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<?xml version="1.0" ?>
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    <parameters>
        <group name="Battery Calibration">
            <parameter>
                <code>BAT_CAPACITY</code>
                <type>FLOAT</type>
                <short_desc>Battery capacity</short_desc>
                <long_desc>Defines the capacity of the attached battery.</long_desc>
                <default>-1.0</default>
                <unit>mA</unit>
            </parameter>
            <parameter>
                <code>BAT_C_SCALING</code>
                <type>FLOAT</type>
                <short_desc>Scaling factor for battery current sensor</short_desc>
                <default>0.0124</default>
            </parameter>
            <parameter>
                <code>BAT_N_CELLS</code>
                <type>INT32</type>
                <short_desc>Number of cells</short_desc>
                <long_desc>Defines the number of cells the attached battery consists of.</long_desc>
                <default>3</default>
                <unit>S</unit>
            </parameter>
            <parameter>
                <code>BAT_V_CHARGED</code>
                <type>FLOAT</type>
                <short_desc>Full cell voltage</short_desc>
                <long_desc>Defines the voltage where a single cell of the battery is considered full.</long_desc>
                <default>4.2</default>
                <unit>V</unit>
            </parameter>
            <parameter>
                <code>BAT_V_EMPTY</code>
                <type>FLOAT</type>
                <short_desc>Empty cell voltage</short_desc>
                <long_desc>Defines the voltage where a single cell of the battery is considered empty.</long_desc>
                <default>3.4</default>
                <unit>V</unit>
            </parameter>
            <parameter>
                <code>BAT_V_LOAD_DROP</code>
                <type>FLOAT</type>
                <short_desc>Voltage drop per cell on 100% load</short_desc>
                <long_desc>This implicitely defines the internal resistance
to maximum current ratio and assumes linearity.</long_desc>
                <default>0.07</default>
                <unit>V</unit>
            </parameter>
            <parameter>
                <code>BAT_V_SCALE_IO</code>
                <type>INT32</type>
                <short_desc>Scaling factor for battery voltage sensor on PX4IO</short_desc>
                <default>10000</default>
            </parameter>
            <parameter>
                <code>BAT_V_SCALING</code>
                <type>FLOAT</type>
                <short_desc>Scaling factor for battery voltage sensor on FMU v2</short_desc>
                <default>0.0082</default>
            </parameter>
            <parameter>
                <code>BAT_V_SCALING</code>
                <type>FLOAT</type>
                <short_desc>Scaling factor for battery voltage sensor on AeroCore</short_desc>
                <long_desc>For R70 = 133K, R71 = 10K --&gt; scale = 1.8 * 143 / (4096*10) = 0.0063</long_desc>
                <default>0.0063</default>
            </parameter>
            <parameter>
                <code>BAT_V_SCALING</code>
                <type>FLOAT</type>
                <short_desc>Scaling factor for battery voltage sensor on FMU v1</short_desc>
                <long_desc>FMUv1 standalone: 1/(10 / (47+10)) * (3.3 / 4095) = 0.00459340659
FMUv1 with PX4IO: 0.00459340659
FMUv1 with PX4IOAR: (3.3f * 52.0f / 5.0f / 4095.0f) = 0.00838095238</long_desc>
                <default>0.00459340659</default>
            </parameter>
        </group>
        <group name="DLL">
            <parameter>
                <code>NAV_AH_ALT</code>
                <type>FLOAT</type>
                <short_desc>Airfield home alt</short_desc>
                <long_desc>Altitude of airfield home waypoint</long_desc>
                <default>600.0</default>
                <min>0.0</min>
                <unit>m</unit>
            </parameter>
            <parameter>
                <code>NAV_AH_LAT</code>
                <type>INT32</type>
                <short_desc>Airfield home Lat</short_desc>
                <long_desc>Latitude of airfield home waypoint</long_desc>
                <default>-265847810</default>
                <min>0</min>
                <unit>degrees * 1e7</unit>
            </parameter>
            <parameter>
                <code>NAV_AH_LON</code>
                <type>INT32</type>
                <short_desc>Airfield home Lon</short_desc>
                <long_desc>Longitude of airfield home waypoint</long_desc>
                <default>1518423250</default>
                <min>0</min>
                <unit>degrees * 1e7</unit>
            </parameter>
            <parameter>
                <code>NAV_DLL_AH_T</code>
                <type>FLOAT</type>
                <short_desc>Aifield hole wait time</short_desc>
                <long_desc>The amount of time in seconds the system should wait at the airfield home waypoint</long_desc>
                <default>120.0</default>
                <min>0.0</min>
                <unit>seconds</unit>
            </parameter>
            <parameter>
                <code>NAV_DLL_CHSK</code>
                <type>INT32</type>
                <short_desc>Skip comms hold wp</short_desc>
                <long_desc>If set to 1 the system will skip the comms hold wp on data link loss and will directly fly to
airfield home</long_desc>
                <default>0</default>
                <min>0</min>
                <max>1</max>
            </parameter>
            <parameter>
                <code>NAV_DLL_CH_ALT</code>
                <type>FLOAT</type>
                <short_desc>Comms hold alt</short_desc>
                <long_desc>Altitude of comms hold waypoint</long_desc>
                <default>600.0</default>
                <min>0.0</min>
                <unit>m</unit>
            </parameter>
            <parameter>
                <code>NAV_DLL_CH_LAT</code>
                <type>INT32</type>
                <short_desc>Comms hold Lat</short_desc>
                <long_desc>Latitude of comms hold waypoint</long_desc>
                <default>-266072120</default>
                <min>0</min>
                <unit>degrees * 1e7</unit>
            </parameter>
            <parameter>
                <code>NAV_DLL_CH_LON</code>
                <type>INT32</type>
                <short_desc>Comms hold Lon</short_desc>
                <long_desc>Longitude of comms hold waypoint</long_desc>
                <default>1518453890</default>
                <min>0</min>
                <unit>degrees * 1e7</unit>
            </parameter>
            <parameter>
                <code>NAV_DLL_CH_T</code>
                <type>FLOAT</type>
                <short_desc>Comms hold wait time</short_desc>
                <long_desc>The amount of time in seconds the system should wait at the comms hold waypoint</long_desc>
                <default>120.0</default>
                <min>0.0</min>
                <unit>seconds</unit>
            </parameter>
            <parameter>
                <code>NAV_DLL_N</code>
                <type>INT32</type>
                <short_desc>Number of allowed Datalink timeouts</short_desc>
                <long_desc>After more than this number of data link timeouts the aircraft returns home directly</long_desc>
                <default>2</default>
                <min>0</min>
                <max>1000</max>
            </parameter>
        </group>
        <group name="FW Attitude Control">
            <parameter>
                <code>FW_AIRSPD_MAX</code>
                <type>FLOAT</type>
                <short_desc>Maximum Airspeed</short_desc>
                <long_desc>If the airspeed is above this value, the TECS controller will try to decrease
airspeed more aggressively.</long_desc>
                <default>20.0</default>
                <min>0.0</min>
                <max>40</max>
                <unit>m/s</unit>
            </parameter>
            <parameter>
                <code>FW_AIRSPD_MIN</code>
                <type>FLOAT</type>
                <short_desc>Minimum Airspeed</short_desc>
                <long_desc>If the airspeed falls below this value, the TECS controller will try to
increase airspeed more aggressively.</long_desc>
                <default>10.0</default>
                <min>0.0</min>
                <max>40</max>
                <unit>m/s</unit>
            </parameter>
            <parameter>
                <code>FW_AIRSPD_TRIM</code>
                <type>FLOAT</type>
                <short_desc>Trim Airspeed</short_desc>
                <long_desc>The TECS controller tries to fly at this airspeed.</long_desc>
                <default>15.0</default>
                <min>0.0</min>
                <max>40</max>
                <unit>m/s</unit>
            </parameter>
            <parameter>
                <code>FW_ATT_TC</code>
                <type>FLOAT</type>
                <short_desc>Attitude Time Constant</short_desc>
                <long_desc>This defines the latency between a step input and the achieved setpoint
(inverse to a P gain). Half a second is a good start value and fits for
most average systems. Smaller systems may require smaller values, but as
this will wear out servos faster, the value should only be decreased as
needed.</long_desc>
                <default>0.5</default>
                <min>0.4</min>
                <max>1.0</max>
                <unit>seconds</unit>
            </parameter>
            <parameter>
                <code>FW_MAN_P_MAX</code>
                <type>FLOAT</type>
                <short_desc>Max Manual Pitch</short_desc>
                <long_desc>Max pitch for manual control in attitude stabilized mode</long_desc>
                <default>45.0</default>
                <min>0.0</min>
                <max>90.0</max>
                <unit>deg</unit>
            </parameter>
            <parameter>
                <code>FW_MAN_R_MAX</code>
                <type>FLOAT</type>
                <short_desc>Max Manual Roll</short_desc>
                <long_desc>Max roll for manual control in attitude stabilized mode</long_desc>
                <default>45.0</default>
                <min>0.0</min>
                <max>90.0</max>
                <unit>deg</unit>
            </parameter>
            <parameter>
                <code>FW_PR_FF</code>
                <type>FLOAT</type>
                <short_desc>Pitch rate feed forward</short_desc>
                <long_desc>Direct feed forward from rate setpoint to control surface output</long_desc>
                <default>0.4</default>
                <min>0.0</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>FW_PR_I</code>
                <type>FLOAT</type>
                <short_desc>Pitch rate integrator gain</short_desc>
                <long_desc>This gain defines how much control response will result out of a steady
state error. It trims any constant error.</long_desc>
                <default>0.0</default>
                <min>0.0</min>
                <max>50.0</max>
            </parameter>
            <parameter>
                <code>FW_PR_IMAX</code>
                <type>FLOAT</type>
                <short_desc>Pitch rate integrator limit</short_desc>
                <long_desc>The portion of the integrator part in the control surface deflection is
limited to this value</long_desc>
                <default>0.2</default>
                <min>0.0</min>
                <max>1.0</max>
            </parameter>
            <parameter>
                <code>FW_PR_P</code>
                <type>FLOAT</type>
                <short_desc>Pitch rate proportional gain</short_desc>
                <long_desc>This defines how much the elevator input will be commanded depending on the
current body angular rate error.</long_desc>
                <default>0.05</default>
            </parameter>
            <parameter>
                <code>FW_PSP_OFF</code>
                <type>FLOAT</type>
                <short_desc>Pitch Setpoint Offset</short_desc>
                <long_desc>An airframe specific offset of the pitch setpoint in degrees, the value is
added to the pitch setpoint and should correspond to the typical cruise
speed of the airframe.</long_desc>
                <default>0.0</default>
                <min>-90.0</min>
                <max>90.0</max>
                <unit>deg</unit>
            </parameter>
            <parameter>
                <code>FW_P_RMAX_NEG</code>
                <type>FLOAT</type>
                <short_desc>Maximum negative / down pitch rate</short_desc>
                <long_desc>This limits the maximum pitch down up angular rate the controller will
output (in degrees per second). Setting a value of zero disables the limit.</long_desc>
                <default>0.0</default>
                <min>0.0</min>
                <max>90.0</max>
                <unit>deg/s</unit>
            </parameter>
            <parameter>
                <code>FW_P_RMAX_POS</code>
                <type>FLOAT</type>
                <short_desc>Maximum positive / up pitch rate</short_desc>
                <long_desc>This limits the maximum pitch up angular rate the controller will output (in
degrees per second). Setting a value of zero disables the limit.</long_desc>
                <default>0.0</default>
                <min>0.0</min>
                <max>90.0</max>
                <unit>deg/s</unit>
            </parameter>
            <parameter>
                <code>FW_RR_FF</code>
                <type>FLOAT</type>
                <short_desc>Roll rate feed forward</short_desc>
                <long_desc>Direct feed forward from rate setpoint to control surface output</long_desc>
                <default>0.3</default>
                <min>0.0</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>FW_RR_I</code>
                <type>FLOAT</type>
                <short_desc>Roll rate integrator Gain</short_desc>
                <long_desc>This gain defines how much control response will result out of a steady
state error. It trims any constant error.</long_desc>
                <default>0.0</default>
                <min>0.0</min>
                <max>100.0</max>
            </parameter>
            <parameter>
                <code>FW_RR_IMAX</code>
                <type>FLOAT</type>
                <short_desc>Roll Integrator Anti-Windup</short_desc>
                <long_desc>The portion of the integrator part in the control surface deflection is limited to this value.</long_desc>
                <default>0.2</default>
                <min>0.0</min>
                <max>1.0</max>
            </parameter>
            <parameter>
                <code>FW_RR_P</code>
                <type>FLOAT</type>
                <short_desc>Roll rate proportional Gain</short_desc>
                <long_desc>This defines how much the aileron input will be commanded depending on the
current body angular rate error.</long_desc>
                <default>0.05</default>
            </parameter>
            <parameter>
                <code>FW_RSP_OFF</code>
                <type>FLOAT</type>
                <short_desc>Roll Setpoint Offset</short_desc>
                <long_desc>An airframe specific offset of the roll setpoint in degrees, the value is
added to the roll setpoint and should correspond to the typical cruise speed
of the airframe.</long_desc>
                <default>0.0</default>
                <min>-90.0</min>
                <max>90.0</max>
                <unit>deg</unit>
            </parameter>
            <parameter>
                <code>FW_R_RMAX</code>
                <type>FLOAT</type>
                <short_desc>Maximum Roll Rate</short_desc>
                <long_desc>This limits the maximum roll rate the controller will output (in degrees per
second). Setting a value of zero disables the limit.</long_desc>
                <default>0.0</default>
                <min>0.0</min>
                <max>90.0</max>
                <unit>deg/s</unit>
            </parameter>
            <parameter>
                <code>FW_YCO_METHOD</code>
                <type>INT32</type>
                <short_desc>Method used for yaw coordination</short_desc>
                <long_desc>The param value sets the method used to calculate the yaw rate
0: open-loop zero lateral acceleration based on kinematic constraints
1: closed-loop: try to reduce lateral acceleration to 0 by measuring the acceleration</long_desc>
                <default>0</default>
                <min>0</min>
                <max>1</max>
                <unit>m/s</unit>
            </parameter>
            <parameter>
                <code>FW_YCO_VMIN</code>
                <type>FLOAT</type>
                <short_desc>Minimal speed for yaw coordination</short_desc>
                <long_desc>For airspeeds above this value, the yaw rate is calculated for a coordinated
turn. Set to a very high value to disable.</long_desc>
                <default>1000.0</default>
                <unit>m/s</unit>
            </parameter>
            <parameter>
                <code>FW_YR_FF</code>
                <type>FLOAT</type>
                <short_desc>Yaw rate feed forward</short_desc>
                <long_desc>Direct feed forward from rate setpoint to control surface output</long_desc>
                <default>0.3</default>
                <min>0.0</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>FW_YR_I</code>
                <type>FLOAT</type>
                <short_desc>Yaw rate integrator gain</short_desc>
                <long_desc>This gain defines how much control response will result out of a steady
state error. It trims any constant error.</long_desc>
                <default>0.0</default>
                <min>0.0</min>
                <max>50.0</max>
            </parameter>
            <parameter>
                <code>FW_YR_IMAX</code>
                <type>FLOAT</type>
                <short_desc>Yaw rate integrator limit</short_desc>
                <long_desc>The portion of the integrator part in the control surface deflection is
limited to this value</long_desc>
                <default>0.2</default>
                <min>0.0</min>
                <max>1.0</max>
            </parameter>
            <parameter>
                <code>FW_YR_P</code>
                <type>FLOAT</type>
                <short_desc>Yaw rate proportional gain</short_desc>
                <long_desc>This defines how much the rudder input will be commanded depending on the
current body angular rate error.</long_desc>
                <default>0.05</default>
            </parameter>
            <parameter>
                <code>FW_Y_RMAX</code>
                <type>FLOAT</type>
                <short_desc>Maximum Yaw Rate</short_desc>
                <long_desc>This limits the maximum yaw rate the controller will output (in degrees per
second). Setting a value of zero disables the limit.</long_desc>
                <default>0.0</default>
                <min>0.0</min>
                <max>90.0</max>
                <unit>deg/s</unit>
            </parameter>
        </group>
        <group name="Fixed Wing TECS">
            <parameter>
                <code>FW_T_HGT_OMEGA</code>
                <type>FLOAT</type>
                <short_desc>Complementary filter &quot;omega&quot; parameter for height</short_desc>
                <long_desc>This is the cross-over frequency (in radians/second) of the complementary
filter used to fuse vertical acceleration and barometric height to obtain
an estimate of height rate and height. Increasing this frequency weights
the solution more towards use of the barometer, whilst reducing it weights
the solution more towards use of the accelerometer data.</long_desc>
                <default>3.0</default>
            </parameter>
            <parameter>
                <code>FW_T_HRATE_FF</code>
                <type>FLOAT</type>
                <short_desc>Height rate FF factor</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>FW_T_HRATE_P</code>
                <type>FLOAT</type>
                <short_desc>Height rate P factor</short_desc>
                <default>0.05</default>
            </parameter>
            <parameter>
                <code>FW_T_INTEG_GAIN</code>
                <type>FLOAT</type>
                <short_desc>Integrator gain</short_desc>
                <long_desc>This is the integrator gain on the control loop.
Increasing this gain increases the speed at which speed
and height offsets are trimmed out, but reduces damping and
increases overshoot.</long_desc>
                <default>0.1</default>
            </parameter>
            <parameter>
                <code>FW_T_PTCH_DAMP</code>
                <type>FLOAT</type>
                <short_desc>Pitch damping factor</short_desc>
                <long_desc>This is the damping gain for the pitch demand loop. Increase to add
damping to correct for oscillations in height. The default value of 0.0
will work well provided the pitch to servo controller has been tuned
properly.</long_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>FW_T_RLL2THR</code>
                <type>FLOAT</type>
                <short_desc>Roll -&gt; Throttle feedforward</short_desc>
                <long_desc>Increasing this gain turn increases the amount of throttle that will
be used to compensate for the additional drag created by turning.
Ideally this should be set to  approximately 10 x the extra sink rate
in m/s created by a 45 degree bank turn. Increase this gain if
the aircraft initially loses energy in turns and reduce if the
aircraft initially gains energy in turns. Efficient high aspect-ratio
aircraft (eg powered sailplanes) can use a lower value, whereas
inefficient low aspect-ratio models (eg delta wings) can use a higher value.</long_desc>
                <default>10.0</default>
            </parameter>
            <parameter>
                <code>FW_T_SINK_MAX</code>
                <type>FLOAT</type>
                <short_desc>Maximum descent rate</short_desc>
                <long_desc>This sets the maximum descent rate that the controller will use.
If this value is too large, the aircraft can over-speed on descent.
This should be set to a value that can be achieved without
exceeding the lower pitch angle limit and without over-speeding
the aircraft.</long_desc>
                <default>5.0</default>
            </parameter>
            <parameter>
                <code>FW_T_SINK_MIN</code>
                <type>FLOAT</type>
                <short_desc>Minimum descent rate</short_desc>
                <long_desc>This is the sink rate of the aircraft with the throttle
set to THR_MIN and flown at the same airspeed as used
to measure FW_T_CLMB_MAX.</long_desc>
                <default>2.0</default>
            </parameter>
            <parameter>
                <code>FW_T_SPDWEIGHT</code>
                <type>FLOAT</type>
                <short_desc>Speed &lt;--&gt; Altitude priority</short_desc>
                <long_desc>This parameter adjusts the amount of weighting that the pitch control
applies to speed vs height errors. Setting it to 0.0 will cause the
pitch control to control height and ignore speed errors. This will
normally improve height accuracy but give larger airspeed errors.
Setting it to 2.0 will cause the pitch control loop to control speed
and ignore height errors. This will normally reduce airspeed errors,
but give larger height errors. The default value of 1.0 allows the pitch
control to simultaneously control height and speed.
Note to Glider Pilots - set this parameter to 2.0 (The glider will
adjust its pitch angle to maintain airspeed, ignoring changes in height).</long_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>FW_T_SPD_OMEGA</code>
                <type>FLOAT</type>
                <short_desc>Complementary filter &quot;omega&quot; parameter for speed</short_desc>
                <long_desc>This is the cross-over frequency (in radians/second) of the complementary
filter used to fuse longitudinal acceleration and airspeed to obtain an
improved airspeed estimate. Increasing this frequency weights the solution
more towards use of the arispeed sensor, whilst reducing it weights the
solution more towards use of the accelerometer data.</long_desc>
                <default>2.0</default>
            </parameter>
            <parameter>
                <code>FW_T_SRATE_P</code>
                <type>FLOAT</type>
                <short_desc>Speed rate P factor</short_desc>
                <default>0.05</default>
            </parameter>
            <parameter>
                <code>FW_T_THRO_CONST</code>
                <type>FLOAT</type>
                <short_desc>TECS Throttle time constant</short_desc>
                <long_desc>This is the time constant of the TECS throttle control algorithm (in seconds).
Smaller values make it faster to respond, larger values make it slower
to respond.</long_desc>
                <default>8.0</default>
            </parameter>
            <parameter>
                <code>FW_T_THR_DAMP</code>
                <type>FLOAT</type>
                <short_desc>Throttle damping factor</short_desc>
                <long_desc>This is the damping gain for the throttle demand loop.
Increase to add damping to correct for oscillations in speed and height.</long_desc>
                <default>0.5</default>
            </parameter>
            <parameter>
                <code>FW_T_TIME_CONST</code>
                <type>FLOAT</type>
                <short_desc>TECS time constant</short_desc>
                <long_desc>This is the time constant of the TECS control algorithm (in seconds).
Smaller values make it faster to respond, larger values make it slower
to respond.</long_desc>
                <default>5.0</default>
            </parameter>
            <parameter>
                <code>FW_T_VERT_ACC</code>
                <type>FLOAT</type>
                <short_desc>Maximum vertical acceleration</short_desc>
                <long_desc>This is the maximum vertical acceleration (in metres/second square)
either up or down that the controller will use to correct speed
or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g)
allows for reasonably aggressive pitch changes if required to recover
from under-speed conditions.</long_desc>
                <default>7.0</default>
            </parameter>
        </group>
        <group name="GPSF">
            <parameter>
                <code>NAV_GPSF_LT</code>
                <type>FLOAT</type>
                <short_desc>Loiter time</short_desc>
                <long_desc>The amount of time in seconds the system should do open loop loiter and wait for gps recovery
before it goes into flight termination.</long_desc>
                <default>30.0</default>
                <min>0.0</min>
                <unit>seconds</unit>
            </parameter>
            <parameter>
                <code>NAV_GPSF_P</code>
                <type>FLOAT</type>
                <short_desc>Open loop loiter pitch</short_desc>
                <long_desc>Pitch in degrees during the open loop loiter</long_desc>
                <default>0.0</default>
                <min>-30.0</min>
                <max>30.0</max>
                <unit>deg</unit>
            </parameter>
            <parameter>
                <code>NAV_GPSF_R</code>
                <type>FLOAT</type>
                <short_desc>Open loop loiter roll</short_desc>
                <long_desc>Roll in degrees during the open loop loiter</long_desc>
                <default>15.0</default>
                <min>0.0</min>
                <max>30.0</max>
                <unit>deg</unit>
            </parameter>
            <parameter>
                <code>NAV_GPSF_TR</code>
                <type>FLOAT</type>
                <short_desc>Open loop loiter thrust</short_desc>
                <long_desc>Thrust value which is set during the open loop loiter</long_desc>
                <default>0.7</default>
                <min>0.0</min>
                <max>1.0</max>
            </parameter>
        </group>
        <group name="Geofence">
            <parameter>
                <code>GF_ALTMODE</code>
                <type>INT32</type>
                <short_desc>Geofence altitude mode</short_desc>
                <long_desc>Select which altitude reference should be used
0 = WGS84, 1 = AMSL</long_desc>
                <default>0</default>
                <min>0</min>
                <max>1</max>
            </parameter>
            <parameter>
                <code>GF_COUNT</code>
                <type>INT32</type>
                <short_desc>Geofence counter limit</short_desc>
                <long_desc>Set how many subsequent position measurements outside of the fence are needed before geofence violation is triggered</long_desc>
                <default>-1</default>
                <min>-1</min>
                <max>10</max>
            </parameter>
            <parameter>
                <code>GF_ON</code>
                <type>INT32</type>
                <short_desc>Enable geofence</short_desc>
                <long_desc>Set to 1 to enable geofence.
Defaults to 1 because geofence is only enabled when the geofence.txt file is present.</long_desc>
                <default>1</default>
                <min>0</min>
                <max>1</max>
            </parameter>
            <parameter>
                <code>GF_SOURCE</code>
                <type>INT32</type>
                <short_desc>Geofence source</short_desc>
                <long_desc>Select which position source should be used. Selecting GPS instead of global position makes sure that there is
no dependence on the position estimator
0 = global position, 1 = GPS</long_desc>
                <default>0</default>
                <min>0</min>
                <max>1</max>
            </parameter>
        </group>
        <group name="L1 Control">
            <parameter>
                <code>FW_CLMBOUT_DIFF</code>
                <type>FLOAT</type>
                <short_desc>Climbout Altitude difference</short_desc>
                <long_desc>If the altitude error exceeds this parameter, the system will climb out
with maximum throttle and minimum airspeed until it is closer than this
distance to the desired altitude. Mostly used for takeoff waypoints / modes.
Set to zero to disable climbout mode (not recommended).</long_desc>
                <default>25.0</default>
            </parameter>
            <parameter>
                <code>FW_L1_DAMPING</code>
                <type>FLOAT</type>
                <short_desc>L1 damping</short_desc>
                <long_desc>Damping factor for L1 control.</long_desc>
                <default>0.75</default>
                <min>0.6</min>
                <max>0.9</max>
            </parameter>
            <parameter>
                <code>FW_L1_PERIOD</code>
                <type>FLOAT</type>
                <short_desc>L1 period</short_desc>
                <long_desc>This is the L1 distance and defines the tracking
point ahead of the aircraft its following.
A value of 25 meters works for most aircraft. Shorten
slowly during tuning until response is sharp without oscillation.</long_desc>
                <default>25.0</default>
                <min>1.0</min>
                <max>100.0</max>
            </parameter>
            <parameter>
                <code>FW_LND_ANG</code>
                <type>FLOAT</type>
                <short_desc>Landing slope angle</short_desc>
                <default>5.0</default>
            </parameter>
            <parameter>
                <code>FW_LND_FLALT</code>
                <type>FLOAT</type>
                <short_desc>Landing flare altitude (relative to landing altitude)</short_desc>
                <default>8.0</default>
                <unit>meter</unit>
            </parameter>
            <parameter>
                <code>FW_LND_HHDIST</code>
                <type>FLOAT</type>
                <short_desc>Landing heading hold horizontal distance</short_desc>
                <default>15.0</default>
            </parameter>
            <parameter>
                <code>FW_LND_HVIRT</code>
                <type>FLOAT</type>
                <short_desc>FW_LND_HVIRT</short_desc>
                <default>10.0</default>
            </parameter>
            <parameter>
                <code>FW_LND_TLALT</code>
                <type>FLOAT</type>
                <short_desc>Landing throttle limit altitude (relative landing altitude)</short_desc>
                <long_desc>Default of -1.0f lets the system default to applying throttle
limiting at 2/3 of the flare altitude.</long_desc>
                <default>-1.0</default>
                <unit>meter</unit>
            </parameter>
            <parameter>
                <code>FW_LND_USETER</code>
                <type>INT32</type>
                <short_desc>Enable or disable usage of terrain estimate during landing</short_desc>
                <long_desc>0: disabled, 1: enabled</long_desc>
                <default>0</default>
            </parameter>
            <parameter>
                <code>FW_P_LIM_MAX</code>
                <type>FLOAT</type>
                <short_desc>Positive pitch limit</short_desc>
                <long_desc>The maximum positive pitch the controller will output.</long_desc>
                <default>45.0</default>
                <min>0.0</min>
                <max>60.0</max>
                <unit>degrees</unit>
            </parameter>
            <parameter>
                <code>FW_P_LIM_MIN</code>
                <type>FLOAT</type>
                <short_desc>Negative pitch limit</short_desc>
                <long_desc>The minimum negative pitch the controller will output.</long_desc>
                <default>-45.0</default>
                <min>-60.0</min>
                <max>0.0</max>
                <unit>degrees</unit>
            </parameter>
            <parameter>
                <code>FW_R_LIM</code>
                <type>FLOAT</type>
                <short_desc>Controller roll limit</short_desc>
                <long_desc>The maximum roll the controller will output.</long_desc>
                <default>45.0</default>
                <min>0.0</min>
                <unit>degrees</unit>
            </parameter>
            <parameter>
                <code>FW_THR_CRUISE</code>
                <type>FLOAT</type>
                <short_desc>Cruise throttle</short_desc>
                <long_desc>This is the throttle setting required to achieve the desired cruise speed. Most airframes have a value of 0.5-0.7.</long_desc>
                <default>0.7</default>
                <min>0.0</min>
                <max>1.0</max>
            </parameter>
            <parameter>
                <code>FW_THR_LND_MAX</code>
                <type>FLOAT</type>
                <short_desc>Throttle limit value before flare</short_desc>
                <long_desc>This throttle value will be set as throttle limit at FW_LND_TLALT,
before arcraft will flare.</long_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>FW_THR_MAX</code>
                <type>FLOAT</type>
                <short_desc>Throttle limit max</short_desc>
                <long_desc>This is the maximum throttle % that can be used by the controller.
For overpowered aircraft, this should be reduced to a value that
provides sufficient thrust to climb at the maximum pitch angle PTCH_MAX.</long_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>FW_THR_MIN</code>
                <type>FLOAT</type>
                <short_desc>Throttle limit min</short_desc>
                <long_desc>This is the minimum throttle % that can be used by the controller.
For electric aircraft this will normally be set to zero, but can be set
to a small non-zero value if a folding prop is fitted to prevent the
prop from folding and unfolding repeatedly in-flight or to provide
some aerodynamic drag from a turning prop to improve the descent rate.
For aircraft with internal combustion engine this parameter should be set
for desired idle rpm.</long_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>FW_THR_SLEW_MAX</code>
                <type>FLOAT</type>
                <short_desc>Throttle max slew rate</short_desc>
                <long_desc>Maximum slew rate for the commanded throttle</long_desc>
                <default>0.0</default>
                <min>0.0</min>
                <max>1.0</max>
            </parameter>
            <parameter>
                <code>FW_T_CLMB_MAX</code>
                <type>FLOAT</type>
                <short_desc>Maximum climb rate</short_desc>
                <long_desc>This is the best climb rate that the aircraft can achieve with
the throttle set to THR_MAX and the airspeed set to the
default value. For electric aircraft make sure this number can be
achieved towards the end of flight when the battery voltage has reduced.
The setting of this parameter can be checked by commanding a positive
altitude change of 100m in loiter, RTL or guided mode. If the throttle
required to climb is close to THR_MAX and the aircraft is maintaining
airspeed, then this parameter is set correctly. If the airspeed starts
to reduce, then the parameter is set to high, and if the throttle
demand required to climb and maintain speed is noticeably less than
FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or
FW_THR_MAX reduced.</long_desc>
                <default>5.0</default>
            </parameter>
        </group>
        <group name="Land Detector">
            <parameter>
                <code>LNDFW_AIRSPD_MAX</code>
                <type>FLOAT</type>
                <short_desc>Airspeed max</short_desc>
                <long_desc>Maximum airspeed allowed to trigger a land (m/s)</long_desc>
                <default>10.00</default>
            </parameter>
            <parameter>
                <code>LNDFW_VEL_XY_MAX</code>
                <type>FLOAT</type>
                <short_desc>Fixedwing max horizontal velocity</short_desc>
                <long_desc>Maximum horizontal velocity allowed to trigger a land (m/s)</long_desc>
                <default>0.20</default>
            </parameter>
            <parameter>
                <code>LNDFW_VEL_Z_MAX</code>
                <type>FLOAT</type>
                <short_desc>Fixedwing max climb rate</short_desc>
                <long_desc>Maximum vertical velocity allowed to trigger a land (m/s up and down)</long_desc>
                <default>10.00</default>
            </parameter>
            <parameter>
                <code>LNDMC_ROT_MAX</code>
                <type>FLOAT</type>
                <short_desc>Multicopter max rotation</short_desc>
                <long_desc>Maximum allowed around each axis to trigger a land (degrees per second)</long_desc>
                <default>20.0</default>
            </parameter>
            <parameter>
                <code>LNDMC_THR_MAX</code>
                <type>FLOAT</type>
                <short_desc>Multicopter max throttle</short_desc>
                <long_desc>Maximum actuator output on throttle before triggering a land</long_desc>
                <default>0.20</default>
            </parameter>
            <parameter>
                <code>LNDMC_XY_VEL_MAX</code>
                <type>FLOAT</type>
                <short_desc>Multicopter max horizontal velocity</short_desc>
                <long_desc>Maximum horizontal velocity allowed to trigger a land (m/s)</long_desc>
                <default>1.00</default>
            </parameter>
            <parameter>
                <code>LNDMC_Z_VEL_MAX</code>
                <type>FLOAT</type>
                <short_desc>Multicopter max climb rate</short_desc>
                <long_desc>Maximum vertical velocity allowed to trigger a land (m/s up and down)</long_desc>
                <default>0.30</default>
            </parameter>
        </group>
        <group name="Launch detection">
            <parameter>
                <code>LAUN_ALL_ON</code>
                <type>INT32</type>
                <short_desc>Enable launch detection</short_desc>
                <default>0</default>
                <min>0</min>
                <max>1</max>
            </parameter>
            <parameter>
                <code>LAUN_CAT_A</code>
                <type>FLOAT</type>
                <short_desc>Catapult accelerometer theshold</short_desc>
                <long_desc>LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection.</long_desc>
                <default>30.0</default>
                <min>0</min>
            </parameter>
            <parameter>
                <code>LAUN_CAT_MDEL</code>
                <type>FLOAT</type>
                <short_desc>Motor delay</short_desc>
                <long_desc>Delay between starting attitude control and powering up the throttle (giving throttle control to the controller)
Before this timespan is up the throttle will be set to LAUN_THR_PRE, set to 0 to deactivate</long_desc>
                <default>0.0</default>
                <min>0</min>
                <unit>seconds</unit>
            </parameter>
            <parameter>
                <code>LAUN_CAT_PMAX</code>
                <type>FLOAT</type>
                <short_desc>Maximum pitch before the throttle is powered up (during motor delay phase)</short_desc>
                <long_desc>This is an extra limit for the maximum pitch which is imposed in the phase before the throttle turns on.
This allows to limit the maximum pitch angle during a bungee launch (make the launch less steep).</long_desc>
                <default>30.0</default>
                <min>0</min>
                <max>45</max>
                <unit>deg</unit>
            </parameter>
            <parameter>
                <code>LAUN_CAT_T</code>
                <type>FLOAT</type>
                <short_desc>Catapult time theshold</short_desc>
                <long_desc>LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection.</long_desc>
                <default>0.05</default>
                <min>0</min>
            </parameter>
            <parameter>
                <code>LAUN_THR_PRE</code>
                <type>FLOAT</type>
                <short_desc>Throttle setting while detecting launch</short_desc>
                <long_desc>The throttle is set to this value while the system is waiting for the take-off.</long_desc>
                <default>0.0</default>
                <min>0</min>
                <max>1</max>
            </parameter>
        </group>
        <group name="MAVLink">
            <parameter>
                <code>MAV_COMP_ID</code>
                <type>INT32</type>
                <short_desc>MAVLink component ID</short_desc>
                <default>50</default>
            </parameter>
            <parameter>
                <code>MAV_FWDEXTSP</code>
                <type>INT32</type>
                <short_desc>Forward external setpoint messages
If set to 1 incomming external setpoint messages will be directly forwarded to the controllers if in offboard
control mode</short_desc>
                <default>1</default>
            </parameter>
            <parameter>
                <code>MAV_SYS_ID</code>
                <type>INT32</type>
                <short_desc>MAVLink system ID</short_desc>
                <default>1</default>
            </parameter>
            <parameter>
                <code>MAV_TYPE</code>
                <type>INT32</type>
                <short_desc>MAVLink type</short_desc>
                <default>MAV_TYPE_FIXED_WING</default>
            </parameter>
            <parameter>
                <code>MAV_USEHILGPS</code>
                <type>INT32</type>
                <short_desc>Use/Accept HIL GPS message (even if not in HIL mode)
If set to 1 incomming HIL GPS messages are parsed</short_desc>
                <default>0</default>
            </parameter>
        </group>
        <group name="MKBLCTRL Testmode">
            <parameter>
                <code>MKBLCTRL_TEST</code>
                <type>INT32</type>
                <short_desc>Enables testmode (Identify) of MKBLCTRL Driver</short_desc>
                <default>0</default>
            </parameter>
        </group>
        <group name="Mission">
            <parameter>
                <code>MIS_ALTMODE</code>
                <type>INT32</type>
                <short_desc>Altitude setpoint mode</short_desc>
                <long_desc>0: the system will follow a zero order hold altitude setpoint
1: the system will follow a first order hold altitude setpoint
values follow the definition in enum mission_altitude_mode</long_desc>
                <default>0</default>
                <min>0</min>
                <max>1</max>
            </parameter>
            <parameter>
                <code>MIS_DIST_1WP</code>
                <type>FLOAT</type>
                <short_desc>Maximal horizontal distance from home to first waypoint</short_desc>
                <long_desc>Failsafe check to prevent running mission stored from previous flight at a new takeoff location.
Set a value of zero or less to disable. The mission will not be started if the current
waypoint is more distant than MIS_DIS_1WP from the current position.</long_desc>
                <default>500</default>
                <min>0</min>
                <max>1000</max>
            </parameter>
            <parameter>
                <code>MIS_ONBOARD_EN</code>
                <type>INT32</type>
                <short_desc>Enable persistent onboard mission storage</short_desc>
                <long_desc>When enabled, missions that have been uploaded by the GCS are stored
and reloaded after reboot persistently.</long_desc>
                <default>1</default>
                <min>0</min>
                <max>1</max>
            </parameter>
            <parameter>
                <code>MIS_TAKEOFF_ALT</code>
                <type>FLOAT</type>
                <short_desc>Take-off altitude</short_desc>
                <long_desc>Even if first waypoint has altitude less then MIS_TAKEOFF_ALT above home position, system will climb to
MIS_TAKEOFF_ALT on takeoff, then go to waypoint.</long_desc>
                <default>10.0</default>
                <unit>meters</unit>
            </parameter>
            <parameter>
                <code>MIS_YAWMODE</code>
                <type>INT32</type>
                <short_desc>Multirotor only. Yaw setpoint mode</short_desc>
                <long_desc>0: Set the yaw heading to the yaw value specified for the destination waypoint.
1: Maintain a yaw heading pointing towards the next waypoint.
2: Maintain a yaw heading that always points to the home location.
3: Maintain a yaw heading that always points away from the home location (ie: back always faces home).
The values are defined in the enum mission_altitude_mode</long_desc>
                <default>0</default>
                <min>0</min>
                <max>3</max>
            </parameter>
            <parameter>
                <code>NAV_ACC_RAD</code>
                <type>FLOAT</type>
                <short_desc>Acceptance Radius</short_desc>
                <long_desc>Default acceptance radius, overridden by acceptance radius of waypoint if set.</long_desc>
                <default>10.0</default>
                <min>0.05</min>
                <max>200</max>
                <unit>meters</unit>
            </parameter>
            <parameter>
                <code>NAV_DLL_OBC</code>
                <type>INT32</type>
                <short_desc>Set OBC mode for data link loss</short_desc>
                <long_desc>If set to 1 the behaviour on data link loss is set to a mode according to the OBC rules</long_desc>
                <default>0</default>
                <min>0</min>
            </parameter>
            <parameter>
                <code>NAV_LOITER_RAD</code>
                <type>FLOAT</type>
                <short_desc>Loiter radius (FW only)</short_desc>
                <long_desc>Default value of loiter radius for missions, loiter, RTL, etc. (fixedwing only).</long_desc>
                <default>50.0</default>
                <min>20</min>
                <max>200</max>
                <unit>meters</unit>
            </parameter>
            <parameter>
                <code>NAV_RCL_OBC</code>
                <type>INT32</type>
                <short_desc>Set OBC mode for rc loss</short_desc>
                <long_desc>If set to 1 the behaviour on data link loss is set to a mode according to the OBC rules</long_desc>
                <default>0</default>
                <min>0</min>
            </parameter>
        </group>
        <group name="Multicopter Attitude Control">
            <parameter>
                <code>MC_ACRO_P_MAX</code>
                <type>FLOAT</type>
                <short_desc>Max acro pitch rate</short_desc>
                <default>90.0</default>
                <min>0.0</min>
                <max>360.0</max>
                <unit>deg/s</unit>
            </parameter>
            <parameter>
                <code>MC_ACRO_R_MAX</code>
                <type>FLOAT</type>
                <short_desc>Max acro roll rate</short_desc>
                <default>90.0</default>
                <min>0.0</min>
                <max>360.0</max>
                <unit>deg/s</unit>
            </parameter>
            <parameter>
                <code>MC_ACRO_Y_MAX</code>
                <type>FLOAT</type>
                <short_desc>Max acro yaw rate</short_desc>
                <default>120.0</default>
                <min>0.0</min>
                <unit>deg/s</unit>
            </parameter>
            <parameter>
                <code>MC_PITCHRATE_D</code>
                <type>FLOAT</type>
                <short_desc>Pitch rate D gain</short_desc>
                <long_desc>Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc>
                <default>0.002</default>
                <min>0.0</min>
            </parameter>
            <parameter>
                <code>MC_PITCHRATE_FF</code>
                <type>FLOAT</type>
                <short_desc>Pitch rate feedforward</short_desc>
                <long_desc>Improves tracking performance.</long_desc>
                <default>0.0</default>
                <min>0.0</min>
            </parameter>
            <parameter>
                <code>MC_PITCHRATE_I</code>
                <type>FLOAT</type>
                <short_desc>Pitch rate I gain</short_desc>
                <long_desc>Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</long_desc>
                <default>0.0</default>
                <min>0.0</min>
            </parameter>
            <parameter>
                <code>MC_PITCHRATE_MAX</code>
                <type>FLOAT</type>
                <short_desc>Max pitch rate</short_desc>
                <long_desc>Limit for pitch rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation.</long_desc>
                <default>360.0</default>
                <min>0.0</min>
                <max>360.0</max>
                <unit>deg/s</unit>
            </parameter>
            <parameter>
                <code>MC_PITCHRATE_P</code>
                <type>FLOAT</type>
                <short_desc>Pitch rate P gain</short_desc>
                <long_desc>Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.</long_desc>
                <default>0.1</default>
                <min>0.0</min>
            </parameter>
            <parameter>
                <code>MC_PITCH_P</code>
                <type>FLOAT</type>
                <short_desc>Pitch P gain</short_desc>
                <long_desc>Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc>
                <default>6.0</default>
                <min>0.0</min>
                <unit>1/s</unit>
            </parameter>
            <parameter>
                <code>MC_ROLLRATE_D</code>
                <type>FLOAT</type>
                <short_desc>Roll rate D gain</short_desc>
                <long_desc>Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc>
                <default>0.002</default>
                <min>0.0</min>
            </parameter>
            <parameter>
                <code>MC_ROLLRATE_FF</code>
                <type>FLOAT</type>
                <short_desc>Roll rate feedforward</short_desc>
                <long_desc>Improves tracking performance.</long_desc>
                <default>0.0</default>
                <min>0.0</min>
            </parameter>
            <parameter>
                <code>MC_ROLLRATE_I</code>
                <type>FLOAT</type>
                <short_desc>Roll rate I gain</short_desc>
                <long_desc>Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</long_desc>
                <default>0.0</default>
                <min>0.0</min>
            </parameter>
            <parameter>
                <code>MC_ROLLRATE_MAX</code>
                <type>FLOAT</type>
                <short_desc>Max roll rate</short_desc>
                <long_desc>Limit for roll rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation.</long_desc>
                <default>360.0</default>
                <min>0.0</min>
                <max>360.0</max>
                <unit>deg/s</unit>
            </parameter>
            <parameter>
                <code>MC_ROLLRATE_P</code>
                <type>FLOAT</type>
                <short_desc>Roll rate P gain</short_desc>
                <long_desc>Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.</long_desc>
                <default>0.1</default>
                <min>0.0</min>
            </parameter>
            <parameter>
                <code>MC_ROLL_P</code>
                <type>FLOAT</type>
                <short_desc>Roll P gain</short_desc>
                <long_desc>Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc>
                <default>6.0</default>
                <min>0.0</min>
            </parameter>
            <parameter>
                <code>MC_YAWRATE_D</code>
                <type>FLOAT</type>
                <short_desc>Yaw rate D gain</short_desc>
                <long_desc>Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc>
                <default>0.0</default>
                <min>0.0</min>
            </parameter>
            <parameter>
                <code>MC_YAWRATE_FF</code>
                <type>FLOAT</type>
                <short_desc>Yaw rate feedforward</short_desc>
                <long_desc>Improves tracking performance.</long_desc>
                <default>0.0</default>
                <min>0.0</min>
            </parameter>
            <parameter>
                <code>MC_YAWRATE_I</code>
                <type>FLOAT</type>
                <short_desc>Yaw rate I gain</short_desc>
                <long_desc>Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</long_desc>
                <default>0.0</default>
                <min>0.0</min>
            </parameter>
            <parameter>
                <code>MC_YAWRATE_MAX</code>
                <type>FLOAT</type>
                <short_desc>Max yaw rate</short_desc>
                <long_desc>Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation.</long_desc>
                <default>120.0</default>
                <min>0.0</min>
                <max>360.0</max>
                <unit>deg/s</unit>
            </parameter>
            <parameter>
                <code>MC_YAWRATE_P</code>
                <type>FLOAT</type>
                <short_desc>Yaw rate P gain</short_desc>
                <long_desc>Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.</long_desc>
                <default>0.3</default>
                <min>0.0</min>
            </parameter>
            <parameter>
                <code>MC_YAW_FF</code>
                <type>FLOAT</type>
                <short_desc>Yaw feed forward</short_desc>
                <long_desc>Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot.</long_desc>
                <default>0.5</default>
                <min>0.0</min>
                <max>1.0</max>
            </parameter>
            <parameter>
                <code>MC_YAW_P</code>
                <type>FLOAT</type>
                <short_desc>Yaw P gain</short_desc>
                <long_desc>Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc>
                <default>2.0</default>
                <min>0.0</min>
                <unit>1/s</unit>
            </parameter>
        </group>
        <group name="Multicopter Position Control">
            <parameter>
                <code>MPC_LAND_SPEED</code>
                <type>FLOAT</type>
                <short_desc>Landing descend rate</short_desc>
                <default>1.0</default>
                <min>0.0</min>
                <unit>m/s</unit>
            </parameter>
            <parameter>
                <code>MPC_MAN_P_MAX</code>
                <type>FLOAT</type>
                <short_desc>Max manual pitch</short_desc>
                <default>35.0</default>
                <min>0.0</min>
                <max>90.0</max>
                <unit>deg</unit>
            </parameter>
            <parameter>
                <code>MPC_MAN_R_MAX</code>
                <type>FLOAT</type>
                <short_desc>Max manual roll</short_desc>
                <default>35.0</default>
                <min>0.0</min>
                <max>90.0</max>
                <unit>deg</unit>
            </parameter>
            <parameter>
                <code>MPC_MAN_Y_MAX</code>
                <type>FLOAT</type>
                <short_desc>Max manual yaw rate</short_desc>
                <default>120.0</default>
                <min>0.0</min>
                <unit>deg/s</unit>
            </parameter>
            <parameter>
                <code>MPC_THR_MAX</code>
                <type>FLOAT</type>
                <short_desc>Maximum thrust</short_desc>
                <long_desc>Limit max allowed thrust.</long_desc>
                <default>1.0</default>
                <min>0.0</min>
                <max>1.0</max>
            </parameter>
            <parameter>
                <code>MPC_THR_MIN</code>
                <type>FLOAT</type>
                <short_desc>Minimum thrust</short_desc>
                <long_desc>Minimum vertical thrust. It's recommended to set it &gt; 0 to avoid free fall with zero thrust.</long_desc>
                <default>0.1</default>
                <min>0.0</min>
                <max>1.0</max>
            </parameter>
            <parameter>
                <code>MPC_TILTMAX_AIR</code>
                <type>FLOAT</type>
                <short_desc>Maximum tilt angle in air</short_desc>
                <long_desc>Limits maximum tilt in AUTO and POSCTRL modes during flight.</long_desc>
                <default>45.0</default>
                <min>0.0</min>
                <max>90.0</max>
                <unit>deg</unit>
            </parameter>
            <parameter>
                <code>MPC_TILTMAX_LND</code>
                <type>FLOAT</type>
                <short_desc>Maximum tilt during landing</short_desc>
                <long_desc>Limits maximum tilt angle on landing.</long_desc>
                <default>15.0</default>
                <min>0.0</min>
                <max>90.0</max>
                <unit>deg</unit>
            </parameter>
            <parameter>
                <code>MPC_XY_FF</code>
                <type>FLOAT</type>
                <short_desc>Horizontal velocity feed forward</short_desc>
                <long_desc>Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.</long_desc>
                <default>0.5</default>
                <min>0.0</min>
                <max>1.0</max>
            </parameter>
            <parameter>
                <code>MPC_XY_P</code>
                <type>FLOAT</type>
                <short_desc>Proportional gain for horizontal position error</short_desc>
                <default>1.0</default>
                <min>0.0</min>
            </parameter>
            <parameter>
                <code>MPC_XY_VEL_D</code>
                <type>FLOAT</type>
                <short_desc>Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again</short_desc>
                <default>0.01</default>
                <min>0.0</min>
            </parameter>
            <parameter>
                <code>MPC_XY_VEL_I</code>
                <type>FLOAT</type>
                <short_desc>Integral gain for horizontal velocity error</short_desc>
                <long_desc>Non-zero value allows to resist wind.</long_desc>
                <default>0.02</default>
                <min>0.0</min>
            </parameter>
            <parameter>
                <code>MPC_XY_VEL_MAX</code>
                <type>FLOAT</type>
                <short_desc>Maximum horizontal velocity</short_desc>
                <long_desc>Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL).</long_desc>
                <default>5.0</default>
                <min>0.0</min>
                <unit>m/s</unit>
            </parameter>
            <parameter>
                <code>MPC_XY_VEL_P</code>
                <type>FLOAT</type>
                <short_desc>Proportional gain for horizontal velocity error</short_desc>
                <default>0.1</default>
                <min>0.0</min>
            </parameter>
            <parameter>
                <code>MPC_Z_FF</code>
                <type>FLOAT</type>
                <short_desc>Vertical velocity feed forward</short_desc>
                <long_desc>Feed forward weight for altitude control in stabilized modes (ALTCTRL, POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.</long_desc>
                <default>0.5</default>
                <min>0.0</min>
                <max>1.0</max>
            </parameter>
            <parameter>
                <code>MPC_Z_P</code>
                <type>FLOAT</type>
                <short_desc>Proportional gain for vertical position error</short_desc>
                <default>1.0</default>
                <min>0.0</min>
            </parameter>
            <parameter>
                <code>MPC_Z_VEL_D</code>
                <type>FLOAT</type>
                <short_desc>Differential gain for vertical velocity error</short_desc>
                <default>0.0</default>
                <min>0.0</min>
            </parameter>
            <parameter>
                <code>MPC_Z_VEL_I</code>
                <type>FLOAT</type>
                <short_desc>Integral gain for vertical velocity error</short_desc>
                <long_desc>Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.</long_desc>
                <default>0.02</default>
                <min>0.0</min>
            </parameter>
            <parameter>
                <code>MPC_Z_VEL_MAX</code>
                <type>FLOAT</type>
                <short_desc>Maximum vertical velocity</short_desc>
                <long_desc>Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).</long_desc>
                <default>5.0</default>
                <min>0.0</min>
                <unit>m/s</unit>
            </parameter>
            <parameter>
                <code>MPC_Z_VEL_P</code>
                <type>FLOAT</type>
                <short_desc>Proportional gain for vertical velocity error</short_desc>
                <default>0.1</default>
                <min>0.0</min>
            </parameter>
        </group>
        <group name="Payload drop">
            <parameter>
                <code>BD_GPROPERTIES</code>
                <type>FLOAT</type>
                <short_desc>Ground drag property</short_desc>
                <long_desc>This parameter encodes the ground drag coefficient and the corresponding
decrease in wind speed from the plane altitude to ground altitude.</long_desc>
                <default>0.03</default>
                <min>0.001</min>
                <max>0.1</max>
                <unit>unknown</unit>
            </parameter>
            <parameter>
                <code>BD_OBJ_CD</code>
                <type>FLOAT</type>
                <short_desc>Payload drag coefficient of the dropped object</short_desc>
                <long_desc>The drag coefficient (cd) is the typical drag
constant for air. It is in general object specific,
but the closest primitive shape to the actual object
should give good results:
http://en.wikipedia.org/wiki/Drag_coefficient</long_desc>
                <default>0.1</default>
                <min>0.08</min>
                <max>1.5</max>
                <unit>meter</unit>
            </parameter>
            <parameter>
                <code>BD_OBJ_MASS</code>
                <type>FLOAT</type>
                <short_desc>Payload mass</short_desc>
                <long_desc>A typical small toy ball:
0.025 kg
OBC water bottle:
0.6 kg</long_desc>
                <default>0.6</default>
                <min>0.001</min>
                <max>5.0</max>
                <unit>kilogram</unit>
            </parameter>
            <parameter>
                <code>BD_OBJ_SURFACE</code>
                <type>FLOAT</type>
                <short_desc>Payload front surface area</short_desc>
                <long_desc>A typical small toy ball:
(0.045 * 0.045) / 4.0 * pi = 0.001590 m^2
OBC water bottle:
(0.063 * 0.063) / 4.0 * pi = 0.003117 m^2</long_desc>
                <default>0.00311724531</default>
                <min>0.001</min>
                <max>0.5</max>
                <unit>m^2</unit>
            </parameter>
            <parameter>
                <code>BD_PRECISION</code>
                <type>FLOAT</type>
                <short_desc>Drop precision</short_desc>
                <long_desc>If the system is closer than this distance on passing over the
drop position, it will release the payload. This is a safeguard
to prevent a drop out of the required accuracy.</long_desc>
                <default>30.0</default>
                <min>1.0</min>
                <max>80.0</max>
                <unit>meter</unit>
            </parameter>
            <parameter>
                <code>BD_TURNRADIUS</code>
                <type>FLOAT</type>
                <short_desc>Plane turn radius</short_desc>
                <long_desc>The planes known minimal turn radius - use a higher value
to make the plane maneuver more distant from the actual drop
position. This is to ensure the wings are level during the drop.</long_desc>
                <default>120.0</default>
                <min>30.0</min>
                <max>500.0</max>
                <unit>meter</unit>
            </parameter>
        </group>
        <group name="Position Estimator">
            <parameter>
                <code>PE_ABIAS_PNOISE</code>
                <type>FLOAT</type>
                <short_desc>Accelerometer bias estimate process noise</short_desc>
                <long_desc>Generic defaults: 0.0001f, multicopters: 0.0001f, ground vehicles: 0.0001f.
Increasing this value makes the bias estimation faster and noisier.</long_desc>
                <default>0.0002</default>
                <min>0.00001</min>
                <max>0.001</max>
            </parameter>
            <parameter>
                <code>PE_ACC_PNOISE</code>
                <type>FLOAT</type>
                <short_desc>Accelerometer process noise</short_desc>
                <long_desc>Generic defaults: 0.25, multicopters: 0.25, ground vehicles: 0.25.
Increasing this value makes the filter trust the accelerometer less
and other sensors more.</long_desc>
                <default>0.25</default>
                <min>0.05</min>
                <max>1.0</max>
            </parameter>
            <parameter>
                <code>PE_EAS_NOISE</code>
                <type>FLOAT</type>
                <short_desc>Airspeed measurement noise</short_desc>
                <long_desc>Increasing this value will make the filter trust this sensor
less and trust other sensors more.</long_desc>
                <default>1.4</default>
                <min>0.5</min>
                <max>5.0</max>
            </parameter>
            <parameter>
                <code>PE_GBIAS_PNOISE</code>
                <type>FLOAT</type>
                <short_desc>Gyro bias estimate process noise</short_desc>
                <long_desc>Generic defaults: 1e-07f, multicopters: 1e-07f, ground vehicles: 1e-07f.
Increasing this value will make the gyro bias converge faster but noisier.</long_desc>
                <default>1e-06</default>
                <min>0.0000001</min>
                <max>0.00001</max>
            </parameter>
            <parameter>
                <code>PE_GPS_ALT_WGT</code>
                <type>FLOAT</type>
                <short_desc>GPS vs. barometric altitude update weight</short_desc>
                <long_desc>RE-CHECK this.</long_desc>
                <default>0.9</default>
                <min>0.0</min>
                <max>1.0</max>
            </parameter>
            <parameter>
                <code>PE_GYRO_PNOISE</code>
                <type>FLOAT</type>
                <short_desc>Gyro process noise</short_desc>
                <long_desc>Generic defaults: 0.015, multicopters: 0.015, ground vehicles: 0.015.
This noise controls how much the filter trusts the gyro measurements.
Increasing it makes the filter trust the gyro less and other sensors more.</long_desc>
                <default>0.015</default>
                <min>0.001</min>
                <max>0.05</max>
            </parameter>
            <parameter>
                <code>PE_HGT_DELAY_MS</code>
                <type>INT32</type>
                <short_desc>Height estimate delay</short_desc>
                <long_desc>The delay in milliseconds of the height estimate from the barometer.</long_desc>
                <default>350</default>
                <min>0</min>
                <max>1000</max>
            </parameter>
            <parameter>
                <code>PE_MAGB_PNOISE</code>
                <type>FLOAT</type>
                <short_desc>Magnetometer body frame offsets process noise</short_desc>
                <long_desc>Generic defaults: 0.0003, multicopters: 0.0003, ground vehicles: 0.0003.
Increasing this value makes the magnetometer body bias estimate converge faster
but also noisier.</long_desc>
                <default>0.0003</default>
                <min>0.0001</min>
                <max>0.01</max>
            </parameter>
            <parameter>
                <code>PE_MAGE_PNOISE</code>
                <type>FLOAT</type>
                <short_desc>Magnetometer earth frame offsets process noise</short_desc>
                <long_desc>Generic defaults: 0.0001, multicopters: 0.0001, ground vehicles: 0.0001.
Increasing this value makes the magnetometer earth bias estimate converge
faster but also noisier.</long_desc>
                <default>0.0003</default>
                <min>0.0001</min>
                <max>0.01</max>
            </parameter>
            <parameter>
                <code>PE_MAG_DELAY_MS</code>
                <type>INT32</type>
                <short_desc>Mag estimate delay</short_desc>
                <long_desc>The delay in milliseconds of the magnetic field estimate from
the magnetometer.</long_desc>
                <default>30</default>
                <min>0</min>
                <max>1000</max>
            </parameter>
            <parameter>
                <code>PE_MAG_NOISE</code>
                <type>FLOAT</type>
                <short_desc>Magnetometer measurement noise</short_desc>
                <long_desc>Generic defaults: 0.05, multicopters: 0.05, ground vehicles: 0.05</long_desc>
                <default>0.05</default>
                <min>0.1</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>PE_POSDEV_INIT</code>
                <type>FLOAT</type>
                <short_desc>Threshold for filter initialization</short_desc>
                <long_desc>If the standard deviation of the GPS position estimate is below this threshold
in meters, the filter will initialize.</long_desc>
                <default>5.0</default>
                <min>0.3</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>PE_POSD_NOISE</code>
                <type>FLOAT</type>
                <short_desc>Position noise in down (vertical) direction</short_desc>
                <long_desc>Generic defaults: 0.5, multicopters: 1.0, ground vehicles: 1.0</long_desc>
                <default>0.5</default>
                <min>0.1</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>PE_POSNE_NOISE</code>
                <type>FLOAT</type>
                <short_desc>Position noise in north-east (horizontal) direction</short_desc>
                <long_desc>Generic defaults: 0.5, multicopters: 0.5, ground vehicles: 0.5</long_desc>
                <default>0.5</default>
                <min>0.1</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>PE_POS_DELAY_MS</code>
                <type>INT32</type>
                <short_desc>Position estimate delay</short_desc>
                <long_desc>The delay in milliseconds of the position estimate from GPS.</long_desc>
                <default>210</default>
                <min>0</min>
                <max>1000</max>
            </parameter>
            <parameter>
                <code>PE_TAS_DELAY_MS</code>
                <type>INT32</type>
                <short_desc>True airspeeed estimate delay</short_desc>
                <long_desc>The delay in milliseconds of the airspeed estimate.</long_desc>
                <default>210</default>
                <min>0</min>
                <max>1000</max>
            </parameter>
            <parameter>
                <code>PE_VELD_NOISE</code>
                <type>FLOAT</type>
                <short_desc>Velocity noise in down (vertical) direction</short_desc>
                <long_desc>Generic default: 0.5, multicopters: 0.7, ground vehicles: 0.7</long_desc>
                <default>0.5</default>
                <min>0.05</min>
                <max>5.0</max>
            </parameter>
            <parameter>
                <code>PE_VELNE_NOISE</code>
                <type>FLOAT</type>
                <short_desc>Velocity measurement noise in north-east (horizontal) direction</short_desc>
                <long_desc>Generic default: 0.3, multicopters: 0.5, ground vehicles: 0.5</long_desc>
                <default>0.3</default>
                <min>0.05</min>
                <max>5.0</max>
            </parameter>
            <parameter>
                <code>PE_VEL_DELAY_MS</code>
                <type>INT32</type>
                <short_desc>Velocity estimate delay</short_desc>
                <long_desc>The delay in milliseconds of the velocity estimate from GPS.</long_desc>
                <default>230</default>
                <min>0</min>
                <max>1000</max>
            </parameter>
        </group>
        <group name="Position Estimator INAV">
            <parameter>
                <code>CBRK_NO_VISION</code>
                <type>INT32</type>
                <short_desc>Disable vision input</short_desc>
                <long_desc>Set to the appropriate key (328754) to disable vision input.</long_desc>
                <default>0</default>
                <min>0</min>
                <max>1</max>
            </parameter>
            <parameter>
                <code>INAV_DELAY_GPS</code>
                <type>FLOAT</type>
                <short_desc>GPS delay</short_desc>
                <long_desc>GPS delay compensation</long_desc>
                <default>0.2</default>
                <min>0.0</min>
                <max>1.0</max>
                <unit>s</unit>
            </parameter>
            <parameter>
                <code>INAV_ENABLED</code>
                <type>INT32</type>
                <short_desc>INAV enabled</short_desc>
                <long_desc>If set to 1, use INAV for position estimation
the system uses the combined attitude / position
filter framework.</long_desc>
                <default>1</default>
                <min>0</min>
                <max>1</max>
            </parameter>
            <parameter>
                <code>INAV_FLOW_K</code>
                <type>FLOAT</type>
                <short_desc>Optical flow scale factor</short_desc>
                <long_desc>Factor to convert raw optical flow (in pixels) to radians [rad/px].</long_desc>
                <default>0.15</default>
                <min>0.0</min>
                <max>1.0</max>
                <unit>rad/px</unit>
            </parameter>
            <parameter>
                <code>INAV_FLOW_Q_MIN</code>
                <type>FLOAT</type>
                <short_desc>Minimal acceptable optical flow quality</short_desc>
                <long_desc>0 - lowest quality, 1 - best quality.</long_desc>
                <default>0.5</default>
                <min>0.0</min>
                <max>1.0</max>
            </parameter>
            <parameter>
                <code>INAV_LAND_DISP</code>
                <type>FLOAT</type>
                <short_desc>Land detector altitude dispersion threshold</short_desc>
                <long_desc>Dispersion threshold for triggering land detector.</long_desc>
                <default>0.7</default>
                <min>0.0</min>
                <max>10.0</max>
                <unit>m</unit>
            </parameter>
            <parameter>
                <code>INAV_LAND_T</code>
                <type>FLOAT</type>
                <short_desc>Land detector time</short_desc>
                <long_desc>Vehicle assumed landed if no altitude changes happened during this time on low throttle.</long_desc>
                <default>3.0</default>
                <min>0.0</min>
                <max>10.0</max>
                <unit>s</unit>
            </parameter>
            <parameter>
                <code>INAV_LAND_THR</code>
                <type>FLOAT</type>
                <short_desc>Land detector throttle threshold</short_desc>
                <long_desc>Value should be lower than minimal hovering thrust. Half of it is good choice.</long_desc>
                <default>0.2</default>
                <min>0.0</min>
                <max>1.0</max>
            </parameter>
            <parameter>
                <code>INAV_SONAR_ERR</code>
                <type>FLOAT</type>
                <short_desc>Sonar maximal error for new surface</short_desc>
                <long_desc>If sonar measurement error is larger than this value it skiped (spike) or accepted as new surface level (if offset is stable).</long_desc>
                <default>0.5</default>
                <min>0.0</min>
                <max>1.0</max>
                <unit>m</unit>
            </parameter>
            <parameter>
                <code>INAV_SONAR_FILT</code>
                <type>FLOAT</type>
                <short_desc>Weight for sonar filter</short_desc>
                <long_desc>Sonar filter detects spikes on sonar measurements and used to detect new surface level.</long_desc>
                <default>0.05</default>
                <min>0.0</min>
                <max>1.0</max>
            </parameter>
            <parameter>
                <code>INAV_W_ACC_BIAS</code>
                <type>FLOAT</type>
                <short_desc>Accelerometer bias estimation weight</short_desc>
                <long_desc>Weight (cutoff frequency) for accelerometer bias estimation. 0 to disable.</long_desc>
                <default>0.05</default>
                <min>0.0</min>
                <max>0.1</max>
            </parameter>
            <parameter>
                <code>INAV_W_GPS_FLOW</code>
                <type>FLOAT</type>
                <short_desc>XY axis weight factor for GPS when optical flow available</short_desc>
                <long_desc>When optical flow data available, multiply GPS weights (for position and velocity) by this factor.</long_desc>
                <default>0.1</default>
                <min>0.0</min>
                <max>1.0</max>
            </parameter>
            <parameter>
                <code>INAV_W_XY_FLOW</code>
                <type>FLOAT</type>
                <short_desc>XY axis weight for optical flow</short_desc>
                <long_desc>Weight (cutoff frequency) for optical flow (velocity) measurements.</long_desc>
                <default>5.0</default>
                <min>0.0</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>INAV_W_XY_GPS_P</code>
                <type>FLOAT</type>
                <short_desc>XY axis weight for GPS position</short_desc>
                <long_desc>Weight (cutoff frequency) for GPS position measurements.</long_desc>
                <default>1.0</default>
                <min>0.0</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>INAV_W_XY_GPS_V</code>
                <type>FLOAT</type>
                <short_desc>XY axis weight for GPS velocity</short_desc>
                <long_desc>Weight (cutoff frequency) for GPS velocity measurements.</long_desc>
                <default>2.0</default>
                <min>0.0</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>INAV_W_XY_RES_V</code>
                <type>FLOAT</type>
                <short_desc>XY axis weight for resetting velocity</short_desc>
                <long_desc>When velocity sources lost slowly decrease estimated horizontal velocity with this weight.</long_desc>
                <default>0.5</default>
                <min>0.0</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>INAV_W_XY_VIS_P</code>
                <type>FLOAT</type>
                <short_desc>XY axis weight for vision position</short_desc>
                <long_desc>Weight (cutoff frequency) for vision position measurements.</long_desc>
                <default>7.0</default>
                <min>0.0</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>INAV_W_XY_VIS_V</code>
                <type>FLOAT</type>
                <short_desc>XY axis weight for vision velocity</short_desc>
                <long_desc>Weight (cutoff frequency) for vision velocity measurements.</long_desc>
                <default>0.0</default>
                <min>0.0</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>INAV_W_Z_BARO</code>
                <type>FLOAT</type>
                <short_desc>Z axis weight for barometer</short_desc>
                <long_desc>Weight (cutoff frequency) for barometer altitude measurements.</long_desc>
                <default>0.5</default>
                <min>0.0</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>INAV_W_Z_GPS_P</code>
                <type>FLOAT</type>
                <short_desc>Z axis weight for GPS</short_desc>
                <long_desc>Weight (cutoff frequency) for GPS altitude measurements. GPS altitude data is very noisy and should be used only as slow correction for baro offset.</long_desc>
                <default>0.005</default>
                <min>0.0</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>INAV_W_Z_GPS_V</code>
                <type>FLOAT</type>
                <short_desc>Z velocity weight for GPS</short_desc>
                <long_desc>Weight (cutoff frequency) for GPS altitude velocity measurements.</long_desc>
                <default>0.0</default>
                <min>0.0</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>INAV_W_Z_SONAR</code>
                <type>FLOAT</type>
                <short_desc>Z axis weight for sonar</short_desc>
                <long_desc>Weight (cutoff frequency) for sonar measurements.</long_desc>
                <default>3.0</default>
                <min>0.0</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>INAV_W_Z_VIS_P</code>
                <type>FLOAT</type>
                <short_desc>Z axis weight for vision</short_desc>
                <long_desc>Weight (cutoff frequency) for vision altitude measurements. vision altitude data is very noisy and should be used only as slow correction for baro offset.</long_desc>
                <default>0.5</default>
                <min>0.0</min>
                <max>10.0</max>
            </parameter>
        </group>
        <group name="RCL">
            <parameter>
                <code>NAV_RCL_LT</code>
                <type>FLOAT</type>
                <short_desc>Loiter Time</short_desc>
                <long_desc>The amount of time in seconds the system should loiter at current position before termination
Set to -1 to make the system skip loitering</long_desc>
                <default>120.0</default>
                <min>-1.0</min>
                <unit>seconds</unit>
            </parameter>
        </group>
        <group name="RTL">
            <parameter>
                <code>RTL_DESCEND_ALT</code>
                <type>FLOAT</type>
                <short_desc>RTL loiter altitude</short_desc>
                <long_desc>Stay at this altitude above home position after RTL descending.
Land (i.e. slowly descend) from this altitude if autolanding allowed.</long_desc>
                <default>30</default>
                <min>2</min>
                <max>100</max>
                <unit>meters</unit>
            </parameter>
            <parameter>
                <code>RTL_LAND_DELAY</code>
                <type>FLOAT</type>
                <short_desc>RTL delay</short_desc>
                <long_desc>Delay after descend before landing in RTL mode.
If set to -1 the system will not land but loiter at NAV_LAND_ALT.</long_desc>
                <default>-1.0</default>
                <min>-1</min>
                <max>300</max>
                <unit>seconds</unit>
            </parameter>
            <parameter>
                <code>RTL_LOITER_RAD</code>
                <type>FLOAT</type>
                <short_desc>Loiter radius after RTL (FW only)</short_desc>
                <long_desc>Default value of loiter radius after RTL (fixedwing only).</long_desc>
                <default>50.0</default>
                <min>20</min>
                <max>200</max>
                <unit>meters</unit>
            </parameter>
            <parameter>
                <code>RTL_RETURN_ALT</code>
                <type>FLOAT</type>
                <short_desc>RTL altitude</short_desc>
                <long_desc>Altitude to fly back in RTL in meters</long_desc>
                <default>60</default>
                <min>0</min>
                <max>150</max>
                <unit>meters</unit>
            </parameter>
        </group>
        <group name="Radio Calibration">
            <parameter>
                <code>RC1_DZ</code>
                <type>FLOAT</type>
                <short_desc>RC Channel 1 dead zone</short_desc>
                <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
                <default>10.0</default>
                <min>0.0</min>
                <max>100.0</max>
            </parameter>
            <parameter>
                <code>RC1_MAX</code>
                <type>FLOAT</type>
                <short_desc>RC Channel 1 Maximum</short_desc>
                <long_desc>Maximum value for RC channel 1</long_desc>
                <default>2000.0</default>
                <min>1500.0</min>
                <max>2200.0</max>
            </parameter>
            <parameter>
                <code>RC1_MIN</code>
                <type>FLOAT</type>
                <short_desc>RC Channel 1 Minimum</short_desc>
                <long_desc>Minimum value for RC channel 1</long_desc>
                <default>1000.0</default>
                <min>800.0</min>
                <max>1500.0</max>
            </parameter>
            <parameter>
                <code>RC1_REV</code>
                <type>FLOAT</type>
                <short_desc>RC Channel 1 Reverse</short_desc>
                <long_desc>Set to -1 to reverse channel.</long_desc>
                <default>1.0</default>
                <min>-1.0</min>
                <max>1.0</max>
            </parameter>
            <parameter>
                <code>RC1_TRIM</code>
                <type>FLOAT</type>
                <short_desc>RC Channel 1 Trim</short_desc>
                <long_desc>Mid point value (same as min for throttle)</long_desc>
                <default>1500.0</default>
                <min>800.0</min>
                <max>2200.0</max>
            </parameter>
            <parameter>
                <code>RC2_DZ</code>
                <type>FLOAT</type>
                <short_desc>RC Channel 2 dead zone</short_desc>
                <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
                <default>10.0</default>
                <min>0.0</min>
                <max>100.0</max>
            </parameter>
            <parameter>
                <code>RC2_MAX</code>
                <type>FLOAT</type>
                <short_desc>RC Channel 2 Maximum</short_desc>
                <long_desc>Maximum value for RC channel 2</long_desc>
                <default>2000.0</default>
                <min>1500.0</min>
                <max>2200.0</max>
            </parameter>
            <parameter>
                <code>RC2_MIN</code>
                <type>FLOAT</type>
                <short_desc>RC Channel 2 Minimum</short_desc>
                <long_desc>Minimum value for RC channel 2</long_desc>
                <default>1000.0</default>
                <min>800.0</min>
                <max>1500.0</max>
            </parameter>
            <parameter>
                <code>RC2_REV</code>
                <type>FLOAT</type>
                <short_desc>RC Channel 2 Reverse</short_desc>
                <long_desc>Set to -1 to reverse channel.</long_desc>
                <default>1.0</default>
                <min>-1.0</min>
                <max>1.0</max>
            </parameter>
            <parameter>
                <code>RC2_TRIM</code>
                <type>FLOAT</type>
                <short_desc>RC Channel 2 Trim</short_desc>
                <long_desc>Mid point value (same as min for throttle)</long_desc>
                <default>1500.0</default>
                <min>800.0</min>
                <max>2200.0</max>
            </parameter>
            <parameter>
                <code>RC_CHAN_CNT</code>
                <type>INT32</type>
                <short_desc>RC channel count</short_desc>
                <long_desc>This parameter is used by Ground Station software to save the number
of channels which were used during RC calibration. It is only meant
for ground station use.</long_desc>
                <default>0</default>
                <min>0</min>
                <max>18</max>
            </parameter>
            <parameter>
                <code>RC_DSM_BIND</code>
                <type>INT32</type>
                <short_desc>DSM binding trigger</short_desc>
                <long_desc>-1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind</long_desc>
                <default>-1</default>
            </parameter>
            <parameter>
                <code>RC_FAILS_THR</code>
                <type>INT32</type>
                <short_desc>Failsafe channel PWM threshold</short_desc>
                <default>0</default>
                <min>800</min>
                <max>2200</max>
            </parameter>
            <parameter>
                <code>RC_MAP_ACRO_SW</code>
                <type>INT32</type>
                <short_desc>Acro switch channel mapping</short_desc>
                <default>0</default>
                <min>0</min>
                <max>18</max>
            </parameter>
            <parameter>
                <code>RC_MAP_AUX1</code>
                <type>INT32</type>
                <short_desc>Auxiliary switch 1 channel mapping</short_desc>
                <long_desc>Default function: Camera pitch</long_desc>
                <default>0</default>
                <min>0</min>
                <max>18</max>
            </parameter>
            <parameter>
                <code>RC_MAP_AUX2</code>
                <type>INT32</type>
                <short_desc>Auxiliary switch 2 channel mapping</short_desc>
                <long_desc>Default function: Camera roll</long_desc>
                <default>0</default>
                <min>0</min>
                <max>18</max>
            </parameter>
            <parameter>
                <code>RC_MAP_AUX3</code>
                <type>INT32</type>
                <short_desc>Auxiliary switch 3 channel mapping</short_desc>
                <long_desc>Default function: Camera azimuth / yaw</long_desc>
                <default>0</default>
                <min>0</min>
                <max>18</max>
            </parameter>
            <parameter>
                <code>RC_MAP_FLAPS</code>
                <type>INT32</type>
                <short_desc>Flaps channel mapping</short_desc>
                <default>0</default>
                <min>0</min>
                <max>18</max>
            </parameter>
            <parameter>
                <code>RC_MAP_LOITER_SW</code>
                <type>INT32</type>
                <short_desc>Loiter switch channel mapping</short_desc>
                <default>0</default>
                <min>0</min>
                <max>18</max>
            </parameter>
            <parameter>
                <code>RC_MAP_MODE_SW</code>
                <type>INT32</type>
                <short_desc>Mode switch channel mapping</short_desc>
                <long_desc>This is the main flight mode selector.
The channel index (starting from 1 for channel 1) indicates
which channel should be used for deciding about the main mode.
A value of zero indicates the switch is not assigned.</long_desc>
                <default>0</default>
                <min>0</min>
                <max>18</max>
            </parameter>
            <parameter>
                <code>RC_MAP_OFFB_SW</code>
                <type>INT32</type>
                <short_desc>Offboard switch channel mapping</short_desc>
                <default>0</default>
                <min>0</min>
                <max>18</max>
            </parameter>
            <parameter>
                <code>RC_MAP_PARAM1</code>
                <type>INT32</type>
                <short_desc>Channel which changes a parameter</short_desc>
                <long_desc>Can be used for parameter tuning with the RC. This one is further referenced as the 1st parameter channel.
Set to 0 to deactivate *</long_desc>
                <default>0</default>
                <min>0</min>
                <max>18</max>
            </parameter>
            <parameter>
                <code>RC_MAP_PARAM2</code>
                <type>INT32</type>
                <short_desc>Channel which changes a parameter</short_desc>
                <long_desc>Can be used for parameter tuning with the RC. This one is further referenced as the 2nd parameter channel.
Set to 0 to deactivate *</long_desc>
                <default>0</default>
                <min>0</min>
                <max>18</max>
            </parameter>
            <parameter>
                <code>RC_MAP_PARAM3</code>
                <type>INT32</type>
                <short_desc>Channel which changes a parameter</short_desc>
                <long_desc>Can be used for parameter tuning with the RC. This one is further referenced as the 3th parameter channel.
Set to 0 to deactivate *</long_desc>
                <default>0</default>
                <min>0</min>
                <max>18</max>
            </parameter>
            <parameter>
                <code>RC_MAP_PITCH</code>
                <type>INT32</type>
                <short_desc>Pitch control channel mapping</short_desc>
                <long_desc>The channel index (starting from 1 for channel 1) indicates
which channel should be used for reading pitch inputs from.
A value of zero indicates the switch is not assigned.</long_desc>
                <default>2</default>
                <min>0</min>
                <max>18</max>
            </parameter>
            <parameter>
                <code>RC_MAP_POSCTL_SW</code>
                <type>INT32</type>
                <short_desc>Posctl switch channel mapping</short_desc>
                <default>0</default>
                <min>0</min>
                <max>18</max>
            </parameter>
            <parameter>
                <code>RC_MAP_RETURN_SW</code>
                <type>INT32</type>
                <short_desc>Return switch channel mapping</short_desc>
                <default>0</default>
                <min>0</min>
                <max>18</max>
            </parameter>
            <parameter>
                <code>RC_MAP_ROLL</code>
                <type>INT32</type>
                <short_desc>Roll control channel mapping</short_desc>
                <long_desc>The channel index (starting from 1 for channel 1) indicates
which channel should be used for reading roll inputs from.
A value of zero indicates the switch is not assigned.</long_desc>
                <default>1</default>
                <min>0</min>
                <max>18</max>
            </parameter>
            <parameter>
                <code>RC_MAP_THROTTLE</code>
                <type>INT32</type>
                <short_desc>Throttle control channel mapping</short_desc>
                <long_desc>The channel index (starting from 1 for channel 1) indicates
which channel should be used for reading throttle inputs from.
A value of zero indicates the switch is not assigned.</long_desc>
                <default>3</default>
                <min>0</min>
                <max>18</max>
            </parameter>
            <parameter>
                <code>RC_MAP_YAW</code>
                <type>INT32</type>
                <short_desc>Yaw control channel mapping</short_desc>
                <long_desc>The channel index (starting from 1 for channel 1) indicates
which channel should be used for reading yaw inputs from.
A value of zero indicates the switch is not assigned.</long_desc>
                <default>4</default>
                <min>0</min>
                <max>18</max>
            </parameter>
            <parameter>
                <code>RC_TH_USER</code>
                <type>INT32</type>
                <short_desc>RC mode switch threshold automaic distribution</short_desc>
                <long_desc>This parameter is used by Ground Station software to specify whether
the threshold values for flight mode switches were automatically calculated.
0 indicates that the threshold values were set by the user. Any other value
indicates that the threshold value where automatically set by the ground
station software. It is only meant for ground station use.</long_desc>
                <default>1</default>
                <min>0</min>
                <max>1</max>
            </parameter>
        </group>
        <group name="SD Logging">
            <parameter>
                <code>SDLOG_EXT</code>
                <type>INT32</type>
                <short_desc>Enable extended logging mode</short_desc>
                <long_desc>A value of -1 indicates the commandline argument
should be obeyed. A value of 0 disables extended
logging mode, a value of 1 enables it. This
parameter is only read out before logging starts
(which commonly is before arming).</long_desc>
                <default>-1</default>
                <min>-1</min>
                <max>1</max>
            </parameter>
            <parameter>
                <code>SDLOG_RATE</code>
                <type>INT32</type>
                <short_desc>Logging rate</short_desc>
                <long_desc>A value of -1 indicates the commandline argument
should be obeyed. A value of 0 sets the minimum rate,
any other value is interpreted as rate in Hertz. This
parameter is only read out before logging starts (which
commonly is before arming).</long_desc>
                <default>-1</default>
                <min>-1</min>
                <max>1</max>
            </parameter>
        </group>
        <group name="Sensor Calibration">
            <parameter>
                <code>CAL_ACC0_ID</code>
                <type>INT32</type>
                <short_desc>ID of the Accelerometer that the calibration is for</short_desc>
                <default>0</default>
            </parameter>
            <parameter>
                <code>CAL_ACC0_XOFF</code>
                <type>FLOAT</type>
                <short_desc>Accelerometer X-axis offset</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>CAL_ACC0_XSCALE</code>
                <type>FLOAT</type>
                <short_desc>Accelerometer X-axis scaling factor</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>CAL_ACC0_YOFF</code>
                <type>FLOAT</type>
                <short_desc>Accelerometer Y-axis offset</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>CAL_ACC0_YSCALE</code>
                <type>FLOAT</type>
                <short_desc>Accelerometer Y-axis scaling factor</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>CAL_ACC0_ZOFF</code>
                <type>FLOAT</type>
                <short_desc>Accelerometer Z-axis offset</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>CAL_ACC0_ZSCALE</code>
                <type>FLOAT</type>
                <short_desc>Accelerometer Z-axis scaling factor</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>CAL_ACC1_ID</code>
                <type>INT32</type>
                <short_desc>ID of the Accelerometer that the calibration is for</short_desc>
                <default>0</default>
            </parameter>
            <parameter>
                <code>CAL_ACC1_XOFF</code>
                <type>FLOAT</type>
                <short_desc>Accelerometer X-axis offset</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>CAL_ACC1_XSCALE</code>
                <type>FLOAT</type>
                <short_desc>Accelerometer X-axis scaling factor</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>CAL_ACC1_YOFF</code>
                <type>FLOAT</type>
                <short_desc>Accelerometer Y-axis offset</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>CAL_ACC1_YSCALE</code>
                <type>FLOAT</type>
                <short_desc>Accelerometer Y-axis scaling factor</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>CAL_ACC1_ZOFF</code>
                <type>FLOAT</type>
                <short_desc>Accelerometer Z-axis offset</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>CAL_ACC1_ZSCALE</code>
                <type>FLOAT</type>
                <short_desc>Accelerometer Z-axis scaling factor</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>CAL_ACC2_ID</code>
                <type>INT32</type>
                <short_desc>ID of the Accelerometer that the calibration is for</short_desc>
                <default>0</default>
            </parameter>
            <parameter>
                <code>CAL_ACC2_XOFF</code>
                <type>FLOAT</type>
                <short_desc>Accelerometer X-axis offset</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>CAL_ACC2_XSCALE</code>
                <type>FLOAT</type>
                <short_desc>Accelerometer X-axis scaling factor</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>CAL_ACC2_YOFF</code>
                <type>FLOAT</type>
                <short_desc>Accelerometer Y-axis offset</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>CAL_ACC2_YSCALE</code>
                <type>FLOAT</type>
                <short_desc>Accelerometer Y-axis scaling factor</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>CAL_ACC2_ZOFF</code>
                <type>FLOAT</type>
                <short_desc>Accelerometer Z-axis offset</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>CAL_ACC2_ZSCALE</code>
                <type>FLOAT</type>
                <short_desc>Accelerometer Z-axis scaling factor</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>CAL_BOARD_ID</code>
                <type>INT32</type>
                <short_desc>ID of the board this parameter set was calibrated on</short_desc>
                <default>0</default>
            </parameter>
            <parameter>
                <code>CAL_GYRO0_ID</code>
                <type>INT32</type>
                <short_desc>ID of the Gyro that the calibration is for</short_desc>
                <default>0</default>
            </parameter>
            <parameter>
                <code>CAL_GYRO0_XOFF</code>
                <type>FLOAT</type>
                <short_desc>Gyro X-axis offset</short_desc>
                <default>0.0</default>
                <min>-10.0</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>CAL_GYRO0_XSCALE</code>
                <type>FLOAT</type>
                <short_desc>Gyro X-axis scaling factor</short_desc>
                <default>1.0</default>
                <min>-1.5</min>
                <max>1.5</max>
            </parameter>
            <parameter>
                <code>CAL_GYRO0_YOFF</code>
                <type>FLOAT</type>
                <short_desc>Gyro Y-axis offset</short_desc>
                <default>0.0</default>
                <min>-10.0</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>CAL_GYRO0_YSCALE</code>
                <type>FLOAT</type>
                <short_desc>Gyro Y-axis scaling factor</short_desc>
                <default>1.0</default>
                <min>-1.5</min>
                <max>1.5</max>
            </parameter>
            <parameter>
                <code>CAL_GYRO0_ZOFF</code>
                <type>FLOAT</type>
                <short_desc>Gyro Z-axis offset</short_desc>
                <default>0.0</default>
                <min>-5.0</min>
                <max>5.0</max>
            </parameter>
            <parameter>
                <code>CAL_GYRO0_ZSCALE</code>
                <type>FLOAT</type>
                <short_desc>Gyro Z-axis scaling factor</short_desc>
                <default>1.0</default>
                <min>-1.5</min>
                <max>1.5</max>
            </parameter>
            <parameter>
                <code>CAL_GYRO1_ID</code>
                <type>INT32</type>
                <short_desc>ID of the Gyro that the calibration is for</short_desc>
                <default>0</default>
            </parameter>
            <parameter>
                <code>CAL_GYRO1_XOFF</code>
                <type>FLOAT</type>
                <short_desc>Gyro X-axis offset</short_desc>
                <default>0.0</default>
                <min>-10.0</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>CAL_GYRO1_XSCALE</code>
                <type>FLOAT</type>
                <short_desc>Gyro X-axis scaling factor</short_desc>
                <default>1.0</default>
                <min>-1.5</min>
                <max>1.5</max>
            </parameter>
            <parameter>
                <code>CAL_GYRO1_YOFF</code>
                <type>FLOAT</type>
                <short_desc>Gyro Y-axis offset</short_desc>
                <default>0.0</default>
                <min>-10.0</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>CAL_GYRO1_YSCALE</code>
                <type>FLOAT</type>
                <short_desc>Gyro Y-axis scaling factor</short_desc>
                <default>1.0</default>
                <min>-1.5</min>
                <max>1.5</max>
            </parameter>
            <parameter>
                <code>CAL_GYRO1_ZOFF</code>
                <type>FLOAT</type>
                <short_desc>Gyro Z-axis offset</short_desc>
                <default>0.0</default>
                <min>-5.0</min>
                <max>5.0</max>
            </parameter>
            <parameter>
                <code>CAL_GYRO1_ZSCALE</code>
                <type>FLOAT</type>
                <short_desc>Gyro Z-axis scaling factor</short_desc>
                <default>1.0</default>
                <min>-1.5</min>
                <max>1.5</max>
            </parameter>
            <parameter>
                <code>CAL_GYRO2_ID</code>
                <type>INT32</type>
                <short_desc>ID of the Gyro that the calibration is for</short_desc>
                <default>0</default>
            </parameter>
            <parameter>
                <code>CAL_GYRO2_XOFF</code>
                <type>FLOAT</type>
                <short_desc>Gyro X-axis offset</short_desc>
                <default>0.0</default>
                <min>-10.0</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>CAL_GYRO2_XSCALE</code>
                <type>FLOAT</type>
                <short_desc>Gyro X-axis scaling factor</short_desc>
                <default>1.0</default>
                <min>-1.5</min>
                <max>1.5</max>
            </parameter>
            <parameter>
                <code>CAL_GYRO2_YOFF</code>
                <type>FLOAT</type>
                <short_desc>Gyro Y-axis offset</short_desc>
                <default>0.0</default>
                <min>-10.0</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>CAL_GYRO2_YSCALE</code>
                <type>FLOAT</type>
                <short_desc>Gyro Y-axis scaling factor</short_desc>
                <default>1.0</default>
                <min>-1.5</min>
                <max>1.5</max>
            </parameter>
            <parameter>
                <code>CAL_GYRO2_ZOFF</code>
                <type>FLOAT</type>
                <short_desc>Gyro Z-axis offset</short_desc>
                <default>0.0</default>
                <min>-5.0</min>
                <max>5.0</max>
            </parameter>
            <parameter>
                <code>CAL_GYRO2_ZSCALE</code>
                <type>FLOAT</type>
                <short_desc>Gyro Z-axis scaling factor</short_desc>
                <default>1.0</default>
                <min>-1.5</min>
                <max>1.5</max>
            </parameter>
            <parameter>
                <code>CAL_MAG0_ID</code>
                <type>INT32</type>
                <short_desc>ID of Magnetometer the calibration is for</short_desc>
                <default>0</default>
            </parameter>
            <parameter>
                <code>CAL_MAG0_ROT</code>
                <type>INT32</type>
                <short_desc>Rotation of magnetometer 0 relative to airframe</short_desc>
                <long_desc>An internal magnetometer will force a value of -1, so a GCS
should only attempt to configure the rotation if the value is
greater than or equal to zero.</long_desc>
                <default>-1</default>
                <min>-1</min>
                <max>30</max>
            </parameter>
            <parameter>
                <code>CAL_MAG0_XOFF</code>
                <type>FLOAT</type>
                <short_desc>Magnetometer X-axis offset</short_desc>
                <default>0.0</default>
                <min>-500.0</min>
                <max>500.0</max>
            </parameter>
            <parameter>
                <code>CAL_MAG0_XSCALE</code>
                <type>FLOAT</type>
                <short_desc>Magnetometer X-axis scaling factor</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>CAL_MAG0_YOFF</code>
                <type>FLOAT</type>
                <short_desc>Magnetometer Y-axis offset</short_desc>
                <default>0.0</default>
                <min>-500.0</min>
                <max>500.0</max>
            </parameter>
            <parameter>
                <code>CAL_MAG0_YSCALE</code>
                <type>FLOAT</type>
                <short_desc>Magnetometer Y-axis scaling factor</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>CAL_MAG0_ZOFF</code>
                <type>FLOAT</type>
                <short_desc>Magnetometer Z-axis offset</short_desc>
                <default>0.0</default>
                <min>-500.0</min>
                <max>500.0</max>
            </parameter>
            <parameter>
                <code>CAL_MAG0_ZSCALE</code>
                <type>FLOAT</type>
                <short_desc>Magnetometer Z-axis scaling factor</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>CAL_MAG1_ID</code>
                <type>INT32</type>
                <short_desc>ID of Magnetometer the calibration is for</short_desc>
                <default>0</default>
            </parameter>
            <parameter>
                <code>CAL_MAG1_ROT</code>
                <type>INT32</type>
                <short_desc>Rotation of magnetometer 1 relative to airframe</short_desc>
                <long_desc>An internal magnetometer will force a value of -1, so a GCS
should only attempt to configure the rotation if the value is
greater than or equal to zero.</long_desc>
                <default>-1</default>
                <min>-1</min>
                <max>30</max>
            </parameter>
            <parameter>
                <code>CAL_MAG1_XOFF</code>
                <type>FLOAT</type>
                <short_desc>Magnetometer X-axis offset</short_desc>
                <default>0.0</default>
                <min>-500.0</min>
                <max>500.0</max>
            </parameter>
            <parameter>
                <code>CAL_MAG1_XSCALE</code>
                <type>FLOAT</type>
                <short_desc>Magnetometer X-axis scaling factor</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>CAL_MAG1_YOFF</code>
                <type>FLOAT</type>
                <short_desc>Magnetometer Y-axis offset</short_desc>
                <default>0.0</default>
                <min>-500.0</min>
                <max>500.0</max>
            </parameter>
            <parameter>
                <code>CAL_MAG1_YSCALE</code>
                <type>FLOAT</type>
                <short_desc>Magnetometer Y-axis scaling factor</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>CAL_MAG1_ZOFF</code>
                <type>FLOAT</type>
                <short_desc>Magnetometer Z-axis offset</short_desc>
                <default>0.0</default>
                <min>-500.0</min>
                <max>500.0</max>
            </parameter>
            <parameter>
                <code>CAL_MAG1_ZSCALE</code>
                <type>FLOAT</type>
                <short_desc>Magnetometer Z-axis scaling factor</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>CAL_MAG2_ID</code>
                <type>INT32</type>
                <short_desc>ID of Magnetometer the calibration is for</short_desc>
                <default>0</default>
            </parameter>
            <parameter>
                <code>CAL_MAG2_ROT</code>
                <type>INT32</type>
                <short_desc>Rotation of magnetometer 2 relative to airframe</short_desc>
                <long_desc>An internal magnetometer will force a value of -1, so a GCS
should only attempt to configure the rotation if the value is
greater than or equal to zero.</long_desc>
                <default>-1</default>
                <min>-1</min>
                <max>30</max>
            </parameter>
            <parameter>
                <code>CAL_MAG2_XOFF</code>
                <type>FLOAT</type>
                <short_desc>Magnetometer X-axis offset</short_desc>
                <default>0.0</default>
                <min>-500.0</min>
                <max>500.0</max>
            </parameter>
            <parameter>
                <code>CAL_MAG2_XSCALE</code>
                <type>FLOAT</type>
                <short_desc>Magnetometer X-axis scaling factor</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>CAL_MAG2_YOFF</code>
                <type>FLOAT</type>
                <short_desc>Magnetometer Y-axis offset</short_desc>
                <default>0.0</default>
                <min>-500.0</min>
                <max>500.0</max>
            </parameter>
            <parameter>
                <code>CAL_MAG2_YSCALE</code>
                <type>FLOAT</type>
                <short_desc>Magnetometer Y-axis scaling factor</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>CAL_MAG2_ZOFF</code>
                <type>FLOAT</type>
                <short_desc>Magnetometer Z-axis offset</short_desc>
                <default>0.0</default>
                <min>-500.0</min>
                <max>500.0</max>
            </parameter>
            <parameter>
                <code>CAL_MAG2_ZSCALE</code>
                <type>FLOAT</type>
                <short_desc>Magnetometer Z-axis scaling factor</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>SENS_BARO_QNH</code>
                <type>FLOAT</type>
                <short_desc>QNH for barometer</short_desc>
                <default>1013.25</default>
                <min>500</min>
                <max>1500</max>
                <unit>hPa</unit>
            </parameter>
            <parameter>
                <code>SENS_BOARD_ROT</code>
                <type>INT32</type>
                <short_desc>Board rotation</short_desc>
                <long_desc>This parameter defines the rotation of the FMU board relative to the platform.
Possible values are:
0 = No rotation
1 = Yaw 45°
2 = Yaw 90°
3 = Yaw 135°
4 = Yaw 180°
5 = Yaw 225°
6 = Yaw 270°
7 = Yaw 315°
8 = Roll 180°
9 = Roll 180°, Yaw 45°
10 = Roll 180°, Yaw 90°
11 = Roll 180°, Yaw 135°
12 = Pitch 180°
13 = Roll 180°, Yaw 225°
14 = Roll 180°, Yaw 270°
15 = Roll 180°, Yaw 315°
16 = Roll 90°
17 = Roll 90°, Yaw 45°
18 = Roll 90°, Yaw 90°
19 = Roll 90°, Yaw 135°
20 = Roll 270°
21 = Roll 270°, Yaw 45°
22 = Roll 270°, Yaw 90°
23 = Roll 270°, Yaw 135°
24 = Pitch 90°
25 = Pitch 270°</long_desc>
                <default>0</default>
            </parameter>
            <parameter>
                <code>SENS_BOARD_X_OFF</code>
                <type>FLOAT</type>
                <short_desc>Board rotation X (Roll) offset</short_desc>
                <long_desc>This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user
to fine tune the board offset in the event of misalignment.</long_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>SENS_BOARD_Y_OFF</code>
                <type>FLOAT</type>
                <short_desc>Board rotation Y (Pitch) offset</short_desc>
                <long_desc>This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user
to fine tune the board offset in the event of misalignment.</long_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>SENS_BOARD_Z_OFF</code>
                <type>FLOAT</type>
                <short_desc>Board rotation Z (YAW) offset</short_desc>
                <long_desc>This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user
to fine tune the board offset in the event of misalignment.</long_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>SENS_DPRES_ANSC</code>
                <type>FLOAT</type>
                <short_desc>Differential pressure sensor analog scaling</short_desc>
                <long_desc>Pick the appropriate scaling from the datasheet.
this number defines the (linear) conversion from voltage
to Pascal (pa). For the MPXV7002DP this is 1000.
NOTE: If the sensor always registers zero, try switching
the static and dynamic tubes.</long_desc>
                <default>0</default>
            </parameter>
            <parameter>
                <code>SENS_DPRES_OFF</code>
                <type>FLOAT</type>
                <short_desc>Differential pressure sensor offset</short_desc>
                <long_desc>The offset (zero-reading) in Pascal</long_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>SENS_EXT_MAG</code>
                <type>INT32</type>
                <short_desc>Set usage of external magnetometer</short_desc>
                <long_desc>* Set to 0 (default) to auto-detect (will try to get the external as primary)
* Set to 1 to force the external magnetometer as primary
* Set to 2 to force the internal magnetometer as primary</long_desc>
                <default>0</default>
                <min>0</min>
                <max>2</max>
            </parameter>
            <parameter>
                <code>SENS_EXT_MAG_ROT</code>
                <type>INT32</type>
                <short_desc>External magnetometer rotation</short_desc>
                <long_desc>This parameter defines the rotation of the external magnetometer relative
to the platform (not relative to the FMU).
See SENS_BOARD_ROT for possible values.</long_desc>
                <default>0</default>
            </parameter>
            <parameter>
                <code>SENS_FLOW_ROT</code>
                <type>INT32</type>
                <short_desc>PX4Flow board rotation</short_desc>
                <long_desc>This parameter defines the rotation of the PX4FLOW board relative to the platform.
Zero rotation is defined as Y on flow board pointing towards front of vehicle
Possible values are:
0 = No rotation
1 = Yaw 45°
2 = Yaw 90°
3 = Yaw 135°
4 = Yaw 180°
5 = Yaw 225°
6 = Yaw 270°
7 = Yaw 315°</long_desc>
                <default>0</default>
            </parameter>
        </group>
        <group name="System">
            <parameter>
                <code>SYS_AUTOCONFIG</code>
                <type>INT32</type>
                <short_desc>Automatically configure default values</short_desc>
                <long_desc>Set to 1 to reset parameters on next system startup (setting defaults).
Platform-specific values are used if available.
RC* parameters are preserved.</long_desc>
                <default>0</default>
                <min>0</min>
                <max>1</max>
            </parameter>
            <parameter>
                <code>SYS_AUTOSTART</code>
                <type>INT32</type>
                <short_desc>Auto-start script index</short_desc>
                <long_desc>Defines the auto-start script used to bootstrap the system.</long_desc>
                <default>0</default>
            </parameter>
            <parameter>
                <code>SYS_COMPANION</code>
                <type>INT32</type>
                <short_desc>Companion computer interface</short_desc>
                <long_desc>Configures the baud rate of the companion computer interface.
Set to zero to disable, set to 921600 to enable.
CURRENTLY ONLY SUPPORTS 921600 BAUD! Use extras.txt for
other baud rates.</long_desc>
                <default>0</default>
                <min>0</min>
                <max>921600</max>
            </parameter>
            <parameter>
                <code>SYS_PARAM_VER</code>
                <type>INT32</type>
                <short_desc>Parameter version</short_desc>
                <long_desc>This monotonically increasing number encodes the parameter compatibility set.
whenever it increases parameters might not be backwards compatible and
ground control stations should suggest a fresh configuration.</long_desc>
                <default>1</default>
                <min>0</min>
            </parameter>
            <parameter>
                <code>SYS_RESTART_TYPE</code>
                <type>INT32</type>
                <short_desc>Set restart type</short_desc>
                <long_desc>Set by px4io to indicate type of restart</long_desc>
                <default>2</default>
                <min>0</min>
                <max>2</max>
            </parameter>
            <parameter>
                <code>SYS_USE_IO</code>
                <type>INT32</type>
                <short_desc>Set usage of IO board</short_desc>
                <long_desc>Can be used to use a standard startup script but with a FMU only set-up. Set to 0 to force the FMU only set-up.</long_desc>
                <default>1</default>
                <min>0</min>
                <max>1</max>
            </parameter>
        </group>
        <group name="UAVCAN">
            <parameter>
                <code>UAVCAN_BITRATE</code>
                <type>INT32</type>
                <short_desc>UAVCAN CAN bus bitrate</short_desc>
                <default>1000000</default>
                <min>20000</min>
                <max>1000000</max>
            </parameter>
            <parameter>
                <code>UAVCAN_ENABLE</code>
                <type>INT32</type>
                <short_desc>Enable UAVCAN</short_desc>
                <long_desc>Enables support for UAVCAN-interfaced actuators and sensors.</long_desc>
                <default>0</default>
                <min>0</min>
                <max>1</max>
            </parameter>
            <parameter>
                <code>UAVCAN_NODE_ID</code>
                <type>INT32</type>
                <short_desc>UAVCAN Node ID</short_desc>
                <long_desc>Read the specs at http://uavcan.org to learn more about Node ID.</long_desc>
                <default>1</default>
                <min>1</min>
                <max>125</max>
            </parameter>
        </group>
        <group name="VTOL Attitude Control">
            <parameter>
                <code>VT_ARSP_LP_GAIN</code>
                <type>FLOAT</type>
                <short_desc>Total airspeed estimate low-pass filter gain</short_desc>
                <long_desc>Gain for tuning the low-pass filter for the total airspeed estimate</long_desc>
                <default>0.3</default>
                <min>0.0</min>
                <max>0.99</max>
            </parameter>
            <parameter>
                <code>VT_FW_PERM_STAB</code>
                <type>INT32</type>
                <short_desc>Permanent stabilization in fw mode</short_desc>
                <long_desc>If set to one this parameter will cause permanent attitude stabilization in fw mode.
This parameter has been introduced for pure convenience sake.</long_desc>
                <default>0</default>
                <min>0</min>
                <max>1</max>
            </parameter>
            <parameter>
                <code>VT_FW_PITCH_TRIM</code>
                <type>FLOAT</type>
                <short_desc>Fixed wing pitch trim</short_desc>
                <long_desc>This parameter allows to adjust the neutral elevon position in fixed wing mode.</long_desc>
                <default>0.0</default>
                <min>-1</min>
                <max>1</max>
            </parameter>
            <parameter>
                <code>VT_IDLE_PWM_MC</code>
                <type>INT32</type>
                <short_desc>Idle speed of VTOL when in multicopter mode</short_desc>
                <default>900</default>
                <min>900</min>
            </parameter>
            <parameter>
                <code>VT_MC_ARSPD_MAX</code>
                <type>FLOAT</type>
                <short_desc>Maximum airspeed in multicopter mode</short_desc>
                <long_desc>This is the maximum speed of the air flowing over the control surfaces.</long_desc>
                <default>30.0</default>
                <min>0.0</min>
            </parameter>
            <parameter>
                <code>VT_MC_ARSPD_MIN</code>
                <type>FLOAT</type>
                <short_desc>Minimum airspeed in multicopter mode</short_desc>
                <long_desc>This is the minimum speed of the air flowing over the control surfaces.</long_desc>
                <default>10.0</default>
                <min>0.0</min>
            </parameter>
            <parameter>
                <code>VT_MC_ARSPD_TRIM</code>
                <type>FLOAT</type>
                <short_desc>Trim airspeed when in multicopter mode</short_desc>
                <long_desc>This is the airflow over the control surfaces for which no airspeed scaling is applied in multicopter mode.</long_desc>
                <default>10.0</default>
                <min>0.0</min>
            </parameter>
            <parameter>
                <code>VT_MOT_COUNT</code>
                <type>INT32</type>
                <short_desc>VTOL number of engines</short_desc>
                <default>0</default>
                <min>1</min>
            </parameter>
            <parameter>
                <code>VT_POWER_MAX</code>
                <type>FLOAT</type>
                <short_desc>Motor max power</short_desc>
                <long_desc>Indicates the maximum power the motor is able to produce. Used to calculate
propeller efficiency map.</long_desc>
                <default>120.0</default>
                <min>1</min>
            </parameter>
            <parameter>
                <code>VT_PROP_EFF</code>
                <type>FLOAT</type>
                <short_desc>Propeller efficiency parameter</short_desc>
                <long_desc>Influences propeller efficiency at different power settings. Should be tuned beforehand.</long_desc>
                <default>0.0</default>
                <min>0.5</min>
                <max>0.9</max>
            </parameter>
        </group>
        <group name="attitude_ekf">
            <parameter>
                <code>ATT_J11</code>
                <type>FLOAT</type>
                <short_desc>Moment of inertia matrix diagonal entry (1, 1)</short_desc>
                <default>0.0018</default>
                <unit>kg*m^2</unit>
            </parameter>
            <parameter>
                <code>ATT_J22</code>
                <type>FLOAT</type>
                <short_desc>Moment of inertia matrix diagonal entry (2, 2)</short_desc>
                <default>0.0018</default>
                <unit>kg*m^2</unit>
            </parameter>
            <parameter>
                <code>ATT_J33</code>
                <type>FLOAT</type>
                <short_desc>Moment of inertia matrix diagonal entry (3, 3)</short_desc>
                <default>0.0037</default>
                <unit>kg*m^2</unit>
            </parameter>
            <parameter>
                <code>ATT_J_EN</code>
                <type>INT32</type>
                <short_desc>Moment of inertia enabled in estimator</short_desc>
                <long_desc>If set to != 0 the moment of inertia will be used in the estimator</long_desc>
                <default>0</default>
                <min>0</min>
                <max>1</max>
            </parameter>
            <parameter>
                <code>EKF_ATT_V3_Q0</code>
                <type>FLOAT</type>
                <short_desc>Body angular rate process noise</short_desc>
                <default>1e-4</default>
            </parameter>
            <parameter>
                <code>EKF_ATT_V3_Q1</code>
                <type>FLOAT</type>
                <short_desc>Body angular acceleration process noise</short_desc>
                <default>0.08</default>
            </parameter>
            <parameter>
                <code>EKF_ATT_V3_Q2</code>
                <type>FLOAT</type>
                <short_desc>Acceleration process noise</short_desc>
                <default>0.009</default>
            </parameter>
            <parameter>
                <code>EKF_ATT_V3_Q3</code>
                <type>FLOAT</type>
                <short_desc>Magnet field vector process noise</short_desc>
                <default>0.005</default>
            </parameter>
            <parameter>
                <code>EKF_ATT_V4_R0</code>
                <type>FLOAT</type>
                <short_desc>Gyro measurement noise</short_desc>
                <default>0.0008</default>
            </parameter>
            <parameter>
                <code>EKF_ATT_V4_R1</code>
                <type>FLOAT</type>
                <short_desc>Accel measurement noise</short_desc>
                <default>10000.0</default>
            </parameter>
            <parameter>
                <code>EKF_ATT_V4_R2</code>
                <type>FLOAT</type>
                <short_desc>Mag measurement noise</short_desc>
                <default>100.0</default>
            </parameter>
        </group>
        <group name="commander">
            <parameter>
                <code>COM_AUTOS_PAR</code>
                <type>INT32</type>
                <short_desc>If not equal to zero the commander will automatically save parameters to persistent storage once changed.
Default is on, as the interoperability with currently deployed GCS solutions depends on parameters
being sticky. Developers can default it to off</short_desc>
                <default>1</default>
                <min>0</min>
                <max>1</max>
            </parameter>
            <parameter>
                <code>COM_DL_LOSS_EN</code>
                <type>INT32</type>
                <short_desc>Datalink loss mode enabled</short_desc>
                <long_desc>Set to 1 to enable actions triggered when the datalink is lost.</long_desc>
                <default>0</default>
                <min>0</min>
                <max>1</max>
            </parameter>
            <parameter>
                <code>COM_DL_LOSS_T</code>
                <type>INT32</type>
                <short_desc>After this amount of seconds without datalink the data link lost mode triggers</short_desc>
                <default>10</default>
                <min>0</min>
                <max>30</max>
                <unit>second</unit>
            </parameter>
            <parameter>
                <code>COM_DL_REG_T</code>
                <type>INT32</type>
                <short_desc>After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss'
flag is set back to false</short_desc>
                <default>0</default>
                <min>0</min>
                <max>30</max>
                <unit>second</unit>
            </parameter>
            <parameter>
                <code>COM_EF_C2T</code>
                <type>FLOAT</type>
                <short_desc>Engine failure triggers only below this current/throttle value</short_desc>
                <default>5.0</default>
                <min>0.0</min>
                <max>7.0</max>
            </parameter>
            <parameter>
                <code>COM_EF_THROT</code>
                <type>FLOAT</type>
                <short_desc>Engine failure triggers only above this throttle value</short_desc>
                <default>0.5</default>
                <min>0.0</min>
                <max>1.0</max>
            </parameter>
            <parameter>
                <code>COM_EF_TIME</code>
                <type>FLOAT</type>
                <short_desc>Engine failure triggers only if the throttle threshold and the
current to throttle threshold are violated for this time</short_desc>
                <default>10.0</default>
                <min>0.0</min>
                <max>7.0</max>
                <unit>second</unit>
            </parameter>
            <parameter>
                <code>COM_RC_LOSS_T</code>
                <type>FLOAT</type>
                <short_desc>After this amount of seconds without RC connection the rc lost flag is set to true</short_desc>
                <default>0.5</default>
                <min>0</min>
                <max>35</max>
                <unit>second</unit>
            </parameter>
        </group>
        <group name="mTECS">
            <parameter>
                <code>MT_ACC_D</code>
                <type>FLOAT</type>
                <short_desc>D gain for the airspeed control
Maps the change of airspeed error to the acceleration setpoint</short_desc>
                <default>0.0</default>
                <min>0.0</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>MT_ACC_D_LP</code>
                <type>FLOAT</type>
                <short_desc>Lowpass for ACC error derivative calculation (see MT_ACC_D)</short_desc>
                <default>0.5</default>
            </parameter>
            <parameter>
                <code>MT_ACC_MAX</code>
                <type>FLOAT</type>
                <short_desc>Maximal acceleration (air)</short_desc>
                <default>40.0</default>
                <unit>m/s^2</unit>
            </parameter>
            <parameter>
                <code>MT_ACC_MIN</code>
                <type>FLOAT</type>
                <short_desc>Minimal acceleration (air)</short_desc>
                <default>-40.0</default>
                <unit>m/s^2</unit>
            </parameter>
            <parameter>
                <code>MT_ACC_P</code>
                <type>FLOAT</type>
                <short_desc>P gain for the airspeed control
Maps the airspeed error to the acceleration setpoint</short_desc>
                <default>0.3</default>
                <min>0.0</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>MT_AD_LP</code>
                <type>FLOAT</type>
                <short_desc>Airspeed derivative calculation lowpass</short_desc>
                <default>0.5</default>
            </parameter>
            <parameter>
                <code>MT_ALT_LP</code>
                <type>FLOAT</type>
                <short_desc>Lowpass (cutoff freq.) for altitude</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>MT_A_LP</code>
                <type>FLOAT</type>
                <short_desc>Lowpass (cutoff freq.) for airspeed</short_desc>
                <default>0.5</default>
            </parameter>
            <parameter>
                <code>MT_ENABLED</code>
                <type>INT32</type>
                <short_desc>mTECS enabled</short_desc>
                <long_desc>Set to 1 to enable mTECS</long_desc>
                <default>0</default>
                <min>0</min>
                <max>1</max>
            </parameter>
            <parameter>
                <code>MT_FPA_D</code>
                <type>FLOAT</type>
                <short_desc>D gain for the altitude control
Maps the change of altitude error to the flight path angle setpoint</short_desc>
                <default>0.0</default>
                <min>0.0</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>MT_FPA_D_LP</code>
                <type>FLOAT</type>
                <short_desc>Lowpass for FPA error derivative calculation (see MT_FPA_D)</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>MT_FPA_LP</code>
                <type>FLOAT</type>
                <short_desc>Lowpass (cutoff freq.) for the flight path angle</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>MT_FPA_MAX</code>
                <type>FLOAT</type>
                <short_desc>Maximal flight path angle setpoint</short_desc>
                <default>30.0</default>
                <min>-90.0</min>
                <max>90.0</max>
                <unit>deg</unit>
            </parameter>
            <parameter>
                <code>MT_FPA_MIN</code>
                <type>FLOAT</type>
                <short_desc>Minimal flight path angle setpoint</short_desc>
                <default>-20.0</default>
                <min>-90.0</min>
                <max>90.0</max>
                <unit>deg</unit>
            </parameter>
            <parameter>
                <code>MT_FPA_P</code>
                <type>FLOAT</type>
                <short_desc>P gain for the altitude control
Maps the altitude error to the flight path angle setpoint</short_desc>
                <default>0.3</default>
                <min>0.0</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>MT_LND_PIT_MAX</code>
                <type>FLOAT</type>
                <short_desc>Maximal pitch in landing mode</short_desc>
                <default>15.0</default>
                <min>-90.0</min>
                <max>90.0</max>
                <unit>deg</unit>
            </parameter>
            <parameter>
                <code>MT_LND_PIT_MIN</code>
                <type>FLOAT</type>
                <short_desc>Minimal pitch in landing mode</short_desc>
                <default>-5.0</default>
                <min>-90.0</min>
                <max>90.0</max>
                <unit>deg</unit>
            </parameter>
            <parameter>
                <code>MT_LND_THR_MAX</code>
                <type>FLOAT</type>
                <short_desc>Maximal throttle in landing mode (only last phase of landing)</short_desc>
                <default>0.0</default>
                <min>0.0</min>
                <max>1.0</max>
            </parameter>
            <parameter>
                <code>MT_LND_THR_MIN</code>
                <type>FLOAT</type>
                <short_desc>Minimal throttle in landing mode (only last phase of landing)</short_desc>
                <default>0.0</default>
                <min>0.0</min>
                <max>1.0</max>
            </parameter>
            <parameter>
                <code>MT_PIT_FF</code>
                <type>FLOAT</type>
                <short_desc>Energy Distribution Rate Control Feedforward
Maps the energy distribution rate setpoint to the pitch setpoint</short_desc>
                <default>0.4</default>
                <min>0.0</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>MT_PIT_I</code>
                <type>FLOAT</type>
                <short_desc>Energy Distribution Rate Control I
Maps the integrated energy distribution rate error to the pitch setpoint</short_desc>
                <default>0.03</default>
                <min>0.0</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>MT_PIT_I_MAX</code>
                <type>FLOAT</type>
                <short_desc>Integrator Limit for Energy Distribution Rate Control</short_desc>
                <default>10.0</default>
                <min>0.0</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>MT_PIT_MAX</code>
                <type>FLOAT</type>
                <short_desc>Maximal Pitch Setpoint in Degrees</short_desc>
                <default>20.0</default>
                <min>-90.0</min>
                <max>90.0</max>
                <unit>deg</unit>
            </parameter>
            <parameter>
                <code>MT_PIT_MIN</code>
                <type>FLOAT</type>
                <short_desc>Minimal Pitch Setpoint in Degrees</short_desc>
                <default>-45.0</default>
                <min>-90.0</min>
                <max>90.0</max>
                <unit>deg</unit>
            </parameter>
            <parameter>
                <code>MT_PIT_OFF</code>
                <type>FLOAT</type>
                <short_desc>Total Energy Distribution Offset (Cruise pitch sp)</short_desc>
                <default>0.0</default>
                <min>0.0</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>MT_PIT_P</code>
                <type>FLOAT</type>
                <short_desc>Energy Distribution Rate Control P
Maps the energy distribution rate error to the pitch setpoint</short_desc>
                <default>0.03</default>
                <min>0.0</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>MT_THR_FF</code>
                <type>FLOAT</type>
                <short_desc>Total Energy Rate Control Feedforward
Maps the total energy rate setpoint to the throttle setpoint</short_desc>
                <default>0.7</default>
                <min>0.0</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>MT_THR_I</code>
                <type>FLOAT</type>
                <short_desc>Total Energy Rate Control I
Maps the integrated total energy rate to the throttle setpoint</short_desc>
                <default>0.25</default>
                <min>0.0</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>MT_THR_I_MAX</code>
                <type>FLOAT</type>
                <short_desc>Integrator Limit for Total Energy Rate Control</short_desc>
                <default>10.0</default>
                <min>0.0</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>MT_THR_MAX</code>
                <type>FLOAT</type>
                <short_desc>Maximal Throttle Setpoint</short_desc>
                <default>1.0</default>
                <min>0.0</min>
                <max>1.0</max>
            </parameter>
            <parameter>
                <code>MT_THR_MIN</code>
                <type>FLOAT</type>
                <short_desc>Minimal Throttle Setpoint</short_desc>
                <default>0.0</default>
                <min>0.0</min>
                <max>1.0</max>
            </parameter>
            <parameter>
                <code>MT_THR_OFF</code>
                <type>FLOAT</type>
                <short_desc>Total Energy Rate Control Offset (Cruise throttle sp)</short_desc>
                <default>0.7</default>
                <min>0.0</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>MT_THR_P</code>
                <type>FLOAT</type>
                <short_desc>Total Energy Rate Control P
Maps the total energy rate error to the throttle setpoint</short_desc>
                <default>0.1</default>
                <min>0.0</min>
                <max>10.0</max>
            </parameter>
            <parameter>
                <code>MT_TKF_PIT_MAX</code>
                <type>FLOAT</type>
                <short_desc>Maximal pitch during takeoff</short_desc>
                <default>45.0</default>
                <min>-90.0</min>
                <max>90.0</max>
                <unit>deg</unit>
            </parameter>
            <parameter>
                <code>MT_TKF_PIT_MIN</code>
                <type>FLOAT</type>
                <short_desc>Minimal pitch during takeoff</short_desc>
                <default>0.0</default>
                <min>-90.0</min>
                <max>90.0</max>
                <unit>deg</unit>
            </parameter>
            <parameter>
                <code>MT_TKF_THR_MAX</code>
                <type>FLOAT</type>
                <short_desc>Maximal throttle during takeoff</short_desc>
                <default>1.0</default>
                <min>0.0</min>
                <max>1.0</max>
            </parameter>
            <parameter>
                <code>MT_TKF_THR_MIN</code>
                <type>FLOAT</type>
                <short_desc>Minimal throttle during takeoff</short_desc>
                <default>1.0</default>
                <min>0.0</min>
                <max>1.0</max>
            </parameter>
            <parameter>
                <code>MT_USP_PIT_MAX</code>
                <type>FLOAT</type>
                <short_desc>Maximal pitch in underspeed mode</short_desc>
                <default>0.0</default>
                <min>-90.0</min>
                <max>90.0</max>
                <unit>deg</unit>
            </parameter>
            <parameter>
                <code>MT_USP_PIT_MIN</code>
                <type>FLOAT</type>
                <short_desc>Minimal pitch in underspeed mode</short_desc>
                <default>-45.0</default>
                <min>-90.0</min>
                <max>90.0</max>
                <unit>deg</unit>
            </parameter>
            <parameter>
                <code>MT_USP_THR_MAX</code>
                <type>FLOAT</type>
                <short_desc>Maximal throttle in underspeed mode</short_desc>
                <default>1.0</default>
                <min>0.0</min>
                <max>1.0</max>
            </parameter>
            <parameter>
                <code>MT_USP_THR_MIN</code>
                <type>FLOAT</type>
                <short_desc>Minimal throttle in underspeed mode</short_desc>
                <default>1.0</default>
                <min>0.0</min>
                <max>1.0</max>
            </parameter>
        </group>
        <group name="Miscellaneous">
            <parameter>
                <code>ATT_ACC_COMP</code>
                <type>INT32</type>
                <short_desc>ATT_ACC_COMP</short_desc>
                <default>2</default>
            </parameter>
            <parameter>
                <code>ATT_MAG_DECL</code>
                <type>FLOAT</type>
                <short_desc>ATT_MAG_DECL</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>EXFW_HDNG_P</code>
                <type>FLOAT</type>
                <short_desc>EXFW_HDNG_P</short_desc>
                <default>0.1</default>
            </parameter>
            <parameter>
                <code>EXFW_PITCH_P</code>
                <type>FLOAT</type>
                <short_desc>EXFW_PITCH_P</short_desc>
                <default>0.2</default>
            </parameter>
            <parameter>
                <code>EXFW_ROLL_P</code>
                <type>FLOAT</type>
                <short_desc>EXFW_ROLL_P</short_desc>
                <default>0.2</default>
            </parameter>
            <parameter>
                <code>FPE_DEBUG</code>
                <type>INT32</type>
                <short_desc>FPE_DEBUG</short_desc>
                <default>0</default>
            </parameter>
            <parameter>
                <code>FPE_LO_THRUST</code>
                <type>FLOAT</type>
                <short_desc>FPE_LO_THRUST</short_desc>
                <default>0.4</default>
            </parameter>
            <parameter>
                <code>FPE_SONAR_LP_L</code>
                <type>FLOAT</type>
                <short_desc>FPE_SONAR_LP_L</short_desc>
                <default>0.2</default>
            </parameter>
            <parameter>
                <code>FPE_SONAR_LP_U</code>
                <type>FLOAT</type>
                <short_desc>FPE_SONAR_LP_U</short_desc>
                <default>0.5</default>
            </parameter>
            <parameter>
                <code>FWB_CR2THR_D</code>
                <type>FLOAT</type>
                <short_desc>FWB_CR2THR_D</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>FWB_CR2THR_D_LP</code>
                <type>FLOAT</type>
                <short_desc>FWB_CR2THR_D_LP</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>FWB_CR2THR_I</code>
                <type>FLOAT</type>
                <short_desc>FWB_CR2THR_I</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>FWB_CR2THR_I_MAX</code>
                <type>FLOAT</type>
                <short_desc>FWB_CR2THR_I_MAX</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>FWB_CR2THR_P</code>
                <type>FLOAT</type>
                <short_desc>FWB_CR2THR_P</short_desc>
                <default>0.01</default>
            </parameter>
            <parameter>
                <code>FWB_CR_MAX</code>
                <type>FLOAT</type>
                <short_desc>FWB_CR_MAX</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>FWB_H2THR_D</code>
                <type>FLOAT</type>
                <short_desc>FWB_H2THR_D</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>FWB_H2THR_D_LP</code>
                <type>FLOAT</type>
                <short_desc>FWB_H2THR_D_LP</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>FWB_H2THR_I</code>
                <type>FLOAT</type>
                <short_desc>FWB_H2THR_I</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>FWB_H2THR_I_MAX</code>
                <type>FLOAT</type>
                <short_desc>FWB_H2THR_I_MAX</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>FWB_H2THR_P</code>
                <type>FLOAT</type>
                <short_desc>FWB_H2THR_P</short_desc>
                <default>0.01</default>
            </parameter>
            <parameter>
                <code>FWB_P2AIL</code>
                <type>FLOAT</type>
                <short_desc>FWB_P2AIL</short_desc>
                <default>0.3</default>
            </parameter>
            <parameter>
                <code>FWB_PHI2P</code>
                <type>FLOAT</type>
                <short_desc>FWB_PHI2P</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>FWB_PHI_LIM_MAX</code>
                <type>FLOAT</type>
                <short_desc>FWB_PHI_LIM_MAX</short_desc>
                <default>0.3</default>
            </parameter>
            <parameter>
                <code>FWB_PSI2PHI</code>
                <type>FLOAT</type>
                <short_desc>FWB_PSI2PHI</short_desc>
                <default>0.5</default>
            </parameter>
            <parameter>
                <code>FWB_P_LP</code>
                <type>FLOAT</type>
                <short_desc>FWB_P_LP</short_desc>
                <default>300.0</default>
            </parameter>
            <parameter>
                <code>FWB_Q2ELV</code>
                <type>FLOAT</type>
                <short_desc>FWB_Q2ELV</short_desc>
                <default>0.1</default>
            </parameter>
            <parameter>
                <code>FWB_Q_LP</code>
                <type>FLOAT</type>
                <short_desc>FWB_Q_LP</short_desc>
                <default>300.0</default>
            </parameter>
            <parameter>
                <code>FWB_R2RDR</code>
                <type>FLOAT</type>
                <short_desc>FWB_R2RDR</short_desc>
                <default>0.1</default>
            </parameter>
            <parameter>
                <code>FWB_R_HP</code>
                <type>FLOAT</type>
                <short_desc>FWB_R_HP</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>FWB_R_LP</code>
                <type>FLOAT</type>
                <short_desc>FWB_R_LP</short_desc>
                <default>300.0</default>
            </parameter>
            <parameter>
                <code>FWB_THE2Q_D</code>
                <type>FLOAT</type>
                <short_desc>FWB_THE2Q_D</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>FWB_THE2Q_D_LP</code>
                <type>FLOAT</type>
                <short_desc>FWB_THE2Q_D_LP</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>FWB_THE2Q_I</code>
                <type>FLOAT</type>
                <short_desc>FWB_THE2Q_I</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>FWB_THE2Q_I_MAX</code>
                <type>FLOAT</type>
                <short_desc>FWB_THE2Q_I_MAX</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>FWB_THE2Q_P</code>
                <type>FLOAT</type>
                <short_desc>FWB_THE2Q_P</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>FWB_THE_MAX</code>
                <type>FLOAT</type>
                <short_desc>FWB_THE_MAX</short_desc>
                <default>0.5</default>
            </parameter>
            <parameter>
                <code>FWB_THE_MIN</code>
                <type>FLOAT</type>
                <short_desc>FWB_THE_MIN</short_desc>
                <default>-0.5</default>
            </parameter>
            <parameter>
                <code>FWB_TRIM_THR</code>
                <type>FLOAT</type>
                <short_desc>FWB_TRIM_THR</short_desc>
                <default>0.8</default>
            </parameter>
            <parameter>
                <code>FWB_TRIM_V</code>
                <type>FLOAT</type>
                <short_desc>FWB_TRIM_V</short_desc>
                <default>12.0</default>
            </parameter>
            <parameter>
                <code>FWB_V2THE_D</code>
                <type>FLOAT</type>
                <short_desc>FWB_V2THE_D</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>FWB_V2THE_D_LP</code>
                <type>FLOAT</type>
                <short_desc>FWB_V2THE_D_LP</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>FWB_V2THE_I</code>
                <type>FLOAT</type>
                <short_desc>FWB_V2THE_I</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>FWB_V2THE_I_MAX</code>
                <type>FLOAT</type>
                <short_desc>FWB_V2THE_I_MAX</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>FWB_V2THE_P</code>
                <type>FLOAT</type>
                <short_desc>FWB_V2THE_P</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>FWB_V_CMD</code>
                <type>FLOAT</type>
                <short_desc>FWB_V_CMD</short_desc>
                <default>12.0</default>
            </parameter>
            <parameter>
                <code>FWB_V_MAX</code>
                <type>FLOAT</type>
                <short_desc>FWB_V_MAX</short_desc>
                <default>16.0</default>
            </parameter>
            <parameter>
                <code>FWB_V_MIN</code>
                <type>FLOAT</type>
                <short_desc>FWB_V_MIN</short_desc>
                <default>10.0</default>
            </parameter>
            <parameter>
                <code>FWB_XT2YAW</code>
                <type>FLOAT</type>
                <short_desc>FWB_XT2YAW</short_desc>
                <default>0.005</default>
            </parameter>
            <parameter>
                <code>FWB_XT2YAW_MAX</code>
                <type>FLOAT</type>
                <short_desc>FWB_XT2YAW_MAX</short_desc>
                <default>1.57</default>
            </parameter>
            <parameter>
                <code>FW_FLARE_PMAX</code>
                <type>FLOAT</type>
                <short_desc>Flare, maximum pitch</short_desc>
                <long_desc>Maximum pitch during flare, a positive sign means nose up
Applied once FW_LND_TLALT is reached</long_desc>
                <default>15.0</default>
            </parameter>
            <parameter>
                <code>FW_FLARE_PMIN</code>
                <type>FLOAT</type>
                <short_desc>Flare, minimum pitch</short_desc>
                <long_desc>Minimum pitch during flare, a positive sign means nose up
Applied once FW_LND_TLALT is reached</long_desc>
                <default>2.5</default>
            </parameter>
            <parameter>
                <code>RC10_DZ</code>
                <type>FLOAT</type>
                <short_desc>RC10_DZ</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>RC10_MAX</code>
                <type>FLOAT</type>
                <short_desc>RC10_MAX</short_desc>
                <default>2000</default>
            </parameter>
            <parameter>
                <code>RC10_MIN</code>
                <type>FLOAT</type>
                <short_desc>RC10_MIN</short_desc>
                <default>1000</default>
            </parameter>
            <parameter>
                <code>RC10_REV</code>
                <type>FLOAT</type>
                <short_desc>RC10_REV</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>RC10_TRIM</code>
                <type>FLOAT</type>
                <short_desc>RC10_TRIM</short_desc>
                <default>1500</default>
            </parameter>
            <parameter>
                <code>RC11_DZ</code>
                <type>FLOAT</type>
                <short_desc>RC11_DZ</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>RC11_MAX</code>
                <type>FLOAT</type>
                <short_desc>RC11_MAX</short_desc>
                <default>2000</default>
            </parameter>
            <parameter>
                <code>RC11_MIN</code>
                <type>FLOAT</type>
                <short_desc>RC11_MIN</short_desc>
                <default>1000</default>
            </parameter>
            <parameter>
                <code>RC11_REV</code>
                <type>FLOAT</type>
                <short_desc>RC11_REV</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>RC11_TRIM</code>
                <type>FLOAT</type>
                <short_desc>RC11_TRIM</short_desc>
                <default>1500</default>
            </parameter>
            <parameter>
                <code>RC12_DZ</code>
                <type>FLOAT</type>
                <short_desc>RC12_DZ</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>RC12_MAX</code>
                <type>FLOAT</type>
                <short_desc>RC12_MAX</short_desc>
                <default>2000</default>
            </parameter>
            <parameter>
                <code>RC12_MIN</code>
                <type>FLOAT</type>
                <short_desc>RC12_MIN</short_desc>
                <default>1000</default>
            </parameter>
            <parameter>
                <code>RC12_REV</code>
                <type>FLOAT</type>
                <short_desc>RC12_REV</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>RC12_TRIM</code>
                <type>FLOAT</type>
                <short_desc>RC12_TRIM</short_desc>
                <default>1500</default>
            </parameter>
            <parameter>
                <code>RC13_DZ</code>
                <type>FLOAT</type>
                <short_desc>RC13_DZ</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>RC13_MAX</code>
                <type>FLOAT</type>
                <short_desc>RC13_MAX</short_desc>
                <default>2000</default>
            </parameter>
            <parameter>
                <code>RC13_MIN</code>
                <type>FLOAT</type>
                <short_desc>RC13_MIN</short_desc>
                <default>1000</default>
            </parameter>
            <parameter>
                <code>RC13_REV</code>
                <type>FLOAT</type>
                <short_desc>RC13_REV</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>RC13_TRIM</code>
                <type>FLOAT</type>
                <short_desc>RC13_TRIM</short_desc>
                <default>1500</default>
            </parameter>
            <parameter>
                <code>RC14_DZ</code>
                <type>FLOAT</type>
                <short_desc>RC14_DZ</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>RC14_MAX</code>
                <type>FLOAT</type>
                <short_desc>RC14_MAX</short_desc>
                <default>2000</default>
            </parameter>
            <parameter>
                <code>RC14_MIN</code>
                <type>FLOAT</type>
                <short_desc>RC14_MIN</short_desc>
                <default>1000</default>
            </parameter>
            <parameter>
                <code>RC14_REV</code>
                <type>FLOAT</type>
                <short_desc>RC14_REV</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>RC14_TRIM</code>
                <type>FLOAT</type>
                <short_desc>RC14_TRIM</short_desc>
                <default>1500</default>
            </parameter>
            <parameter>
                <code>RC15_DZ</code>
                <type>FLOAT</type>
                <short_desc>RC15_DZ</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>RC15_MAX</code>
                <type>FLOAT</type>
                <short_desc>RC15_MAX</short_desc>
                <default>2000</default>
            </parameter>
            <parameter>
                <code>RC15_MIN</code>
                <type>FLOAT</type>
                <short_desc>RC15_MIN</short_desc>
                <default>1000</default>
            </parameter>
            <parameter>
                <code>RC15_REV</code>
                <type>FLOAT</type>
                <short_desc>RC15_REV</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>RC15_TRIM</code>
                <type>FLOAT</type>
                <short_desc>RC15_TRIM</short_desc>
                <default>1500</default>
            </parameter>
            <parameter>
                <code>RC16_DZ</code>
                <type>FLOAT</type>
                <short_desc>RC16_DZ</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>RC16_MAX</code>
                <type>FLOAT</type>
                <short_desc>RC16_MAX</short_desc>
                <default>2000</default>
            </parameter>
            <parameter>
                <code>RC16_MIN</code>
                <type>FLOAT</type>
                <short_desc>RC16_MIN</short_desc>
                <default>1000</default>
            </parameter>
            <parameter>
                <code>RC16_REV</code>
                <type>FLOAT</type>
                <short_desc>RC16_REV</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>RC16_TRIM</code>
                <type>FLOAT</type>
                <short_desc>RC16_TRIM</short_desc>
                <default>1500</default>
            </parameter>
            <parameter>
                <code>RC17_DZ</code>
                <type>FLOAT</type>
                <short_desc>RC17_DZ</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>RC17_MAX</code>
                <type>FLOAT</type>
                <short_desc>RC17_MAX</short_desc>
                <default>2000</default>
            </parameter>
            <parameter>
                <code>RC17_MIN</code>
                <type>FLOAT</type>
                <short_desc>RC17_MIN</short_desc>
                <default>1000</default>
            </parameter>
            <parameter>
                <code>RC17_REV</code>
                <type>FLOAT</type>
                <short_desc>RC17_REV</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>RC17_TRIM</code>
                <type>FLOAT</type>
                <short_desc>RC17_TRIM</short_desc>
                <default>1500</default>
            </parameter>
            <parameter>
                <code>RC18_DZ</code>
                <type>FLOAT</type>
                <short_desc>RC18_DZ</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>RC18_MAX</code>
                <type>FLOAT</type>
                <short_desc>RC18_MAX</short_desc>
                <default>2000</default>
            </parameter>
            <parameter>
                <code>RC18_MIN</code>
                <type>FLOAT</type>
                <short_desc>RC18_MIN</short_desc>
                <default>1000</default>
            </parameter>
            <parameter>
                <code>RC18_REV</code>
                <type>FLOAT</type>
                <short_desc>RC18_REV</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>RC18_TRIM</code>
                <type>FLOAT</type>
                <short_desc>RC18_TRIM</short_desc>
                <default>1500</default>
            </parameter>
            <parameter>
                <code>RC3_DZ</code>
                <type>FLOAT</type>
                <short_desc>RC3_DZ</short_desc>
                <default>10.0</default>
            </parameter>
            <parameter>
                <code>RC3_MAX</code>
                <type>FLOAT</type>
                <short_desc>RC3_MAX</short_desc>
                <default>2000</default>
            </parameter>
            <parameter>
                <code>RC3_MIN</code>
                <type>FLOAT</type>
                <short_desc>RC3_MIN</short_desc>
                <default>1000</default>
            </parameter>
            <parameter>
                <code>RC3_REV</code>
                <type>FLOAT</type>
                <short_desc>RC3_REV</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>RC3_TRIM</code>
                <type>FLOAT</type>
                <short_desc>RC3_TRIM</short_desc>
                <default>1500</default>
            </parameter>
            <parameter>
                <code>RC4_DZ</code>
                <type>FLOAT</type>
                <short_desc>RC4_DZ</short_desc>
                <default>10.0</default>
            </parameter>
            <parameter>
                <code>RC4_MAX</code>
                <type>FLOAT</type>
                <short_desc>RC4_MAX</short_desc>
                <default>2000</default>
            </parameter>
            <parameter>
                <code>RC4_MIN</code>
                <type>FLOAT</type>
                <short_desc>RC4_MIN</short_desc>
                <default>1000</default>
            </parameter>
            <parameter>
                <code>RC4_REV</code>
                <type>FLOAT</type>
                <short_desc>RC4_REV</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>RC4_TRIM</code>
                <type>FLOAT</type>
                <short_desc>RC4_TRIM</short_desc>
                <default>1500</default>
            </parameter>
            <parameter>
                <code>RC5_DZ</code>
                <type>FLOAT</type>
                <short_desc>RC5_DZ</short_desc>
                <default>10.0</default>
            </parameter>
            <parameter>
                <code>RC5_MAX</code>
                <type>FLOAT</type>
                <short_desc>RC5_MAX</short_desc>
                <default>2000</default>
            </parameter>
            <parameter>
                <code>RC5_MIN</code>
                <type>FLOAT</type>
                <short_desc>RC5_MIN</short_desc>
                <default>1000</default>
            </parameter>
            <parameter>
                <code>RC5_REV</code>
                <type>FLOAT</type>
                <short_desc>RC5_REV</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>RC5_TRIM</code>
                <type>FLOAT</type>
                <short_desc>RC5_TRIM</short_desc>
                <default>1500</default>
            </parameter>
            <parameter>
                <code>RC6_DZ</code>
                <type>FLOAT</type>
                <short_desc>RC6_DZ</short_desc>
                <default>10.0</default>
            </parameter>
            <parameter>
                <code>RC6_MAX</code>
                <type>FLOAT</type>
                <short_desc>RC6_MAX</short_desc>
                <default>2000</default>
            </parameter>
            <parameter>
                <code>RC6_MIN</code>
                <type>FLOAT</type>
                <short_desc>RC6_MIN</short_desc>
                <default>1000</default>
            </parameter>
            <parameter>
                <code>RC6_REV</code>
                <type>FLOAT</type>
                <short_desc>RC6_REV</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>RC6_TRIM</code>
                <type>FLOAT</type>
                <short_desc>RC6_TRIM</short_desc>
                <default>1500</default>
            </parameter>
            <parameter>
                <code>RC7_DZ</code>
                <type>FLOAT</type>
                <short_desc>RC7_DZ</short_desc>
                <default>10.0</default>
            </parameter>
            <parameter>
                <code>RC7_MAX</code>
                <type>FLOAT</type>
                <short_desc>RC7_MAX</short_desc>
                <default>2000</default>
            </parameter>
            <parameter>
                <code>RC7_MIN</code>
                <type>FLOAT</type>
                <short_desc>RC7_MIN</short_desc>
                <default>1000</default>
            </parameter>
            <parameter>
                <code>RC7_REV</code>
                <type>FLOAT</type>
                <short_desc>RC7_REV</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>RC7_TRIM</code>
                <type>FLOAT</type>
                <short_desc>RC7_TRIM</short_desc>
                <default>1500</default>
            </parameter>
            <parameter>
                <code>RC8_DZ</code>
                <type>FLOAT</type>
                <short_desc>RC8_DZ</short_desc>
                <default>10.0</default>
            </parameter>
            <parameter>
                <code>RC8_MAX</code>
                <type>FLOAT</type>
                <short_desc>RC8_MAX</short_desc>
                <default>2000</default>
            </parameter>
            <parameter>
                <code>RC8_MIN</code>
                <type>FLOAT</type>
                <short_desc>RC8_MIN</short_desc>
                <default>1000</default>
            </parameter>
            <parameter>
                <code>RC8_REV</code>
                <type>FLOAT</type>
                <short_desc>RC8_REV</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>RC8_TRIM</code>
                <type>FLOAT</type>
                <short_desc>RC8_TRIM</short_desc>
                <default>1500</default>
            </parameter>
            <parameter>
                <code>RC9_DZ</code>
                <type>FLOAT</type>
                <short_desc>RC9_DZ</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>RC9_MAX</code>
                <type>FLOAT</type>
                <short_desc>RC9_MAX</short_desc>
                <default>2000</default>
            </parameter>
            <parameter>
                <code>RC9_MIN</code>
                <type>FLOAT</type>
                <short_desc>RC9_MIN</short_desc>
                <default>1000</default>
            </parameter>
            <parameter>
                <code>RC9_REV</code>
                <type>FLOAT</type>
                <short_desc>RC9_REV</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>RC9_TRIM</code>
                <type>FLOAT</type>
                <short_desc>RC9_TRIM</short_desc>
                <default>1500</default>
            </parameter>
            <parameter>
                <code>RC_ACRO_TH</code>
                <type>FLOAT</type>
                <short_desc>Threshold for selecting acro mode</short_desc>
                <long_desc>min:-1
max:+1
0-1 indicate where in the full channel range the threshold sits
0 : min
1 : max
sign indicates polarity of comparison
positive : true when channel&gt;th
negative : true when channel&lt;th</long_desc>
                <default>0.5</default>
            </parameter>
            <parameter>
                <code>RC_ASSIST_TH</code>
                <type>FLOAT</type>
                <short_desc>Threshold for selecting assist mode</short_desc>
                <long_desc>min:-1
max:+1
0-1 indicate where in the full channel range the threshold sits
0 : min
1 : max
sign indicates polarity of comparison
positive : true when channel&gt;th
negative : true when channel&lt;th</long_desc>
                <default>0.25</default>
            </parameter>
            <parameter>
                <code>RC_AUTO_TH</code>
                <type>FLOAT</type>
                <short_desc>Threshold for selecting auto mode</short_desc>
                <long_desc>min:-1
max:+1
0-1 indicate where in the full channel range the threshold sits
0 : min
1 : max
sign indicates polarity of comparison
positive : true when channel&gt;th
negative : true when channel&lt;th</long_desc>
                <default>0.75</default>
            </parameter>
            <parameter>
                <code>RC_LOITER_TH</code>
                <type>FLOAT</type>
                <short_desc>Threshold for selecting loiter mode</short_desc>
                <long_desc>min:-1
max:+1
0-1 indicate where in the full channel range the threshold sits
0 : min
1 : max
sign indicates polarity of comparison
positive : true when channel&gt;th
negative : true when channel&lt;th</long_desc>
                <default>0.5</default>
            </parameter>
            <parameter>
                <code>RC_MAP_FAILSAFE</code>
                <type>INT32</type>
                <short_desc>Failsafe channel mapping</short_desc>
                <long_desc>The RC mapping index indicates which channel is used for failsafe
If 0, whichever channel is mapped to throttle is used
otherwise the value indicates the specific rc channel to use</long_desc>
                <default>0</default>
                <min>0</min>
                <max>18</max>
            </parameter>
            <parameter>
                <code>RC_OFFB_TH</code>
                <type>FLOAT</type>
                <short_desc>Threshold for selecting offboard mode</short_desc>
                <long_desc>min:-1
max:+1
0-1 indicate where in the full channel range the threshold sits
0 : min
1 : max
sign indicates polarity of comparison
positive : true when channel&gt;th
negative : true when channel&lt;th</long_desc>
                <default>0.5</default>
            </parameter>
            <parameter>
                <code>RC_POSCTL_TH</code>
                <type>FLOAT</type>
                <short_desc>Threshold for selecting posctl mode</short_desc>
                <long_desc>min:-1
max:+1
0-1 indicate where in the full channel range the threshold sits
0 : min
1 : max
sign indicates polarity of comparison
positive : true when channel&gt;th
negative : true when channel&lt;th</long_desc>
                <default>0.5</default>
            </parameter>
            <parameter>
                <code>RC_RETURN_TH</code>
                <type>FLOAT</type>
                <short_desc>Threshold for selecting return to launch mode</short_desc>
                <long_desc>min:-1
max:+1
0-1 indicate where in the full channel range the threshold sits
0 : min
1 : max
sign indicates polarity of comparison
positive : true when channel&gt;th
negative : true when channel&lt;th</long_desc>
                <default>0.5</default>
            </parameter>
            <parameter>
                <code>RC_RL1_DSM_VCC</code>
                <type>INT32</type>
                <short_desc>RC_RL1_DSM_VCC</short_desc>
                <default>0</default>
            </parameter>
            <parameter>
                <code>RV_YAW_P</code>
                <type>FLOAT</type>
                <short_desc>RV_YAW_P</short_desc>
                <default>0.1</default>
            </parameter>
            <parameter>
                <code>SEG_Q2V</code>
                <type>FLOAT</type>
                <short_desc>SEG_Q2V</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>SEG_TH2V_I</code>
                <type>FLOAT</type>
                <short_desc>SEG_TH2V_I</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>SEG_TH2V_I_MAX</code>
                <type>FLOAT</type>
                <short_desc>SEG_TH2V_I_MAX</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>SEG_TH2V_P</code>
                <type>FLOAT</type>
                <short_desc>SEG_TH2V_P</short_desc>
                <default>10.0</default>
            </parameter>
            <parameter>
                <code>SO3_COMP_KI</code>
                <type>FLOAT</type>
                <short_desc>SO3_COMP_KI</short_desc>
                <default>0.05</default>
            </parameter>
            <parameter>
                <code>SO3_COMP_KP</code>
                <type>FLOAT</type>
                <short_desc>SO3_COMP_KP</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>SO3_PITCH_OFFS</code>
                <type>FLOAT</type>
                <short_desc>SO3_PITCH_OFFS</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>SO3_ROLL_OFFS</code>
                <type>FLOAT</type>
                <short_desc>SO3_ROLL_OFFS</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>SO3_YAW_OFFS</code>
                <type>FLOAT</type>
                <short_desc>SO3_YAW_OFFS</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>TEST_D</code>
                <type>FLOAT</type>
                <short_desc>TEST_D</short_desc>
                <default>0.01</default>
            </parameter>
            <parameter>
                <code>TEST_DEV</code>
                <type>FLOAT</type>
                <short_desc>TEST_DEV</short_desc>
                <default>2.0</default>
            </parameter>
            <parameter>
                <code>TEST_D_LP</code>
                <type>FLOAT</type>
                <short_desc>TEST_D_LP</short_desc>
                <default>10.0</default>
            </parameter>
            <parameter>
                <code>TEST_HP</code>
                <type>FLOAT</type>
                <short_desc>TEST_HP</short_desc>
                <default>10.0</default>
            </parameter>
            <parameter>
                <code>TEST_I</code>
                <type>FLOAT</type>
                <short_desc>TEST_I</short_desc>
                <default>0.1</default>
            </parameter>
            <parameter>
                <code>TEST_I_MAX</code>
                <type>FLOAT</type>
                <short_desc>TEST_I_MAX</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>TEST_LP</code>
                <type>FLOAT</type>
                <short_desc>TEST_LP</short_desc>
                <default>10.0</default>
            </parameter>
            <parameter>
                <code>TEST_MAX</code>
                <type>FLOAT</type>
                <short_desc>TEST_MAX</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>TEST_MEAN</code>
                <type>FLOAT</type>
                <short_desc>TEST_MEAN</short_desc>
                <default>1.0</default>
            </parameter>
            <parameter>
                <code>TEST_MIN</code>
                <type>FLOAT</type>
                <short_desc>TEST_MIN</short_desc>
                <default>-1.0</default>
            </parameter>
            <parameter>
                <code>TEST_P</code>
                <type>FLOAT</type>
                <short_desc>TEST_P</short_desc>
                <default>0.2</default>
            </parameter>
            <parameter>
                <code>TEST_TRIM</code>
                <type>FLOAT</type>
                <short_desc>TEST_TRIM</short_desc>
                <default>0.5</default>
            </parameter>
            <parameter>
                <code>TRIM_PITCH</code>
                <type>FLOAT</type>
                <short_desc>TRIM_PITCH</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>TRIM_ROLL</code>
                <type>FLOAT</type>
                <short_desc>TRIM_ROLL</short_desc>
                <default>0.0</default>
            </parameter>
            <parameter>
                <code>TRIM_YAW</code>
                <type>FLOAT</type>
                <short_desc>TRIM_YAW</short_desc>
                <default>0.0</default>
            </parameter>
        </group>
    </parameters>