PX4ParameterFactMetaData.xml 425 KB
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<?xml version='1.0' encoding='UTF-8'?>
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<parameters>
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  <version>3</version>
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  <parameter_version_major>1</parameter_version_major>
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  <parameter_version_minor>15</parameter_version_minor>
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  <group name="UAVCAN Motor Parameters" no_code_generation="true">
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    <parameter default="75" name="ctl_bw" type="INT32">
      <short_desc>Speed controller bandwidth</short_desc>
      <long_desc>Speed controller bandwidth, in Hz. Higher values result in faster speed and current rise times, but may result in overshoot and higher current consumption. For fixed-wing aircraft, this value should be less than 50 Hz; for multirotors, values up to 100 Hz may provide improvements in responsiveness.</long_desc>
      <unit>Hertz</unit>
      <min>10</min>
      <max>250</max>
    </parameter>
    <parameter default="1" name="ctl_dir" type="INT32">
      <short_desc>Reverse direction</short_desc>
      <long_desc>Motor spin direction as detected during initial enumeration. Use 0 or 1 to reverse direction.</long_desc>
      <min>0</min>
      <max>1</max>
    </parameter>
    <parameter default="1" name="ctl_gain" type="FLOAT">
      <short_desc>Speed (RPM) controller gain</short_desc>
      <long_desc>Speed (RPM) controller gain. Determines controller
            aggressiveness; units are amp-seconds per radian. Systems with
            higher rotational inertia (large props) will need gain increased;
            systems with low rotational inertia (small props) may need gain
            decreased. Higher values result in faster response, but may result
            in oscillation and excessive overshoot. Lower values result in a
            slower, smoother response.</long_desc>
      <unit>amp-seconds per radian</unit>
      <decimal>3</decimal>
      <min>0.00</min>
      <max>1.00</max>
    </parameter>
    <parameter default="3.5" name="ctl_hz_idle" type="FLOAT">
      <short_desc>Idle speed (e Hz)</short_desc>
      <long_desc>Idle speed (e Hz)</long_desc>
      <unit>Hertz</unit>
      <decimal>3</decimal>
      <min>0.0</min>
      <max>100.0</max>
    </parameter>
    <parameter default="25" name="ctl_start_rate" type="INT32">
      <short_desc>Spin-up rate (e Hz/s)</short_desc>
      <long_desc>Spin-up rate (e Hz/s)</long_desc>
      <unit>Hz/s</unit>
      <min>5</min>
      <max>1000</max>
    </parameter>
    <parameter default="0" name="esc_index" type="INT32">
      <short_desc>Index of this ESC in throttle command messages.</short_desc>
      <long_desc>Index of this ESC in throttle command messages.</long_desc>
      <unit>Index</unit>
      <min>0</min>
      <max>15</max>
    </parameter>
    <parameter default="20034" name="id_ext_status" type="INT32">
      <short_desc>Extended status ID</short_desc>
      <long_desc>Extended status ID</long_desc>
      <min>1</min>
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      <max>1000000</max>
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    </parameter>
    <parameter default="50000" name="int_ext_status" type="INT32">
      <short_desc>Extended status interval (µs)</short_desc>
      <long_desc>Extended status interval (µs)</long_desc>
      <unit>µs</unit>
      <min>0</min>
      <max>1000000</max>
    </parameter>
    <parameter default="50000" name="int_status" type="INT32">
      <short_desc>ESC status interval (µs)</short_desc>
      <long_desc>ESC status interval (µs)</long_desc>
      <unit>µs</unit>
      <max>1000000</max>
    </parameter>
    <parameter default="12" name="mot_i_max" type="FLOAT">
      <short_desc>Motor current limit in amps</short_desc>
      <long_desc>Motor current limit in amps. This determines the maximum
            current controller setpoint, as well as the maximum allowable
            current setpoint slew rate. This value should generally be set to
            the continuous current rating listed in the motor’s specification
            sheet, or set equal to the motor’s specified continuous power
            divided by the motor voltage limit.</long_desc>
      <unit>Amps</unit>
      <decimal>3</decimal>
      <min>1</min>
      <max>80</max>
    </parameter>
    <parameter default="2300" name="mot_kv" type="INT32">
      <short_desc>Motor Kv in RPM per volt</short_desc>
      <long_desc>Motor Kv in RPM per volt. This can be taken from the motor’s
            specification sheet; accuracy will help control performance but
            some deviation from the specified value is acceptable.</long_desc>
      <unit>RPM/v</unit>
      <min>0</min>
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      <max>4000</max>
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    </parameter>
    <parameter default="0.0" name="mot_ls" type="FLOAT">
      <short_desc>READ ONLY: Motor inductance in henries.</short_desc>
      <long_desc>READ ONLY: Motor inductance in henries. This is measured on start-up.</long_desc>
      <unit>henries</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="14" name="mot_num_poles" type="INT32">
      <short_desc>Number of motor poles.</short_desc>
      <long_desc>Number of motor poles. Used to convert mechanical speeds to
            electrical speeds. This number should be taken from the motor’s
            specification sheet.</long_desc>
      <unit>Poles</unit>
      <min>2</min>
      <max>40</max>
    </parameter>
    <parameter default="0.0" name="mot_rs" type="FLOAT">
      <short_desc>READ ONLY: Motor resistance in ohms</short_desc>
      <long_desc>READ ONLY: Motor resistance in ohms. This is measured on start-up. When
            tuning a new motor, check that this value is approximately equal
            to the value shown in the motor’s specification sheet.</long_desc>
      <unit>Ohms</unit>
      <decimal>3</decimal>
    </parameter>
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    <parameter default="0.5" name="mot_v_accel" type="FLOAT">
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      <short_desc>Acceleration limit (V)</short_desc>
      <long_desc>Acceleration limit (V)</long_desc>
      <unit>Volts</unit>
      <decimal>3</decimal>
      <min>0.01</min>
      <max>1.00</max>
    </parameter>
    <parameter default="14.8" name="mot_v_max" type="FLOAT">
      <short_desc>Motor voltage limit in volts</short_desc>
      <long_desc>Motor voltage limit in volts. The current controller’s
            commanded voltage will never exceed this value. Note that this may
            safely be above the nominal voltage of the motor; to determine the
            actual motor voltage limit, divide the motor’s rated power by the
            motor current limit.</long_desc>
      <unit>Volts</unit>
      <decimal>3</decimal>
      <min>0</min>
    </parameter>
  </group>
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  <group name="Attitude Q estimator">
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    <parameter default="1" name="ATT_ACC_COMP" type="INT32">
      <short_desc>Acceleration compensation based on GPS
velocity</short_desc>
      <boolean />
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      <scope>modules/attitude_estimator_q</scope>
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    </parameter>
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    <parameter default="0.05" name="ATT_BIAS_MAX" type="FLOAT">
      <short_desc>Gyro bias limit</short_desc>
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      <min>0</min>
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      <max>2</max>
      <unit>rad/s</unit>
      <decimal>3</decimal>
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      <scope>modules/attitude_estimator_q</scope>
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    </parameter>
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    <parameter default="0" name="ATT_EXT_HDG_M" type="INT32">
      <short_desc>External heading usage mode (from Motion capture/Vision)
Set to 1 to use heading estimate from vision.
Set to 2 to use heading from motion capture</short_desc>
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      <min>0</min>
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      <max>2</max>
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      <scope>modules/attitude_estimator_q</scope>
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      <values>
        <value code="0">None</value>
        <value code="1">Vision</value>
        <value code="2">Motion Capture</value>
      </values>
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    </parameter>
    <parameter default="0.0" name="ATT_MAG_DECL" type="FLOAT">
      <short_desc>Magnetic declination, in degrees</short_desc>
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      <long_desc>This parameter is not used in normal operation, as the declination is looked up based on the GPS coordinates of the vehicle.</long_desc>
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      <unit>deg</unit>
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      <decimal>2</decimal>
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      <scope>modules/attitude_estimator_q</scope>
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    </parameter>
    <parameter default="1" name="ATT_MAG_DECL_A" type="INT32">
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      <short_desc>Automatic GPS based declination compensation</short_desc>
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      <boolean />
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      <scope>modules/attitude_estimator_q</scope>
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    </parameter>
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    <parameter default="0.2" name="ATT_W_ACC" type="FLOAT">
      <short_desc>Complimentary filter accelerometer weight</short_desc>
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      <min>0</min>
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      <max>1</max>
      <decimal>2</decimal>
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      <scope>modules/attitude_estimator_q</scope>
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    </parameter>
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    <parameter default="0.1" name="ATT_W_EXT_HDG" type="FLOAT">
      <short_desc>Complimentary filter external heading weight</short_desc>
      <min>0</min>
      <max>1</max>
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      <scope>modules/attitude_estimator_q</scope>
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    </parameter>
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    <parameter default="0.1" name="ATT_W_GYRO_BIAS" type="FLOAT">
      <short_desc>Complimentary filter gyroscope bias weight</short_desc>
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      <min>0</min>
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      <max>1</max>
      <decimal>2</decimal>
      <scope>modules/attitude_estimator_q</scope>
    </parameter>
    <parameter default="0.1" name="ATT_W_MAG" type="FLOAT">
      <short_desc>Complimentary filter magnetometer weight</short_desc>
      <min>0</min>
      <max>1</max>
      <decimal>2</decimal>
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      <scope>modules/attitude_estimator_q</scope>
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    </parameter>
  </group>
  <group name="Battery Calibration">
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    <parameter default="-1.0" name="BAT_A_PER_V" type="FLOAT">
      <short_desc>Battery current per volt (A/V)</short_desc>
      <long_desc>The voltage seen by the 3.3V ADC multiplied by this factor will determine the battery current. A value of -1 means to use the board default.</long_desc>
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      <decimal>8</decimal>
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      <scope>modules/sensors</scope>
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    </parameter>
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    <parameter default="-1.0" name="BAT_CAPACITY" type="FLOAT">
      <short_desc>Battery capacity</short_desc>
      <long_desc>Defines the capacity of the attached battery.</long_desc>
      <min>-1.0</min>
      <max>100000</max>
      <unit>mA</unit>
      <decimal>0</decimal>
      <increment>50</increment>
      <reboot_required>true</reboot_required>
      <scope>modules/systemlib</scope>
    </parameter>
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    <parameter default="-1.0" name="BAT_CNT_V_CURR" type="FLOAT">
      <short_desc>Scaling from ADC counts to volt on the ADC input (battery current)</short_desc>
      <long_desc>This is not the battery current, but the intermediate ADC voltage. A value of -1 signifies that the board defaults are used, which is highly recommended.</long_desc>
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      <decimal>8</decimal>
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      <scope>modules/sensors</scope>
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    </parameter>
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    <parameter default="-1.0" name="BAT_CNT_V_VOLT" type="FLOAT">
      <short_desc>Scaling from ADC counts to volt on the ADC input (battery voltage)</short_desc>
      <long_desc>This is not the battery voltage, but the intermediate ADC voltage. A value of -1 signifies that the board defaults are used, which is highly recommended.</long_desc>
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      <decimal>8</decimal>
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      <scope>modules/sensors</scope>
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    </parameter>
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    <parameter default="0.07" name="BAT_CRIT_THR" type="FLOAT">
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      <short_desc>Critical threshold</short_desc>
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      <long_desc>Sets the threshold when the battery will be reported as critically low. This has to be lower than the low threshold. This threshold commonly will trigger RTL.</long_desc>
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      <min>0.05</min>
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      <max>0.1</max>
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      <unit>norm</unit>
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      <decimal>2</decimal>
      <increment>0.01</increment>
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      <reboot_required>true</reboot_required>
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      <scope>modules/systemlib</scope>
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    </parameter>
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    <parameter default="0.05" name="BAT_EMERGEN_THR" type="FLOAT">
      <short_desc>Emergency threshold</short_desc>
      <long_desc>Sets the threshold when the battery will be reported as dangerously low. This has to be lower than the critical threshold. This threshold commonly will trigger landing.</long_desc>
      <min>0.03</min>
      <max>0.07</max>
      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
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      <reboot_required>true</reboot_required>
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      <scope>modules/systemlib</scope>
    </parameter>
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    <parameter default="0.15" name="BAT_LOW_THR" type="FLOAT">
      <short_desc>Low threshold</short_desc>
      <long_desc>Sets the threshold when the battery will be reported as low. This has to be higher than the critical threshold.</long_desc>
      <min>0.12</min>
      <max>0.4</max>
      <unit>norm</unit>
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      <decimal>2</decimal>
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      <increment>0.01</increment>
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      <reboot_required>true</reboot_required>
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      <scope>modules/systemlib</scope>
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    </parameter>
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    <parameter default="0" name="BAT_N_CELLS" type="INT32">
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      <short_desc>Number of cells</short_desc>
      <long_desc>Defines the number of cells the attached battery consists of.</long_desc>
      <unit>S</unit>
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      <reboot_required>true</reboot_required>
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      <scope>modules/systemlib</scope>
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      <values>
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        <value code="0">Unconfigured</value>
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        <value code="2">2S Battery</value>
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        <value code="3">3S Battery</value>
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        <value code="4">4S Battery</value>
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        <value code="5">5S Battery</value>
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        <value code="6">6S Battery</value>
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        <value code="7">7S Battery</value>
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        <value code="8">8S Battery</value>
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        <value code="9">9S Battery</value>
        <value code="10">10S Battery</value>
        <value code="11">11S Battery</value>
        <value code="12">12S Battery</value>
        <value code="13">13S Battery</value>
        <value code="14">14S Battery</value>
        <value code="15">15S Battery</value>
        <value code="16">16S Battery</value>
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      </values>
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    </parameter>
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    <parameter default="-1.0" name="BAT_R_INTERNAL" type="FLOAT">
      <short_desc>Explicitly defines the per cell internal resistance</short_desc>
      <long_desc>If non-negative, then this will be used in place of BAT_V_LOAD_DROP for all calculations.</long_desc>
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      <min>-1.0</min>
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      <max>0.2</max>
      <unit>Ohms</unit>
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      <reboot_required>true</reboot_required>
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      <scope>modules/systemlib</scope>
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    </parameter>
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    <parameter default="0" name="BAT_SOURCE" type="INT32">
      <short_desc>Battery monitoring source</short_desc>
      <long_desc>This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages.</long_desc>
      <min>0</min>
      <max>1</max>
      <scope>modules/sensors</scope>
      <values>
        <value code="0">Power Module</value>
        <value code="1">External</value>
      </values>
    </parameter>
    <parameter default="4.05" name="BAT_V_CHARGED" type="FLOAT">
      <short_desc>Full cell voltage (5C load)</short_desc>
      <long_desc>Defines the voltage where a single cell of the battery is considered full under a mild load. This will never be the nominal voltage of 4.2V</long_desc>
      <unit>V</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>true</reboot_required>
      <scope>modules/systemlib</scope>
    </parameter>
    <parameter default="-1.0" name="BAT_V_DIV" type="FLOAT">
      <short_desc>Battery voltage divider (V divider)</short_desc>
      <long_desc>This is the divider from battery voltage to 3.3V ADC voltage. If using e.g. Mauch power modules the value from the datasheet can be applied straight here. A value of -1 means to use the board default.</long_desc>
      <decimal>8</decimal>
      <scope>modules/sensors</scope>
    </parameter>
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    <parameter default="3.5" name="BAT_V_EMPTY" type="FLOAT">
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      <short_desc>Empty cell voltage (5C load)</short_desc>
      <long_desc>Defines the voltage where a single cell of the battery is considered empty. The voltage should be chosen before the steep dropoff to 2.8V. A typical lithium battery can only be discharged down to 10% before it drops off to a voltage level damaging the cells.</long_desc>
      <unit>V</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>true</reboot_required>
      <scope>modules/systemlib</scope>
    </parameter>
    <parameter default="0.3" name="BAT_V_LOAD_DROP" type="FLOAT">
      <short_desc>Voltage drop per cell on full throttle</short_desc>
      <long_desc>This implicitely defines the internal resistance to maximum current ratio and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT_R_INTERNAL is set.</long_desc>
      <min>0.07</min>
      <max>0.5</max>
      <unit>V</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>true</reboot_required>
      <scope>modules/systemlib</scope>
    </parameter>
    <parameter default="0.0" name="BAT_V_OFFS_CURR" type="FLOAT">
      <short_desc>Offset in volt as seen by the ADC input of the current sensor</short_desc>
      <long_desc>This offset will be subtracted before calculating the battery current based on the voltage.</long_desc>
      <decimal>8</decimal>
      <scope>modules/sensors</scope>
    </parameter>
  </group>
  <group name="Camera Control">
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    <parameter default="0" name="CAM_FBACK_MODE" type="INT32">
      <short_desc>Camera feedback mode</short_desc>
      <long_desc>Sets the camera feedback mode.</long_desc>
      <min>0</min>
      <max>1</max>
      <scope>modules/camera_feedback</scope>
      <values>
        <value code="0">Disabled</value>
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        <value code="1">Feedback on trigger</value>
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      </values>
    </parameter>
  </group>
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  <group name="Camera trigger">
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    <parameter default="40.0" name="TRIG_ACT_TIME" type="FLOAT">
      <short_desc>Camera trigger activation time</short_desc>
      <long_desc>This parameter sets the time the trigger needs to pulled high or low.</long_desc>
      <min>0.1</min>
      <max>3000</max>
      <unit>ms</unit>
      <decimal>1</decimal>
      <scope>drivers/camera_trigger</scope>
    </parameter>
    <parameter default="25.0" name="TRIG_DISTANCE" type="FLOAT">
      <short_desc>Camera trigger distance</short_desc>
      <long_desc>Sets the distance at which to trigger the camera.</long_desc>
      <min>0</min>
      <unit>m</unit>
      <decimal>1</decimal>
      <increment>1</increment>
      <scope>drivers/camera_trigger</scope>
    </parameter>
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    <parameter default="4" name="TRIG_INTERFACE" type="INT32">
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      <short_desc>Camera trigger Interface</short_desc>
      <long_desc>Selects the trigger interface</long_desc>
      <reboot_required>true</reboot_required>
      <scope>drivers/camera_trigger</scope>
      <values>
        <value code="1">GPIO</value>
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        <value code="2">Seagull MAP2 (over PWM)</value>
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        <value code="3">MAVLink (forward via MAV_CMD_IMAGE_START_CAPTURE)</value>
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        <value code="4">Generic PWM (IR trigger, servo)</value>
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      </values>
    </parameter>
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    <parameter default="40.0" name="TRIG_INTERVAL" type="FLOAT">
      <short_desc>Camera trigger interval</short_desc>
      <long_desc>This parameter sets the time between two consecutive trigger events</long_desc>
      <min>4.0</min>
      <max>10000.0</max>
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      <unit>ms</unit>
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      <decimal>1</decimal>
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      <scope>drivers/camera_trigger</scope>
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    </parameter>
    <parameter default="0" name="TRIG_MODE" type="INT32">
      <short_desc>Camera trigger mode</short_desc>
      <min>0</min>
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      <max>4</max>
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      <reboot_required>true</reboot_required>
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      <scope>drivers/camera_trigger</scope>
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      <values>
        <value code="0">Disable</value>
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        <value code="1">Time based, on command</value>
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        <value code="2">Time based, always on</value>
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        <value code="3">Distance based, always on</value>
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        <value code="4">Distance based, on command (Survey mode)</value>
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      </values>
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    </parameter>
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    <parameter default="56" name="TRIG_PINS" type="INT32">
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      <short_desc>Camera trigger pin</short_desc>
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      <long_desc>Selects which pin is used, ranges from 1 to 6 (AUX1-AUX6 on px4fmu-v2 and the rail pins on px4fmu-v4). The PWM interface takes two pins per camera, while relay triggers on every pin individually. Example: Value 56 would trigger on pins 5 and 6.</long_desc>
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      <min>1</min>
      <max>123456</max>
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      <decimal>0</decimal>
      <reboot_required>true</reboot_required>
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      <scope>drivers/camera_trigger</scope>
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    </parameter>
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    <parameter default="0" name="TRIG_POLARITY" type="INT32">
      <short_desc>Camera trigger polarity</short_desc>
      <long_desc>This parameter sets the polarity of the trigger (0 = active low, 1 = active high )</long_desc>
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      <min>0</min>
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      <max>1</max>
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      <scope>drivers/camera_trigger</scope>
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      <values>
        <value code="0">Active low</value>
        <value code="1">Active high</value>
      </values>
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    </parameter>
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  </group>
  <group name="Circuit Breaker">
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    <parameter category="Developer" default="0" name="CBRK_AIRSPD_CHK" type="INT32">
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      <short_desc>Circuit breaker for airspeed sensor</short_desc>
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      <long_desc>Setting this parameter to 162128 will disable the check for an airspeed sensor. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
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      <min>0</min>
      <max>162128</max>
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      <reboot_required>true</reboot_required>
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      <scope>modules/systemlib</scope>
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    </parameter>
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    <parameter category="Developer" default="0" name="CBRK_BUZZER" type="INT32">
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      <short_desc>Circuit breaker for disabling buzzer</short_desc>
      <long_desc>Setting this parameter to 782097 will disable the buzzer audio notification. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
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      <min>0</min>
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      <max>782097</max>
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      <reboot_required>true</reboot_required>
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      <scope>modules/systemlib</scope>
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    </parameter>
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    <parameter category="Developer" default="284953" name="CBRK_ENGINEFAIL" type="INT32">
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      <short_desc>Circuit breaker for engine failure detection</short_desc>
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      <long_desc>Setting this parameter to 284953 will disable the engine failure detection. If the aircraft is in engine failure mode the engine failure flag will be set to healthy WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
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      <min>0</min>
      <max>284953</max>
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      <reboot_required>true</reboot_required>
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      <scope>modules/systemlib</scope>
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    </parameter>
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    <parameter category="Developer" default="121212" name="CBRK_FLIGHTTERM" type="INT32">
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      <short_desc>Circuit breaker for flight termination</short_desc>
      <long_desc>Setting this parameter to 121212 will disable the flight termination action. --&gt; The IO driver will not do flight termination if requested by the FMU WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
      <min>0</min>
      <max>121212</max>
      <reboot_required>true</reboot_required>
      <scope>modules/systemlib</scope>
    </parameter>
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    <parameter category="Developer" default="0" name="CBRK_GPSFAIL" type="INT32">
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      <short_desc>Circuit breaker for GPS failure detection</short_desc>
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      <long_desc>Setting this parameter to 240024 will disable the GPS failure detection. If this check is enabled, then the sensor check will fail if the GPS module is missing. It will also check for excessive signal noise on the GPS receiver and warn the user if detected. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
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      <min>0</min>
      <max>240024</max>
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      <reboot_required>true</reboot_required>
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      <scope>modules/systemlib</scope>
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    </parameter>
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    <parameter category="Developer" default="0" name="CBRK_IO_SAFETY" type="INT32">
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      <short_desc>Circuit breaker for IO safety</short_desc>
      <long_desc>Setting this parameter to 22027 will disable IO safety. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
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      <min>0</min>
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      <max>22027</max>
      <reboot_required>true</reboot_required>
      <scope>modules/systemlib</scope>
    </parameter>
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    <parameter category="Developer" default="0" name="CBRK_RATE_CTRL" type="INT32">
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      <short_desc>Circuit breaker for rate controller output</short_desc>
      <long_desc>Setting this parameter to 140253 will disable the rate controller uORB publication. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
      <min>0</min>
      <max>140253</max>
      <reboot_required>true</reboot_required>
      <scope>modules/systemlib</scope>
    </parameter>
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    <parameter category="Developer" default="0" name="CBRK_SUPPLY_CHK" type="INT32">
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      <short_desc>Circuit breaker for power supply check</short_desc>
      <long_desc>Setting this parameter to 894281 will disable the power valid checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
      <min>0</min>
      <max>894281</max>
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      <reboot_required>true</reboot_required>
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      <scope>modules/systemlib</scope>
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    </parameter>
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    <parameter category="Developer" default="0" name="CBRK_USB_CHK" type="INT32">
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      <short_desc>Circuit breaker for USB link check</short_desc>
      <long_desc>Setting this parameter to 197848 will disable the USB connected checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
      <min>0</min>
      <max>197848</max>
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      <reboot_required>true</reboot_required>
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      <scope>modules/systemlib</scope>
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    </parameter>
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    <parameter category="Developer" default="0" name="CBRK_VELPOSERR" type="INT32">
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      <short_desc>Circuit breaker for position error check</short_desc>
      <long_desc>Setting this parameter to 201607 will disable the position and velocity accuracy checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
      <min>0</min>
      <max>201607</max>
      <reboot_required>true</reboot_required>
      <scope>modules/systemlib</scope>
    </parameter>
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  </group>
  <group name="Commander">
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    <parameter default="256010" name="COM_ARM_AUTH" type="INT32">
      <short_desc>Arm authorization parameters, this uint32_t will be splitted between starting from the LSB:
- 8bits to authorizer system id
- 16bits to authentication method parameter, this will be used to store a timeout for the first 2 methods but can be used to another parameter for other new authentication methods.
- 7bits to authentication method
- one arm = 0
- two step arm = 1
* the MSB bit is not used to avoid problems in the conversion between int and uint</short_desc>
      <long_desc>Default value: (10 &lt;&lt; 0 | 1000 &lt;&lt; 8 | 0 &lt;&lt; 24) = 256010 - authorizer system id = 10 - authentication method parameter = 10000msec of timeout - authentication method = during arm</long_desc>
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      <scope>modules/commander</scope>
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    </parameter>
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    <parameter default="2.4e-3" name="COM_ARM_EKF_AB" type="FLOAT">
      <short_desc>Maximum value of EKF accelerometer delta velocity bias estimate that will allow arming.
Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than EKF2_ABL_LIM * FILTER_UPDATE_PERIOD_MS * 0.001 so this parameter must be less than that to be useful</short_desc>
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      <min>0.001</min>
      <max>0.01</max>
      <unit>m/s</unit>
      <decimal>4</decimal>
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      <increment>0.0001</increment>
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      <scope>modules/commander</scope>
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    </parameter>
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    <parameter default="8.7e-4" name="COM_ARM_EKF_GB" type="FLOAT">
      <short_desc>Maximum value of EKF gyro delta angle bias estimate that will allow arming</short_desc>
      <min>0.0001</min>
      <max>0.0017</max>
      <unit>rad</unit>
      <decimal>5</decimal>
      <increment>0.0001</increment>
      <scope>modules/commander</scope>
    </parameter>
    <parameter default="1.0" name="COM_ARM_EKF_HGT" type="FLOAT">
      <short_desc>Maximum EKF height innovation test ratio that will allow arming</short_desc>
      <min>0.1</min>
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      <max>1.0</max>
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      <unit>m</unit>
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      <decimal>2</decimal>
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      <increment>0.05</increment>
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      <scope>modules/commander</scope>
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    </parameter>
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    <parameter default="0.5" name="COM_ARM_EKF_POS" type="FLOAT">
      <short_desc>Maximum EKF position innovation test ratio that will allow arming</short_desc>
      <min>0.1</min>
      <max>1.0</max>
      <unit>m</unit>
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      <decimal>2</decimal>
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      <increment>0.05</increment>
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      <scope>modules/commander</scope>
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    </parameter>
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    <parameter default="0.5" name="COM_ARM_EKF_VEL" type="FLOAT">
      <short_desc>Maximum EKF velocity innovation test ratio that will allow arming</short_desc>
      <min>0.1</min>
      <max>1.0</max>
      <unit>m/s</unit>
      <decimal>2</decimal>
      <increment>0.05</increment>
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      <scope>modules/commander</scope>
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    </parameter>
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    <parameter default="0.5" name="COM_ARM_EKF_YAW" type="FLOAT">
      <short_desc>Maximum EKF yaw innovation test ratio that will allow arming</short_desc>
      <min>0.1</min>
      <max>1.0</max>
      <unit>rad</unit>
      <decimal>2</decimal>
      <increment>0.05</increment>
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      <scope>modules/commander</scope>
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    </parameter>
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    <parameter default="0.7" name="COM_ARM_IMU_ACC" type="FLOAT">
      <short_desc>Maximum accelerometer inconsistency between IMU units that will allow arming</short_desc>
      <min>0.1</min>
      <max>1.0</max>
      <unit>m/s/s</unit>
      <decimal>2</decimal>
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      <increment>0.05</increment>
      <scope>modules/commander</scope>
    </parameter>
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    <parameter default="0.25" name="COM_ARM_IMU_GYR" type="FLOAT">
      <short_desc>Maximum rate gyro inconsistency between IMU units that will allow arming</short_desc>
      <min>0.02</min>
      <max>0.3</max>
      <unit>rad/s</unit>
      <decimal>3</decimal>
      <increment>0.01</increment>
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      <scope>modules/commander</scope>
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    </parameter>
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    <parameter default="0.15" name="COM_ARM_MAG" type="FLOAT">
      <short_desc>Maximum magnetic field inconsistency between units that will allow arming</short_desc>
      <min>0.05</min>
      <max>0.5</max>
      <unit>Gauss</unit>
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      <decimal>2</decimal>
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      <increment>0.05</increment>
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      <scope>modules/commander</scope>
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    </parameter>
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    <parameter default="0" name="COM_ARM_MIS_REQ" type="INT32">
      <short_desc>Require valid mission to arm</short_desc>
      <long_desc>The default allows to arm the vehicle without a valid mission.</long_desc>
      <boolean />
      <scope>modules/commander</scope>
    </parameter>
    <parameter default="0" name="COM_ARM_SWISBTN" type="INT32">
      <short_desc>Arm switch is only a button</short_desc>
      <long_desc>The default uses the arm switch as real switch. If parameter set button gets handled like stick arming.</long_desc>
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      <min>0</min>
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      <max>1</max>
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      <scope>modules/commander</scope>
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      <values>
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        <value code="0">Arm switch is a switch that stays on when armed</value>
        <value code="1">Arm switch is a button that only triggers arming and disarming</value>
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      </values>
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    </parameter>
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    <parameter default="1" name="COM_ARM_WO_GPS" type="INT32">
      <short_desc>Allow arming without GPS</short_desc>
      <long_desc>The default allows to arm the vehicle without GPS signal.</long_desc>
      <boolean />
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      <scope>modules/commander</scope>
    </parameter>
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    <parameter default="0" name="COM_DISARM_LAND" type="INT32">
      <short_desc>Time-out for auto disarm after landing</short_desc>
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      <long_desc>A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period. The vehicle will also auto-disarm right after arming if it has not even flown, however the time will be longer by a factor of 5. A value of zero means that automatic disarming is disabled.</long_desc>
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      <min>0</min>
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      <max>20</max>
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      <unit>s</unit>
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      <decimal>0</decimal>
      <increment>1</increment>
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      <scope>modules/commander</scope>
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    </parameter>
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    <parameter default="10" name="COM_DL_LOSS_T" type="INT32">
      <short_desc>Datalink loss time threshold</short_desc>
      <long_desc>After this amount of seconds without datalink the data link lost mode triggers</long_desc>
      <min>5</min>
      <max>300</max>
      <unit>s</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
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      <scope>modules/commander</scope>
    </parameter>
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    <parameter default="0" name="COM_DL_REG_T" type="INT32">
      <short_desc>Datalink regain time threshold</short_desc>
      <long_desc>After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss' flag is set back to false</long_desc>
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      <min>0</min>
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      <max>3</max>
      <unit>s</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
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      <scope>modules/commander</scope>
    </parameter>
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    <parameter default="5.0" name="COM_EF_C2T" type="FLOAT">
      <short_desc>Engine Failure Current/Throttle Threshold</short_desc>
      <long_desc>Engine failure triggers only below this current value</long_desc>
      <min>0.0</min>
      <max>50.0</max>
      <unit>A/%</unit>
      <decimal>2</decimal>
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      <increment>1</increment>
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      <scope>modules/commander</scope>
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    </parameter>
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    <parameter default="0.5" name="COM_EF_THROT" type="FLOAT">
      <short_desc>Engine Failure Throttle Threshold</short_desc>
      <long_desc>Engine failure triggers only above this throttle value</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <scope>modules/commander</scope>
    </parameter>
    <parameter default="10.0" name="COM_EF_TIME" type="FLOAT">
      <short_desc>Engine Failure Time Threshold</short_desc>
      <long_desc>Engine failure triggers only if the throttle threshold and the current to throttle threshold are violated for this time</long_desc>
      <min>0.0</min>
      <max>60.0</max>
      <unit>s</unit>
      <decimal>1</decimal>
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      <increment>1</increment>
      <scope>modules/commander</scope>
    </parameter>
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    <parameter category="System" default="0" name="COM_FLIGHT_UUID" type="INT32" volatile="true">
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      <short_desc>Next flight UUID</short_desc>
      <long_desc>This number is incremented automatically after every flight on disarming in order to remember the next flight UUID. The first flight is 0.</long_desc>
      <min>0</min>
      <scope>modules/commander</scope>
    </parameter>
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    <parameter default="-1" name="COM_FLTMODE1" type="INT32">
      <short_desc>First flightmode slot (1000-1160)</short_desc>
      <long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
      <scope>modules/commander</scope>
      <values>
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        <value code="-1">Unassigned</value>
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        <value code="0">Manual</value>
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        <value code="1">Altitude</value>
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        <value code="2">Position</value>
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        <value code="3">Mission</value>
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        <value code="4">Hold</value>
        <value code="5">Return</value>
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        <value code="6">Acro</value>
        <value code="7">Offboard</value>
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        <value code="8">Stabilized</value>
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        <value code="9">Rattitude</value>
        <value code="10">Takeoff</value>
        <value code="11">Land</value>
        <value code="12">Follow Me</value>
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      </values>
    </parameter>
    <parameter default="-1" name="COM_FLTMODE2" type="INT32">
      <short_desc>Second flightmode slot (1160-1320)</short_desc>
      <long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
      <scope>modules/commander</scope>
      <values>
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        <value code="-1">Unassigned</value>
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        <value code="0">Manual</value>
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        <value code="1">Altitude</value>
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        <value code="2">Position</value>
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        <value code="3">Mission</value>
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        <value code="4">Hold</value>
        <value code="5">Return</value>
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        <value code="6">Acro</value>
        <value code="7">Offboard</value>
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        <value code="8">Stabilized</value>
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        <value code="9">Rattitude</value>
        <value code="10">Takeoff</value>
        <value code="11">Land</value>
        <value code="12">Follow Me</value>
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      </values>
    </parameter>
    <parameter default="-1" name="COM_FLTMODE3" type="INT32">
      <short_desc>Third flightmode slot (1320-1480)</short_desc>
      <long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
      <scope>modules/commander</scope>
      <values>
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        <value code="-1">Unassigned</value>
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        <value code="0">Manual</value>
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        <value code="1">Altitude</value>
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        <value code="2">Position</value>
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        <value code="3">Mission</value>
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        <value code="4">Hold</value>
        <value code="5">Return</value>
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        <value code="6">Acro</value>
        <value code="7">Offboard</value>
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        <value code="8">Stabilized</value>
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        <value code="9">Rattitude</value>
        <value code="10">Takeoff</value>
        <value code="11">Land</value>
        <value code="12">Follow Me</value>
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      </values>
    </parameter>
    <parameter default="-1" name="COM_FLTMODE4" type="INT32">
      <short_desc>Fourth flightmode slot (1480-1640)</short_desc>
      <long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
      <scope>modules/commander</scope>
      <values>
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        <value code="-1">Unassigned</value>
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        <value code="0">Manual</value>
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        <value code="1">Altitude</value>
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        <value code="2">Position</value>
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        <value code="3">Mission</value>
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        <value code="4">Hold</value>
        <value code="5">Return</value>
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        <value code="6">Acro</value>
        <value code="7">Offboard</value>
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        <value code="8">Stabilized</value>
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        <value code="9">Rattitude</value>
        <value code="10">Takeoff</value>
        <value code="11">Land</value>
        <value code="12">Follow Me</value>
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      </values>
    </parameter>
    <parameter default="-1" name="COM_FLTMODE5" type="INT32">
      <short_desc>Fifth flightmode slot (1640-1800)</short_desc>
      <long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
      <scope>modules/commander</scope>
      <values>
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        <value code="-1">Unassigned</value>
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        <value code="0">Manual</value>
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        <value code="1">Altitude</value>
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        <value code="2">Position</value>
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        <value code="3">Mission</value>
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        <value code="4">Hold</value>
        <value code="5">Return</value>
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        <value code="6">Acro</value>
        <value code="7">Offboard</value>
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        <value code="8">Stabilized</value>
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        <value code="9">Rattitude</value>
        <value code="10">Takeoff</value>
        <value code="11">Land</value>
        <value code="12">Follow Me</value>
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      </values>
    </parameter>
    <parameter default="-1" name="COM_FLTMODE6" type="INT32">
      <short_desc>Sixth flightmode slot (1800-2000)</short_desc>
      <long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
      <scope>modules/commander</scope>
      <values>
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        <value code="-1">Unassigned</value>
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        <value code="0">Manual</value>
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        <value code="1">Altitude</value>
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        <value code="2">Position</value>
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        <value code="3">Mission</value>
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        <value code="4">Hold</value>
        <value code="5">Return</value>
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        <value code="6">Acro</value>
        <value code="7">Offboard</value>
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        <value code="8">Stabilized</value>
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        <value code="9">Rattitude</value>
        <value code="10">Takeoff</value>
        <value code="11">Land</value>
        <value code="12">Follow Me</value>
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      </values>
    </parameter>
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    <parameter default="5.0" name="COM_HOME_H_T" type="FLOAT">
      <short_desc>Home set horizontal threshold</short_desc>
      <long_desc>The home position will be set if the estimated positioning accuracy is below the threshold.</long_desc>
      <min>2</min>
      <max>15</max>
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      <unit>m</unit>
      <decimal>2</decimal>
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      <increment>0.5</increment>
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      <scope>modules/commander</scope>
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    </parameter>
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    <parameter default="10.0" name="COM_HOME_V_T" type="FLOAT">
      <short_desc>Home set vertical threshold</short_desc>
      <long_desc>The home position will be set if the estimated positioning accuracy is below the threshold.</long_desc>
      <min>5</min>
      <max>25</max>
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      <unit>m</unit>
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      <decimal>2</decimal>
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      <increment>0.5</increment>
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      <scope>modules/commander</scope>
    </parameter>
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    <parameter default="0" name="COM_LOW_BAT_ACT" type="INT32">
      <short_desc>Battery failsafe mode</short_desc>
      <long_desc>Action the system takes on low battery. Defaults to off</long_desc>
      <decimal>0</decimal>
      <increment>1</increment>
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      <scope>modules/commander</scope>
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      <values>
        <value code="0">Warning</value>
        <value code="1">Return to land</value>
        <value code="2">Land at current position</value>
        <value code="3">Return to land at critically low level, land at current position if reaching dangerously low levels</value>
      </values>
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    </parameter>
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    <parameter default="0.0" name="COM_OF_LOSS_T" type="FLOAT">
      <short_desc>Time-out to wait when offboard connection is lost before triggering offboard lost action.
See COM_OBL_ACT and COM_OBL_RC_ACT to configure action</short_desc>
      <min>0</min>
      <max>60</max>
      <unit>second</unit>
      <increment>1</increment>
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      <scope>modules/commander</scope>
    </parameter>
    <parameter default="1" name="COM_POS_FS_DELAY" type="INT32">
      <short_desc>Loss of position failsafe activation delay</short_desc>
      <long_desc>This sets number of seconds that the position checks need to be failed before the failsafe will activate. The default value has been optimised for rotary wing applications. For fixed wing applications, a larger value between 5 and 10 should be used.</long_desc>
      <unit>sec</unit>
      <reboot_required>true</reboot_required>
      <scope>modules/commander</scope>
    </parameter>
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    <parameter default="10" name="COM_POS_FS_GAIN" type="INT32">
      <short_desc>Loss of position probation gain factor</short_desc>
      <long_desc>This sets the rate that the loss of position probation time grows when position checks are failing. The default value has been optimised for rotary wing applications. For fixed wing applications a value of 0 should be used.</long_desc>
      <reboot_required>true</reboot_required>
      <scope>modules/commander</scope>
    </parameter>
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    <parameter default="30" name="COM_POS_FS_PROB" type="INT32">
      <short_desc>Loss of position probation delay at takeoff</short_desc>
      <long_desc>The probation delay is the number of seconds that the EKF innovation checks need to pass for the position to be declared good after it has been declared bad. The probation delay will be reset to this parameter value when takeoff is detected. After takeoff, if position checks are passing, the probation delay will reduce by one second for every lapsed second of valid position down to a minimum of 1 second. If position checks are failing, the probation delay will increase by COM_POS_FS_GAIN seconds for every lapsed second up to a maximum of 100 seconds. The default value has been optimised for rotary wing applications. For fixed wing applications, a value of 1 should be used.</long_desc>
      <unit>sec</unit>
      <reboot_required>true</reboot_required>
      <scope>modules/commander</scope>
    </parameter>
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    <parameter default="1000" name="COM_RC_ARM_HYST" type="INT32">
      <short_desc>RC input arm/disarm command duration</short_desc>
      <long_desc>The default value of 1000 requires the stick to be held in the arm or disarm position for 1 second.</long_desc>
      <min>100</min>
      <max>1500</max>
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      <scope>modules/commander</scope>
    </parameter>
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    <parameter default="0" name="COM_RC_IN_MODE" type="INT32">
      <short_desc>RC control input mode</short_desc>
      <long_desc>The default value of 0 requires a valid RC transmitter setup. Setting this to 1 allows joystick control and disables RC input handling and the associated checks. A value of 2 will generate RC control data from manual input received via MAVLink instead of directly forwarding the manual input data.</long_desc>
      <min>0</min>
      <max>2</max>
      <scope>modules/commander</scope>
      <values>
        <value code="0">RC Transmitter</value>
        <value code="1">Joystick/No RC Checks</value>
        <value code="2">Virtual RC by Joystick</value>
      </values>
    </parameter>
    <parameter default="0.5" name="COM_RC_LOSS_T" type="FLOAT">
      <short_desc>RC loss time threshold</short_desc>
      <long_desc>After this amount of seconds without RC connection the rc lost flag is set to true</long_desc>
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      <min>0</min>
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      <max>35</max>
      <unit>s</unit>
      <decimal>1</decimal>
      <increment>0.1</increment>
      <scope>modules/commander</scope>
    </parameter>
    <parameter default="0" name="COM_RC_OVERRIDE" type="INT32">
      <short_desc>Enable RC stick override of auto modes</short_desc>
      <boolean />
      <scope>modules/commander</scope>
    </parameter>
    <parameter default="12.0" name="COM_RC_STICK_OV" type="FLOAT">
      <short_desc>RC stick override threshold</short_desc>
      <long_desc>If an RC stick is moved more than by this amount the system will interpret this as override request by the pilot.</long_desc>
      <min>5</min>
      <max>40</max>
      <unit>%</unit>
      <decimal>0</decimal>
      <increment>0.05</increment>
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      <scope>modules/commander</scope>
    </parameter>
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  </group>
  <group name="Data Link Loss">
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    <parameter default="600.0" name="NAV_AH_ALT" type="FLOAT">
      <short_desc>Airfield home alt</short_desc>
      <long_desc>Altitude of airfield home waypoint</long_desc>
      <min>-50</min>
      <unit>m</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
      <scope>modules/navigator</scope>
    </parameter>
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    <parameter default="-265847810" name="NAV_AH_LAT" type="INT32">
      <short_desc>Airfield home Lat</short_desc>
      <long_desc>Latitude of airfield home waypoint</long_desc>
      <min>-900000000</min>
      <max>900000000</max>
      <unit>deg * 1e7</unit>
      <scope>modules/navigator</scope>
    </parameter>
    <parameter default="1518423250" name="NAV_AH_LON" type="INT32">
      <short_desc>Airfield home Lon</short_desc>
      <long_desc>Longitude of airfield home waypoint</long_desc>
      <min>-1800000000</min>
      <max>1800000000</max>
      <unit>deg * 1e7</unit>
      <scope>modules/navigator</scope>
    </parameter>
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    <parameter default="120.0" name="NAV_DLL_AH_T" type="FLOAT">
      <short_desc>Airfield home wait time</short_desc>
      <long_desc>The amount of time in seconds the system should wait at the airfield home waypoint</long_desc>
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      <min>0.0</min>
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      <max>3600.0</max>
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      <unit>s</unit>
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      <decimal>0</decimal>
      <increment>1</increment>
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      <scope>modules/navigator</scope>
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    </parameter>
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    <parameter default="0" name="NAV_DLL_CHSK" type="INT32">
      <short_desc>Skip comms hold wp</short_desc>
      <long_desc>If set to 1 the system will skip the comms hold wp on data link loss and will directly fly to airfield home</long_desc>
      <boolean />
      <scope>modules/navigator</scope>
    </parameter>
    <parameter default="600.0" name="NAV_DLL_CH_ALT" type="FLOAT">
      <short_desc>Comms hold alt</short_desc>
      <long_desc>Altitude of comms hold waypoint</long_desc>
      <min>-50</min>
      <max>30000</max>
      <unit>m</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
      <scope>modules/navigator</scope>
    </parameter>
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    <parameter default="-266072120" name="NAV_DLL_CH_LAT" type="INT32">
      <short_desc>Comms hold Lat</short_desc>
      <long_desc>Latitude of comms hold waypoint</long_desc>
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      <min>-900000000</min>
      <max>900000000</max>
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      <unit>deg * 1e7</unit>
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      <scope>modules/navigator</scope>
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    </parameter>
    <parameter default="1518453890" name="NAV_DLL_CH_LON" type="INT32">
      <short_desc>Comms hold Lon</short_desc>
      <long_desc>Longitude of comms hold waypoint</long_desc>
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      <min>-1800000000</min>
      <max>1800000000</max>
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      <unit>deg * 1e7</unit>
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      <scope>modules/navigator</scope>
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    </parameter>
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    <parameter default="120.0" name="NAV_DLL_CH_T" type="FLOAT">
      <short_desc>Comms hold wait time</short_desc>
      <long_desc>The amount of time in seconds the system should wait at the comms hold waypoint</long_desc>
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      <min>0.0</min>
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      <max>3600.0</max>
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      <unit>s</unit>
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      <decimal>0</decimal>
      <increment>1</increment>
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      <scope>modules/navigator</scope>
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    </parameter>
    <parameter default="2" name="NAV_DLL_N" type="INT32">
      <short_desc>Number of allowed Datalink timeouts</short_desc>
      <long_desc>After more than this number of data link timeouts the aircraft returns home directly</long_desc>
      <min>0</min>
      <max>1000</max>
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      <scope>modules/navigator</scope>
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    </parameter>
  </group>
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  <group name="EKF2">
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    <parameter default="0.2" name="EKF2_ABIAS_INIT" type="FLOAT">
      <short_desc>1-sigma IMU accelerometer switch-on bias</short_desc>
      <min>0.0</min>
      <max>0.5</max>
      <unit>m/s/s</unit>
      <decimal>2</decimal>
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      <reboot_required>true</reboot_required>
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      <scope>modules/ekf2</scope>
    </parameter>
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    <parameter default="25.0" name="EKF2_ABL_ACCLIM" type="FLOAT">
      <short_desc>Maximum IMU accel magnitude that allows IMU bias learning.
If the magnitude of the IMU accelerometer vector exceeds this value, the EKF delta velocity state estimation will be inhibited.
This reduces the adverse effect of high manoeuvre accelerations and IMU nonlinerity and scale factor errors on the delta velocity bias estimates</short_desc>
      <min>20.0</min>
      <max>200.0</max>
      <unit>m/s/s</unit>
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      <decimal>1</decimal>
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      <scope>modules/ekf2</scope>
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    </parameter>
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    <parameter default="3.0" name="EKF2_ABL_GYRLIM" type="FLOAT">
      <short_desc>Maximum IMU gyro angular rate magnitude that allows IMU bias learning.
If the magnitude of the IMU angular rate vector exceeds this value, the EKF delta velocity state estimation will be inhibited.
This reduces the adverse effect of rapid rotation rates and associated errors on the delta velocity bias estimates</short_desc>
      <min>2.0</min>
      <max>20.0</max>
      <unit>rad/s</unit>
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      <decimal>1</decimal>
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      <scope>modules/ekf2</scope>
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    </parameter>
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    <parameter default="0.4" name="EKF2_ABL_LIM" type="FLOAT">
      <short_desc>Accelerometer bias learning limit. The ekf delta velocity bias states will be limited to within a range equivalent to +- of this value</short_desc>
      <min>0.0</min>
      <max>0.8</max>
      <unit>m/s/s</unit>
      <decimal>2</decimal>
      <scope>modules/ekf2</scope>
    </parameter>
    <parameter default="0.5" name="EKF2_ABL_TAU" type="FLOAT">
      <short_desc>Time constant used by acceleration and angular rate magnitude checks used to inhibit delta velocity bias learning.
The vector magnitude of angular rate and acceleration used to check if learning should be inhibited has a peak hold filter applied to it with an exponential decay.
This parameter controls the time constant of the decay</short_desc>
      <min>0.1</min>
      <max>1.0</max>
      <unit>s</unit>
      <decimal>2</decimal>
      <scope>modules/ekf2</scope>
    </parameter>
    <parameter default="3.0e-3" name="EKF2_ACC_B_NOISE" type="FLOAT">
      <short_desc>Process noise for IMU accelerometer bias prediction</short_desc>
      <min>0.0</min>
      <max>0.01</max>
      <unit>m/s**3</unit>
      <decimal>6</decimal>
      <scope>modules/ekf2</scope>
    </parameter>
    <parameter default="3.5e-1" name="EKF2_ACC_NOISE" type="FLOAT">
      <short_desc>Accelerometer noise for covariance prediction</short_desc>
      <min>0.01</min>
      <max>1.0</max>
      <unit>m/s/s</unit>
      <decimal>2</decimal>
      <scope>modules/ekf2</scope>
    </parameter>
    <parameter default="1" name="EKF2_AID_MASK" type="INT32">
      <short_desc>Integer bitmask controlling data fusion and aiding methods</short_desc>
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      <long_desc>Set bits in the following positions to enable: 0 : Set to true to use GPS data if available 1 : Set to true to use optical flow data if available 2 : Set to true to inhibit IMU bias estimation 3 : Set to true to enable vision position fusion 4 : Set to true to enable vision yaw fusion 5 : Set to true to enable multi-rotor drag specific force fusion 6 : set to true if the EV observations are in a non NED reference frame and need to be rotated before being used</long_desc>
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      <min>0</min>
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      <max>127</max>
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      <reboot_required>true</reboot_required>
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      <scope>modules/ekf2</scope>
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      <bitmask>
        <bit index="0">use GPS</bit>
        <bit index="1">use optical flow</bit>
        <bit index="2">inhibit IMU bias estimation</bit>
        <bit index="3">vision position fusion</bit>
        <bit index="4">vision yaw fusion</bit>
        <bit index="5">multi-rotor drag fusion</bit>
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        <bit index="6">rotate external vision</bit>
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      </bitmask>
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    </parameter>
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    <parameter default="0.1" name="EKF2_ANGERR_INIT" type="FLOAT">
      <short_desc>1-sigma tilt angle uncertainty after gravity vector alignment</short_desc>
      <min>0.0</min>
      <max>0.5</max>
      <unit>rad</unit>
      <decimal>3</decimal>
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      <reboot_required>true</reboot_required>
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      <scope>modules/ekf2</scope>
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    </parameter>
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    <parameter default="0.0" name="EKF2_ARSP_THR" type="FLOAT">
      <short_desc>Airspeed fusion threshold. A value of zero will deactivate airspeed fusion. Any other positive
value will determine the minimum airspeed which will still be fused</short_desc>
      <min>0.0</min>
      <unit>m/s</unit>
      <decimal>1</decimal>
      <scope>modules/ekf2</scope>
    </parameter>
    <parameter default="20.0" name="EKF2_ASPD_MAX" type="FLOAT">
      <short_desc>Upper limit on airspeed along individual axes used to correct baro for position error effects</short_desc>
      <min>5.0</min>
      <max>50.0</max>
      <unit>m/s</unit>
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      <decimal>1</decimal>
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      <scope>modules/ekf2</scope>
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    </parameter>
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    <parameter default="100" name="EKF2_ASP_DELAY" type="FLOAT">
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      <short_desc>Airspeed measurement delay relative to IMU measurements</short_desc>
      <min>0</min>
      <max>300</max>
      <unit>ms</unit>
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      <decimal>1</decimal>
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      <reboot_required>true</reboot_required>
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      <scope>modules/ekf2</scope>
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    </parameter>
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    <parameter default="5" name="EKF2_AVEL_DELAY" type="FLOAT">
      <short_desc>Auxillary Velocity Estimate (e.g from a landing target) delay relative to IMU measurements</short_desc>
      <min>0</min>
      <max>300</max>
      <unit>ms</unit>
      <decimal>1</decimal>
      <reboot_required>true</reboot_required>
      <scope>modules/ekf2</scope>
    </parameter>
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    <parameter default="0" name="EKF2_BARO_DELAY" type="FLOAT">
      <short_desc>Barometer measurement delay relative to IMU measurements</short_desc>
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      <min>0</min>
      <max>300</max>
      <unit>ms</unit>
      <decimal>1</decimal>
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      <reboot_required>true</reboot_required>
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      <scope>modules/ekf2</scope>
    </parameter>
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    <parameter default="5.0" name="EKF2_BARO_GATE" type="FLOAT">
      <short_desc>Gate size for barometric and GPS height fusion</short_desc>
      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
      <min>1.0</min>
      <unit>SD</unit>
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      <decimal>1</decimal>
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      <scope>modules/ekf2</scope>
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    </parameter>
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    <parameter default="2.0" name="EKF2_BARO_NOISE" type="FLOAT">
      <short_desc>Measurement noise for barometric altitude</short_desc>
      <min>0.01</min>
      <max>15.0</max>
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      <unit>m</unit>
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      <decimal>2</decimal>
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      <scope>modules/ekf2</scope>
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    </parameter>
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    <parameter default="25.0" name="EKF2_BCOEF_X" type="FLOAT">
      <short_desc>X-axis ballistic coefficient used by the multi-rotor specific drag force model.
This should be adjusted to minimise variance of the X-axis drag specific force innovation sequence</short_desc>
      <min>1.0</min>
      <max>100.0</max>
      <unit>kg/m**2</unit>
      <decimal>1</decimal>
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      <scope>modules/ekf2</scope>
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    </parameter>
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    <parameter default="25.0" name="EKF2_BCOEF_Y" type="FLOAT">
      <short_desc>Y-axis ballistic coefficient used by the multi-rotor specific drag force model.
This should be adjusted to minimise variance of the Y-axis drag specific force innovation sequence</short_desc>
      <min>1.0</min>
      <max>100.0</max>
      <unit>kg/m**2</unit>
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      <decimal>1</decimal>
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      <scope>modules/ekf2</scope>
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    </parameter>
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    <parameter default="5.0" name="EKF2_BETA_GATE" type="FLOAT">
      <short_desc>Gate size for synthetic sideslip fusion</short_desc>
      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
      <min>1.0</min>
      <unit>SD</unit>
      <decimal>1</decimal>
      <scope>modules/ekf2</scope>
    </parameter>
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    <parameter default="0.3" name="EKF2_BETA_NOISE" type="FLOAT">
      <short_desc>Noise for synthetic sideslip fusion</short_desc>
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      <min>0.1</min>
      <max>1.0</max>
      <unit>m/s</unit>
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      <decimal>2</decimal>
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      <scope>modules/ekf2</scope>
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    </parameter>
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    <parameter default="7" name="EKF2_DECL_TYPE" type="INT32">
      <short_desc>Integer bitmask controlling handling of magnetic declination</short_desc>
      <long_desc>Set bits in the following positions to enable functions. 0 : Set to true to use the declination from the geo_lookup library when the GPS position becomes available, set to false to always use the EKF2_MAG_DECL value. 1 : Set to true to save the EKF2_MAG_DECL parameter to the value returned by the EKF when the vehicle disarms. 2 : Set to true to always use the declination as an observation when 3-axis magnetometer fusion is being used.</long_desc>
      <min>0</min>
      <max>7</max>
      <reboot_required>true</reboot_required>
      <scope>modules/ekf2</scope>
      <bitmask>
        <bit index="0">use geo_lookup declination</bit>
        <bit index="1">save EKF2_MAG_DECL on disarm</bit>
        <bit index="2">use declination as an observation</bit>
      </bitmask>
    </parameter>
    <parameter default="2.5" name="EKF2_DRAG_NOISE" type="FLOAT">
      <short_desc>Specific drag force observation noise variance used by the multi-rotor specific drag force model.
Increasing it makes the multi-rotor wind estimates adjust more slowly</short_desc>
      <min>0.5</min>
      <max>10.0</max>
      <unit>(m/sec**2)**2</unit>
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      <decimal>2</decimal>
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      <scope>modules/ekf2</scope>
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    </parameter>
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    <parameter default="1.4" name="EKF2_EAS_NOISE" type="FLOAT">
      <short_desc>Measurement noise for airspeed fusion</short_desc>
      <min>0.5</min>
      <max>5.0</max>
      <unit>m/s</unit>
      <decimal>1</decimal>
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      <scope>modules/ekf2</scope>
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    </parameter>
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    <parameter default="0.05" name="EKF2_EVA_NOISE" type="FLOAT">
      <short_desc>Measurement noise for vision angle observations used when the vision system does not supply error estimates</short_desc>
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      <min>0.01</min>
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      <unit>rad</unit>
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      <decimal>2</decimal>
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      <scope>modules/ekf2</scope>
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    </parameter>
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    <parameter default="0.05" name="EKF2_EVP_NOISE" type="FLOAT">
      <short_desc>Measurement noise for vision position observations used when the vision system does not supply error estimates</short_desc>
      <min>0.01</min>
      <unit>m</unit>
      <decimal>2</decimal>
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      <scope>modules/ekf2</scope>
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    </parameter>
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    <parameter default="175" name="EKF2_EV_DELAY" type="FLOAT">
      <short_desc>Vision Position Estimator delay relative to IMU measurements</short_desc>
      <min>0</min>
      <max>300</max>
      <unit>ms</unit>
      <decimal>1</decimal>
      <reboot_required>true</reboot_required>
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      <scope>modules/ekf2</scope>
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    </parameter>
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    <parameter default="5.0" name="EKF2_EV_GATE" type="FLOAT">
      <short_desc>Gate size for vision estimate fusion</short_desc>
      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
      <min>1.0</min>
      <unit>SD</unit>
      <decimal>1</decimal>
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      <scope>modules/ekf2</scope>
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    </parameter>
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    <parameter default="0.0" name="EKF2_EV_POS_X" type="FLOAT">
      <short_desc>X position of VI sensor focal point in body frame</short_desc>
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      <unit>m</unit>
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      <decimal>3</decimal>
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      <scope>modules/ekf2</scope>
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    </parameter>
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    <parameter default="0.0" name="EKF2_EV_POS_Y" type="FLOAT">
      <short_desc>Y position of VI sensor focal point in body frame</short_desc>
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      <unit>m</unit>
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      <decimal>3</decimal>
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      <scope>modules/ekf2</scope>
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    </parameter>
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    <parameter default="0.0" name="EKF2_EV_POS_Z" type="FLOAT">
      <short_desc>Z position of VI sensor focal point in body frame</short_desc>
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      <unit>m</unit>
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      <decimal>3</decimal>
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      <scope>modules/ekf2</scope>
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    </parameter>
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    <parameter default="0" name="EKF2_FUSE_BETA" type="INT32">
      <short_desc>Boolean determining if synthetic sideslip measurements should fused</short_desc>
      <long_desc>A value of 1 indicates that fusion is active</long_desc>
      <boolean />
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      <scope>modules/ekf2</scope>
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    </parameter>
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    <parameter default="0.1" name="EKF2_GBIAS_INIT" type="FLOAT">
      <short_desc>1-sigma IMU gyro switch-on bias</short_desc>
      <min>0.0</min>
      <max>0.2</max>
      <unit>rad/sec</unit>
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      <decimal>2</decimal>
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      <reboot_required>true</reboot_required>
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      <scope>modules/ekf2</scope>
    </parameter>
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    <parameter default="21" name="EKF2_GPS_CHECK" type="INT32">
      <short_desc>Integer bitmask controlling GPS checks</short_desc>
      <long_desc>Set bits to 1 to enable checks. Checks enabled by the following bit positions 0 : Minimum required sat count set by EKF2_REQ_NSATS 1 : Minimum required GDoP set by EKF2_REQ_GDOP 2 : Maximum allowed horizontal position error set by EKF2_REQ_EPH 3 : Maximum allowed vertical position error set by EKF2_REQ_EPV 4 : Maximum allowed speed error set by EKF2_REQ_SACC 5 : Maximum allowed horizontal position rate set by EKF2_REQ_HDRIFT. This check can only be used if the vehicle is stationary during alignment. 6 : Maximum allowed vertical position rate set by EKF2_REQ_VDRIFT. This check can only be used if the vehicle is stationary during alignment. 7 : Maximum allowed horizontal speed set by EKF2_REQ_HDRIFT. This check can only be used if the vehicle is stationary during alignment. 8 : Maximum allowed vertical velocity discrepancy set by EKF2_REQ_VDRIFT</long_desc>
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      <min>0</min>
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      <max>511</max>
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      <scope>modules/ekf2</scope>
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      <bitmask>
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        <bit index="0">Min sat count (EKF2_REQ_NSATS)</bit>
        <bit index="1">Min GDoP (EKF2_REQ_GDOP)</bit>
        <bit index="2">Max horizontal position error (EKF2_REQ_EPH)</bit>
        <bit index="3">Max vertical position error (EKF2_REQ_EPV)</bit>
        <bit index="4">Max speed error (EKF2_REQ_SACC)</bit>
        <bit index="5">Max horizontal position rate (EKF2_REQ_HDRIFT)</bit>
        <bit index="6">Max vertical position rate (EKF2_REQ_VDRIFT)</bit>
        <bit index="7">Max horizontal speed (EKF2_REQ_HDRIFT)</bit>
        <bit index="8">Max vertical velocity discrepancy (EKF2_REQ_VDRIFT)</bit>
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      </bitmask>
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    </parameter>
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    <parameter default="110" name="EKF2_GPS_DELAY" type="FLOAT">
      <short_desc>GPS measurement delay relative to IMU measurements</short_desc>
      <min>0</min>
      <max>300</max>
      <unit>ms</unit>
      <decimal>1</decimal>
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      <reboot_required>true</reboot_required>
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      <scope>modules/ekf2</scope>
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    </parameter>
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    <parameter default="0.0" name="EKF2_GPS_POS_X" type="FLOAT">
      <short_desc>X position of GPS antenna in body frame</short_desc>
      <unit>m</unit>
      <decimal>3</decimal>
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      <scope>modules/ekf2</scope>
    </parameter>