        <value code="1">Time based, on command</value>
        <value code="2">Time based, always on</value>
        <value code="3">Distance based, always on</value>
        <value code="4">Distance based, on command (Survey mode)</value>
      </values>
    </parameter>
    <parameter default="56" name="TRIG_PINS" type="INT32">
      <short_desc>Camera trigger pin</short_desc>
      <long_desc>Selects which FMU pin is used (range: AUX1-AUX6 on Pixhawk controllers with an I/O board, MAIN1-MAIN6 on controllers without an I/O board. The PWM interface takes two pins per camera, while relay triggers on every pin individually. Example: Value 56 would trigger on pins 5 and 6. For GPIO mode Pin 6 will be triggered followed by 5. With a value of 65 pin 5 will be triggered followed by 6. Pins may be non contiguous. I.E. 16 or 61. In GPIO mode the delay pin to pin is &lt; .2 uS.</long_desc>
      <min>1</min>
      <max>123456</max>
      <decimal>0</decimal>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="TRIG_POLARITY" type="INT32">
      <short_desc>Camera trigger polarity</short_desc>
      <long_desc>This parameter sets the polarity of the trigger (0 = active low, 1 = active high )</long_desc>
      <min>0</min>
      <max>1</max>
      <reboot_required>true</reboot_required>
      <values>
        <value code="0">Active low</value>
        <value code="1">Active high</value>
      </values>
    </parameter>
    <parameter default="1500" name="TRIG_PWM_NEUTRAL" type="INT32">
      <short_desc>PWM neutral output on trigger pin</short_desc>
      <min>1000</min>
      <max>2000</max>
      <unit>us</unit>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="1900" name="TRIG_PWM_SHOOT" type="INT32">
      <short_desc>PWM output to trigger shot</short_desc>
      <min>1000</min>
      <max>2000</max>
      <unit>us</unit>
      <reboot_required>true</reboot_required>
    </parameter>
  </group>
  <group name="Circuit Breaker">
    <parameter category="Developer" default="0" name="CBRK_AIRSPD_CHK" type="INT32">
      <short_desc>Circuit breaker for airspeed sensor</short_desc>
      <long_desc>Setting this parameter to 162128 will disable the check for an airspeed sensor. The sensor driver will not be started and it cannot be calibrated. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
      <min>0</min>
      <max>162128</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter category="Developer" default="0" name="CBRK_BUZZER" type="INT32">
      <short_desc>Circuit breaker for disabling buzzer</short_desc>
      <long_desc>Setting this parameter to 782097 will disable the buzzer audio notification. Setting this parameter to 782090 will disable the startup tune, while keeping all others enabled.</long_desc>
      <min>0</min>
      <max>782097</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter category="Developer" default="284953" name="CBRK_ENGINEFAIL" type="INT32">
      <short_desc>Circuit breaker for engine failure detection</short_desc>
      <long_desc>Setting this parameter to 284953 will disable the engine failure detection. If the aircraft is in engine failure mode the engine failure flag will be set to healthy WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
      <min>0</min>
      <max>284953</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter category="Developer" default="121212" name="CBRK_FLIGHTTERM" type="INT32">
      <short_desc>Circuit breaker for flight termination</short_desc>
      <long_desc>Setting this parameter to 121212 will disable the flight termination action if triggered by the FailureDetector logic or if FMU is lost. This circuit breaker does not affect the RC loss, data link loss and geofence safety logic.</long_desc>
      <min>0</min>
      <max>121212</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter category="Developer" default="0" name="CBRK_IO_SAFETY" type="INT32">
      <short_desc>Circuit breaker for IO safety</short_desc>
      <long_desc>Setting this parameter to 22027 will disable IO safety. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
      <min>0</min>
      <max>22027</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter category="Developer" default="0" name="CBRK_RATE_CTRL" type="INT32">
      <short_desc>Circuit breaker for rate controller output</short_desc>
      <long_desc>Setting this parameter to 140253 will disable the rate controller uORB publication. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
      <min>0</min>
      <max>140253</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter category="Developer" default="0" name="CBRK_SUPPLY_CHK" type="INT32">
      <short_desc>Circuit breaker for power supply check</short_desc>
      <long_desc>Setting this parameter to 894281 will disable the power valid checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
      <min>0</min>
      <max>894281</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter category="Developer" default="0" name="CBRK_USB_CHK" type="INT32">
      <short_desc>Circuit breaker for USB link check</short_desc>
      <long_desc>Setting this parameter to 197848 will disable the USB connected checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
      <min>0</min>
      <max>197848</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter category="Developer" default="0" name="CBRK_VELPOSERR" type="INT32">
      <short_desc>Circuit breaker for position error check</short_desc>
      <long_desc>Setting this parameter to 201607 will disable the position and velocity accuracy checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
      <min>0</min>
      <max>201607</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter category="Developer" default="0" name="CBRK_VTOLARMING" type="INT32">
      <short_desc>Circuit breaker for arming in fixed-wing mode check</short_desc>
      <long_desc>Setting this parameter to 159753 will enable arming in fixed-wing mode for VTOLs. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
      <min>0</min>
      <max>159753</max>
      <reboot_required>true</reboot_required>
    </parameter>
  </group>
  <group name="Commander">
    <parameter default="256010" name="COM_ARM_AUTH" type="INT32">
      <short_desc>Arm authorization parameters, this uint32_t will be split between starting from the LSB:
- 8bits to authorizer system id
- 16bits to authentication method parameter, this will be used to store a timeout for the first 2 methods but can be used to another parameter for other new authentication methods.
- 7bits to authentication method
- one arm = 0
- two step arm = 1
* the MSB bit is not used to avoid problems in the conversion between int and uint</short_desc>
      <long_desc>Default value: (10 &lt;&lt; 0 | 1000 &lt;&lt; 8 | 0 &lt;&lt; 24) = 256010 - authorizer system id = 10 - authentication method parameter = 10000msec of timeout - authentication method = during arm</long_desc>
    </parameter>
    <parameter default="0" name="COM_ARM_AUTH_REQ" type="INT32">
      <short_desc>Require arm authorization to arm</short_desc>
      <long_desc>The default allows to arm the vehicle without a arm authorization.</long_desc>
    </parameter>
    <parameter default="1" name="COM_ARM_CHK_ESCS" type="INT32">
      <short_desc>Require all the ESCs to be detected to arm</short_desc>
      <long_desc>This param is specific for ESCs reporting status. Normal ESCs configurations are not affected by the change of this param.</long_desc>
    </parameter>
    <parameter default="1.73e-3" name="COM_ARM_EKF_AB" type="FLOAT">
      <short_desc>Maximum value of EKF accelerometer delta velocity bias estimate that will allow arming.
Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than EKF2_ABL_LIM * FILTER_UPDATE_PERIOD_MS * 0.001 so this parameter must be less than that to be useful</short_desc>
      <min>0.001</min>
      <max>0.01</max>
      <unit>m/s</unit>
      <decimal>4</decimal>
      <increment>0.0001</increment>
    </parameter>
    <parameter default="8.7e-4" name="COM_ARM_EKF_GB" type="FLOAT">
      <short_desc>Maximum value of EKF gyro delta angle bias estimate that will allow arming</short_desc>
      <min>0.0001</min>
      <max>0.0017</max>
      <unit>rad</unit>
      <decimal>5</decimal>
      <increment>0.0001</increment>
    </parameter>
    <parameter default="1.0" name="COM_ARM_EKF_HGT" type="FLOAT">
      <short_desc>Maximum EKF height innovation test ratio that will allow arming</short_desc>
      <min>0.1</min>
      <max>1.0</max>
      <decimal>2</decimal>
      <increment>0.05</increment>
    </parameter>
    <parameter default="0.5" name="COM_ARM_EKF_POS" type="FLOAT">
      <short_desc>Maximum EKF position innovation test ratio that will allow arming</short_desc>
      <min>0.1</min>
      <max>1.0</max>
      <decimal>2</decimal>
      <increment>0.05</increment>
    </parameter>
    <parameter default="0.5" name="COM_ARM_EKF_VEL" type="FLOAT">
      <short_desc>Maximum EKF velocity innovation test ratio that will allow arming</short_desc>
      <min>0.1</min>
      <max>1.0</max>
      <decimal>2</decimal>
      <increment>0.05</increment>
    </parameter>
    <parameter default="0.5" name="COM_ARM_EKF_YAW" type="FLOAT">
      <short_desc>Maximum EKF yaw innovation test ratio that will allow arming</short_desc>
      <min>0.1</min>
      <max>1.0</max>
      <decimal>2</decimal>
      <increment>0.05</increment>
    </parameter>
    <parameter default="0.7" name="COM_ARM_IMU_ACC" type="FLOAT">
      <short_desc>Maximum accelerometer inconsistency between IMU units that will allow arming</short_desc>
      <min>0.1</min>
      <max>1.0</max>
      <unit>m/s/s</unit>
      <decimal>2</decimal>
      <increment>0.05</increment>
    </parameter>
    <parameter default="0.25" name="COM_ARM_IMU_GYR" type="FLOAT">
      <short_desc>Maximum rate gyro inconsistency between IMU units that will allow arming</short_desc>
      <min>0.02</min>
      <max>0.3</max>
      <unit>rad/s</unit>
      <decimal>3</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="30" name="COM_ARM_MAG_ANG" type="INT32">
      <short_desc>Maximum magnetic field inconsistency between units that will allow arming
Set -1 to disable the check</short_desc>
      <min>3</min>
      <max>180</max>
      <unit>deg</unit>
    </parameter>
    <parameter default="1" name="COM_ARM_MAG_STR" type="INT32">
      <short_desc>Enable mag strength preflight check</short_desc>
      <long_desc>Deny arming if the estimator detects a strong magnetic disturbance (check enabled by EKF2_MAG_CHECK)</long_desc>
    </parameter>
    <parameter default="0" name="COM_ARM_MIS_REQ" type="INT32">
      <short_desc>Require valid mission to arm</short_desc>
      <long_desc>The default allows to arm the vehicle without a valid mission.</long_desc>
    </parameter>
    <parameter default="0" name="COM_ARM_SWISBTN" type="INT32">
      <short_desc>Arm switch is only a button</short_desc>
      <long_desc>The default uses the arm switch as real switch. If parameter set button gets handled like stick arming.</long_desc>
    </parameter>
    <parameter default="1" name="COM_ARM_WO_GPS" type="INT32">
      <short_desc>Allow arming without GPS</short_desc>
      <long_desc>The default allows to arm the vehicle without GPS signal.</long_desc>
    </parameter>
    <parameter default="90.0" name="COM_CPU_MAX" type="FLOAT">