APMParameterFactMetaData.Copter.4.0.xml 794 KB
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<?xml version="1.0" encoding="utf-8"?>
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        <!-- Dynamically generated list of documented parameters (generated by param_parse.py) -->    
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        <paramfile>
        <vehicles>
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        <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">
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<field name="ReadOnly">True</field>
</param>
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<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">
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<field name="Range">1 255</field>
</param>
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<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>
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</param>
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<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">
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<field name="Range">0 10</field>
<field name="Increment">.5</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
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<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">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Throttle stick behavior" name="ArduCopter:PILOT_THR_BHV" documentation='Bitmask containing various throttle stick options. TX with sprung throttle can set PILOT_THR_BHV to "1" so motor feedback when landed starts from mid-stick instead of bottom of stick.' user="Standard">
<field name="Bitmask">0:Feedback from mid stick,1:High throttle cancels landing,2:Disarm on land detection</field>
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<values>
<value code="0">None</value>
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<value code="1">Feedback from mid stick</value>
<value code="2">High throttle cancels landing</value>
<value code="4">Disarm on land detection</value>
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</values>
</param>
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<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">s</field>
<field name="UnitText">seconds</field>
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</param>
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<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,3:AccelZ</field>
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<values>
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<value code="0">None</value>
<value code="1">Roll</value>
<value code="2">Pitch</value>
<value code="4">Yaw</value>
<value code="8">AccelZ</value>
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</values>
</param>
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<param humanName="RTL Altitude" name="ArduCopter:RTL_ALT" documentation="The minimum alt above home the vehicle will climb to before returning.  If the vehicle is flying higher than this value it will return at its current altitude." user="Standard">
<field name="Range">200 8000</field>
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
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</param>
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<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>
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<values>
<value code="0">Disabled</value>
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<value code="1">Shallow</value>
<value code="3">Steep</value>
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</values>
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<field name="Increment">.1</field>
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</param>
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<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>
<field name="UnitText">centimeters per second</field>
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</param>
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<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">cm</field>
<field name="UnitText">centimeters</field>
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</param>
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<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">cm</field>
<field name="UnitText">centimeters</field>
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</param>
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<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>
<field name="UnitText">milliseconds</field>
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</param>
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<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="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">
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<values>
<value code="0">Disabled</value>
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<value code="1">Enabled always RTL</value>
<value code="2">Enabled Continue with Mission in Auto Mode</value>
<value code="3">Enabled always SmartRTL or RTL</value>
<value code="4">Enabled always SmartRTL or Land</value>
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</values>
</param>
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<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>
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</param>
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<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">
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<values>
<value code="0">Disabled</value>
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<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="Yaw behaviour during missions" name="ArduCopter:WP_YAW_BEHAVIOR" documentation="Determines how the autopilot controls the yaw during missions and RTL" user="Standard">
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<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>
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<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>
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<field name="Increment">10</field>
<field name="Units">cm/s</field>
<field name="UnitText">centimeters per second</field>
</param>
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<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>
<field name="UnitText">centimeters per second</field>
</param>
<param humanName="Pilot maximum vertical speed ascending" name="ArduCopter:PILOT_SPEED_UP" documentation="The maximum vertical ascending velocity the pilot may request in cm/s" user="Standard">
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<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>
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<param humanName="Pilot vertical acceleration" name="ArduCopter:PILOT_ACCEL_Z" documentation="The vertical acceleration used when pilot is controlling the altitude" user="Standard">
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<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>
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<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>
<value code="4">Enabled always SmartRTL or RTL</value>
<value code="5">Enabled always SmartRTL or Land</value>
</values>
</param>
<param humanName="Throttle Failsafe Value" name="ArduCopter:FS_THR_VALUE" documentation="The PWM level in microseconds 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>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Throttle deadzone" name="ArduCopter:THR_DZ" documentation="The deadzone above and below mid throttle in PWM microseconds. Used in AltHold, Loiter, PosHold flight modes" user="Standard">
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<field name="Range">0 300</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
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<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">Smart_RTL</value>
<value code="22">FlowHold</value>
<value code="23">Follow</value>
<value code="24">ZigZag</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">Smart_RTL</value>
<value code="22">FlowHold</value>
<value code="23">Follow</value>
<value code="24">ZigZag</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">Smart_RTL</value>
<value code="22">FlowHold</value>
<value code="23">Follow</value>
<value code="24">ZigZag</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">Smart_RTL</value>
<value code="22">FlowHold</value>
<value code="23">Follow</value>
<value code="24">ZigZag</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">Smart_RTL</value>
<value code="22">FlowHold</value>
<value code="23">Follow</value>
<value code="24">ZigZag</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">Smart_RTL</value>
<value code="22">FlowHold</value>
<value code="23">Follow</value>
<value code="24">ZigZag</value>
</values>
</param>
<param humanName="Flightmode channel" name="ArduCopter:FLTMODE_CH" documentation="RC Channel to use for flight mode control" user="Advanced">
<values>
<value code="0">Disabled</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="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">
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<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>
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<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">
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<values>
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<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>
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</values>
</param>
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<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">
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<values>
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<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="56">Rate Yaw Filter</value>
<value code="55">Motor Yaw Headroom</value>
<value code="14">AltHold 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="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="45">RC Feel</value>
<value code="13">Heli Ext Gyro</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>
<value code="57">Winch</value>
</values>
</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>
<value code=" 11">Y6F</value>
<value code=" 12">BetaFlightX</value>
<value code=" 13">DJIX</value>
<value code=" 14">ClockwiseX</value>
<value code=" 15"> I</value>
479
</values>
480
<field name="RebootRequired">True</field>
481
</param>
482 483 484 485
<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">s</field>
<field name="UnitText">seconds</field>
486
</param>
487 488 489 490
<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">cdeg</field>
<field name="UnitText">centidegrees</field>
491
</param>
492 493 494 495
<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/s</field>
<field name="UnitText">degrees per second</field>
496
</param>
497 498 499 500
<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">cdeg</field>
<field name="UnitText">centidegrees</field>
501
</param>
502 503 504 505 506 507 508 509 510 511 512 513
<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>
514
</param>
515 516
<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>
517
</param>
518
<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">
519
<values>
520 521
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
522 523
</values>
</param>
524
<param humanName="ESC Update Speed" name="ArduCopter:RC_SPEED" documentation="This is the speed in Hertz that your ESCs will receive updates" user="Advanced">
525 526 527 528 529
<field name="Range">50 490</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
530
<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">
531 532
<field name="Range">1 10</field>
</param>
533
<param humanName="Acro Yaw P gain" name="ArduCopter:ACRO_YAW_P" documentation="Converts pilot yaw input into a desired rate of rotation.  Higher values mean faster rate of rotation." user="Standard">
534 535
<field name="Range">1 10</field>
</param>
536
<param humanName="Acro Balance Roll" name="ArduCopter:ACRO_BAL_ROLL" documentation="rate at which roll angle returns to level in acro and sport mode.  A higher value causes the vehicle to return to level faster. For helicopter sets the decay rate of the virtual flybar in the roll axis. A higher value causes faster decay of desired to actual attitude." user="Advanced">
537 538 539
<field name="Range">0 3</field>
<field name="Increment">0.1</field>
</param>
540
<param humanName="Acro Balance Pitch" name="ArduCopter:ACRO_BAL_PITCH" documentation="rate at which pitch angle returns to level in acro and sport mode.  A higher value causes the vehicle to return to level faster. For helicopter sets the decay rate of the virtual flybar in the pitch axis. A higher value causes faster decay of desired to actual attitude." user="Advanced">
541 542 543
<field name="Range">0 3</field>
<field name="Increment">0.1</field>
</param>
544
<param humanName="Acro Trainer" name="ArduCopter:ACRO_TRAINER" documentation="Type of trainer used in acro mode" user="Advanced">
545 546 547 548 549 550
<values>
<value code="0">Disabled</value>
<value code="1">Leveling</value>
<value code="2">Leveling and Limited</value>
</values>
</param>
551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604
<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>
<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="5">LOITER</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>
<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,1:DevOptionVFR_HUDRelativeAlt</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>
605 606 607 608 609 610 611 612 613
<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>
614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 733 734 735 736 737 738 739 740 741 742 743 744 745 746 747 748 749 750 751 752 753 754 755 756 757 758 759 760 761 762 763 764 765 766 767 768 769 770 771 772 773 774 775 776 777 778 779 780 781 782 783 784 785 786 787 788 789 790 791 792 793 794 795 796 797 798 799 800 801 802 803 804 805 806 807 808 809 810 811 812 813 814 815 816 817 818 819 820 821 822 823 824 825 826 827 828 829 830 831 832 833 834 835 836 837 838 839 840 841 842 843 844 845 846 847 848 849 850 851 852 853 854 855 856 857 858 859 860 861 862 863 864 865 866 867 868 869 870 871 872 873 874 875 876 877 878 879 880 881 882 883 884 885 886 887 888 889 890 891 892 893 894 895 896 897 898 899 900 901 902 903 904 905 906 907 908 909 910 911 912 913 914 915 916 917 918 919 920 921 922 923 924 925 926 927 928 929 930 931 932 933 934 935 936 937 938 939 940 941 942 943 944 945 946 947 948 949 950 951 952 953 954 955 956 957 958 959 960 961 962 963 964 965 966 967 968 969 970 971 972 973 974 975 976 977 978 979 980 981 982 983 984 985 986 987 988 989 990 991 992 993 994 995 996 997 998 999 1000 1001 1002 1003 1004 1005 1006 1007 1008 1009 1010 1011 1012 1013 1014 1015 1016 1017 1018 1019 1020 1021 1022 1023 1024 1025 1026 1027 1028 1029 1030 1031 1032 1033 1034 1035 1036 1037 1038 1039 1040 1041 1042 1043 1044 1045 1046 1047 1048 1049 1050 1051 1052 1053 1054 1055 1056 1057 1058 1059 1060 1061 1062 1063 1064 1065 1066 1067 1068 1069 1070 1071 1072 1073 1074 1075 1076 1077 1078 1079 1080
<param humanName="Acro Thr Mid" name="ArduCopter:ACRO_THR_MID" documentation="Acro Throttle Mid" user="Advanced">
<field name="Range">0 1</field>
</param>
<param humanName="GCS sysid enforcement" name="ArduCopter: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="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>
<value code=" 10">BiCopter</value>
<value code=" 11">Heli_Dual</value>
<value code=" 12">DodecaHexa</value>
<value code=" 13">HeliQuad</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Pilot maximum vertical speed descending" name="ArduCopter:PILOT_SPEED_DN" documentation="The maximum vertical descending 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="Land alt low" name="ArduCopter:LAND_ALT_LOW" documentation="Altitude during Landing at which vehicle slows to LAND_SPEED" user="Advanced">
<field name="Range">100 10000</field>
<field name="Increment">10</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Tuning minimum" name="ArduCopter:TUNE_MIN" documentation="Minimum value that the parameter currently being tuned with the transmitter's channel 6 knob will be set to" user="Standard">
</param>
<param humanName="Tuning maximum" name="ArduCopter:TUNE_MAX" documentation="Maximum value that the parameter currently being tuned with the transmitter's channel 6 knob will be set to" user="Standard">
</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">ADSB-Avoidance</value>
<value code=" 39">PrecLoiter</value>
<value code=" 40">Object Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 43">InvertedFlight</value>
<value code=" 44">Winch Enable</value>
<value code=" 45">WinchControl</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">ADSB-Avoidance</value>
<value code=" 39">PrecLoiter</value>
<value code=" 40">Object Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 43">InvertedFlight</value>
<value code=" 44">Winch Enable</value>
<value code=" 45">WinchControl</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">ADSB-Avoidance</value>
<value code=" 39">PrecLoiter</value>
<value code=" 40">Object Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 43">InvertedFlight</value>
<value code=" 44">Winch Enable</value>
<value code=" 45">WinchControl</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">ADSB-Avoidance</value>
<value code=" 39">PrecLoiter</value>
<value code=" 40">Object Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 43">InvertedFlight</value>
<value code=" 44">Winch Enable</value>
<value code=" 45">WinchControl</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">ADSB-Avoidance</value>
<value code=" 39">PrecLoiter</value>
<value code=" 40">Object Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 43">InvertedFlight</value>
<value code=" 44">Winch Enable</value>
<value code=" 45">WinchControl</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">ADSB-Avoidance</value>
<value code=" 39">PrecLoiter</value>
<value code=" 40">Object Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 43">InvertedFlight</value>
<value code=" 44">Winch Enable</value>
<value code=" 45">WinchControl</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>
</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">
<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="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">
1081
<values>
1082 1083 1084 1085 1086 1087 1088 1089 1090 1091 1092
<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>
1093 1094
</values>
</param>
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<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>
<param humanName="Max allowed range" name="AFS_MAX_RANGE" documentation="This is the maximum range of the vehicle in kilometers from first arming. If the vehicle goes beyond this range then the TERM_ACTION is performed. A value of zero disables this feature." user="Advanced">
<field name="Units">km</field>
<field name="UnitText">kilometers</field>
</param>
1127
</parameters>
1128
<parameters name="AHRS_">
1129 1130 1131 1132 1133 1134 1135 1136 1137 1138 1139 1140 1141 1142 1143 1144 1145 1146 1147 1148 1149 1150 1151 1152 1153 1154 1155 1156 1157 1158 1159 1160 1161 1162 1163 1164 1165 1166 1167 1168 1169 1170 1171 1172 1173 1174 1175 1176 1177 1178 1179 1180 1181 1182 1183 1184 1185 1186 1187 1188 1189 1190 1191 1192 1193 1194 1195 1196 1197 1198 1199 1200 1201 1202 1203 1204 1205 1206 1207 1208 1209 1210 1211 1212 1213 1214 1215 1216 1217 1218 1219 1220 1221 1222 1223 1224 1225 1226 1227 1228 1229 1230 1231 1232 1233 1234 1235 1236 1237 1238 1239 1240 1241 1242 1243 1244 1245 1246 1247 1248 1249 1250 1251 1252 1253 1254 1255 1256 1257 1258
<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>
1259 1260 1261 1262 1263 1264 1265 1266 1267 1268 1269 1270 1271 1272 1273
<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>
1274
<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">
1275
<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,14:Mission,15:Rangefinder</field>
1276 1277 1278 1279 1280 1281 1282 1283 1284 1285 1286 1287 1288 1289 1290 1291 1292 1293 1294 1295 1296 1297 1298 1299 1300 1301 1302 1303 1304 1305 1306 1307 1308 1309 1310 1311 1312 1313 1314 1315 1316 1317 1318 1319 1320 1321 1322 1323 1324 1325 1326 1327 1328 1329 1330 1331 1332 1333 1334 1335 1336 1337 1338 1339 1340 1341 1342 1343 1344 1345 1346 1347 1348 1349 1350 1351 1352 1353 1354 1355 1356 1357 1358 1359 1360 1361 1362 1363 1364 1365 1366 1367 1368 1369 1370 1371 1372 1373 1374 1375 1376 1377 1378 1379 1380 1381 1382 1383 1384 1385 1386 1387 1388
<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>
</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">cdeg/s</field>
<field name="UnitText">centidegrees per 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>
<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="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=" 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="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=" 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="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">0.0 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">0.0 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">0.0 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="Angular Velocity Max for Roll" name="ATC_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="ATC_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>
1389
<param humanName="Angular Velocity Max for Yaw" name="ATC_RATE_Y_MAX" documentation="Maximum angular velocity in yaw axis" user="Advanced">
1390 1391 1392 1393 1394 1395 1396 1397 1398 1399 1400
<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>
1401
<param humanName="Attitude control input time constant" name="ATC_INPUT_TC" documentation="Attitude control input time constant.  Low numbers lead to sharper response, higher numbers to softer response" user="Standard">
1402 1403 1404 1405 1406 1407 1408
<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="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">
1409
<field name="Range">0.01 0.5</field>
1410 1411 1412
<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">
1413
<field name="Range">0.01 2.0</field>
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<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">%</field>
<field name="UnitText">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">
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<field name="Range">0.0 0.05</field>
1424 1425 1426 1427 1428 1429
<field name="Increment">0.001</field>
</param>
<param humanName="Roll axis rate controller feed forward" name="ATC_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>
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<param humanName="Roll axis rate controller target frequency in Hz" name="ATC_RAT_RLL_FLTT" documentation="Roll axis rate controller target frequency in Hz" user="Standard">
<field name="Range">1 50</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Roll axis rate controller error frequency in Hz" name="ATC_RAT_RLL_FLTE" documentation="Roll axis rate controller error 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="Roll axis rate controller derivative frequency in Hz" name="ATC_RAT_RLL_FLTD" documentation="Roll axis rate controller derivative frequency in Hz" user="Standard">
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<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="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">
1449
<field name="Range">0.01 0.50</field>
1450 1451 1452
<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">
1453
<field name="Range">0.01 2.0</field>
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<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">%</field>
<field name="UnitText">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">
1463
<field name="Range">0.0 0.05</field>
1464 1465 1466 1467 1468 1469
<field name="Increment">0.001</field>
</param>
<param humanName="Pitch axis rate controller feed forward" name="ATC_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>
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<param humanName="Pitch axis rate controller target frequency in Hz" name="ATC_RAT_PIT_FLTT" documentation="Pitch axis rate controller target frequency in Hz" user="Standard">
<field name="Range">1 50</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Pitch axis rate controller error frequency in Hz" name="ATC_RAT_PIT_FLTE" documentation="Pitch axis rate controller error 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 derivative frequency in Hz" name="ATC_RAT_PIT_FLTD" documentation="Pitch axis rate controller derivative frequency in Hz" user="Standard">
1483 1484 1485 1486 1487 1488
<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="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">
1489
<field name="Range">0.10 2.50</field>
1490 1491 1492
<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">
1493
<field name="Range">0.010 1.0</field>
1494 1495 1496 1497 1498 1499 1500 1501 1502 1503 1504 1505 1506 1507 1508 1509
<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">%</field>
<field name="UnitText">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 controller feed forward" name="ATC_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>
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<param humanName="Yaw axis rate controller target frequency in Hz" name="ATC_RAT_YAW_FLTT" documentation="Yaw axis rate controller target frequency in Hz" user="Standard">
<field name="Range">1 5</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Yaw axis rate controller error frequency in Hz" name="ATC_RAT_YAW_FLTE" documentation="Yaw axis rate controller error 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="Yaw axis rate controller derivative frequency in Hz" name="ATC_RAT_YAW_FLTD" documentation="Yaw axis rate controller derivative frequency in Hz" user="Standard">
<field name="Range">1 20</field>
1524 1525 1526 1527 1528 1529 1530 1531 1532 1533 1534
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</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>
<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">
1535 1536 1537 1538 1539 1540 1541 1542 1543 1544 1545 1546 1547 1548 1549 1550 1551 1552 1553 1554 1555 1556 1557 1558 1559 1560 1561 1562 1563 1564 1565 1566 1567 1568 1569 1570 1571 1572 1573 1574 1575 1576 1577 1578 1579 1580 1581 1582 1583 1584 1585 1586 1587 1588 1589 1590 1591 1592 1593 1594 1595 1596 1597 1598 1599 1600 1601 1602 1603 1604 1605 1606 1607 1608 1609 1610 1611 1612 1613 1614 1615 1616 1617 1618 1619 1620 1621 1622 1623 1624 1625 1626 1627 1628 1629 1630 1631 1632 1633 1634 1635 1636 1637 1638 1639 1640 1641 1642 1643 1644 1645 1646 1647 1648 1649 1650 1651 1652 1653 1654 1655 1656 1657 1658 1659 1660 1661 1662 1663 1664 1665 1666 1667 1668 1669 1670 1671 1672 1673 1674 1675 1676 1677 1678 1679 1680 1681 1682 1683 1684 1685 1686 1687 1688 1689 1690 1691 1692 1693 1694 1695 1696 1697 1698 1699 1700 1701 1702 1703 1704 1705 1706 1707 1708
<field name="Range">0.1 0.9</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>
<field name="UnitText">hertz</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>
<field name="UnitText">hertz</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 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</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">cdeg</field>
<field name="UnitText">centidegrees</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>
<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>
<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>
</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>
<param humanName="Roll axis rate controller feed forward" name="ATC_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="ATC_RAT_RLL_FILT" documentation="Roll axis rate controller input frequency in Hz">
<field name="Range">1 20</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="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>
<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>
</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>
<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>
<param humanName="Pitch axis rate controller feed forward" name="ATC_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="ATC_RAT_PIT_FILT" documentation="Pitch axis rate controller input frequency in Hz">
<field name="Range">1 20</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="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>
<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>
<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>
<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 controller feed forward" name="ATC_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="ATC_RAT_YAW_FILT" documentation="Yaw axis rate controller input frequency in Hz">
<field name="Range">1 20</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Piro Comp Enable" name="ATC_PIRO_COMP" documentation="Pirouette compensation enabled" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
</parameters>
<parameters name="AUTOTUNE_">
<param humanName="Autotune axis bitmask" name="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="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="AUTOTUNE_MIN_D" documentation="Defines the minimum D gain" user="Standard">
<field name="Range">0.001 0.006</field>
</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>
1709 1710 1711
</param>
</parameters>
<parameters name="AVOID_">
1712 1713
<param humanName="Avoidance control enable/disable" name="AVOID_ENABLE" documentation="Enabled/disable avoidance input sources" user="Standard">
<field name="Bitmask">0:UseFence,1:UseProximitySensor,2:UseBeaconFence</field>
1714 1715
<values>
<value code="0">None</value>
1716
<value code="1">UseFence</value>
1717
<value code="2">UseProximitySensor</value>
1718 1719
<value code="3">UseFence and UseProximitySensor</value>
<value code="4">UseBeaconFence</value>
1720 1721 1722 1723 1724 1725 1726 1727 1728 1729 1730 1731 1732 1733 1734 1735 1736 1737 1738 1739 1740 1741 1742 1743 1744 1745 1746 1747 1748 1749 1750 1751 1752 1753 1754 1755
<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>
1756 1757 1758
<value code="10">SumOfFollowing</value>
<value code="11">FuelFlow</value>
<value code="12">FuelLevelPWM</value>
1759 1760 1761 1762 1763 1764 1765 1766
</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>
1767 1768
<value code=" 14">CubeOrange</value>
<value code=" 13">CubeOrange_PM2</value>
1769 1770 1771 1772 1773 1774 1775 1776 1777
<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>
1778 1779
<value code=" 15">CubeOrange</value>
<value code=" 4">CubeOrange_PM2</value>
1780 1781 1782 1783 1784 1785 1786 1787 1788 1789 1790 1791 1792 1793 1794 1795 1796 1797 1798 1799 1800 1801 1802 1803 1804 1805 1806 1807 1808 1809 1810 1811 1812 1813 1814 1815 1816 1817 1818 1819 1820 1821 1822 1823 1824 1825 1826 1827 1828 1829 1830 1831 1832 1833 1834 1835 1836 1837 1838 1839 1840
<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>
1841 1842 1843 1844 1845
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
1846 1847 1848 1849 1850
</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>
1851 1852 1853 1854 1855
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
1856 1857 1858 1859 1860 1861 1862 1863 1864 1865 1866 1867 1868 1869 1870 1871 1872 1873 1874 1875 1876 1877 1878 1879
</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>
1880 1881 1882
<value code="10">SumOfFollowing</value>
<value code="11">FuelFlow</value>
<value code="12">FuelLevelPWM</value>
1883 1884 1885 1886 1887 1888 1889 1890
</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>
1891 1892
<value code=" 14">CubeOrange</value>
<value code=" 13">CubeOrange_PM2</value>
1893 1894 1895 1896 1897 1898 1899 1900 1901
<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>
1902 1903
<value code=" 15">CubeOrange</value>
<value code=" 4">CubeOrange_PM2</value>
1904 1905 1906 1907 1908 1909 1910 1911 1912 1913 1914 1915 1916 1917 1918 1919 1920 1921 1922 1923 1924 1925 1926 1927 1928 1929 1930 1931 1932 1933 1934 1935 1936 1937 1938 1939 1940 1941 1942 1943 1944 1945 1946 1947 1948 1949 1950 1951 1952 1953 1954 1955 1956 1957 1958 1959 1960 1961 1962 1963 1964
<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>
1965 1966 1967 1968 1969
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
1970 1971 1972 1973 1974
</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>
1975 1976 1977 1978 1979
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
1980 1981 1982 1983 1984 1985 1986 1987 1988 1989 1990 1991 1992 1993 1994 1995 1996 1997 1998 1999 2000 2001 2002 2003
</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>
2004 2005 2006
<value code="10">SumOfFollowing</value>
<value code="11">FuelFlow</value>
<value code="12">FuelLevelPWM</value>
2007 2008 2009 2010 2011 2012 2013 2014
</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>
2015 2016
<value code=" 14">CubeOrange</value>
<value code=" 13">CubeOrange_PM2</value>
2017 2018 2019 2020 2021 2022 2023 2024 2025
<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>
2026 2027
<value code=" 15">CubeOrange</value>
<value code=" 4">CubeOrange_PM2</value>
2028 2029 2030 2031 2032 2033 2034 2035 2036 2037 2038 2039 2040 2041 2042 2043 2044 2045 2046 2047 2048 2049 2050 2051 2052 2053 2054 2055 2056 2057 2058 2059 2060 2061 2062 2063 2064 2065 2066 2067 2068 2069 2070 2071 2072 2073 2074 2075 2076 2077 2078 2079 2080 2081 2082 2083 2084 2085 2086 2087 2088
<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>
2089 2090 2091 2092 2093
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
2094 2095 2096 2097 2098
</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>
2099 2100 2101 2102 2103
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
2104 2105 2106 2107 2108 2109 2110 2111 2112 2113 2114 2115 2116 2117 2118 2119 2120 2121 2122 2123 2124 2125 2126 2127
</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>
2128 2129 2130
<value code="10">SumOfFollowing</value>
<value code="11">FuelFlow</value>
<value code="12">FuelLevelPWM</value>
2131 2132 2133 2134 2135 2136 2137 2138
</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>
2139 2140
<value code=" 14">CubeOrange</value>
<value code=" 13">CubeOrange_PM2</value>
2141 2142 2143 2144 2145