APMParameterFactMetaData.Rover.3.0.xml 379 KB
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<?xml version="1.0" encoding="utf-8"?>
        <!-- Dynamically generated list of documented parameters (generated by param_parse.py) -->    
        <paramfile>
        <vehicles>
        <parameters name="ArduPlane">
<param humanName="Eeprom format version number" name="ArduPlane:FORMAT_VERSION" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
</param>
<param humanName="Software Type" name="ArduPlane:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
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<field name="ReadOnly">True</field>
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</param>
<param humanName="MAVLink system ID of this vehicle" name="ArduPlane:SYSID_THISMAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
<field name="Range">1 255</field>
</param>
<param humanName="Ground station MAVLink system ID" name="ArduPlane:SYSID_MYGCS" documentation="The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match." user="Advanced">
<field name="Range">1 255</field>
</param>
<param humanName="CLI Enable" name="ArduPlane:CLI_ENABLED" documentation="This enables/disables the checking for three carriage returns on telemetry links on startup to enter the diagnostics command line interface" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Autotune level" name="ArduPlane:AUTOTUNE_LEVEL" documentation="Level of aggressiveness for autotune. When autotune is run a lower AUTOTUNE_LEVEL will result in a 'softer' tune, with less agressive gains. For most users a level of 6 is recommended." user="Standard">
<field name="Range">1 10</field>
<field name="Increment">1</field>
</param>
<param humanName="Telemetry startup delay " name="ArduPlane:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Standard">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">seconds</field>
</param>
<param humanName="GCS PID tuning mask" name="ArduPlane:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
<field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
<values>
<value code="0">None</value>
<value code="1">Roll</value>
<value code="2">Pitch</value>
<value code="4">Yaw</value>
</values>
</param>
<param humanName="Rudder Mix" name="ArduPlane:KFF_RDDRMIX" documentation="The amount of rudder mix to apply during aileron movement 0 = 0 %, 1 = 100%" user="Standard">
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Throttle to Pitch Mix" name="ArduPlane:KFF_THR2PTCH" documentation="Throttle to pitch feed-forward gain." user="Advanced">
<field name="Range">0 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Low throttle pitch down trim " name="ArduPlane:STAB_PITCH_DOWN" documentation="This controls the amount of down pitch to add in FBWA and AUTOTUNE modes when at low throttle. No down trim is added when throttle is above TRIM_THROTTLE. Below TRIM_THROTTLE downtrim is added in proportion to the amount the throttle is below TRIM_THROTTLE. At zero throttle the full downpitch specified in this parameter is added. This parameter is meant to help keep airspeed up when flying in FBWA mode with low throttle, such as when on a landing approach, without relying on an airspeed sensor. A value of 2 degrees is good for many planes, although a higher value may be needed for high drag aircraft." user="Advanced">
<field name="Range">0 15</field>
<field name="Increment">0.1</field>
<field name="Units">Degrees</field>
</param>
<param humanName="Glide slope minimum" name="ArduPlane:GLIDE_SLOPE_MIN" documentation="This controls the minimum altitude change for a waypoint before a glide slope will be used instead of an immediate altitude change. The default value is 15 meters, which helps to smooth out waypoint missions where small altitude changes happen near waypoints. If you don't want glide slopes to be used in missions then you can set this to zero, which will disable glide slope calculations. Otherwise you can set it to a minimum number of meters of altitude error to the destination waypoint before a glide slope will be used to change altitude." user="Advanced">
<field name="Range">0 1000</field>
<field name="Increment">1</field>
<field name="Units">meters</field>
</param>
<param humanName="Glide slope threshold" name="ArduPlane:GLIDE_SLOPE_THR" documentation="This controls the height above the glide slope the plane may be before rebuilding a glide slope. This is useful for smoothing out an autotakeoff" user="Advanced">
<field name="Range">0 100</field>
<field name="Increment">1</field>
<field name="Units">meters</field>
</param>
<param humanName="Stick Mixing" name="ArduPlane:STICK_MIXING" documentation='When enabled, this adds user stick input to the control surfaces in auto modes, allowing the user to have some degree of flight control without changing modes.  There are two types of stick mixing available. If you set STICK_MIXING to 1 then it will use "fly by wire" mixing, which controls the roll and pitch in the same way that the FBWA mode does. This is the safest option if you usually fly ArduPlane in FBWA or FBWB mode. If you set STICK_MIXING to 2 then it will enable direct mixing mode, which is what the STABILIZE mode uses. That will allow for much more extreme maneuvers while in AUTO mode.' user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">FBWMixing</value>
<value code="2">DirectMixing</value>
</values>
</param>
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<param humanName="Use FBWA steering in AUTO" name="ArduPlane:AUTO_FBW_STEER" documentation="When enabled this option gives FBWA navigation and steering in AUTO mode. This can be used to allow manual stabilised piloting with waypoint logic for triggering payloads. With this enabled the pilot has the same control over the plane as in FBWA mode, and the normal AUTO navigation is completely disabled. THIS OPTION IS NOT RECOMMENDED FOR NORMAL USE." user="Advanced">
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<values>
<value code="0">Disabled</value>
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<value code="42">Enabled</value>
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</values>
</param>
<param humanName="Takeoff throttle min speed" name="ArduPlane:TKOFF_THR_MINSPD" documentation="Minimum GPS ground speed in m/s used by the speed check that un-suppresses throttle in auto-takeoff. This can be be used for catapult launches where you want the motor to engage only after the plane leaves the catapult, but it is preferable to use the TKOFF_THR_MINACC and TKOFF_THR_DELAY parameters for catapult launches due to the errors associated with GPS measurements. For hand launches with a pusher prop it is strongly advised that this parameter be set to a value no less than 4 m/s to provide additional protection against premature motor start. Note that the GPS velocity will lag the real velocity by about 0.5 seconds. The ground speed check is delayed by the TKOFF_THR_DELAY parameter." user="User">
<field name="Range">0 30</field>
<field name="Increment">0.1</field>
<field name="Units">m/s</field>
</param>
<param humanName="Takeoff throttle min acceleration" name="ArduPlane:TKOFF_THR_MINACC" documentation="Minimum forward acceleration in m/s/s before arming the ground speed check in auto-takeoff. This is meant to be used for hand launches. Setting this value to 0 disables the acceleration test which means the ground speed check will always be armed which could allow GPS velocity jumps to start the engine. For hand launches and bungee launches this should be set to around 15." user="User">
<field name="Range">0 30</field>
<field name="Increment">0.1</field>
<field name="Units">m/s/s</field>
</param>
<param humanName="Takeoff throttle delay" name="ArduPlane:TKOFF_THR_DELAY" documentation="This parameter sets the time delay (in 1/10ths of a second) that the ground speed check is delayed after the forward acceleration check controlled by TKOFF_THR_MINACC has passed. For hand launches with pusher propellers it is essential that this is set to a value of no less than 2 (0.2 seconds) to ensure that the aircraft is safely clear of the throwers arm before the motor can start. For bungee launches a larger value can be used (such as 30) to give time for the bungee to release from the aircraft before the motor is started." user="User">
<field name="Range">0 127</field>
<field name="Increment">1</field>
<field name="Units">0.1 seconds</field>
</param>
<param humanName="Takeoff tail dragger elevator" name="ArduPlane:TKOFF_TDRAG_ELEV" documentation="This parameter sets the amount of elevator to apply during the initial stage of a takeoff. It is used to hold the tail wheel of a taildragger on the ground during the initial takeoff stage to give maximum steering. This option should be combined with the TKOFF_TDRAG_SPD1 option and the GROUND_STEER_ALT option along with tuning of the ground steering controller. A value of zero means to bypass the initial &quot;tail hold&quot; stage of takeoff. Set to zero for hand and catapult launch. For tail-draggers you should normally set this to 100, meaning full up elevator during the initial stage of takeoff. For most tricycle undercarriage aircraft a value of zero will work well, but for some tricycle aircraft a small negative value (say around -20 to -30) will apply down elevator which will hold the nose wheel firmly on the ground during initial acceleration. Only use a negative value if you find that the nosewheel doesn't grip well during takeoff. Too much down elevator on a tricycle undercarriage may cause instability in steering as the plane pivots around the nosewheel. Add down elevator 10 percent at a time." user="User">
<field name="Range">-100 100</field>
<field name="Increment">1</field>
<field name="Units">Percent</field>
</param>
<param humanName="Takeoff tail dragger speed1" name="ArduPlane:TKOFF_TDRAG_SPD1" documentation='This parameter sets the airspeed at which to stop holding the tail down and transition to rudder control of steering on the ground. When TKOFF_TDRAG_SPD1 is reached the pitch of the aircraft will be held level until TKOFF_ROTATE_SPD is reached, at which point the takeoff pitch specified in the mission will be used to "rotate" the pitch for takeoff climb. Set TKOFF_TDRAG_SPD1 to zero to go straight to rotation. This should be set to zero for hand launch and catapult launch. It should also be set to zero for tricycle undercarriages unless you are using the method above to genetly hold the nose wheel down. For tail dragger aircraft it should be set just below the stall speed.' user="User">
<field name="Range">0 30</field>
<field name="Increment">0.1</field>
<field name="Units">m/s</field>
</param>
<param humanName="Takeoff rotate speed" name="ArduPlane:TKOFF_ROTATE_SPD" documentation='This parameter sets the airspeed at which the aircraft will "rotate", setting climb pitch specified in the mission. If TKOFF_ROTATE_SPD is zero then the climb pitch will be used as soon as takeoff is started. For hand launch and catapult launches a TKOFF_ROTATE_SPD of zero should be set. For all ground launches TKOFF_ROTATE_SPD should be set above the stall speed, usually by about 10 to 30 percent' user="User">
<field name="Range">0 30</field>
<field name="Increment">0.1</field>
<field name="Units">m/s</field>
</param>
<param humanName="Takeoff throttle slew rate" name="ArduPlane:TKOFF_THR_SLEW" documentation="This parameter sets the slew rate for the throttle during auto takeoff. When this is zero the THR_SLEWRATE parameter is used during takeoff. For rolling takeoffs it can be a good idea to set a lower slewrate for takeoff to give a slower acceleration which can improve ground steering control. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on takeoff. Values below 20 are not recommended as they may cause the plane to try to climb out with too little throttle." user="User">
<field name="Range">0 127</field>
<field name="Increment">1</field>
<field name="Units">percent</field>
</param>
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<param humanName="Landing throttle slew rate" name="ArduPlane:LAND_THR_SLEW" documentation="This parameter sets the slew rate for the throttle during auto landing. When this is zero the THR_SLEWRATE parameter is used during landing. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on landing. Values below 50 are not recommended as it may cause a stall when airspeed is low and you can not throttle up fast enough." user="User">
<field name="Range">0 127</field>
<field name="Increment">1</field>
<field name="Units">percent</field>
</param>
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<param humanName="Takeoff flap percentage" name="ArduPlane:TKOFF_FLAP_PCNT" documentation="The amount of flaps (as a percentage) to apply in automatic takeoff" user="Advanced">
<field name="Range">0 100</field>
<field name="Units">Percent</field>
</param>
<param humanName="FBWA taildragger channel" name="ArduPlane:FBWA_TDRAG_CHAN" documentation="This is a RC input channel which when it goes above 1700 enables FBWA taildragger takeoff mode. It should be assigned to a momentary switch. Once this feature is enabled it will stay enabled until the aircraft goes above TKOFF_TDRAG_SPD1 airspeed, changes mode, or the pitch goes above the initial pitch when this is engaged or goes below 0 pitch. When enabled the elevator will be forced to TKOFF_TDRAG_ELEV. This option allows for easier takeoffs on taildraggers in FBWA mode, and also makes it easier to test auto-takeoff steering handling in FBWA. Setting it to 0 disables this option." user="Standard">
</param>
<param humanName="Level flight roll limit" name="ArduPlane:LEVEL_ROLL_LIMIT" documentation="This controls the maximum bank angle in degrees during flight modes where level flight is desired, such as in the final stages of landing, and during auto takeoff. This should be a small angle (such as 5 degrees) to prevent a wing hitting the runway during takeoff or landing. Setting this to zero will completely disable heading hold on auto takeoff and final landing approach." user="User">
<field name="Range">0 45</field>
<field name="Increment">1</field>
<field name="Units">degrees</field>
</param>
<param humanName="Landing Pitch" name="ArduPlane:LAND_PITCH_CD" documentation="Used in autoland to give the minimum pitch in the final stage of landing (after the flare). This parameter can be used to ensure that the final landing attitude is appropriate for the type of undercarriage on the aircraft. Note that it is a minimum pitch only - the landing code will control pitch above this value to try to achieve the configured landing sink rate." user="Advanced">
<field name="Units">centi-Degrees</field>
</param>
<param humanName="Landing flare altitude" name="ArduPlane:LAND_FLARE_ALT" documentation="Altitude in autoland at which to lock heading and flare to the LAND_PITCH_CD pitch. Note that this option is secondary to LAND_FLARE_SEC. For a good landing it preferable that the flare is triggered by LAND_FLARE_SEC. " user="Advanced">
<field name="Increment">0.1</field>
<field name="Units">meters</field>
</param>
<param humanName="Landing flare time" name="ArduPlane:LAND_FLARE_SEC" documentation="Vertical time before landing point at which to lock heading and flare with the motor stopped. This is vertical time, and is calculated based solely on the current height above the ground and the current descent rate.  Set to 0 if you only wish to flare based on altitude (see LAND_FLARE_ALT)." user="Advanced">
<field name="Increment">0.1</field>
<field name="Units">seconds</field>
</param>
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<param humanName="Landing pre-flare altitude" name="ArduPlane:LAND_PF_ALT" documentation="Altitude to trigger pre-flare flight stage where LAND_PF_ARSPD controls airspeed. The pre-flare flight stage trigger works just like LAND_FLARE_ALT but higher. Disabled when LAND_PF_ARSPD is 0." user="Advanced">
<field name="Range">0 30</field>
<field name="Increment">0.1</field>
<field name="Units">meters</field>
</param>
<param humanName="Landing pre-flare time" name="ArduPlane:LAND_PF_SEC" documentation="Vertical time to ground to trigger pre-flare flight stage where LAND_PF_ARSPD controls airspeed. This pre-flare flight stage trigger works just like LAND_FLARE_SEC but earlier. Disabled when LAND_PF_ARSPD is 0." user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">0.1</field>
<field name="Units">seconds</field>
</param>
<param humanName="Landing pre-flare airspeed" name="ArduPlane:LAND_PF_ARSPD" documentation="Desired airspeed during pre-flare flight stage. This is useful to reduce airspeed just before the flare. Use 0 to disable." user="Advanced">
<field name="Range">0 30</field>
<field name="Increment">0.1</field>
<field name="Units">m/s</field>
</param>
<param humanName="Bitmask for when to allow negative reverse thrust" name="ArduPlane:USE_REV_THRUST" documentation="Typically THR_MIN will be clipped to zero unless reverse thrust is available. Since you may not want negative thrust available at all times this bitmask allows THR_MIN to go below 0 while executing certain auto-mission commands." user="Advanced">
<field name="Bitmask">0:AUTO_ALWAYS,1:AUTO_LAND,2:AUTO_LOITER_TO_ALT,3:AUTO_LOITER_ALL,4:AUTO_WAYPOINTS,5:LOITER,6:RTL,7:CIRCLE,8:CRUISE,9:FBWB,10:GUIDED</field>
<values>
<value code="0">Disabled</value>
<value code="1">AlwaysAllowedInAuto</value>
<value code="2">Auto_LandApproach</value>
<value code="4">Auto_LoiterToAlt</value>
<value code="8">Auto_Loiter</value>
<value code="16">Auto_Waypoint</value>
<value code="32">Loiter</value>
<value code="64">RTL</value>
<value code="128">Circle</value>
<value code="256">Cruise</value>
<value code="512">FBWB</value>
<value code="1024">Guided</value>
</values>
</param>
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<param humanName="Landing disarm delay" name="ArduPlane:LAND_DISARMDELAY" documentation="After a landing has completed using a LAND waypoint, automatically disarm after this many seconds have passed. Use 0 to not disarm." user="Advanced">
<field name="Range">0 127</field>
<field name="Increment">1</field>
<field name="Units">seconds</field>
</param>
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<param humanName="Set servos to neutral after landing" name="ArduPlane:LAND_THEN_NEUTRL" documentation="When enabled, after an autoland and auto-disarm via LAND_DISARMDELAY happens then set all servos to neutral. This is helpful when an aircraft has a rough landing upside down or a crazy angle causing the servos to strain." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code=" 1">Servos to Neutral</value>
<value code=" 2">Servos to Zero PWM</value>
</values>
</param>
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<param humanName="Landing abort using throttle" name="ArduPlane:LAND_ABORT_THR" documentation="Allow a landing abort to trigger with a throttle &gt; 95%" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
</values>
</param>
<param humanName="Navigation controller selection" name="ArduPlane:NAV_CONTROLLER" documentation="Which navigation controller to enable. Currently the only navigation controller available is L1. From time to time other experimental controllers will be added which are selected using this parameter." user="Standard">
<values>
<value code="0">Default</value>
<value code="1">L1Controller</value>
</values>
</param>
<param humanName="GPS to Baro Mix" name="ArduPlane:ALT_MIX" documentation="The percent of mixing between GPS altitude and baro altitude. 0 = 100% gps, 1 = 100% baro. It is highly recommend that you not change this from the default of 1, as GPS altitude is notoriously unreliable. The only time I would recommend changing this is if you have a high altitude enabled GPS, and you are dropping a plane from a high altitude balloon many kilometers off the ground." user="Advanced">
<field name="Range">0 1</field>
<field name="Increment">0.1</field>
<field name="Units">Percent</field>
</param>
<param humanName="Altitude control algorithm" name="ArduPlane:ALT_CTRL_ALG" documentation="This sets what algorithm will be used for altitude control. The default is zero, which selects the most appropriate algorithm for your airframe. Currently the default is to use TECS (total energy control system). From time to time we will add other experimental altitude control algorithms which will be selected using this parameter." user="Advanced">
<values>
<value code="0">Automatic</value>
</values>
</param>
<param humanName="Altitude offset" name="ArduPlane:ALT_OFFSET" documentation="This is added to the target altitude in automatic flight. It can be used to add a global altitude offset to a mission" user="Advanced">
<field name="Range">-32767 32767</field>
<field name="Increment">1</field>
<field name="Units">Meters</field>
</param>
<param humanName="Waypoint Radius" name="ArduPlane:WP_RADIUS" documentation='Defines the maximum distance from a waypoint that when crossed indicates the waypoint may be complete. To avoid the aircraft looping around the waypoint in case it misses by more than the WP_RADIUS an additional check is made to see if the aircraft has crossed a "finish line" passing through the waypoint and perpendicular to the flight path from the previous waypoint. If that finish line is crossed then the waypoint is considered complete. Note that the navigation controller may decide to turn later than WP_RADIUS before a waypoint, based on how sharp the turn is and the speed of the aircraft. It is safe to set WP_RADIUS much larger than the usual turn radius of your aircraft and the navigation controller will work out when to turn. If you set WP_RADIUS too small then you will tend to overshoot the turns.' user="Standard">
<field name="Range">1 32767</field>
<field name="Increment">1</field>
<field name="Units">Meters</field>
</param>
<param humanName="Waypoint Maximum Radius" name="ArduPlane:WP_MAX_RADIUS" documentation='Sets the maximum distance to a waypoint for the waypoint to be considered complete. This overrides the "cross the finish line" logic that is normally used to consider a waypoint complete. For normal AUTO behaviour this parameter should be set to zero. Using a non-zero value is only recommended when it is critical that the aircraft does approach within the given radius, and should loop around until it has done so. This can cause the aircraft to loop forever if its turn radius is greater than the maximum radius set.' user="Standard">
<field name="Range">0 32767</field>
<field name="Increment">1</field>
<field name="Units">Meters</field>
</param>
<param humanName="Waypoint Loiter Radius" name="ArduPlane:WP_LOITER_RAD" documentation="Defines the distance from the waypoint center, the plane will maintain during a loiter. If you set this value to a negative number then the default loiter direction will be counter-clockwise instead of clockwise." user="Standard">
<field name="Range">-32767 32767</field>
<field name="Increment">1</field>
<field name="Units">Meters</field>
</param>
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<param humanName="RTL loiter radius" name="ArduPlane:RTL_RADIUS" documentation="Defines the radius of the loiter circle when in RTL mode. If this is zero then WP_LOITER_RAD is used. If the radius is negative then a counter-clockwise is used. If positive then a clockwise loiter is used." user="Standard">
<field name="Range">-32767 32767</field>
<field name="Increment">1</field>
<field name="Units">Meters</field>
</param>
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<param humanName="Action on geofence breach" name="ArduPlane:FENCE_ACTION" documentation="What to do on fence breach. If this is set to 0 then no action is taken, and geofencing is disabled. If this is set to 1 then the plane will enter GUIDED mode, with the target waypoint as the fence return point. If this is set to 2 then the fence breach is reported to the ground station, but no other action is taken. If set to 3 then the plane enters guided mode but the pilot retains manual throttle control." user="Standard">
<values>
<value code="0">None</value>
<value code="1">GuidedMode</value>
<value code="2">ReportOnly</value>
<value code="3">GuidedModeThrPass</value>
</values>
</param>
<param humanName="Fence Total" name="ArduPlane:FENCE_TOTAL" documentation="Number of geofence points currently loaded" user="Advanced">
</param>
<param humanName="Fence Channel" name="ArduPlane:FENCE_CHANNEL" documentation="RC Channel to use to enable geofence. PWM input above 1750 enables the geofence" user="Standard">
</param>
<param humanName="Fence Minimum Altitude" name="ArduPlane:FENCE_MINALT" documentation="Minimum altitude allowed before geofence triggers" user="Standard">
<field name="Range">0 32767</field>
<field name="Increment">1</field>
<field name="Units">meters</field>
</param>
<param humanName="Fence Maximum Altitude" name="ArduPlane:FENCE_MAXALT" documentation="Maximum altitude allowed before geofence triggers" user="Standard">
<field name="Range">0 32767</field>
<field name="Increment">1</field>
<field name="Units">meters</field>
</param>
<param humanName="Fence Return Altitude" name="ArduPlane:FENCE_RETALT" documentation="Altitude the aircraft will transit to when a fence breach occurs.  If FENCE_RETALT is &lt;= 0 then the midpoint between FENCE_MAXALT and FENCE_MINALT is used, unless FENCE_MAXALT &lt; FENCE_MINALT.  If FENCE_MAXALT &lt; FENCE_MINALT AND FENCE_RETALT is &lt;= 0 then ALT_HOLD_RTL is the altitude used on a fence breach." user="Standard">
<field name="Range">0 32767</field>
<field name="Increment">1</field>
<field name="Units">meters</field>
</param>
<param humanName="Fence automatic enable" name="ArduPlane:FENCE_AUTOENABLE" documentation="When set to 1, geofence automatically enables after an auto takeoff and automatically disables at the beginning of an auto landing.  When on the ground before takeoff the fence is disabled.  When set to 2, the fence autoenables after an auto takeoff, but only disables the fence floor during landing. It is highly recommended to not use this option for line of sight flying and use a fence enable channel instead." user="Standard">
<values>
<value code="0">NoAutoEnable</value>
<value code="1">AutoEnable</value>
<value code="2">AutoEnableDisableFloorOnly</value>
</values>
</param>
<param humanName="Fence Return to Rally" name="ArduPlane:FENCE_RET_RALLY" documentation="When set to 1: on fence breach the plane will return to the nearest rally point rather than the fence return point.  If no rally points have been defined the plane will return to the home point.  " user="Standard">
<values>
<value code="0">FenceReturnPoint</value>
<value code="1">NearestRallyPoint</value>
</values>
</param>
<param humanName="Enable stall prevention" name="ArduPlane:STALL_PREVENTION" documentation="This controls the use of stall prevention techniques, including roll limits at low speed and raising the minimum airspeed in turns. The limits are based on the aerodynamic load factor of a banked turn. This option relies on the correct ARSPD_FBW_MIN value being set correctly. Note that if you don't have an airspeed sensor then stall prevention will use an airspeed estimate based on the ground speed plus a wind estimate taken from the response of the autopilot banked turns. That synthetic airspeed estimate may be inaccurate, so you should not assume that stall prevention with no airspeed sensor will be effective." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Minimum Airspeed" name="ArduPlane:ARSPD_FBW_MIN" documentation="This is the minimum airspeed you want to fly at in modes where the autopilot controls the airspeed. This should be set to a value around 20% higher than the level flight stall speed for the airframe. This value is also used in the STALL_PREVENTION code." user="Standard">
<field name="Range">5 100</field>
<field name="Increment">1</field>
<field name="Units">m/s</field>
</param>
<param humanName="Maximum Airspeed" name="ArduPlane:ARSPD_FBW_MAX" documentation="This is the maximum airspeed that you want to allow for your airframe in auto-throttle modes. You should ensure that this value is sufficiently above the ARSPD_FBW_MIN value to allow for a sufficient flight envelope to accurately control altitude using airspeed. A value at least 50% above ARSPD_FBW_MIN is recommended." user="Standard">
<field name="Range">5 100</field>
<field name="Increment">1</field>
<field name="Units">m/s</field>
</param>
<param humanName="Fly By Wire elevator reverse" name="ArduPlane:FBWB_ELEV_REV" documentation="Reverse sense of elevator in FBWB and CRUISE modes. When set to 0 up elevator (pulling back on the stick) means to lower altitude. When set to 1, up elevator means to raise altitude." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Use terrain following" name="ArduPlane:TERRAIN_FOLLOW" documentation="This enables terrain following for CRUISE mode, FBWB mode, RTL and for rally points. To use this option you also need to set TERRAIN_ENABLE to 1, which enables terrain data fetching from the GCS, and you need to have a GCS that supports sending terrain data to the aircraft. When terrain following is enabled then CRUISE and FBWB mode will hold height above terrain rather than height above home. In RTL the return to launch altitude will be considered to be a height above the terrain. Rally point altitudes will be taken as height above the terrain. This option does not affect mission items, which have a per-waypoint flag for whether they are height above home or height above the terrain. To use terrain following missions you need a ground station which can set the waypoint type to be a terrain height waypoint when creating the mission." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Terrain lookahead" name="ArduPlane:TERRAIN_LOOKAHD" documentation="This controls how far ahead the terrain following code looks to ensure it stays above upcoming terrain. A value of zero means no lookahead, so the controller will track only the terrain directly below the aircraft. The lookahead will never extend beyond the next waypoint when in AUTO mode." user="Standard">
<field name="Range">0 10000</field>
<field name="Units">meters</field>
</param>
<param humanName="Fly By Wire B altitude change rate" name="ArduPlane:FBWB_CLIMB_RATE" documentation="This sets the rate in m/s at which FBWB and CRUISE modes will change its target altitude for full elevator deflection. Note that the actual climb rate of the aircraft can be lower than this, depending on your airspeed and throttle control settings. If you have this parameter set to the default value of 2.0, then holding the elevator at maximum deflection for 10 seconds would change the target altitude by 20 meters." user="Standard">
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<field name="Range">1 10</field>
304
<field name="Increment">0.1</field>
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<field name="Units">m/s</field>
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</param>
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<param humanName="Minimum Throttle" name="ArduPlane:THR_MIN" documentation="The minimum throttle setting (as a percentage) which the autopilot will apply. For the final stage of an automatic landing this is always zero. If your ESC supports reverse, use a negative value to configure for reverse thrust." user="Standard">
<field name="Range">-100 100</field>
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<field name="Increment">1</field>
<field name="Units">Percent</field>
</param>
<param humanName="Maximum Throttle" name="ArduPlane:THR_MAX" documentation="The maximum throttle setting (as a percentage) which the autopilot will apply." user="Standard">
<field name="Range">0 100</field>
<field name="Increment">1</field>
<field name="Units">Percent</field>
</param>
<param humanName="Maximum Throttle for takeoff" name="ArduPlane:TKOFF_THR_MAX" documentation="The maximum throttle setting during automatic takeoff. If this is zero then THR_MAX is used for takeoff as well." user="Advanced">
<field name="Range">0 100</field>
<field name="Increment">1</field>
<field name="Units">Percent</field>
</param>
<param humanName="Throttle slew rate" name="ArduPlane:THR_SLEWRATE" documentation="maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second." user="Standard">
<field name="Range">0 127</field>
<field name="Increment">1</field>
<field name="Units">Percent</field>
</param>
<param humanName="Flap slew rate" name="ArduPlane:FLAP_SLEWRATE" documentation="maximum percentage change in flap output per second. A setting of 25 means to not change the flap by more than 25% of the full flap range in one second. A value of 0 means no rate limiting." user="Advanced">
<field name="Range">0 100</field>
<field name="Increment">1</field>
<field name="Units">Percent</field>
</param>
<param humanName="Throttle suppress manual passthru" name="ArduPlane:THR_SUPP_MAN" documentation="When throttle is suppressed in auto mode it is normally forced to zero. If you enable this option, then while suppressed it will be manual throttle. This is useful on petrol engines to hold the idle throttle manually while waiting for takeoff" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Throttle passthru in stabilize" name="ArduPlane:THR_PASS_STAB" documentation="If this is set then when in STABILIZE, FBWA or ACRO modes the throttle is a direct passthru from the transmitter. This means the THR_MIN and THR_MAX settings are not used in these modes. This is useful for petrol engines where you setup a throttle cut switch that suppresses the throttle below the normal minimum." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Throttle Failsafe Enable" name="ArduPlane:THR_FAILSAFE" documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Throttle Failsafe Value" name="ArduPlane:THR_FS_VALUE" documentation="The PWM level on channel 3 below which throttle failsafe triggers" user="Standard">
<field name="Range">925 1100</field>
<field name="Increment">1</field>
</param>
<param humanName="Throttle cruise percentage" name="ArduPlane:TRIM_THROTTLE" documentation="The target percentage of throttle to apply for normal flight" user="Standard">
<field name="Range">0 100</field>
<field name="Increment">1</field>
<field name="Units">Percent</field>
</param>
<param humanName="Throttle nudge enable" name="ArduPlane:THROTTLE_NUDGE" documentation="When enabled, this uses the throttle input in auto-throttle modes to 'nudge' the throttle or airspeed to higher or lower values. When you have an airspeed sensor the nudge affects the target airspeed, so that throttle inputs above 50% will increase the target airspeed from TRIM_ARSPD_CM up to a maximum of ARSPD_FBW_MAX. When no airspeed sensor is enabled the throttle nudge will push up the target throttle for throttle inputs above 50%." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Short failsafe action" name="ArduPlane:FS_SHORT_ACTN" documentation="The action to take on a short (FS_SHORT_TIMEOUT) failsafe event. A short failsafe even can be triggered either by loss of RC control (see THR_FS_VALUE) or by loss of GCS control (see FS_GCS_ENABL). If in CIRCLE or RTL mode this parameter is ignored. A short failsafe event in stabilization and manual modes will cause an change to CIRCLE mode if FS_SHORT_ACTN is 0 or 1, and a change to FBWA mode if FS_SHORT_ACTN is 2. In all other modes (AUTO, GUIDED and LOITER) a short failsafe event will cause no mode change is FS_SHORT_ACTN is set to 0, will cause a change to CIRCLE mode if set to 1 and will change to FBWA mode if set to 2. Please see the documentation for FS_LONG_ACTN for the behaviour after FS_LONG_TIMEOUT seconds of failsafe." user="Standard">
<values>
<value code="0">CIRCLE/no change(if already in AUTO|GUIDED|LOITER)</value>
<value code="1">CIRCLE</value>
<value code="2">FBWA</value>
</values>
</param>
<param humanName="Short failsafe timeout" name="ArduPlane:FS_SHORT_TIMEOUT" documentation="The time in seconds that a failsafe condition has to persist before a short failsafe event will occur. This defaults to 1.5 seconds" user="Standard">
<field name="Range">1 100</field>
<field name="Increment">0.5</field>
<field name="Units">seconds</field>
</param>
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<param humanName="Long failsafe action" name="ArduPlane:FS_LONG_ACTN" documentation="The action to take on a long (FS_LONG_TIMEOUT seconds) failsafe event. If the aircraft was in a stabilization or manual mode when failsafe started and a long failsafe occurs then it will change to RTL mode if FS_LONG_ACTN is 0 or 1, and will change to FBWA if FS_LONG_ACTN is set to 2. If the aircraft was in an auto mode (such as AUTO or GUIDED) when the failsafe started then it will continue in the auto mode if FS_LONG_ACTN is set to 0, will change to RTL mode if FS_LONG_ACTN is set to 1 and will change to FBWA mode if FS_LONG_ACTN is set to 2. If FS_LONG_ACTION is set to 3, the parachute will be deployed (make sure the chute is configured and enabled). " user="Standard">
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<values>
<value code="0">Continue</value>
<value code="1">ReturnToLaunch</value>
<value code="2">Glide</value>
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<value code="3">Deploy Parachute</value>
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</values>
</param>
<param humanName="Long failsafe timeout" name="ArduPlane:FS_LONG_TIMEOUT" documentation="The time in seconds that a failsafe condition has to persist before a long failsafe event will occur. This defaults to 5 seconds." user="Standard">
<field name="Range">1 300</field>
<field name="Increment">0.5</field>
<field name="Units">seconds</field>
</param>
<param humanName="Failsafe battery voltage" name="ArduPlane:FS_BATT_VOLTAGE" documentation="Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe. If the battery voltage drops below this voltage continuously for 10 seconds then the plane will switch to RTL mode." user="Standard">
<field name="Increment">0.1</field>
<field name="Units">Volts</field>
</param>
<param humanName="Failsafe battery milliAmpHours" name="ArduPlane:FS_BATT_MAH" documentation="Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe. If the battery remaining drops below this level then the plane will switch to RTL mode immediately." user="Standard">
<field name="Increment">50</field>
<field name="Units">mAh</field>
</param>
<param humanName="GCS failsafe enable" name="ArduPlane:FS_GCS_ENABL" documentation="Enable ground control station telemetry failsafe. Failsafe will trigger after FS_LONG_TIMEOUT seconds of no MAVLink heartbeat messages. There are two possible enabled settings. Seeing FS_GCS_ENABL to 1 means that GCS failsafe will be triggered when the aircraft has not received a MAVLink HEARTBEAT message. Setting FS_GCS_ENABL to 2 means that GCS failsafe will be triggered on either a loss of HEARTBEAT messages, or a RADIO_STATUS message from a MAVLink enabled 3DR radio indicating that the ground station is not receiving status updates from the aircraft, which is indicated by the RADIO_STATUS.remrssi field being zero (this may happen if you have a one way link due to asymmetric noise on the ground station and aircraft radios).Setting FS_GCS_ENABL to 3 means that GCS failsafe will be triggered by Heartbeat(like option one), but only in AUTO mode. WARNING: Enabling this option opens up the possibility of your plane going into failsafe mode and running the motor on the ground it it loses contact with your ground station. If this option is enabled on an electric plane then you should enable ARMING_REQUIRED." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Heartbeat</value>
<value code="2">HeartbeatAndREMRSSI</value>
<value code="3">HeartbeatAndAUTO</value>
</values>
</param>
<param humanName="Flightmode channel" name="ArduPlane:FLTMODE_CH" documentation="RC Channel to use for flight mode control" user="Advanced">
</param>
<param humanName="FlightMode1" name="ArduPlane:FLTMODE1" documentation="Flight mode for switch position 1 (910 to 1230 and above 2049)" user="Standard">
<values>
<value code="0">Manual</value>
<value code="1">CIRCLE</value>
<value code="2">STABILIZE</value>
<value code="3">TRAINING</value>
<value code="4">ACRO</value>
<value code="5">FBWA</value>
<value code="6">FBWB</value>
<value code="7">CRUISE</value>
<value code="8">AUTOTUNE</value>
<value code="10">Auto</value>
<value code="11">RTL</value>
<value code="12">Loiter</value>
<value code="15">Guided</value>
</values>
</param>
<param humanName="FlightMode2" name="ArduPlane:FLTMODE2" documentation="Flight mode for switch position 2 (1231 to 1360)" user="Standard">
<values>
<value code="0">Manual</value>
<value code="1">CIRCLE</value>
<value code="2">STABILIZE</value>
<value code="3">TRAINING</value>
<value code="4">ACRO</value>
<value code="5">FBWA</value>
<value code="6">FBWB</value>
<value code="7">CRUISE</value>
<value code="8">AUTOTUNE</value>
<value code="10">Auto</value>
<value code="11">RTL</value>
<value code="12">Loiter</value>
<value code="15">Guided</value>
</values>
</param>
<param humanName="FlightMode3" name="ArduPlane:FLTMODE3" documentation="Flight mode for switch position 3 (1361 to 1490)" user="Standard">
<values>
<value code="0">Manual</value>
<value code="1">CIRCLE</value>
<value code="2">STABILIZE</value>
<value code="3">TRAINING</value>
<value code="4">ACRO</value>
<value code="5">FBWA</value>
<value code="6">FBWB</value>
<value code="7">CRUISE</value>
<value code="8">AUTOTUNE</value>
<value code="10">Auto</value>
<value code="11">RTL</value>
<value code="12">Loiter</value>
<value code="15">Guided</value>
</values>
</param>
<param humanName="FlightMode4" name="ArduPlane:FLTMODE4" documentation="Flight mode for switch position 4 (1491 to 1620)" user="Standard">
<values>
<value code="0">Manual</value>
<value code="1">CIRCLE</value>
<value code="2">STABILIZE</value>
<value code="3">TRAINING</value>
<value code="4">ACRO</value>
<value code="5">FBWA</value>
<value code="6">FBWB</value>
<value code="7">CRUISE</value>
<value code="8">AUTOTUNE</value>
<value code="10">Auto</value>
<value code="11">RTL</value>
<value code="12">Loiter</value>
<value code="15">Guided</value>
</values>
</param>
<param humanName="FlightMode5" name="ArduPlane:FLTMODE5" documentation="Flight mode for switch position 5 (1621 to 1749)" user="Standard">
<values>
<value code="0">Manual</value>
<value code="1">CIRCLE</value>
<value code="2">STABILIZE</value>
<value code="3">TRAINING</value>
<value code="4">ACRO</value>
<value code="5">FBWA</value>
<value code="6">FBWB</value>
<value code="7">CRUISE</value>
<value code="8">AUTOTUNE</value>
<value code="10">Auto</value>
<value code="11">RTL</value>
<value code="12">Loiter</value>
<value code="15">Guided</value>
</values>
</param>
<param humanName="FlightMode6" name="ArduPlane:FLTMODE6" documentation="Flight mode for switch position 6 (1750 to 2049)" user="Standard">
<values>
<value code="0">Manual</value>
<value code="1">CIRCLE</value>
<value code="2">STABILIZE</value>
<value code="3">TRAINING</value>
<value code="4">ACRO</value>
<value code="5">FBWA</value>
<value code="6">FBWB</value>
<value code="7">CRUISE</value>
<value code="8">AUTOTUNE</value>
<value code="10">Auto</value>
<value code="11">RTL</value>
<value code="12">Loiter</value>
<value code="15">Guided</value>
</values>
</param>
<param humanName="Initial flight mode" name="ArduPlane:INITIAL_MODE" documentation="This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver." user="Advanced">
<values>
<value code="0">Manual</value>
<value code="1">CIRCLE</value>
<value code="2">STABILIZE</value>
<value code="3">TRAINING</value>
<value code="4">ACRO</value>
<value code="5">FBWA</value>
<value code="6">FBWB</value>
<value code="7">CRUISE</value>
<value code="8">AUTOTUNE</value>
<value code="10">Auto</value>
<value code="11">RTL</value>
<value code="12">Loiter</value>
<value code="15">Guided</value>
</values>
</param>
<param humanName="Maximum Bank Angle" name="ArduPlane:LIM_ROLL_CD" documentation="The maximum commanded bank angle in either direction" user="Standard">
<field name="Range">0 9000</field>
<field name="Increment">1</field>
<field name="Units">centi-Degrees</field>
</param>
<param humanName="Maximum Pitch Angle" name="ArduPlane:LIM_PITCH_MAX" documentation="The maximum commanded pitch up angle" user="Standard">
<field name="Range">0 9000</field>
<field name="Increment">1</field>
<field name="Units">centi-Degrees</field>
</param>
<param humanName="Minimum Pitch Angle" name="ArduPlane:LIM_PITCH_MIN" documentation="The minimum commanded pitch down angle" user="Standard">
<field name="Range">-9000 0</field>
<field name="Increment">1</field>
<field name="Units">centi-Degrees</field>
</param>
<param humanName="ACRO mode roll rate" name="ArduPlane:ACRO_ROLL_RATE" documentation="The maximum roll rate at full stick deflection in ACRO mode" user="Standard">
<field name="Range">10 500</field>
<field name="Increment">1</field>
<field name="Units">degrees/second</field>
</param>
<param humanName="ACRO mode pitch rate" name="ArduPlane:ACRO_PITCH_RATE" documentation="The maximum pitch rate at full stick deflection in ACRO mode" user="Standard">
<field name="Range">10 500</field>
<field name="Increment">1</field>
<field name="Units">degrees/second</field>
</param>
<param humanName="ACRO mode attitude locking" name="ArduPlane:ACRO_LOCKING" documentation="Enable attitude locking when sticks are released" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Ground steer altitude" name="ArduPlane:GROUND_STEER_ALT" documentation="Altitude at which to use the ground steering controller on the rudder. If non-zero then the STEER2SRV controller will be used to control the rudder for altitudes within this limit of the home altitude." user="Standard">
<field name="Range">-100 100</field>
<field name="Increment">0.1</field>
<field name="Units">Meters</field>
</param>
<param humanName="Ground steer rate" name="ArduPlane:GROUND_STEER_DPS" documentation="Ground steering rate in degrees per second for full rudder stick deflection" user="Advanced">
<field name="Range">10 360</field>
<field name="Increment">1</field>
<field name="Units">degrees/second</field>
</param>
<param humanName="Automatic trim adjustment" name="ArduPlane:TRIM_AUTO" documentation="Set RC trim PWM levels to current levels when switching away from manual mode. When this option is enabled and you change from MANUAL to any other mode then the APM will take the current position of the control sticks as the trim values for aileron, elevator and rudder. It will use those to set RC1_TRIM, RC2_TRIM and RC4_TRIM. This option is disabled by default as if a pilot is not aware of this option and changes from MANUAL to another mode while control inputs are not centered then the trim could be changed to a dangerously bad value. You can enable this option to assist with trimming your plane, by enabling it before takeoff then switching briefly to MANUAL in flight, and seeing how the plane reacts. You can then switch back to FBWA, trim the surfaces then again test MANUAL mode. Each time you switch from MANUAL the APM will take your control inputs as the new trim. After you have good trim on your aircraft you can disable TRIM_AUTO for future flights." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Elevon mixing" name="ArduPlane:ELEVON_MIXING" documentation="This enables an older form of elevon mixing which is now deprecated. Please see the ELEVON_OUTPUT option for setting up elevons. The ELEVON_MIXING option should be set to 0 for elevon planes except for backwards compatibility with older setups." user="User">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Elevon reverse" name="ArduPlane:ELEVON_REVERSE" documentation="Reverse elevon mixing" user="User">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Elevon reverse" name="ArduPlane:ELEVON_CH1_REV" documentation="Reverse elevon channel 1" user="User">
<values>
<value code="-1">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Elevon reverse" name="ArduPlane:ELEVON_CH2_REV" documentation="Reverse elevon channel 2" user="User">
<values>
<value code="-1">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="VTail output" name="ArduPlane:VTAIL_OUTPUT" documentation="Enable VTail output in software. If enabled then the APM will provide software VTail mixing on the elevator and rudder channels. There are 4 different mixing modes available, which refer to the 4 ways the elevator can be mapped to the two VTail servos. Note that you must not use VTail output mixing with hardware pass-through of RC values, such as with channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to something other than 8 before you enable VTAIL_OUTPUT. Please also see the MIXING_GAIN parameter for the output gain of the mixer." user="User">
<values>
<value code="0">Disabled</value>
<value code="1">UpUp</value>
<value code="2">UpDown</value>
<value code="3">DownUp</value>
<value code="4">DownDown</value>
</values>
</param>
<param humanName="Elevon output" name="ArduPlane:ELEVON_OUTPUT" documentation="Enable software elevon output mixer. If enabled then the APM will provide software elevon mixing on the aileron and elevator channels. There are 4 different mixing modes available, which refer to the 4 ways the elevator can be mapped to the two elevon servos. Note that you must not use elevon output mixing with hardware pass-through of RC values, such as with channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to something other than 8 before you enable ELEVON_OUTPUT. Please also see the MIXING_GAIN parameter for the output gain of the mixer." user="User">
<values>
<value code="0">Disabled</value>
<value code="1">UpUp</value>
<value code="2">UpDown</value>
<value code="3">DownUp</value>
<value code="4">DownDown</value>
</values>
</param>
<param humanName="Mixing Gain" name="ArduPlane:MIXING_GAIN" documentation="The gain for the Vtail and elevon output mixers. The default is 0.5, which ensures that the mixer doesn't saturate, allowing both input channels to go to extremes while retaining control over the output. Hardware mixers often have a 1.0 gain, which gives more servo throw, but can saturate. If you don't have enough throw on your servos with VTAIL_OUTPUT or ELEVON_OUTPUT enabled then you can raise the gain using MIXING_GAIN. The mixer allows outputs in the range 900 to 2100 microseconds." user="User">
<field name="Range">0.5 1.2</field>
</param>
<param humanName="Rudder only aircraft" name="ArduPlane:RUDDER_ONLY" documentation="Enable rudder only mode. The rudder will control attitude in attitude controlled modes (such as FBWA). You should setup your transmitter to send roll stick inputs to the RCMAP_YAW channel (normally channel 4). The rudder servo should be attached to the RCMAP_YAW channel as well. Note that automatic ground steering will be disabled for rudder only aircraft. You should also set KFF_RDDRMIX to 1.0. You will also need to setup the YAW2SRV_DAMP yaw damping appropriately for your aircraft. A value of 0.5 for YAW2SRV_DAMP is a good starting point." user="User">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Num Resets" name="ArduPlane:SYS_NUM_RESETS" documentation="Number of APM board resets" user="Advanced">
</param>
<param humanName="Log bitmask" name="ArduPlane:LOG_BITMASK" documentation="Bitmap of what log types to enable in dataflash. This values is made up of the sum of each of the log types you want to be saved on dataflash. On a PX4 or Pixhawk the large storage size of a microSD card means it is usually best just to enable all log types by setting this to 65535. On APM2 the smaller 4 MByte dataflash means you need to be more selective in your logging or you may run out of log space while flying (in which case it will wrap and overwrite the start of the log). The individual bits are ATTITUDE_FAST=1, ATTITUDE_MEDIUM=2, GPS=4, PerformanceMonitoring=8, ControlTuning=16, NavigationTuning=32, Mode=64, IMU=128, Commands=256, Battery=512, Compass=1024, TECS=2048, Camera=4096, RCandServo=8192, Sonar=16384, Arming=32768, LogWhenDisarmed=65536, FullLogsArmedOnly=65535, FullLogsWhenDisarmed=131071" user="Advanced">
<field name="Bitmask">0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:MODE,7:IMU,8:CMD,9:CURRENT,10:COMPASS,11:TECS,12:CAMERA,13:RC,14:SONAR,15:ARM/DISARM,16:WHEN_DISARMED,19:IMU_RAW</field>
<values>
<value code="0">Disabled</value>
<value code="5190">APM2-Default</value>
<value code="65535">PX4/Pixhawk-Default</value>
</values>
</param>
<param humanName="Reset Switch Channel" name="ArduPlane:RST_SWITCH_CH" documentation="RC channel to use to reset to last flight mode&#9;after geofence takeover." user="Advanced">
</param>
<param humanName="Reset Mission Channel" name="ArduPlane:RST_MISSION_CH" documentation="RC channel to use to reset the mission to the first waypoint. When this channel goes above 1750 the mission is reset. Set RST_MISSION_CH to 0 to disable." user="Advanced">
</param>
<param humanName="Target airspeed" name="ArduPlane:TRIM_ARSPD_CM" documentation="Airspeed in cm/s to aim for when airspeed is enabled in auto mode. This is a calibrated (apparent) airspeed." user="User">
<field name="Units">cm/s</field>
</param>
<param humanName="speed used for speed scaling calculations" name="ArduPlane:SCALING_SPEED" documentation="Airspeed in m/s to use when calculating surface speed scaling. Note that changing this value will affect all PID values" user="Advanced">
<field name="Units">m/s</field>
</param>
<param humanName="Minimum ground speed" name="ArduPlane:MIN_GNDSPD_CM" documentation="Minimum ground speed in cm/s when under airspeed control" user="Advanced">
<field name="Units">cm/s</field>
</param>
<param humanName="Pitch angle offset" name="ArduPlane:TRIM_PITCH_CD" documentation="offset to add to pitch - used for in-flight pitch trimming. It is recommended that instead of using this parameter you level your plane correctly on the ground for good flight attitude." user="Advanced">
<field name="Units">centi-Degrees</field>
</param>
<param humanName="RTL altitude" name="ArduPlane:ALT_HOLD_RTL" documentation="Return to launch target altitude. This is the relative altitude the plane will aim for and loiter at when returning home. If this is negative (usually -1) then the plane will use the current altitude at the time of entering RTL. Note that when transiting to a Rally Point the altitude of the Rally Point is used instead of ALT_HOLD_RTL." user="User">
<field name="Units">centimeters</field>
</param>
<param humanName="Minimum altitude for FBWB mode" name="ArduPlane:ALT_HOLD_FBWCM" documentation="This is the minimum altitude in centimeters that FBWB and CRUISE modes will allow. If you attempt to descend below this altitude then the plane will level off. A value of zero means no limit." user="User">
<field name="Units">centimeters</field>
</param>
<param humanName="Enable Compass" name="ArduPlane:MAG_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Flap input channel" name="ArduPlane:FLAP_IN_CHANNEL" documentation="An RC input channel to use for flaps control. If this is set to a RC channel number then that channel will be used for manual flaps control. When enabled, the percentage of flaps is taken as the percentage travel from the TRIM value of the channel to the MIN value of the channel. A value above the TRIM values will give inverse flaps (spoilers). This option needs to be enabled in conjunction with a FUNCTION setting on an output channel to one of the flap functions. When a FLAP_IN_CHANNEL is combined with auto-flaps the higher of the two flap percentages is taken. You must also enable a FLAPERON_OUTPUT flaperon mixer setting if using flaperons." user="User">
</param>
<param humanName="Flaperon output" name="ArduPlane:FLAPERON_OUTPUT" documentation="Enable flaperon output in software. If enabled then the APM will provide software flaperon mixing on the FLAPERON1 and FLAPERON2 output channels specified using the FUNCTION on two auxiliary channels. There are 4 different mixing modes available, which refer to the 4 ways the flap and aileron outputs can be mapped to the two flaperon servos. Note that you must not use flaperon output mixing with hardware pass-through of RC values, such as with channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to something other than 8 before you enable FLAPERON_OUTPUT. Please also see the MIXING_GAIN parameter for the output gain of the mixer. FLAPERON_OUTPUT cannot be combined with ELEVON_OUTPUT or ELEVON_MIXING." user="User">
<values>
<value code="0">Disabled</value>
<value code="1">UpUp</value>
<value code="2">UpDown</value>
<value code="3">DownUp</value>
<value code="4">DownDown</value>
</values>
</param>
<param humanName="Flap 1 percentage" name="ArduPlane:FLAP_1_PERCNT" documentation="The percentage change in flap position when FLAP_1_SPEED is reached. Use zero to disable flaps" user="Advanced">
<field name="Range">0 100</field>
<field name="Units">Percent</field>
</param>
<param humanName="Flap 1 speed" name="ArduPlane:FLAP_1_SPEED" documentation="The speed in meters per second at which to engage FLAP_1_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED" user="Advanced">
<field name="Range">0 100</field>
<field name="Increment">1</field>
<field name="Units">m/s</field>
</param>
<param humanName="Flap 2 percentage" name="ArduPlane:FLAP_2_PERCNT" documentation="The percentage change in flap position when FLAP_2_SPEED is reached. Use zero to disable flaps" user="Advanced">
<field name="Range">0 100</field>
<field name="Units">Percent</field>
</param>
<param humanName="Flap 2 speed" name="ArduPlane:FLAP_2_SPEED" documentation="The speed in meters per second at which to engage FLAP_2_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED" user="Advanced">
<field name="Range">0 100</field>
<field name="Increment">1</field>
<field name="Units">m/s</field>
</param>
<param humanName="Landing flap percentage" name="ArduPlane:LAND_FLAP_PERCNT" documentation="The amount of flaps (as a percentage) to apply in the landing approach and flare of an automatic landing" user="Advanced">
<field name="Range">0 100</field>
<field name="Units">Percent</field>
</param>
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<param humanName="PX4IO override channel" name="ArduPlane:OVERRIDE_CHAN" documentation="If set to a non-zero value then this is an RC input channel number to use for giving PX4IO manual control in case the main FMU microcontroller on a PX4 or Pixhawk fails. When this RC input channel goes above 1750 the FMU microcontroller will no longer be involved in controlling the servos and instead the PX4IO microcontroller will directly control the servos. Note that PX4IO manual control will be automatically activated if the FMU crashes for any reason. This parameter allows you to test for correct manual behaviour without actually crashing the FMU. This parameter is can be set to a non-zero value either for ground testing purposes or for giving the effect of an external override control board. Please also see the docs on OVERRIDE_SAFETY. Note that you may set OVERRIDE_CHAN to the same channel as FLTMODE_CH to get PX4IO based override when in flight mode 6. Note that when override is triggered due to a FMU crash the 6 auxiliary output channels on Pixhawk will no longer be updated, so all the flight controls you need must be assigned to the first 8 channels." user="Advanced">
</param>
<param humanName="PX4IO override safety switch" name="ArduPlane:OVERRIDE_SAFETY" documentation="This controls whether the safety switch is turned off when you activate override with OVERRIDE_CHAN. When set to 1 the safety switch is de-activated (activating the servos) then a PX4IO override is triggered. In that case the safety remains de-activated after override is disabled. If OVERRIDE_SAFETTY is set to 0 then the safety switch state does not change. Note that regardless of the value of this parameter the servos will be active while override is active." user="Advanced">
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</param>
<param humanName="Inverted flight channel" name="ArduPlane:INVERTEDFLT_CH" documentation="A RC input channel number to enable inverted flight. If this is non-zero then the APM will monitor the corresponding RC input channel and will enable inverted flight when the channel goes above 1750." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Channel1</value>
<value code="2">Channel2</value>
<value code="3">Channel3</value>
<value code="4">Channel4</value>
<value code="5">Channel5</value>
<value code="6">Channel6</value>
<value code="7">Channel7</value>
<value code="8">Channel8</value>
</values>
</param>
<param humanName="HIL mode enable" name="ArduPlane:HIL_MODE" documentation="This enables and disables hardware in the loop mode. If HIL_MODE is 1 then on the next reboot all sensors are replaced with HIL sensors which come from the GCS." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HIL Servos enable" name="ArduPlane:HIL_SERVOS" documentation="This controls whether real servo controls are used in HIL mode. If you enable this then the APM will control the real servos in HIL mode. If disabled it will report servo values, but will not output to the real servos. Be careful that your motor and propeller are not connected if you enable this option." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Limit of error in HIL attitude before reset" name="ArduPlane:HIL_ERR_LIMIT" documentation="This controls the maximum error in degrees on any axis before HIL will reset the DCM attitude to match the HIL_STATE attitude. This limit will prevent poor timing on HIL from causing a major attitude error. If the value is zero then no limit applies." user="Advanced">
<field name="Range">0 90</field>
<field name="Increment">0.1</field>
<field name="Units">degrees</field>
</param>
<param humanName="RTL auto land" name="ArduPlane:RTL_AUTOLAND" documentation="Automatically begin landing sequence after arriving at RTL location. This requires the addition of a DO_LAND_START mission item, which acts as a marker for the start of a landing sequence. The closest landing sequence will be chosen to the current location. " user="Standard">
<values>
<value code="0">Disable</value>
<value code="1">Enable - go HOME then land</value>
<value code="2">Enable - go directly to landing sequence</value>
</values>
</param>
<param humanName="RC Trims auto set at start." name="ArduPlane:RC_TRIM_AT_START" documentation="Automatically set roll/pitch trim from Tx at ground start. This makes the assumption that the RC transmitter has not been altered since trims were last captured." user="Standard">
<values>
<value code="0">Disable</value>
<value code="1">Enable</value>
</values>
</param>
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<param humanName="Crash Deceleration Threshold" name="ArduPlane:CRASH_ACC_THRESH" documentation="X-Axis deceleration threshold to notify the crash detector that there was a possible impact which helps disarm the motor quickly after a crash. This value should be much higher than normal negative x-axis forces during normal flight, check flight log files to determine the average IMU.x values for your aircraft and motor type. Higher value means less sensative (triggers on higher impact). For electric planes that don't vibrate much during fight a value of 25 is good (that's about 2.5G). For petrol/nitro planes you'll want a higher value. Set to 0 to disable the collision detector." user="Advanced">
<field name="Values">10 127</field>
<field name="Units">m/s/s</field>
</param>
<param humanName="Crash Detection" name="ArduPlane:CRASH_DETECT" documentation="Automatically detect a crash during AUTO flight and perform the bitmask selected action(s). Disarm will turn off motor for saftey and to help against burning out ESC and motor. Setting the mode to manual will help save the servos from burning out by overexerting if the aircraft crashed in an odd orientation such as upsidedown." user="Advanced">
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<field name="Bitmask">0:Disarm</field>
<values>
<value code="0">Disabled</value>
<value code="1">Disarm</value>
</values>
</param>
<param humanName="Parachute release channel" name="ArduPlane:CHUTE_CHAN" documentation="If set to a non-zero value then this is an RC input channel number to use for manually releasing the parachute. When this channel goes above 1700 the parachute will be released" user="Advanced">
</param>
<param humanName="Enable rangefinder for landing" name="ArduPlane:RNGFND_LANDING" documentation="This enables the use of a rangefinder for automatic landing. The rangefinder will be used both on the landing approach and for final flare" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
</parameters>
<parameters name="ArduCopter">
<param humanName="Eeprom format version number" name="ArduCopter:SYSID_SW_MREV" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
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<field name="ReadOnly">True</field>
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</param>
<param humanName="Software Type" name="ArduCopter:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
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<field name="ReadOnly">True</field>
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<values>
<value code="0">ArduPlane</value>
<value code="4">AntennaTracker</value>
<value code="10">Copter</value>
<value code="20">Rover</value>
</values>
</param>
<param humanName="MAVLink system ID of this vehicle" name="ArduCopter:SYSID_THISMAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
<field name="Range">1 255</field>
</param>
<param humanName="My ground station number" name="ArduCopter:SYSID_MYGCS" documentation="Allows restricting radio overrides to only come from my ground station" user="Advanced">
<values>
<value code="255">Mission Planner and DroidPlanner</value>
<value code=" 252"> AP Planner 2</value>
</values>
</param>
<param humanName="CLI Enable" name="ArduCopter:CLI_ENABLED" documentation="This enables/disables the checking for three carriage returns on telemetry links on startup to enter the diagnostics command line interface" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Throttle filter cutoff" name="ArduCopter:PILOT_THR_FILT" documentation="Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">.5</field>
<field name="Units">Hz</field>
</param>
<param humanName="Pilot takeoff altitude" name="ArduCopter:PILOT_TKOFF_ALT" documentation="Altitude that altitude control modes will climb to when a takeoff is triggered with the throttle stick." user="Standard">
<field name="Range">0.0 1000.0</field>
<field name="Increment">10</field>
<field name="Units">Centimeters</field>
</param>
<param humanName="Takeoff trigger deadzone" name="ArduCopter:PILOT_TKOFF_DZ" documentation="Offset from mid stick at which takeoff is triggered" user="Standard">
<field name="Range">0.0 500.0</field>
<field name="Increment">10</field>
</param>
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<param humanName="Throttle stick behavior" name="ArduCopter:PILOT_THR_BHV" documentation="Bitmask containing various throttle stick options. Add up the values for options that you want." user="Standard">
<field name="Bitmask">0:Feedback from mid stick,1:High throttle cancels landing</field>
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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>
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</values>
</param>
<param humanName="Telemetry startup delay" name="ArduCopter:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">seconds</field>
</param>
<param humanName="GCS PID tuning mask" name="ArduCopter:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
<field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
<values>
<value code="0">None</value>
<value code="1">Roll</value>
<value code="2">Pitch</value>
<value code="4">Yaw</value>
</values>
</param>
<param humanName="RTL Altitude" name="ArduCopter:RTL_ALT" documentation="The minimum relative altitude the model will move to before Returning to Launch.  Set to zero to return at current altitude." user="Standard">
<field name="Range">0 8000</field>
<field name="Increment">1</field>
<field name="Units">Centimeters</field>
</param>
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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>
<values>
<value code="0">Disabled</value>
<value code="1">Shallow</value>
<value code="3">Steep</value>
</values>
<field name="Increment">.1</field>
</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>
</param>
<param humanName="Rangefinder gain" name="ArduCopter:RNGFND_GAIN" documentation="Used to adjust the speed with which the target altitude is changed when objects are sensed below the copter" user="Standard">
<field name="Range">0.01 2.0</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Battery Failsafe Enable" name="ArduCopter:FS_BATT_ENABLE" documentation="Controls whether failsafe will be invoked when battery voltage or current runs low" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Land</value>
<value code="2">RTL</value>
</values>
</param>
<param humanName="Failsafe battery voltage" name="ArduCopter:FS_BATT_VOLTAGE" documentation="Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe. If the battery voltage drops below this voltage then the copter will RTL" user="Standard">
<field name="Increment">0.1</field>
<field name="Units">Volts</field>
</param>
<param humanName="Failsafe battery milliAmpHours" name="ArduCopter:FS_BATT_MAH" documentation="Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe. If the battery remaining drops below this level then the copter will RTL" user="Standard">
<field name="Increment">50</field>
<field name="Units">mAh</field>
</param>
<param humanName="Ground Station Failsafe Enable" name="ArduCopter:FS_GCS_ENABLE" documentation="Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. NB. The GCS Failsafe is only active when RC_OVERRIDE is being used to control the vehicle." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled always RTL</value>
<value code="2">Enabled Continue with Mission in Auto Mode</value>
</values>
</param>
<param humanName="GPS Hdop Good" name="ArduCopter:GPS_HDOP_GOOD" documentation="GPS Hdop value at or below this value represent a good position.  Used for pre-arm checks" user="Advanced">
<field name="Range">100 900</field>
</param>
<param humanName="Compass enable/disable" name="ArduCopter:MAG_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Super Simple Mode" name="ArduCopter:SUPER_SIMPLE" documentation="Bitmask to enable Super Simple mode for some flight modes. Setting this to Disabled(0) will disable Super Simple Mode" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Mode1</value>
<value code="2">Mode2</value>
<value code="3">Mode1+2</value>
<value code="4">Mode3</value>
<value code="5">Mode1+3</value>
<value code="6">Mode2+3</value>
<value code="7">Mode1+2+3</value>
<value code="8">Mode4</value>
<value code="9">Mode1+4</value>
<value code="10">Mode2+4</value>
<value code="11">Mode1+2+4</value>
<value code="12">Mode3+4</value>
<value code="13">Mode1+3+4</value>
<value code="14">Mode2+3+4</value>
<value code="15">Mode1+2+3+4</value>
<value code="16">Mode5</value>
<value code="17">Mode1+5</value>
<value code="18">Mode2+5</value>
<value code="19">Mode1+2+5</value>
<value code="20">Mode3+5</value>
<value code="21">Mode1+3+5</value>
<value code="22">Mode2+3+5</value>
<value code="23">Mode1+2+3+5</value>
<value code="24">Mode4+5</value>
<value code="25">Mode1+4+5</value>
<value code="26">Mode2+4+5</value>
<value code="27">Mode1+2+4+5</value>
<value code="28">Mode3+4+5</value>
<value code="29">Mode1+3+4+5</value>
<value code="30">Mode2+3+4+5</value>
<value code="31">Mode1+2+3+4+5</value>
<value code="32">Mode6</value>
<value code="33">Mode1+6</value>
<value code="34">Mode2+6</value>
<value code="35">Mode1+2+6</value>
<value code="36">Mode3+6</value>
<value code="37">Mode1+3+6</value>
<value code="38">Mode2+3+6</value>
<value code="39">Mode1+2+3+6</value>
<value code="40">Mode4+6</value>
<value code="41">Mode1+4+6</value>
<value code="42">Mode2+4+6</value>
<value code="43">Mode1+2+4+6</value>
<value code="44">Mode3+4+6</value>
<value code="45">Mode1+3+4+6</value>
<value code="46">Mode2+3+4+6</value>
<value code="47">Mode1+2+3+4+6</value>
<value code="48">Mode5+6</value>
<value code="49">Mode1+5+6</value>
<value code="50">Mode2+5+6</value>
<value code="51">Mode1+2+5+6</value>
<value code="52">Mode3+5+6</value>
<value code="53">Mode1+3+5+6</value>
<value code="54">Mode2+3+5+6</value>
<value code="55">Mode1+2+3+5+6</value>
<value code="56">Mode4+5+6</value>
<value code="57">Mode1+4+5+6</value>
<value code="58">Mode2+4+5+6</value>
<value code="59">Mode1+2+4+5+6</value>
<value code="60">Mode3+4+5+6</value>
<value code="61">Mode1+3+4+5+6</value>
<value code="62">Mode2+3+4+5+6</value>
<value code="63">Mode1+2+3+4+5+6</value>
</values>
</param>
<param humanName="RTL Final Altitude" name="ArduCopter:RTL_ALT_FINAL" documentation="This is the altitude the vehicle will move to as the final stage of Returning to Launch or after completing a mission.  Set to zero to land." user="Standard">
<field name="Range">-1 1000</field>
<field name="Increment">1</field>
<field name="Units">Centimeters</field>
</param>
<param humanName="RTL minimum climb" name="ArduCopter:RTL_CLIMB_MIN" documentation="The vehicle will climb this many cm during the initial climb portion of the RTL" user="Standard">
<field name="Range">0 3000</field>
<field name="Increment">10</field>
<field name="Units">Centimeters</field>
</param>
<param humanName="Yaw behaviour during missions" name="ArduCopter:WP_YAW_BEHAVIOR" documentation="Determines how the autopilot controls the yaw during missions and RTL" user="Standard">
<values>
<value code="0">Never change yaw</value>
<value code=" 1">Face next waypoint</value>
<value code=" 2">Face next waypoint except RTL</value>
<value code=" 3">Face along GPS course</value>
</values>
</param>
<param humanName="RTL loiter time" name="ArduCopter:RTL_LOIT_TIME" documentation="Time (in milliseconds) to loiter above home before beginning final descent" user="Standard">
<field name="Range">0 60000</field>
<field name="Increment">1000</field>
<field name="Units">ms</field>
</param>
<param humanName="Land speed" name="ArduCopter:LAND_SPEED" documentation="The descent speed for the final stage of landing in cm/s" user="Standard">
<field name="Range">30 200</field>
<field name="Increment">10</field>
<field name="Units">cm/s</field>
</param>
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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>
</param>
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<param humanName="Pilot maximum vertical speed" name="ArduCopter:PILOT_VELZ_MAX" documentation="The maximum vertical velocity the pilot may request in cm/s" user="Standard">
<field name="Range">50 500</field>
<field name="Increment">10</field>
<field name="Units">Centimeters/Second</field>
</param>
<param humanName="Pilot vertical acceleration" name="ArduCopter:PILOT_ACCEL_Z" documentation="The vertical acceleration used when pilot is controlling the altitude" user="Standard">
<field name="Range">50 500</field>
<field name="Increment">10</field>
<field name="Units">cm/s/s</field>
</param>
<param humanName="Throttle Minimum" name="ArduCopter:THR_MIN" documentation="The minimum throttle that will be sent to the motors to keep them spinning" user="Standard">
<field name="Range">0 300</field>
<field name="Increment">1</field>
<field name="Units">Percent*10</field>
</param>
<param humanName="Throttle Failsafe Enable" name="ArduCopter:FS_THR_ENABLE" documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled always RTL</value>
<value code="2">Enabled Continue with Mission in Auto Mode</value>
<value code="3">Enabled always LAND</value>
</values>
</param>
<param humanName="Throttle Failsafe Value" name="ArduCopter:FS_THR_VALUE" documentation="The PWM level on channel 3 below which throttle sailsafe triggers" user="Standard">
<field name="Range">925 1100</field>
<field name="Increment">1</field>
<field name="Units">pwm</field>
</param>
<param humanName="Throttle Mid Position" name="ArduCopter:THR_MID" documentation="The throttle output (0 ~ 1000) when throttle stick is in mid position.  Used to scale the manual throttle so that the mid throttle stick position is close to the throttle required to hover" user="Standard">
<field name="Range">300 700</field>
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<field name="Increment">10</field>
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<field name="Units">Percent*10</field>
</param>
<param humanName="Throttle deadzone" name="ArduCopter:THR_DZ" documentation="The deadzone above and below mid throttle.  Used in AltHold, Loiter, PosHold flight modes" user="Standard">
<field name="Range">0 300</field>
<field name="Increment">1</field>
<field name="Units">pwm</field>
</param>
<param humanName="Flight Mode 1" name="ArduCopter:FLTMODE1" documentation="Flight mode when Channel 5 pwm is &lt;= 1230" user="Standard">
<values>
<value code="0">Stabilize</value>
<value code="1">Acro</value>
<value code="2">AltHold</value>
<value code="3">Auto</value>
<value code="4">Guided</value>
<value code="5">Loiter</value>
<value code="6">RTL</value>
<value code="7">Circle</value>
<value code="9">Land</value>
<value code="11">Drift</value>
<value code="13">Sport</value>
<value code="14">Flip</value>
<value code="15">AutoTune</value>
<value code="16">PosHold</value>
<value code="17">Brake</value>
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</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>
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</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>
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</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>
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</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>
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</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>
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</values>
</param>
<param humanName="Simple mode bitmask" name="ArduCopter:SIMPLE" documentation="Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode)" user="Advanced">
</param>
<param humanName="Log bitmask" name="ArduCopter:LOG_BITMASK" documentation="4 byte bitmap of log types to enable" user="Standard">
<field name="Bitmask">0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,16:WHEN_DISARMED,17:MOTBATT,18:IMU_FAST,19:IMU_RAW</field>
<values>
<value code="830">Default</value>
<value code="894">Default+RCIN</value>
<value code="958">Default+IMU</value>
<value code="1854">Default+Motors</value>
<value code="-6146">NearlyAll-AC315</value>
<value code="45054">NearlyAll</value>
<value code="131070">All+DisarmedLogging</value>
<value code="131071">All+FastATT</value>
<value code="262142">All+MotBatt</value>
<value code="393214">All+FastIMU</value>
<value code="397310">All+FastIMU+PID</value>
<value code="655358">All+FullIMU</value>
<value code="0">Disabled</value>
</values>
</param>
<param humanName="ESC Calibration" name="ArduCopter:ESC_CALIBRATION" documentation="Controls whether ArduCopter will enter ESC calibration on the next restart.  Do not adjust this parameter manually." user="Advanced">
<values>
<value code="0">Normal Start-up</value>
<value code=" 1">Start-up in ESC Calibration mode if throttle high</value>
<value code=" 2">Start-up in ESC Calibration mode regardless of throttle</value>
<value code=" 9">Disabled</value>
</values>
</param>
<param humanName="Channel 6 Tuning" name="ArduCopter:TUNE" documentation="Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Stab Roll/Pitch kP</value>
<value code="4">Rate Roll/Pitch kP</value>
<value code="5">Rate Roll/Pitch kI</value>
<value code="21">Rate Roll/Pitch kD</value>
<value code="3">Stab Yaw kP</value>
<value code="6">Rate Yaw kP</value>
<value code="26">Rate Yaw kD</value>
<value code="14">Altitude Hold kP</value>
<value code="7">Throttle Rate kP</value>
<value code="34">Throttle Accel kP</value>
<value code="35">Throttle Accel kI</value>
<value code="36">Throttle Accel kD</value>
<value code="42">Loiter Speed</value>
<value code="12">Loiter Pos kP</value>
<value code="22">Velocity XY kP</value>
<value code="28">Velocity XY kI</value>
<value code="10">WP Speed</value>
<value code="25">Acro RollPitch kP</value>
<value code="40">Acro Yaw kP</value>
<value code="13">Heli Ext Gyro</value>
<value code="17">OF Loiter kP</value>
<value code="18">OF Loiter kI</value>
<value code="19">OF Loiter kD</value>
<value code="38">Declination</value>
<value code="39">Circle Rate</value>
<value code="41">RangeFinder Gain</value>
<value code="46">Rate Pitch kP</value>
<value code="47">Rate Pitch kI</value>
<value code="48">Rate Pitch kD</value>
<value code="49">Rate Roll kP</value>
<value code="50">Rate Roll kI</value>
<value code="51">Rate Roll kD</value>
<value code="52">Rate Pitch FF</value>
<value code="53">Rate Roll FF</value>
<value code="54">Rate Yaw FF</value>
</values>
</param>
<param humanName="Tuning minimum" name="ArduCopter:TUNE_LOW" documentation="The minimum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob" user="Standard">
<field name="Range">0 32767</field>
</param>
<param humanName="Tuning maximum" name="ArduCopter:TUNE_HIGH" documentation="The maximum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob" user="Standard">
<field name="Range">0 32767</field>
</param>
<param humanName="Frame Orientation (+, X or V)" name="ArduCopter:FRAME" documentation="Controls motor mixing for multicopters.  Not used for Tri or Traditional Helicopters." user="Standard">
<values>
<value code="0">Plus</value>
<value code=" 1">X</value>
<value code=" 2">V</value>
<value code=" 3">H</value>
<value code=" 4">V-Tail</value>
<value code=" 5">A-Tail</value>
<value code=" 10">Y6B (New)</value>
</values>
</param>
<param humanName="Channel 7 option" name="ArduCopter:CH7_OPT" documentation="Select which function if performed when CH7 is above 1800 pwm" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 2">Flip</value>
<value code=" 3">Simple Mode</value>
<value code=" 4">RTL</value>
<value code=" 5">Save Trim</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 10">RangeFinder</value>
<value code=" 11">Fence</value>
<value code=" 12">ResetToArmedYaw</value>
<value code=" 13">Super Simple Mode</value>
<value code=" 14">Acro Trainer</value>
<value code=" 16">Auto</value>
<value code=" 17">AutoTune</value>
<value code=" 18">Land</value>
<value code=" 19">EPM</value>
<value code=" 21">Parachute Enable</value>
<value code=" 22">Parachute Release</value>
<value code=" 23">Parachute 3pos</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 25">AttCon Feed Forward</value>
<value code=" 26">AttCon Accel Limits</value>
<value code=" 27">Retract Mount</value>
<value code=" 28">Relay On/Off</value>
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<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
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<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>
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</values>
</param>
<param humanName="Channel 8 option" name="ArduCopter:CH8_OPT" documentation="Select which function if performed when CH8 is above 1800 pwm" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 2">Flip</value>
<value code=" 3">Simple Mode</value>
<value code=" 4">RTL</value>
<value code=" 5">Save Trim</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 10">RangeFinder</value>
<value code=" 11">Fence</value>
<value code=" 12">ResetToArmedYaw</value>
<value code=" 13">Super Simple Mode</value>
<value code=" 14">Acro Trainer</value>
<value code=" 16">Auto</value>
<value code=" 17">AutoTune</value>
<value code=" 18">Land</value>
<value code=" 19">EPM</value>
<value code=" 21">Parachute Enable</value>
<value code=" 22">Parachute Release</value>
<value code=" 23">Parachute 3pos</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 25">AttCon Feed Forward</value>
<value code=" 26">AttCon Accel Limits</value>
<value code=" 27">Retract Mount</value>
<value code=" 28">Relay On/Off</value>
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<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
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<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>
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</values>
</param>
<param humanName="Channel 9 option" name="ArduCopter:CH9_OPT" documentation="Select which function if performed when CH9 is above 1800 pwm" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 2">Flip</value>
<value code=" 3">Simple Mode</value>
<value code=" 4">RTL</value>
<value code=" 5">Save Trim</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 10">RangeFinder</value>
<value code=" 11">Fence</value>
<value code=" 12">ResetToArmedYaw</value>
<value code=" 13">Super Simple Mode</value>
<value code=" 14">Acro Trainer</value>
<value code=" 16">Auto</value>
<value code=" 17">AutoTune</value>
<value code=" 18">Land</value>
<value code=" 19">EPM</value>
<value code=" 21">Parachute Enable</value>
<value code=" 22">Parachute Release</value>
<value code=" 23">Parachute 3pos</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 25">AttCon Feed Forward</value>
<value code=" 26">AttCon Accel Limits</value>
<value code=" 27">Retract Mount</value>
<value code=" 28">Relay On/Off</value>
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<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
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<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>
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</values>
</param>
<param humanName="Channel 10 option" name="ArduCopter:CH10_OPT" documentation="Select which function if performed when CH10 is above 1800 pwm" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 2">Flip</value>
<value code=" 3">Simple Mode</value>
<value code=" 4">RTL</value>
<value code=" 5">Save Trim</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 10">RangeFinder</value>
<value code=" 11">Fence</value>
<value code=" 12">ResetToArmedYaw</value>
<value code=" 13">Super Simple Mode</value>
<value code=" 14">Acro Trainer</value>
<value code=" 16">Auto</value>
<value code=" 17">AutoTune</value>
<value code=" 18">Land</value>
<value code=" 19">EPM</value>
<value code=" 21">Parachute Enable</value>
<value code=" 22">Parachute Release</value>
<value code=" 23">Parachute 3pos</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 25">AttCon Feed Forward</value>
<value code=" 26">AttCon Accel Limits</value>
<value code=" 27">Retract Mount</value>
<value code=" 28">Relay On/Off</value>
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<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
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<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>
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</values>
</param>
<param humanName="Channel 11 option" name="ArduCopter:CH11_OPT" documentation="Select which function if performed when CH11 is above 1800 pwm" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 2">Flip</value>
<value code=" 3">Simple Mode</value>
<value code=" 4">RTL</value>
<value code=" 5">Save Trim</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 10">RangeFinder</value>
<value code=" 11">Fence</value>
<value code=" 12">ResetToArmedYaw</value>
<value code=" 13">Super Simple Mode</value>
<value code=" 14">Acro Trainer</value>
<value code=" 16">Auto</value>
<value code=" 17">AutoTune</value>
<value code=" 18">Land</value>
<value code=" 19">EPM</value>
<value code=" 21">Parachute Enable</value>
<value code=" 22">Parachute Release</value>
<value code=" 23">Parachute 3pos</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 25">AttCon Feed Forward</value>
<value code=" 26">AttCon Accel Limits</value>
<value code=" 27">Retract Mount</value>
<value code=" 28">Relay On/Off</value>
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<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
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<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>
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<value code=" 37">Throw</value>
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</values>
</param>
<param humanName="Channel 12 option" name="ArduCopter:CH12_OPT" documentation="Select which function if performed when CH12 is above 1800 pwm" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 2">Flip</value>
<value code=" 3">Simple Mode</value>
<value code=" 4">RTL</value>
<value code=" 5">Save Trim</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 10">RangeFinder</value>
<value code=" 11">Fence</value>
<value code=" 12">ResetToArmedYaw</value>
<value code=" 13">Super Simple Mode</value>
<value code=" 14">Acro Trainer</value>
<value code=" 16">Auto</value>
<value code=" 17">AutoTune</value>
<value code=" 18">Land</value>
<value code=" 19">EPM</value>
<value code=" 21">Parachute Enable</value>
<value code=" 22">Parachute Release</value>
<value code=" 23">Parachute 3pos</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 25">AttCon Feed Forward</value>
<value code=" 26">AttCon Accel Limits</value>
<value code=" 27">Retract Mount</value>
<value code=" 28">Relay On/Off</value>
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<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
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<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>
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<value code=" 37">Throw</value>
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</values>
</param>
<param humanName="Arming check" name="ArduCopter:ARMING_CHECK" documentation="Allows enabling or disabling of pre-arming checks of receiver, accelerometer, barometer, compass and GPS" user="Standard">
<field name="Bitmask">0:All,1:Baro,2:Compass,3:GPS,4:INS,5:Parameters+Sonar,6:RC,7:Voltage</field>
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
<value code=" -3">Skip Baro</value>
<value code=" -5">Skip Compass</value>
<value code=" -9">Skip GPS</value>
<value code=" -17">Skip INS</value>
<value code=" -33">Skip Params/Sonar</value>
<value code=" -65">Skip RC</value>
<value code=" 127">Skip Voltage</value>
</values>
</param>
<param humanName="Disarm delay" name="ArduCopter:DISARM_DELAY" documentation="Delay before automatic disarm in seconds. A value of zero disables auto disarm." user="Advanced">
<field name="Range">0 127</field>
<field name="Units">Seconds</field>
</param>
<param humanName="Angle Max" name="ArduCopter:ANGLE_MAX" documentation="Maximum lean angle in all flight modes" user="Advanced">
<field name="Range">1000 8000</field>
<field name="Units">Centi-degrees</field>
</param>
<param humanName="RC Feel Roll/Pitch" name="ArduCopter:RC_FEEL_RP" documentation="RC feel for roll/pitch which controls vehicle response to user input with 0 being extremely soft and 100 being crisp" user="Standard">
<field name="Range">0 100</field>
<values>
<value code="0">Very Soft</value>
<value code=" 25">Soft</value>
<value code=" 50">Medium</value>
<value code=" 75">Crisp</value>
<value code=" 100">Very Crisp</value>
</values>
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<field name="Increment">10</field>
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</param>
<param humanName="PosHold braking rate" name="ArduCopter:PHLD_BRAKE_RATE" documentation="PosHold flight mode's rotation rate during braking in deg/sec" user="Advanced">
<field name="Range">4 12</field>
<field name="Units">deg/sec</field>
</param>
<param humanName="PosHold braking angle max" name="ArduCopter:PHLD_BRAKE_ANGLE" documentation="PosHold flight mode's max lean angle during braking in centi-degrees" user="Advanced">
<field name="Range">2000 4500</field>
<field name="Units">Centi-degrees</field>
</param>
<param humanName="Land repositioning" name="ArduCopter:LAND_REPOSITION" documentation="Enables user input during LAND mode, the landing phase of RTL, and auto mode landings." user="Advanced">
<values>
<value code="0">No repositioning</value>
<value code=" 1">Repositioning</value>
</values>
</param>
<param humanName="EKF Failsafe Action" name="ArduCopter:FS_EKF_ACTION" documentation="Controls the action that will be taken when an EKF failsafe is invoked" user="Advanced">
<values>
<value code="1">Land</value>
<value code=" 2">AltHold</value>
<value code=" 3">Land even in Stabilize</value>
</values>
</param>
<param humanName="EKF failsafe variance threshold" name="ArduCopter:FS_EKF_THRESH" documentation="Allows setting the maximum acceptable compass and velocity variance" user="Advanced">
<field name="Values">0.6:Strict, 0.8:Default, 1.0:Relaxed</field>
</param>
<param humanName="Crash check enable" name="ArduCopter:FS_CRASH_CHECK" documentation="This enables automatic crash checking. When enabled the motors will disarm if a crash is detected." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
</values>
</param>
<param humanName="ESC Update Speed" name="ArduCopter:RC_SPEED" documentation="This is the speed in Hertz that your ESCs will receive updates" user="Advanced">
<field name="Range">50 490</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Acro Roll and Pitch P gain" name="ArduCopter:ACRO_RP_P" documentation="Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode.  Higher values mean faster rate of rotation." user="Standard">
<field name="Range">1 10</field>
</param>
<param humanName="Acro Yaw P gain" name="ArduCopter:ACRO_YAW_P" documentation="Converts pilot yaw input into a desired rate of rotation in ACRO, Stabilize and SPORT modes.  Higher values mean faster rate of rotation." user="Standard">
<field name="Range">1 10</field>
</param>
<param humanName="Acro Balance Roll" name="ArduCopter:ACRO_BAL_ROLL" documentation="rate at which roll angle returns to level in acro mode.  A higher value causes the vehicle to return to level faster." user="Advanced">
<field name="Range">0 3</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Acro Balance Pitch" name="ArduCopter:ACRO_BAL_PITCH" documentation="rate at which pitch angle returns to level in acro mode.  A higher value causes the vehicle to return to level faster." user="Advanced">
<field name="Range">0 3</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Acro Trainer" name="ArduCopter:ACRO_TRAINER" documentation="Type of trainer used in acro mode" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Leveling</value>
<value code="2">Leveling and Limited</value>
</values>
</param>
<param humanName="Acro Expo" name="ArduCopter:ACRO_EXPO" documentation="Acro roll/pitch Expo to allow faster rotation when stick at edges" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="0.1">Very Low</value>
<value code="0.2">Low</value>
<value code="0.3">Medium</value>
<value code="0.4">High</value>
<value code="0.5">Very High</value>
</values>
</param>
<param humanName="Velocity (horizontal) P gain" name="ArduCopter:VEL_XY_P" documentation="Velocity (horizontal) P gain.  Converts the difference between desired velocity to a target acceleration" user="Advanced">
<field name="Range">0.1 6.0</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Velocity (horizontal) I gain" name="ArduCopter:VEL_XY_I" documentation="Velocity (horizontal) I gain.  Corrects long-term difference in desired velocity to a target acceleration" user="Advanced">
<field name="Range">0.02 1.00</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Velocity (horizontal) integrator maximum" name="ArduCopter:VEL_XY_IMAX" documentation="Velocity (horizontal) integrator maximum.  Constrains the target acceleration that the I gain will output" user="Advanced">
<field name="Range">0 4500</field>
<field name="Increment">10</field>
<field name="Units">cm/s/s</field>
</param>
<param humanName="Velocity (vertical) P gain" name="ArduCopter:VEL_Z_P" documentation="Velocity (vertical) P gain.  Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller" user="Standard">
<field name="Range">1.000 8.000</field>
</param>
<param humanName="Throttle acceleration controller P gain" name="ArduCopter:ACCEL_Z_P" documentation="Throttle acceleration controller P gain.  Converts the difference between desired vertical acceleration and actual acceleration into a motor output" user="Standard">
<field name="Range">0.500 1.500</field>
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<field name="Increment">0.05</field>
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</param>
<param humanName="Throttle acceleration controller I gain" name="ArduCopter:ACCEL_Z_I" documentation="Throttle acceleration controller I gain.  Corrects long-term difference in desired vertical acceleration and actual acceleration" user="Standard">
<field name="Range">0.000 3.000</field>
</param>
<param humanName="Throttle acceleration controller I gain maximum" name="ArduCopter:ACCEL_Z_IMAX" documentation="Throttle acceleration controller I gain maximum.  Constrains the maximum pwm that the I term will generate" user="Standard">
<field name="Range">0 1000</field>
<field name="Units">Percent*10</field>
</param>
<param humanName="Throttle acceleration controller D gain" name="ArduCopter:ACCEL_Z_D" documentation="Throttle acceleration controller D gain.  Compensates for short-term change in desired vertical acceleration vs actual acceleration" user="Standard">
<field name="Range">0.000 0.400</field>
</param>
<param humanName="Throttle acceleration filter" name="ArduCopter:ACCEL_Z_FILT_HZ" documentation="Filter applied to acceleration to reduce noise.  Lower values reduce noise but add delay." user="Standard">
<field name="Range">1.000 100.000</field>
<field name="Units">Hz</field>
</param>
<param humanName="Position (vertical) controller P gain" name="ArduCopter:POS_Z_P" documentation="Position (vertical) controller P gain.  Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller" user="Standard">
<field name="Range">1.000 3.000</field>
</param>
<param humanName="Position (horizonal) controller P gain" name="ArduCopter:POS_XY_P" documentation="Loiter position controller P gain.  Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller" user="Standard">
<field name="Range">0.500 2.000</field>
</param>
<param humanName="Autotune axis bitmask" name="ArduCopter:AUTOTUNE_AXES" documentation="1-byte bitmap of axes to autotune" user="Standard">
<field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
<values>
<value code="7">All</value>
<value code="1">Roll Only</value>
<value code="2">Pitch Only</value>
<value code="4">Yaw Only</value>
<value code="3">Roll and Pitch</value>
<value code="5">Roll and Yaw</value>
<value code="6">Pitch and Yaw</value>
</values>
</param>
<param humanName="Autotune aggressiveness" name="ArduCopter:AUTOTUNE_AGGR" documentation="Autotune aggressiveness. Defines the bounce back used to detect size of the D term." user="Standard">
<field name="Range">0.05 0.10</field>
</param>
<param humanName="AutoTune minimum D" name="ArduCopter:AUTOTUNE_MIN_D" documentation="Defines the minimum D gain" user="Standard">
<field name="Range">0.001 0.006</field>
</param>
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<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>
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</parameters>
<parameters name="AntennaTracker">
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<param humanName="Eeprom format version number" name="AntennaTracker:FORMAT_VERSION" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
</param>
<param humanName="Software Type" name="AntennaTracker:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
<field name="ReadOnly">True</field>
<values>
<value code="0">ArduPlane</value>
<value code="4">AntennaTracker</value>
<value code="10">Copter</value>
<value code="20">Rover</value>
</values>
</param>
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<param humanName="MAVLink system ID of this vehicle" name="AntennaTracker:SYSID_THISMAV" documentation="Allows setting an individual system id for this vehicle to distinguish it from others on the same network" user="Advanced">
<field name="Range">1 255</field>
</param>
<param humanName="Ground station MAVLink system ID" name="AntennaTracker:SYSID_MYGCS" documentation="The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match." user="Advanced">
<field name="Range">1 255</field>
</param>
<param humanName="Target vehicle's MAVLink system ID" name="AntennaTracker:SYSID_TARGET" documentation="The identifier of the vehicle being tracked. This should be zero (to auto detect) or be the same as the SYSID_THISMAV parameter of the vehicle being tracked." user="Advanced">
<field name="Range">1 255</field>
</param>
<param humanName="Enable Compass" name="AntennaTracker:MAG_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Time for yaw to slew through its full range" name="AntennaTracker:YAW_SLEW_TIME" documentation="This controls how rapidly the tracker will change the servo output for yaw. It is set as the number of seconds to do a full rotation. You can use this parameter to slow the trackers movements, which may help with some types of trackers. A value of zero will allow for unlimited servo movement per update." user="Standard">
<field name="Range">0 20</field>
<field name="Increment">0.1</field>
<field name="Units">seconds</field>
</param>
<param humanName="Time for pitch to slew through its full range" name="AntennaTracker:PITCH_SLEW_TIME" documentation="This controls how rapidly the tracker will change the servo output for pitch. It is set as the number of seconds to do a full range of pitch movement. You can use this parameter to slow the trackers movements, which may help with some types of trackers. A value of zero will allow for unlimited servo movement per update." user="Standard">
<field name="Range">0 20</field>
<field name="Increment">0.1</field>
<field name="Units">seconds</field>
</param>
<param humanName="Speed at which to rotate in scan mode" name="AntennaTracker:SCAN_SPEED" documentation="This controls how rapidly the tracker will move the servos in SCAN mode" user="Standard">
<field name="Range">0 100</field>
<field name="Increment">1</field>
<field name="Units">degrees/second</field>
</param>
<param humanName="Minimum time to apply a yaw reversal" name="AntennaTracker:MIN_REVERSE_TIME" documentation="When the tracker detects it has reached the limit of servo movement in yaw it will reverse and try moving to the other extreme of yaw. This parameter controls the minimum time it should reverse for. It is used to cope with trackers that have a significant lag in movement to ensure they do move all the way around." user="Standard">
<field name="Range">0 20</field>
<field name="Increment">1</field>
<field name="Units">seconds</field>
</param>
<param humanName="Initial Latitude before GPS lock" name="AntennaTracker:START_LATITUDE" documentation="Combined with START_LONGITUDE this parameter allows for an initial position of the tracker to be set. This position will be used until the GPS gets lock. It can also be used to run a stationary tracker with no GPS attached." user="Standard">
<field name="Range">-90 90</field>
<field name="Increment">0.000001</field>
<field name="Units">degrees</field>
</param>
<param humanName="Initial Longitude before GPS lock" name="AntennaTracker:START_LONGITUDE" documentation="Combined with START_LATITUDE this parameter allows for an initial position of the tracker to be set. This position will be used until the GPS gets lock. It can also be used to run a stationary tracker with no GPS attached." user="Standard">
<field name="Range">-180 180</field>
<field name="Increment">0.000001</field>
<field name="Units">degrees</field>
</param>
<param humanName="Delay before first servo movement from trim" name="AntennaTracker:STARTUP_DELAY" documentation="This parameter can be used to force the servos to their trim value for a time on startup. This can help with some servo types" user="Standard">
<field name="Range">0 10</field>
<field name="Increment">0.1</field>
<field name="Units">seconds</field>
</param>
<param humanName="Type of servo system being used" name="AntennaTracker:SERVO_TYPE" documentation="This allows selection of position servos or on/off servos" user="Standard">
<values>
<value code="0">Position</value>
<value code="1">OnOff</value>
<value code="2">ContinuousRotation</value>
</values>
</param>
<param humanName="Yaw rate for on/off servos" name="AntennaTracker:ONOFF_YAW_RATE" documentation="Rate of change of yaw in degrees/second for on/off servos" user="Standard">
<field name="Range">0 50</field>
<field name="Increment">0.1</field>
<field name="Units">degrees/second</field>
</param>
<param humanName="Pitch rate for on/off servos" name="AntennaTracker:ONOFF_PITCH_RATE" documentation="Rate of change of pitch in degrees/second for on/off servos" user="Standard">
<field name="Range">0 50</field>
<field name="Increment">0.1</field>
<field name="Units">degrees/second</field>
</param>
<param humanName="Yaw minimum movement time" name="AntennaTracker:ONOFF_YAW_MINT" documentation="Minimum amount of time in seconds to move in yaw" user="Standard">
<field name="Range">0 2</field>
<field name="Increment">0.01</field>
<field name="Units">seconds</field>
</param>
<param humanName="Pitch minimum movement time" name="AntennaTracker:ONOFF_PITCH_MINT" documentation="Minimim amount of time in seconds to move in pitch" user="Standard">
<field name="Range">0 2</field>
<field name="Increment">0.01</field>
<field name="Units">seconds</field>
</param>
<param humanName="Yaw trim" name="AntennaTracker:YAW_TRIM" documentation="Amount of extra yaw to add when tracking. This allows for small adjustments for an out of trim compass." user="Standard">
<field name="Range">-10 10</field>
<field name="Increment">0.1</field>
<field name="Units">degrees</field>
</param>
<param humanName="Pitch trim" name="AntennaTracker:PITCH_TRIM" documentation="Amount of extra pitch to add when tracking. This allows for small adjustments for a badly calibrated barometer." user="Standard">
<field name="Range">-10 10</field>
<field name="Increment">0.1</field>
<field name="Units">degrees</field>
</param>
<param humanName="Yaw Angle Range" name="AntennaTracker:YAW_RANGE" documentation="Yaw axis total range of motion in degrees" user="Standard">
<field name="Range">0 360</field>
<field name="Increment">0.1</field>
<field name="Units">degrees</field>
</param>
<param humanName="Pitch Range" name="AntennaTracker:PITCH_RANGE" documentation="Pitch axis total range of motion in degrees" user="Standard">
<field name="Range">0 180</field>
<field name="Increment">0.1</field>
<field name="Units">degrees</field>
</param>
<param humanName="Distance minimum to target" name="AntennaTracker:DISTANCE_MIN" documentation="Tracker will track targets at least this distance away" user="Standard">
<field name="Range">0 100</field>
<field name="Increment">1</field>
<field name="Units">meters</field>
</param>
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<param humanName="Log bitmask" name="AntennaTracker:LOG_BITMASK" documentation="4 byte bitmap of log types to enable" user="Standard">
<field name="Bitmask">0:ATTITUDE,1:GPS,2:RCIN,3:IMU,4:RCOUT,5:COMPASS</field>
<values>
<value code="63">Default</value>
<value code="0">Disabled</value>
</values>
</param>
<param humanName="Pitch axis controller P gain" name="AntennaTracker:PITCH2SRV_P" documentation="Pitch axis controller P gain.  Converts the difference between desired pitch angle and actual pitch angle into a pitch servo pwm change" user="Standard">
<field name="Range">0.0 3.0</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Pitch axis controller I gain" name="AntennaTracker:PITCH2SRV_I" documentation="Pitch axis controller I gain.  Corrects long-term difference in desired pitch angle vs actual pitch angle" user="Standard">
<field name="Range">0.0 3.0</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Pitch axis controller I gain maximum" name="AntennaTracker:PITCH2SRV_IMAX" documentation="Pitch axis controller I gain maximum.  Constrains the maximum pwm change that the I gain will output" user="Standard">
<field name="Range">0 4000</field>
<field name="Increment">10</field>
<field name="Units">Percent*10</field>
</param>
<param humanName="Pitch axis controller D gain" name="AntennaTracker:PITCH2SRV_D" documentation="Pitch axis controller D gain.  Compensates for short-term change in desired pitch angle vs actual pitch angle" user="Standard">
<field name="Range">0.001 0.1</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Yaw axis controller P gain" name="AntennaTracker:YAW2SRV_P" documentation="Yaw axis controller P gain.  Converts the difference between desired yaw angle (heading) and actual yaw angle into a yaw servo pwm change" user="Standard">
<field name="Range">0.0 3.0</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Yaw axis controller I gain" name="AntennaTracker:YAW2SRV_I" documentation="Yaw axis controller I gain.  Corrects long-term difference in desired yaw angle (heading) vs actual yaw angle" user="Standard">
<field name="Range">0.0 3.0</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Yaw axis controller I gain maximum" name="AntennaTracker:YAW2SRV_IMAX" documentation="Yaw axis controller I gain maximum.  Constrains the maximum pwm change that the I gain will output" user="Standard">
<field name="Range">0 4000</field>
<field name="Increment">10</field>
<field name="Units">Percent*10</field>
</param>
<param humanName="Yaw axis controller D gain" name="AntennaTracker:YAW2SRV_D" documentation="Yaw axis controller D gain.  Compensates for short-term change in desired yaw angle (heading) vs actual yaw angle" user="Standard">
<field name="Range">0.001 0.1</field>
<field name="Increment">0.001</field>
</param>
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<param humanName="Number of loaded mission items" name="AntennaTracker:CMD_TOTAL" documentation="Set to 1 if HOME location has been loaded by the ground station. Do not change this manually." user="Advanced">
<field name="Range">1 255</field>
</param>
</parameters>
<parameters name="APMrover2">
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<param humanName="Software Type" name="APMrover2:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
<field name="ReadOnly">True</field>
</param>
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<param humanName="Log bitmask" name="APMrover2:LOG_BITMASK" documentation="Two byte bitmap of log types to enable in dataflash" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="3950">Default</value>
<value code="4078">Default+IMU</value>
</values>
</param>
<param humanName="Reset Switch Channel" name="APMrover2:RST_SWITCH_CH" documentation="RC channel to use to reset to last flight mode&#9;after geofence takeover." user="Advanced">
</param>
<param humanName="Initial driving mode" name="APMrover2:INITIAL_MODE" documentation="This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver. Usually used in combination with when AUTO_TRIGGER_PIN or AUTO_KICKSTART." user="Advanced">
<values>
<value code="0">MANUAL</value>
<value code="2">LEARNING</value>
<value code="3">STEERING</value>
<value code="4">HOLD</value>
<value code="10">AUTO</value>
<value code="11">RTL</value>
<value code="15">GUIDED</value>
</values>
</param>
<param humanName="MAVLink system ID of this vehicle" name="APMrover2:SYSID_THIS_MAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
<field name="Range">1 255</field>
</param>
<param humanName="MAVLink ground station ID" name="APMrover2:SYSID_MYGCS" documentation="ID used in MAVLink protocol to identify the controlling ground station" user="Advanced">
<field name="Range">1 255</field>
</param>
<param humanName="CLI Enable" name="APMrover2:CLI_ENABLED" documentation="This enables/disables the checking for three carriage returns on telemetry links on startup to enter the diagnostics command line interface" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Telemetry startup delay " name="APMrover2:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Standard">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">seconds</field>
</param>
<param humanName="GCS PID tuning mask" name="APMrover2:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
<field name="Bitmask">0:Steering</field>
<values>
<value code="0">None</value>
<value code="1">Steering</value>
</values>
</param>
<param humanName="Magnetometer (compass) enabled" name="APMrover2:MAG_ENABLED" documentation="This should be set to 1 if a compass is installed" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Auto mode trigger pin" name="APMrover2:AUTO_TRIGGER_PIN" documentation="pin number to use to enable the throttle in auto mode. If set to -1 then don't use a trigger, otherwise this is a pin number which if held low in auto mode will enable the motor to run. If the switch is released while in AUTO then the motor will stop again. This can be used in combination with INITIAL_MODE to give a 'press button to start' rover with no receiver." user="standard">
<values>
<value code="-1">Disabled</value>
<value code=" 0-8">APM TriggerPin</value>
<value code=" 50-55"> Pixhawk TriggerPin</value>
</values>
</param>
<param humanName="Auto mode trigger kickstart acceleration" name="APMrover2:AUTO_KICKSTART" documentation="X acceleration in meters/second/second to use to trigger the motor start in auto mode. If set to zero then auto throttle starts immediately when the mode switch happens, otherwise the rover waits for the X acceleration to go above this value before it will start the motor" user="standard">
<field name="Range">0 20</field>
<field name="Increment">0.1</field>
<field name="Units">m/s/s</field>
</param>
<param humanName="Target cruise speed in auto modes" name="APMrover2:CRUISE_SPEED" documentation="The target speed in auto missions." user="Standard">
<field name="Range">0 100</field>
<field name="Increment">0.1</field>
<field name="Units">m/s</field>
</param>
<param humanName="Target speed reduction while turning" name="APMrover2:SPEED_TURN_GAIN" documentation="The percentage to reduce the throttle while turning. If this is 100% then the target speed is not reduced while turning. If this is 50% then the target speed is reduced in proportion to the turn rate, with a reduction of 50% when the steering is maximally deflected." user="Standard">
<field name="Range">0 100</field>
<field name="Increment">1</field>
<field name="Units">percent</field>
</param>
<param humanName="Distance to turn to start reducing speed" name="APMrover2:SPEED_TURN_DIST" documentation="The distance to the next turn at which the rover reduces its target speed by the SPEED_TURN_GAIN" user="Standard">
<field name="Range">0 100</field>
<field name="Increment">0.1</field>
<field name="Units">meters</field>
</param>
<param humanName="Percentage braking to apply" name="APMrover2:BRAKING_PERCENT" documentation="The maximum reverse throttle braking percentage to apply when cornering" user="Standard">
<field name="Range">0 100</field>
<field name="Increment">1</field>
<field name="Units">percent</field>
</param>
<param humanName="Speed error at which to apply braking" name="APMrover2:BRAKING_SPEEDERR" documentation="The amount of overspeed error at which to start applying braking" user="Standard">
<field name="Range">0 100</field>
<field name="Increment">1</field>
<field name="Units">m/s</field>
</param>
<param humanName="Pivot turn angle" name="APMrover2:PIVOT_TURN_ANGLE" documentation="Navigation angle threshold in degrees to switch to pivot steering when SKID_STEER_OUT is 1. This allows you to setup a skid steering rover to turn on the spot in auto mode when the angle it needs to turn it greater than this angle. An angle of zero means to disable pivot turning. Note that you will probably also want to set a low value for WP_RADIUS to get neat turns." user="Standard">
<field name="Range">0 360</field>
<field name="Increment">1</field>
<field name="Units">degrees</field>
</param>
<param humanName="Channel 7 option" name="APMrover2:CH7_OPTION" documentation="What to do use channel 7 for" user="Standard">
<values>
<value code="0">Nothing</value>
<value code="1">LearnWaypoint</value>
</values>
</param>
<param humanName="Minimum Throttle" name="APMrover2:THR_MIN" documentation="The minimum throttle setting to which the autopilot will apply. This is mostly useful for rovers with internal combustion motors, to prevent the motor from cutting out in auto mode." user="Standard">
<field name="Range">0 100</field>
<field name="Increment">1</field>
<field name="Units">Percent</field>
</param>
<param humanName="Maximum Throttle" name="APMrover2:THR_MAX" documentation="The maximum throttle setting to which the autopilot will apply. This can be used to prevent overheating a ESC or motor on an electric rover." user="Standard">
<field name="Range">0 100</field>
<field name="Increment">1</field>
<field name="Units">Percent</field>
</param>
<param humanName="Base throttle percentage in auto" name="APMrover2:CRUISE_THROTTLE" documentation="The base throttle percentage to use in auto mode. The CRUISE_SPEED parameter controls the target speed, but the rover starts with the CRUISE_THROTTLE setting as the initial estimate for how much throttle is needed to achieve that speed. It then adjusts the throttle based on how fast the rover is actually going." user="Standard">
<field name="Range">0 100</field>
<field name="Increment">1</field>
<field name="Units">Percent</field>
</param>
<param humanName="Throttle slew rate" name="APMrover2:THR_SLEWRATE" documentation="maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second. A value of zero means no limit. A value of 100 means the throttle can change over its full range in one second. Note that for some NiMH powered rovers setting a lower value like 40 or 50 may be worthwhile as the sudden current demand on the battery of a big rise in throttle may cause a brownout." user="Standard">
<field name="Range">0 100</field>
<field name="Increment">1</field>
<field name="Units">Percent</field>
</param>
<param humanName="Skid steering output" name="APMrover2:SKID_STEER_OUT" documentation="Set this to 1 for skid steering controlled rovers (tank track style). When enabled, servo1 is used for the left track control, servo3 is used for right track control" user="Standard">
<values>
<value code="0">Disabled</value>
<value code=" 1">SkidSteeringOutput</value>
</values>
</param>
<param humanName="Skid steering input" name="APMrover2:SKID_STEER_IN" documentation="Set this to 1 for skid steering input rovers (tank track style in RC controller). When enabled, servo1 is used for the left track control, servo3 is used for right track control" user="Standard">
<values>
<value code="0">Disabled</value>
<value code=" 1">SkidSteeringInput</value>
</values>
</param>
<param humanName="Failsafe Action" name="APMrover2:FS_ACTION" documentation="What to do on a failsafe event" user="Standard">
<values>
<value code="0">Nothing</value>
<value code="1">RTL</value>
<value code="2">HOLD</value>
</values>
</param>
<param humanName="Failsafe timeout" name="APMrover2:FS_TIMEOUT" documentation="How long a failsafe event need to happen for before we trigger the failsafe action" user="Standard">
<field name="Units">seconds</field>
</param>
<param humanName="Throttle Failsafe Enable" name="APMrover2:FS_THR_ENABLE" documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel to a low value. This can be used to detect the RC transmitter going out of range. Failsafe will be triggered when the throttle channel goes below the FS_THR_VALUE for FS_TIMEOUT seconds." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Throttle Failsafe Value" name="APMrover2:FS_THR_VALUE" documentation="The PWM level on channel 3 below which throttle failsafe triggers." user="Standard">
<field name="Range">925 1100</field>
<field name="Increment">1</field>
</param>
<param humanName="GCS failsafe enable" name="APMrover2:FS_GCS_ENABLE" documentation="Enable ground control station telemetry failsafe. When enabled the Rover will execute the FS_ACTION when it fails to receive MAVLink heartbeat packets for FS_TIMEOUT seconds." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Rangefinder trigger distance" name="APMrover2:RNGFND_TRIGGR_CM" documentation="The distance from an obstacle in centimeters at which the rangefinder triggers a turn to avoid the obstacle" user="Standard">
<field name="Range">0 1000</field>
<field name="Increment">1</field>
<field name="Units">centimeters</field>
</param>
<param humanName="Rangefinder trigger angle" name="APMrover2:RNGFND_TURN_ANGL" documentation="The course deviation in degrees to apply while avoiding an obstacle detected with the rangefinder. A positive number means to turn right, and a negative angle means to turn left." user="Standard">
<field name="Range">-45 45</field>
<field name="Increment">1</field>
<field name="Units">centimeters</field>
</param>
<param humanName="Rangefinder turn time" name="APMrover2:RNGFND_TURN_TIME" documentation="The amount of time in seconds to apply the RNGFND_TURN_ANGL after detecting an obstacle." user="Standard">
<field name="Range">0 100</field>
<field name="Increment">0.1</field>
<field name="Units">seconds</field>
</param>
<param humanName="Rangefinder debounce count" name="APMrover2:RNGFND_DEBOUNCE" documentation="The number of 50Hz rangefinder hits needed to trigger an obstacle avoidance event. If you get a lot of false sonar events then raise this number, but if you make it too large then it will cause lag in detecting obstacles, which could cause you go hit the obstacle." user="Standard">
<field name="Range">1 100</field>
<field name="Increment">1</field>
</param>
<param humanName="Learning channel" name="APMrover2:LEARN_CH" documentation="RC Channel to use for learning waypoints" user="Advanced">
</param>
<param humanName="Mode channel" name="APMrover2:MODE_CH" documentation="RC Channel to use for driving mode control" user="Advanced">
</param>
<param humanName="Mode1" name="APMrover2:MODE1" documentation="Driving mode for switch position 1 (910 to 1230 and above 2049)" user="Standard">
<values>
<value code="0">Manual</value>
<value code="2">LEARNING</value>
<value code="3">STEERING</value>
<value code="4">HOLD</value>
<value code="10">Auto</value>
<value code="11">RTL</value>
<value code="15">Guided</value>
</values>
</param>
<param humanName="Mode2" name="APMrover2:MODE2" documentation="Driving mode for switch position 2 (1231 to 1360)" user="Standard">
<values>
<value code="0">Manual</value>
<value code="2">LEARNING</value>
<value code="3">STEERING</value>
<value code="4">HOLD</value>
<value code="10">Auto</value>
<value code="11">RTL</value>
<value code="15">Guided</value>
</values>
</param>
<param humanName="Mode3" name="APMrover2:MODE3" documentation="Driving mode for switch position 3 (1361 to 1490)" user="Standard">
<values>
<value code="0">Manual</value>
<value code="2">LEARNING</value>
<value code="3">STEERING</value>
<value code="4">HOLD</value>
<value code="10">Auto</value>
<value code="11">RTL</value>
<value code="15">Guided</value>
</values>
</param>
<param humanName="Mode4" name="APMrover2:MODE4" documentation="Driving mode for switch position 4 (1491 to 1620)" user="Standard">
<values>
<value code="0">Manual</value>
<value code="2">LEARNING</value>
<value code="3">STEERING</value>
<value code="4">HOLD</value>
<value code="10">Auto</value>
<value code="11">RTL</value>
<value code="15">Guided</value>
</values>
</param>
<param humanName="Mode5" name="APMrover2:MODE5" documentation="Driving mode for switch position 5 (1621 to 1749)" user="Standard">
<values>
<value code="0">Manual</value>
<value code="2">LEARNING</value>
<value code="3">STEERING</value>
<value code="4">HOLD</value>
<value code="10">Auto</value>
<value code="11">RTL</value>
<value code="15">Guided</value>
</values>
</param>
<param humanName="Mode6" name="APMrover2:MODE6" documentation="Driving mode for switch position 6 (1750 to 2049)" user="Standard">
<values>
<value code="0">Manual</value>
<value code="2">LEARNING</value>
<value code="3">STEERING</value>
<value code="4">HOLD</value>
<value code="10">Auto</value>
<value code="11">RTL</value>
<value code="15">Guided</value>
</values>
</param>
<param humanName="Waypoint radius" name="APMrover2:WP_RADIUS" documentation="The distance in meters from a waypoint when we consider the waypoint has been reached. This determines when the rover will turn along the next waypoint path." user="Standard">
<field name="Range">0 1000</field>
<field name="Increment">0.1</field>
<field name="Units">meters</field>
</param>
<param humanName="Turning maximum G force" name="APMrover2:TURN_MAX_G" documentation="The maximum turning acceleration (in units of gravities) that the rover can handle while remaining stable. The navigation code will keep the lateral acceleration below this level to avoid rolling over or slipping the wheels in turns" user="Standard">
<field name="Range">0.2 10</field>
<field name="Increment">0.1</field>
<field name="Units">gravities</field>
</param>
</parameters>
</vehicles><libraries><parameters name="SERIAL">
<param humanName="Serial0 baud rate" name="SERIAL0_BAUD" documentation="The baud rate used on the USB console. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
<values>
<value code="1">1200</value>
<value code="2">2400</value>
<value code="4">4800</value>
<value code="9">9600</value>
<value code="19">19200</value>
<value code="38">38400</value>
<value code="57">57600</value>
<value code="111">111100</value>
<value code="115">115200</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
</values>
</param>
<param humanName="Telem1 protocol selection" name="SERIAL1_PROTOCOL" documentation="Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
<values>
<value code="1">GCS Mavlink</value>
<value code=" 3">Frsky D-PORT</value>
<value code=" 4">Frsky S-PORT</value>
<value code=" 5">GPS</value>
<value code=" 7">Alexmos Gimbal Serial</value>
<value code=" 8">SToRM32 Gimbal Serial</value>
<value code=" 9">Lidar</value>
</values>
</param>
<param humanName="Telem1 Baud Rate" name="SERIAL1_BAUD" documentation="The baud rate used on the Telem1 port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
<values>
<value code="1">1200</value>
<value code="2">2400</value>
<value code="4">4800</value>
<value code="9">9600</value>
<value code="19">19200</value>
<value code="38">38400</value>
<value code="57">57600</value>
<value code="111">111100</value>
<value code="115">115200</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
</values>
</param>
<param humanName="Telemetry 2 protocol selection" name="SERIAL2_PROTOCOL" documentation="Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
<values>
<value code="1">GCS Mavlink</value>
<value code=" 3">Frsky D-PORT</value>
<value code=" 4">Frsky S-PORT</value>
<value code=" 5">GPS</value>
<value code=" 7">Alexmos Gimbal Serial</value>
<value code=" 8">SToRM32 Gimbal Serial</value>
<value code=" 9">Lidar</value>
</values>
</param>
<param humanName="Telemetry 2 Baud Rate" name="SERIAL2_BAUD" documentation="The baud rate of the Telem2 port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
<values>
<value code="1">1200</value>
<value code="2">2400</value>
<value code="4">4800</value>
<value code="9">9600</value>
<value code="19">19200</value>
<value code="38">38400</value>
<value code="57">57600</value>
<value code="111">111100</value>
<value code="115">115200</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
</values>
</param>
<param humanName="Serial 3 (GPS) protocol selection" name="SERIAL3_PROTOCOL" documentation="Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
<values>
<value code="1">GCS Mavlink</value>
<value code=" 3">Frsky D-PORT</value>
<value code=" 4">Frsky S-PORT</value>
<value code=" 5">GPS</value>
<value code=" 7">Alexmos Gimbal Serial</value>
<value code=" 8">SToRM32 Gimbal Serial</value>
<value code=" 9">Lidar</value>
</values>
</param>
<param humanName="Serial 3 (GPS) Baud Rate" name="SERIAL3_BAUD" documentation="The baud rate used for the Serial 3 (GPS). The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
<values>
<value code="1">1200</value>
<value code="2">2400</value>
<value code="4">4800</value>
<value code="9">9600</value>
<value code="19">19200</value>
<value code="38">38400</value>
<value code="57">57600</value>
<value code="111">111100</value>
<value code="115">115200</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
</values>
</param>
<param humanName="Serial4 protocol selection" name="SERIAL4_PROTOCOL" documentation="Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
<values>
<value code="1">GCS Mavlink</value>
<value code=" 3">Frsky D-PORT</value>
<value code=" 4">Frsky S-PORT</value>
<value code=" 5">GPS</value>
<value code=" 7">Alexmos Gimbal Serial</value>
<value code=" 8">SToRM32 Gimbal Serial</value>
<value code=" 9">Lidar</value>
</values>
</param>
<param humanName="Serial 4 Baud Rate" name="SERIAL4_BAUD" documentation="The baud rate used for Serial4. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
<values>
<value code="1">1200</value>
<value code="2">2400</value>
<value code="4">4800</value>
<value code="9">9600</value>
<value code="19">19200</value>
<value code="38">38400</value>
<value code="57">57600</value>
<value code="111">111100</value>
<value code="115">115200</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
</values>
</param>
</parameters>
<parameters name="GND_">
<param humanName="Absolute Pressure" name="GND_ABS_PRESS" documentation="calibrated ground pressure in Pascals">
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<field name="ReadOnly">True</field>
<field name="Volatile">True</field>
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<field name="Increment">1</field>
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<field name="Units">pascals</field>
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</param>
<param humanName="ground temperature" name="GND_TEMP" documentation="calibrated ground temperature in degrees Celsius">
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<field name="ReadOnly">True</field>
<field name="Volatile">True</field>
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<field name="Increment">1</field>
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<field name="Units">degrees celsius</field>
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</param>
<param humanName="altitude offset" name="GND_ALT_OFFSET" documentation="altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.">
<field name="Units">meters</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Primary barometer" name="GND_PRIMARY" documentation="This selects which barometer will be the primary if multiple barometers are found">
<values>
<value code="0">FirstBaro</value>
<value code="1">2ndBaro</value>
<value code="2">3rdBaro</value>
</values>
</param>
</parameters>
<parameters name="GPS_">
<param humanName="GPS type" name="GPS_TYPE" documentation="GPS type">
<values>
<value code="0">None</value>
<value code="1">AUTO</value>
<value code="2">uBlox</value>
<value code="3">MTK</value>
<value code="4">MTK19</value>
<value code="5">NMEA</value>
<value code="6">SiRF</value>
<value code="7">HIL</value>
<value code="8">SwiftNav</value>
<value code="9">PX4-UAVCAN</value>
<value code="10">SBF</value>
<value code="11">GSOF</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="2nd GPS type" name="GPS_TYPE2" documentation="GPS type of 2nd GPS">
<values>
<value code="0">None</value>
<value code="1">AUTO</value>
<value code="2">uBlox</value>
<value code="3">MTK</value>
<value code="4">MTK19</value>
<value code="5">NMEA</value>
<value code="6">SiRF</value>
<value code="7">HIL</value>
<value code="8">SwiftNav</value>
<value code="9">PX4-UAVCAN</value>
<value code="10">SBF</value>
<value code="11">GSOF</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Navigation filter setting" name="GPS_NAVFILTER" documentation="Navigation filter engine setting">
<values>
<value code="0">Portable</value>
<value code="2">Stationary</value>
<value code="3">Pedestrian</value>
<value code="4">Automotive</value>
<value code="5">Sea</value>
<value code="6">Airborne1G</value>
<value code="7">Airborne2G</value>
<value code="8">Airborne4G</value>
</values>
</param>
<param humanName="Automatic Switchover Setting" name="GPS_AUTO_SWITCH" documentation="Automatic switchover to GPS reporting best lock" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Minimum Lock Type Accepted for DGPS" name="GPS_MIN_DGPS" documentation="Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode." user="Advanced">
<values>
<value code="0">Any</value>
<value code="50">FloatRTK</value>
<value code="100">IntegerRTK</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="SBAS Mode" name="GPS_SBAS_MODE" documentation="This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
<value code="2">NoChange</value>
</values>
</param>
<param humanName="Minimum elevation" name="GPS_MIN_ELEV" documentation="This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default." user="Advanced">
<field name="Range">-100 90</field>
<field name="Units">Degrees</field>
</param>
<param humanName="Destination for GPS_INJECT_DATA MAVLink packets" name="GPS_INJECT_TO" documentation="The GGS can send raw serial packets to inject data to multiple GPSes.">
<values>
<value code="0">send to first GPS</value>
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<value code="1">send to 2nd GPS</value>
<value code="127">send to all</value>
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</values>
</param>
<param humanName="Swift Binary Protocol Logging Mask" name="GPS_SBP_LOGMASK" documentation="Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged" user="Advanced">
<values>
<value code="0x0000">None</value>
<value code=" 0xFFFF">All</value>
<value code=" 0xFF00">External only</value>
</values>
</param>
<param humanName="Raw data logging" name="GPS_RAW_DATA" documentation="Enable logging of RXM raw data from uBlox which includes carrier phase and pseudo range information. This allows for post processing of dataflash logs for more precise positioning. Note that this requires a raw capable uBlox such as the 6P or 6T.">
<values>
<value code="0">Disabled</value>
<value code="1">log every sample</value>
<value code="5">log every 5 samples</value>
</values>
<field name="RebootRequired">True</field>
</param>
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<param humanName="GNSS system configuration" name="GPS_GNSS_MODE" documentation="Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS</field>
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<values>
<value code="0">Leave as currently configured</value>
<value code=" 1">GPS-NoSBAS</value>
<value code=" 3">GPS+SBAS</value>
<value code=" 4">Galileo-NoSBAS</value>
<value code=" 6">Galileo+SBAS</value>
<value code=" 8">Beidou</value>
<value code=" 51">GPS+IMES+QZSS+SBAS (Japan Only)</value>
<value code=" 64">GLONASS</value>
<value code=" 66">GLONASS+SBAS</value>
<value code=" 67">GPS+GLONASS+SBAS</value>
</values>
</param>
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<param humanName="Save GPS configuration" name="GPS_SAVE_CFG" documentation="Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above." user="Advanced">
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<values>
<value code="0">Do not save config</value>
<value code="1">Save config</value>
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<value code="2">Save only when needed</value>
</values>
</param>
<param humanName="GNSS system configuration" name="GPS_GNSS_MODE2" documentation="Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS</field>
<values>
<value code="0">Leave as currently configured</value>
<value code=" 1">GPS-NoSBAS</value>
<value code=" 3">GPS+SBAS</value>
<value code=" 4">Galileo-NoSBAS</value>
<value code=" 6">Galileo+SBAS</value>
<value code=" 8">Beidou</value>
<value code=" 51">GPS+IMES+QZSS+SBAS (Japan Only)</value>
<value code=" 64">GLONASS</value>
<value code=" 66">GLONASS+SBAS</value>
<value code=" 67">GPS+GLONASS+SBAS</value>
</values>
</param>
<param humanName="Automatic GPS configuration" name="GPS_AUTO_CONFIG" documentation="Controls if the autopilot should automatically configure the GPS based on the parameters and default settings" user="Advanced">
<values>
<value code="0">Disables automatic configuration</value>
<value code="1">Enable automatic configuration</value>
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</values>
</param>
</parameters>
<parameters