ParameterFactMetaData.xml

<parameters>
    <version>3</version>
    <group name="Attitude EKF estimator">
        <parameter default="1e-4" name="EKF_ATT_V3_Q0" type="FLOAT">
            <short_desc>Body angular rate process noise</short_desc>
        </parameter>
        <parameter default="0.08" name="EKF_ATT_V3_Q1" type="FLOAT">
            <short_desc>Body angular acceleration process noise</short_desc>
        </parameter>
        <parameter default="0.009" name="EKF_ATT_V3_Q2" type="FLOAT">
            <short_desc>Acceleration process noise</short_desc>
        </parameter>
        <parameter default="0.005" name="EKF_ATT_V3_Q3" type="FLOAT">
            <short_desc>Magnet field vector process noise</short_desc>
        </parameter>
        <parameter default="0.0008" name="EKF_ATT_V4_R0" type="FLOAT">
            <short_desc>Gyro measurement noise</short_desc>
        </parameter>
        <parameter default="10000.0" name="EKF_ATT_V4_R1" type="FLOAT">
            <short_desc>Accel measurement noise</short_desc>
        </parameter>
        <parameter default="100.0" name="EKF_ATT_V4_R2" type="FLOAT">
            <short_desc>Mag measurement noise</short_desc>
        </parameter>
        <parameter default="0.0018" name="ATT_J11" type="FLOAT">
            <short_desc>Moment of inertia matrix diagonal entry (1, 1)</short_desc>
            <unit>kg*m^2</unit>
        </parameter>
        <parameter default="0.0018" name="ATT_J22" type="FLOAT">
            <short_desc>Moment of inertia matrix diagonal entry (2, 2)</short_desc>
            <unit>kg*m^2</unit>
        </parameter>
        <parameter default="0.0037" name="ATT_J33" type="FLOAT">
            <short_desc>Moment of inertia matrix diagonal entry (3, 3)</short_desc>
            <unit>kg*m^2</unit>
        </parameter>
        <parameter default="0" name="ATT_J_EN" type="INT32">
            <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>
            <min>0</min>
            <max>1</max>
        </parameter>
    </group>
    <group name="Battery Calibration">
        <parameter default="3.4" name="BAT_V_EMPTY" type="FLOAT">
            <short_desc>Empty cell voltage</short_desc>
            <long_desc>Defines the voltage where a single cell of the battery is considered empty.</long_desc>
            <unit>V</unit>
        </parameter>
        <parameter default="4.2" name="BAT_V_CHARGED" type="FLOAT">
            <short_desc>Full cell voltage</short_desc>
            <long_desc>Defines the voltage where a single cell of the battery is considered full.</long_desc>
            <unit>V</unit>
        </parameter>
        <parameter default="0.07" name="BAT_V_LOAD_DROP" type="FLOAT">
            <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>
            <unit>V</unit>
        </parameter>
        <parameter default="3" name="BAT_N_CELLS" type="INT32">
            <short_desc>Number of cells</short_desc>
            <long_desc>Defines the number of cells the attached battery consists of.</long_desc>
            <unit>S</unit>
        </parameter>
        <parameter default="-1.0" name="BAT_CAPACITY" type="FLOAT">
            <short_desc>Battery capacity</short_desc>
            <long_desc>Defines the capacity of the attached battery.</long_desc>
            <unit>mA</unit>
        </parameter>
        <parameter default="10000" name="BAT_V_SCALE_IO" type="INT32">
            <short_desc>Scaling factor for battery voltage sensor on PX4IO</short_desc>
        </parameter>
        <parameter default="0.0082" name="BAT_V_SCALING" type="FLOAT">
            <board>CONFIG_ARCH_BOARD_PX4FMU_V2</board>
            <short_desc>Scaling factor for battery voltage sensor on FMU v2</short_desc>
        </parameter>
        <parameter default="0.0124" name="BAT_C_SCALING" type="FLOAT">
            <short_desc>Scaling factor for battery current sensor</short_desc>
        </parameter>
    </group>
    <group name="Circuit Breaker">
        <parameter default="0" name="CBRK_SUPPLY_CHK" type="INT32">
            <short_desc>Circuit breaker for power supply check</short_desc>
            <long_desc>Setting this parameter to 894281 will disable the power valid
                checks in the commander.
                WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
            <min>0</min>
            <max>894281</max>
        </parameter>
        <parameter default="0" name="CBRK_RATE_CTRL" type="INT32">
            <short_desc>Circuit breaker for rate controller output</short_desc>
            <long_desc>Setting this parameter to 140253 will disable the rate
                controller uORB publication.
                WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
            <min>0</min>
            <max>140253</max>
        </parameter>
        <parameter default="0" name="CBRK_IO_SAFETY" type="INT32">
            <short_desc>Circuit breaker for IO safety</short_desc>
            <long_desc>Setting this parameter to 894281 will disable IO safety.
                WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
            <min>0</min>
            <max>22027</max>
        </parameter>
        <parameter default="0" name="CBRK_AIRSPD_CHK" type="INT32">
            <short_desc>Circuit breaker for airspeed sensor</short_desc>
            <long_desc>Setting this parameter to 162128 will disable the check for an airspeed sensor.
                WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
            <min>0</min>
            <max>162128</max>
        </parameter>
        <parameter default="121212" name="CBRK_FLIGHTTERM" type="INT32">
            <short_desc>Circuit breaker for flight termination</short_desc>
            <long_desc>Setting this parameter to 121212 will disable the flight termination action.
                --&gt; The IO driver will not do flight termination if requested by the FMU
                WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
            <min>0</min>
            <max>121212</max>
        </parameter>
        <parameter default="284953" name="CBRK_ENGINEFAIL" type="INT32">
            <short_desc>Circuit breaker for engine failure detection</short_desc>
            <long_desc>Setting this parameter to 284953 will disable the engine failure detection.
                If the aircraft is in engine failure mode the enine failure flag will be
                set to healthy
                WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
            <min>0</min>
            <max>284953</max>
        </parameter>
    </group>
    <group name="Commander">
        <parameter default="0" name="COM_DL_LOSS_EN" type="INT32">
            <short_desc>Datalink loss mode enabled</short_desc>
            <long_desc>Set to 1 to enable actions triggered when the datalink is lost.</long_desc>
            <min>0</min>
            <max>1</max>
        </parameter>
        <parameter default="10" name="COM_DL_LOSS_T" type="INT32">
            <short_desc>After this amount of seconds without datalink the data link lost mode triggers</short_desc>
            <min>0</min>
            <max>30</max>
            <unit>second</unit>
        </parameter>
        <parameter default="0" name="COM_DL_REG_T" type="INT32">
            <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>
            <min>0</min>
            <max>30</max>
            <unit>second</unit>
        </parameter>
        <parameter default="0.5" name="COM_EF_THROT" type="FLOAT">
            <short_desc>Engine failure triggers only above this throttle value</short_desc>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter default="5.0" name="COM_EF_C2T" type="FLOAT">
            <short_desc>Engine failure triggers only below this current/throttle value</short_desc>
            <min>0.0</min>
            <max>7.0</max>
        </parameter>
        <parameter default="10.0" name="COM_EF_TIME" type="FLOAT">
            <short_desc>Engine failure triggers only if the throttle threshold and the
                current to throttle threshold are violated for this time</short_desc>
            <min>0.0</min>
            <max>7.0</max>
            <unit>second</unit>
        </parameter>
        <parameter default="0.5" name="COM_RC_LOSS_T" type="FLOAT">
            <short_desc>After this amount of seconds without RC connection the rc lost flag is set to true</short_desc>
            <min>0</min>
            <max>35</max>
            <unit>second</unit>
        </parameter>
        <parameter default="1" name="COM_AUTOS_PAR" type="INT32">
            <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>
            <min>0</min>
            <max>1</max>
        </parameter>
    </group>
    <group name="Data Link Loss">
        <parameter default="120.0" name="NAV_DLL_CH_T" type="FLOAT">
            <short_desc>Comms hold wait time</short_desc>
            <long_desc>The amount of time in seconds the system should wait at the comms hold waypoint</long_desc>
            <min>0.0</min>
            <unit>seconds</unit>
        </parameter>
        <parameter default="-266072120" name="NAV_DLL_CH_LAT" type="INT32">
            <short_desc>Comms hold Lat</short_desc>
            <long_desc>Latitude of comms hold waypoint</long_desc>
            <min>0</min>
            <unit>degrees * 1e7</unit>
        </parameter>
        <parameter default="1518453890" name="NAV_DLL_CH_LON" type="INT32">
            <short_desc>Comms hold Lon</short_desc>
            <long_desc>Longitude of comms hold waypoint</long_desc>
            <min>0</min>
            <unit>degrees * 1e7</unit>
        </parameter>
        <parameter default="600.0" name="NAV_DLL_CH_ALT" type="FLOAT">
            <short_desc>Comms hold alt</short_desc>
            <long_desc>Altitude of comms hold waypoint</long_desc>
            <min>0.0</min>
            <unit>m</unit>
        </parameter>
        <parameter default="120.0" name="NAV_DLL_AH_T" type="FLOAT">
            <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>
            <min>0.0</min>
            <unit>seconds</unit>
        </parameter>
        <parameter default="2" name="NAV_DLL_N" type="INT32">
            <short_desc>Number of allowed Datalink timeouts</short_desc>
            <long_desc>After more than this number of data link timeouts the aircraft returns home directly</long_desc>
            <min>0</min>
            <max>1000</max>
        </parameter>
        <parameter default="0" name="NAV_DLL_CHSK" type="INT32">
            <short_desc>Skip comms hold wp</short_desc>
            <long_desc>If set to 1 the system will skip the comms hold wp on data link loss and will directly fly to
                airfield home</long_desc>
            <min>0</min>
            <max>1</max>
        </parameter>
        <parameter default="-265847810" name="NAV_AH_LAT" type="INT32">
            <short_desc>Airfield home Lat</short_desc>
            <long_desc>Latitude of airfield home waypoint</long_desc>
            <min>0</min>
            <unit>degrees * 1e7</unit>
        </parameter>
        <parameter default="1518423250" name="NAV_AH_LON" type="INT32">
            <short_desc>Airfield home Lon</short_desc>
            <long_desc>Longitude of airfield home waypoint</long_desc>
            <min>0</min>
            <unit>degrees * 1e7</unit>
        </parameter>
        <parameter default="600.0" name="NAV_AH_ALT" type="FLOAT">
            <short_desc>Airfield home alt</short_desc>
            <long_desc>Altitude of airfield home waypoint</long_desc>
            <min>0.0</min>
            <unit>m</unit>
        </parameter>
    </group>
    <group name="FW Attitude Control">
        <parameter default="0.5" name="FW_ATT_TC" type="FLOAT">
            <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>
            <min>0.4</min>
            <max>1.0</max>
            <unit>seconds</unit>
        </parameter>
        <parameter default="0.05" name="FW_PR_P" type="FLOAT">
            <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>
        </parameter>
        <parameter default="0.0" name="FW_PR_I" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>50.0</max>
        </parameter>
        <parameter default="0.0" name="FW_P_RMAX_POS" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>90.0</max>
            <unit>deg/s</unit>
        </parameter>
        <parameter default="0.0" name="FW_P_RMAX_NEG" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>90.0</max>
            <unit>deg/s</unit>
        </parameter>
        <parameter default="0.2" name="FW_PR_IMAX" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter default="0.0" name="FW_P_ROLLFF" type="FLOAT">
            <short_desc>Roll to Pitch feedforward gain</short_desc>
            <long_desc>This compensates during turns and ensures the nose stays level.</long_desc>
            <min>0.0</min>
            <max>2.0</max>
        </parameter>
        <parameter default="0.05" name="FW_RR_P" type="FLOAT">
            <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>
        </parameter>
        <parameter default="0.0" name="FW_RR_I" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="0.2" name="FW_RR_IMAX" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter default="0.0" name="FW_R_RMAX" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>90.0</max>
            <unit>deg/s</unit>
        </parameter>
        <parameter default="0.05" name="FW_YR_P" type="FLOAT">
            <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>
        </parameter>
        <parameter default="0.0" name="FW_YR_I" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>50.0</max>
        </parameter>
        <parameter default="0.2" name="FW_YR_IMAX" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter default="0.0" name="FW_Y_RMAX" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>90.0</max>
            <unit>deg/s</unit>
        </parameter>
        <parameter default="0.3" name="FW_RR_FF" type="FLOAT">
            <short_desc>Roll rate feed forward</short_desc>
            <long_desc>Direct feed forward from rate setpoint to control surface output</long_desc>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter default="0.4" name="FW_PR_FF" type="FLOAT">
            <short_desc>Pitch rate feed forward</short_desc>
            <long_desc>Direct feed forward from rate setpoint to control surface output</long_desc>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter default="0.3" name="FW_YR_FF" type="FLOAT">
            <short_desc>Yaw rate feed forward</short_desc>
            <long_desc>Direct feed forward from rate setpoint to control surface output</long_desc>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter default="1000.0" name="FW_YCO_VMIN" type="FLOAT">
            <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>
            <unit>m/s</unit>
        </parameter>
        <parameter default="0" name="FW_YCO_METHOD" type="INT32">
            <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>
            <min>0</min>
            <max>1</max>
            <unit>m/s</unit>
        </parameter>
        <parameter default="10.0" name="FW_AIRSPD_MIN" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>40</max>
            <unit>m/s</unit>
        </parameter>
        <parameter default="15.0" name="FW_AIRSPD_TRIM" type="FLOAT">
            <short_desc>Trim Airspeed</short_desc>
            <long_desc>The TECS controller tries to fly at this airspeed.</long_desc>
            <min>0.0</min>
            <max>40</max>
            <unit>m/s</unit>
        </parameter>
        <parameter default="20.0" name="FW_AIRSPD_MAX" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>40</max>
            <unit>m/s</unit>
        </parameter>
        <parameter default="0.0" name="FW_RSP_OFF" type="FLOAT">
            <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>
            <min>-90.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter default="0.0" name="FW_PSP_OFF" type="FLOAT">
            <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>
            <min>-90.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter default="45.0" name="FW_MAN_R_MAX" type="FLOAT">
            <short_desc>Max Manual Roll</short_desc>
            <long_desc>Max roll for manual control in attitude stabilized mode</long_desc>
            <min>0.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter default="45.0" name="FW_MAN_P_MAX" type="FLOAT">
            <short_desc>Max Manual Pitch</short_desc>
            <long_desc>Max pitch for manual control in attitude stabilized mode</long_desc>
            <min>0.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
    </group>
    <group name="Fixed Wing TECS">
        <parameter default="2.0" name="FW_T_SINK_MIN" type="FLOAT">
            <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>
        </parameter>
        <parameter default="5.0" name="FW_T_SINK_MAX" type="FLOAT">
            <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>
        </parameter>
        <parameter default="5.0" name="FW_T_TIME_CONST" type="FLOAT">
            <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>
        </parameter>
        <parameter default="8.0" name="FW_T_THRO_CONST" type="FLOAT">
            <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>
        </parameter>
        <parameter default="0.5" name="FW_T_THR_DAMP" type="FLOAT">
            <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>
        </parameter>
        <parameter default="0.1" name="FW_T_INTEG_GAIN" type="FLOAT">
            <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>
        </parameter>
        <parameter default="7.0" name="FW_T_VERT_ACC" type="FLOAT">
            <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>
        </parameter>
        <parameter default="3.0" name="FW_T_HGT_OMEGA" type="FLOAT">
            <short_desc>Complementary filter "omega" 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>
        </parameter>
        <parameter default="2.0" name="FW_T_SPD_OMEGA" type="FLOAT">
            <short_desc>Complementary filter "omega" 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>
        </parameter>
        <parameter default="10.0" name="FW_T_RLL2THR" type="FLOAT">
            <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>
        </parameter>
        <parameter default="1.0" name="FW_T_SPDWEIGHT" type="FLOAT">
            <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>
        </parameter>
        <parameter default="0.0" name="FW_T_PTCH_DAMP" type="FLOAT">
            <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>
        </parameter>
        <parameter default="0.05" name="FW_T_HRATE_P" type="FLOAT">
            <short_desc>Height rate P factor</short_desc>
        </parameter>
        <parameter default="0.0" name="FW_T_HRATE_FF" type="FLOAT">
            <short_desc>Height rate FF factor</short_desc>
        </parameter>
        <parameter default="0.05" name="FW_T_SRATE_P" type="FLOAT">
            <short_desc>Speed rate P factor</short_desc>
        </parameter>
    </group>
    <group name="GPS Failure Navigation">
        <parameter default="30.0" name="NAV_GPSF_LT" type="FLOAT">
            <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>
            <min>0.0</min>
            <unit>seconds</unit>
        </parameter>
        <parameter default="15.0" name="NAV_GPSF_R" type="FLOAT">
            <short_desc>Open loop loiter roll</short_desc>
            <long_desc>Roll in degrees during the open loop loiter</long_desc>
            <min>0.0</min>
            <max>30.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter default="0.0" name="NAV_GPSF_P" type="FLOAT">
            <short_desc>Open loop loiter pitch</short_desc>
            <long_desc>Pitch in degrees during the open loop loiter</long_desc>
            <min>-30.0</min>
            <max>30.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter default="0.7" name="NAV_GPSF_TR" type="FLOAT">
            <short_desc>Open loop loiter thrust</short_desc>
            <long_desc>Thrust value which is set during the open loop loiter</long_desc>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
    </group>
    <group name="Geofence">
        <parameter default="0" name="GF_MODE" type="INT32">
            <short_desc>Geofence mode</short_desc>
            <long_desc>0 = disabled, 1 = geofence file only, 2 = max horizontal (GF_MAX_HOR_DIST) and vertical (GF_MAX_VER_DIST) distances, 3 = both</long_desc>
            <min>0</min>
            <max>3</max>
        </parameter>
        <parameter default="0" name="GF_ALTMODE" type="INT32">
            <short_desc>Geofence altitude mode</short_desc>
            <long_desc>Select which altitude reference should be used
                0 = WGS84, 1 = AMSL</long_desc>
            <min>0</min>
            <max>1</max>
        </parameter>
        <parameter default="0" name="GF_SOURCE" type="INT32">
            <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>
            <min>0</min>
            <max>1</max>
        </parameter>
        <parameter default="-1" name="GF_COUNT" type="INT32">
            <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>
            <min>-1</min>
            <max>10</max>
        </parameter>
        <parameter default="-1" name="GF_MAX_HOR_DIST" type="INT32">
            <short_desc>Max horizontal distance in meters</short_desc>
            <long_desc>Set to &gt; 0 to activate RTL if horizontal distance to home exceeds this value.</long_desc>
        </parameter>
        <parameter default="-1" name="GF_MAX_VER_DIST" type="INT32">
            <short_desc>Max vertical distance in meters</short_desc>
            <long_desc>Set to &gt; 0 to activate RTL if vertical distance to home exceeds this value.</long_desc>
        </parameter>
    </group>
    <group name="L1 Control">
        <parameter default="25.0" name="FW_L1_PERIOD" type="FLOAT">
            <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>
            <min>1.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="0.75" name="FW_L1_DAMPING" type="FLOAT">
            <short_desc>L1 damping</short_desc>
            <long_desc>Damping factor for L1 control.</long_desc>
            <min>0.6</min>
            <max>0.9</max>
        </parameter>
        <parameter default="0.7" name="FW_THR_CRUISE" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter default="0.0" name="FW_THR_SLEW_MAX" type="FLOAT">
            <short_desc>Throttle max slew rate</short_desc>
            <long_desc>Maximum slew rate for the commanded throttle</long_desc>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter default="-45.0" name="FW_P_LIM_MIN" type="FLOAT">
            <short_desc>Negative pitch limit</short_desc>
            <long_desc>The minimum negative pitch the controller will output.</long_desc>
            <min>-60.0</min>
            <max>0.0</max>
            <unit>degrees</unit>
        </parameter>
        <parameter default="45.0" name="FW_P_LIM_MAX" type="FLOAT">
            <short_desc>Positive pitch limit</short_desc>
            <long_desc>The maximum positive pitch the controller will output.</long_desc>
            <min>0.0</min>
            <max>60.0</max>
            <unit>degrees</unit>
        </parameter>
        <parameter default="45.0" name="FW_R_LIM" type="FLOAT">
            <short_desc>Controller roll limit</short_desc>
            <long_desc>The maximum roll the controller will output.</long_desc>
            <min>0.0</min>
            <unit>degrees</unit>
        </parameter>
        <parameter default="1.0" name="FW_THR_MAX" type="FLOAT">
            <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>
        </parameter>
        <parameter default="0.0" name="FW_THR_MIN" type="FLOAT">
            <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>
        </parameter>
        <parameter default="1.0" name="FW_THR_LND_MAX" type="FLOAT">
            <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>
        </parameter>
        <parameter default="25.0" name="FW_CLMBOUT_DIFF" type="FLOAT">
            <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>
        </parameter>
        <parameter default="5.0" name="FW_T_CLMB_MAX" type="FLOAT">
            <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>
        </parameter>
        <parameter default="5.0" name="FW_LND_ANG" type="FLOAT">
            <short_desc>Landing slope angle</short_desc>
        </parameter>
        <parameter default="10.0" name="FW_LND_HVIRT" type="FLOAT">
            <short_desc>FW_LND_HVIRT</short_desc>
        </parameter>
        <parameter default="8.0" name="FW_LND_FLALT" type="FLOAT">
            <short_desc>Landing flare altitude (relative to landing altitude)</short_desc>
            <unit>meter</unit>
        </parameter>
        <parameter default="-1.0" name="FW_LND_TLALT" type="FLOAT">
            <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>
            <unit>meter</unit>
        </parameter>
        <parameter default="15.0" name="FW_LND_HHDIST" type="FLOAT">
            <short_desc>Landing heading hold horizontal distance</short_desc>
        </parameter>
        <parameter default="0" name="FW_LND_USETER" type="INT32">
            <short_desc>Enable or disable usage of terrain estimate during landing</short_desc>
            <long_desc>0: disabled, 1: enabled</long_desc>
        </parameter>
    </group>
    <group name="Land Detector">
        <parameter default="0.30" name="LNDMC_Z_VEL_MAX" type="FLOAT">
            <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>
        </parameter>
        <parameter default="1.00" name="LNDMC_XY_VEL_MAX" type="FLOAT">
            <short_desc>Multicopter max horizontal velocity</short_desc>
            <long_desc>Maximum horizontal velocity allowed to trigger a land (m/s)</long_desc>
        </parameter>
        <parameter default="20.0" name="LNDMC_ROT_MAX" type="FLOAT">
            <short_desc>Multicopter max rotation</short_desc>
            <long_desc>Maximum allowed around each axis to trigger a land (degrees per second)</long_desc>
        </parameter>
        <parameter default="0.20" name="LNDMC_THR_MAX" type="FLOAT">
            <short_desc>Multicopter max throttle</short_desc>
            <long_desc>Maximum actuator output on throttle before triggering a land</long_desc>
        </parameter>
        <parameter default="0.20" name="LNDFW_VEL_XY_MAX" type="FLOAT">
            <short_desc>Fixedwing max horizontal velocity</short_desc>
            <long_desc>Maximum horizontal velocity allowed to trigger a land (m/s)</long_desc>
        </parameter>
        <parameter default="10.00" name="LNDFW_VEL_Z_MAX" type="FLOAT">
            <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>
        </parameter>
        <parameter default="10.00" name="LNDFW_AIRSPD_MAX" type="FLOAT">
            <short_desc>Airspeed max</short_desc>
            <long_desc>Maximum airspeed allowed to trigger a land (m/s)</long_desc>
        </parameter>
    </group>
    <group name="Launch detection">
        <parameter default="0" name="LAUN_ALL_ON" type="INT32">
            <short_desc>Enable launch detection</short_desc>
            <min>0</min>
            <max>1</max>
        </parameter>
        <parameter default="30.0" name="LAUN_CAT_A" type="FLOAT">
            <short_desc>Catapult accelerometer theshold</short_desc>
            <long_desc>LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection.</long_desc>
            <min>0</min>
        </parameter>
        <parameter default="0.05" name="LAUN_CAT_T" type="FLOAT">
            <short_desc>Catapult time theshold</short_desc>
            <long_desc>LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection.</long_desc>
            <min>0</min>
        </parameter>
        <parameter default="0.0" name="LAUN_CAT_MDEL" type="FLOAT">
            <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>
            <min>0</min>
            <unit>seconds</unit>
        </parameter>
        <parameter default="30.0" name="LAUN_CAT_PMAX" type="FLOAT">
            <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>
            <min>0</min>
            <max>45</max>
            <unit>deg</unit>
        </parameter>
        <parameter default="0.0" name="LAUN_THR_PRE" type="FLOAT">
            <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>
            <min>0</min>
            <max>1</max>
        </parameter>
    </group>
    <group name="MAVLink">
        <parameter default="1" name="MAV_SYS_ID" type="INT32">
            <short_desc>MAVLink system ID</short_desc>
        </parameter>
        <parameter default="50" name="MAV_COMP_ID" type="INT32">
            <short_desc>MAVLink component ID</short_desc>
        </parameter>
        <parameter default="MAV_TYPE_FIXED_WING" name="MAV_TYPE" type="INT32">
            <short_desc>MAVLink type</short_desc>
        </parameter>
        <parameter default="0" name="MAV_USEHILGPS" type="INT32">
            <short_desc>Use/Accept HIL GPS message (even if not in HIL mode)</short_desc>
            <long_desc>If set to 1 incomming HIL GPS messages are parsed.</long_desc>
        </parameter>
        <parameter default="1" name="MAV_FWDEXTSP" type="INT32">
            <short_desc>Forward external setpoint messages</short_desc>
            <long_desc>If set to 1 incomming external setpoint messages will be directly forwarded to the controllers if in offboard
                control mode</long_desc>
        </parameter>
    </group>
    <group name="MKBLCTRL Testmode">
        <parameter default="0" name="MKBLCTRL_TEST" type="INT32">
            <short_desc>Enables testmode (Identify) of MKBLCTRL Driver</short_desc>
        </parameter>
    </group>
    <group name="Mission">
        <parameter default="10.0" name="MIS_TAKEOFF_ALT" type="FLOAT">
            <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>
            <unit>meters</unit>
        </parameter>
        <parameter default="1" name="MIS_ONBOARD_EN" type="INT32">
            <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>
            <min>0</min>
            <max>1</max>
        </parameter>
        <parameter default="500" name="MIS_DIST_1WP" type="FLOAT">
            <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>
            <min>0</min>
            <max>1000</max>
        </parameter>
        <parameter default="0" name="MIS_ALTMODE" type="INT32">
            <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>
            <min>0</min>
            <max>1</max>
        </parameter>
        <parameter default="0" name="MIS_YAWMODE" type="INT32">
            <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>
            <min>0</min>
            <max>3</max>
        </parameter>
        <parameter default="50.0" name="NAV_LOITER_RAD" type="FLOAT">
            <short_desc>Loiter radius (FW only)</short_desc>
            <long_desc>Default value of loiter radius for missions, loiter, RTL, etc. (fixedwing only).</long_desc>
            <min>20</min>
            <max>200</max>
            <unit>meters</unit>
        </parameter>
        <parameter default="10.0" name="NAV_ACC_RAD" type="FLOAT">
            <short_desc>Acceptance Radius</short_desc>
            <long_desc>Default acceptance radius, overridden by acceptance radius of waypoint if set.</long_desc>
            <min>0.05</min>
            <max>200</max>
            <unit>meters</unit>
        </parameter>
        <parameter default="0" name="NAV_DLL_OBC" type="INT32">
            <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>
            <min>0</min>
        </parameter>
        <parameter default="0" name="NAV_RCL_OBC" type="INT32">
            <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>
            <min>0</min>
        </parameter>
    </group>
    <group name="Multicopter Attitude Control">
        <parameter default="6.0" name="MC_ROLL_P" type="FLOAT">
            <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>
            <min>0.0</min>
        </parameter>
        <parameter default="0.1" name="MC_ROLLRATE_P" type="FLOAT">
            <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>
            <min>0.0</min>
        </parameter>
        <parameter default="0.0" name="MC_ROLLRATE_I" type="FLOAT">
            <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>
            <min>0.0</min>
        </parameter>
        <parameter default="0.002" name="MC_ROLLRATE_D" type="FLOAT">
            <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>
            <min>0.0</min>
        </parameter>
        <parameter default="0.0" name="MC_ROLLRATE_FF" type="FLOAT">
            <short_desc>Roll rate feedforward</short_desc>
            <long_desc>Improves tracking performance.</long_desc>
            <min>0.0</min>
        </parameter>
        <parameter default="6.0" name="MC_PITCH_P" type="FLOAT">
            <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>
            <min>0.0</min>
            <unit>1/s</unit>
        </parameter>
        <parameter default="0.1" name="MC_PITCHRATE_P" type="FLOAT">
            <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>
            <min>0.0</min>
        </parameter>
        <parameter default="0.0" name="MC_PITCHRATE_I" type="FLOAT">
            <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>
            <min>0.0</min>
        </parameter>
        <parameter default="0.002" name="MC_PITCHRATE_D" type="FLOAT">
            <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>
            <min>0.0</min>
        </parameter>
        <parameter default="0.0" name="MC_PITCHRATE_FF" type="FLOAT">
            <short_desc>Pitch rate feedforward</short_desc>
            <long_desc>Improves tracking performance.</long_desc>
            <min>0.0</min>
        </parameter>
        <parameter default="2.0" name="MC_YAW_P" type="FLOAT">
            <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>
            <min>0.0</min>
            <unit>1/s</unit>
        </parameter>
        <parameter default="0.3" name="MC_YAWRATE_P" type="FLOAT">
            <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>
            <min>0.0</min>
        </parameter>
        <parameter default="0.0" name="MC_YAWRATE_I" type="FLOAT">
            <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>
            <min>0.0</min>
        </parameter>
        <parameter default="0.0" name="MC_YAWRATE_D" type="FLOAT">
            <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>
            <min>0.0</min>
        </parameter>
        <parameter default="0.0" name="MC_YAWRATE_FF" type="FLOAT">
            <short_desc>Yaw rate feedforward</short_desc>
            <long_desc>Improves tracking performance.</long_desc>
            <min>0.0</min>
        </parameter>
        <parameter default="0.5" name="MC_YAW_FF" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter default="360.0" name="MC_ROLLRATE_MAX" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>360.0</max>
            <unit>deg/s</unit>
        </parameter>
        <parameter default="360.0" name="MC_PITCHRATE_MAX" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>360.0</max>
            <unit>deg/s</unit>
        </parameter>
        <parameter default="120.0" name="MC_YAWRATE_MAX" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>360.0</max>
            <unit>deg/s</unit>
        </parameter>
        <parameter default="90.0" name="MC_ACRO_R_MAX" type="FLOAT">
            <short_desc>Max acro roll rate</short_desc>
            <min>0.0</min>
            <max>360.0</max>
            <unit>deg/s</unit>
        </parameter>
        <parameter default="90.0" name="MC_ACRO_P_MAX" type="FLOAT">
            <short_desc>Max acro pitch rate</short_desc>
            <min>0.0</min>
            <max>360.0</max>
            <unit>deg/s</unit>
        </parameter>
        <parameter default="120.0" name="MC_ACRO_Y_MAX" type="FLOAT">
            <short_desc>Max acro yaw rate</short_desc>
            <min>0.0</min>
            <unit>deg/s</unit>
        </parameter>
        <parameter default="" name="MC_ROLL_P" type="FLOAT">
            <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>
            <min>0.0</min>
        </parameter>
        <parameter default="" name="MC_ROLLRATE_P" type="FLOAT">
            <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>
            <min>0.0</min>
        </parameter>
        <parameter default="" name="MC_ROLLRATE_I" type="FLOAT">
            <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>
            <min>0.0</min>
        </parameter>
        <parameter default="" name="MC_ROLLRATE_D" type="FLOAT">
            <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>
            <min>0.0</min>
        </parameter>
        <parameter default="" name="MC_PITCH_P" type="FLOAT">
            <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>
            <min>0.0</min>
            <unit>1/s</unit>
        </parameter>
        <parameter default="" name="MC_PITCHRATE_P" type="FLOAT">
            <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>
            <min>0.0</min>
        </parameter>
        <parameter default="" name="MC_PITCHRATE_I" type="FLOAT">
            <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>
            <min>0.0</min>
        </parameter>
        <parameter default="" name="MC_PITCHRATE_D" type="FLOAT">
            <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>
            <min>0.0</min>
        </parameter>
        <parameter default="" name="MC_YAW_P" type="FLOAT">
            <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>
            <min>0.0</min>
            <unit>1/s</unit>
        </parameter>
        <parameter default="" name="MC_YAWRATE_P" type="FLOAT">
            <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>
            <min>0.0</min>
        </parameter>
        <parameter default="" name="MC_YAWRATE_I" type="FLOAT">
            <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>
            <min>0.0</min>
        </parameter>
        <parameter default="" name="MC_YAWRATE_D" type="FLOAT">
            <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>
            <min>0.0</min>
        </parameter>
        <parameter default="" name="MC_YAW_FF" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter default="" name="MC_YAWRATE_MAX" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>360.0</max>
            <unit>deg/s</unit>
        </parameter>
        <parameter default="" name="MC_ACRO_R_MAX" type="FLOAT">
            <short_desc>Max acro roll rate</short_desc>
            <min>0.0</min>
            <max>360.0</max>
            <unit>deg/s</unit>
        </parameter>
        <parameter default="" name="MC_ACRO_P_MAX" type="FLOAT">
            <short_desc>Max acro pitch rate</short_desc>
            <min>0.0</min>
            <max>360.0</max>
            <unit>deg/s</unit>
        </parameter>
        <parameter default="" name="MC_ACRO_Y_MAX" type="FLOAT">
            <short_desc>Max acro yaw rate</short_desc>
            <min>0.0</min>
            <unit>deg/s</unit>
        </parameter>
        <parameter default="" name="MPC_MAN_R_MAX" type="FLOAT">
            <short_desc>Max manual roll</short_desc>
            <min>0.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter default="" name="MPC_MAN_P_MAX" type="FLOAT">
            <short_desc>Max manual pitch</short_desc>
            <min>0.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter default="" name="MPC_MAN_Y_MAX" type="FLOAT">
            <short_desc>Max manual yaw rate</short_desc>
            <min>0.0</min>
            <unit>deg/s</unit>
        </parameter>
    </group>
    <group name="Multicopter Position Control">
        <parameter default="0.1" name="MPC_THR_MIN" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter default="1.0" name="MPC_THR_MAX" type="FLOAT">
            <short_desc>Maximum thrust</short_desc>
            <long_desc>Limit max allowed thrust.</long_desc>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter default="1.0" name="MPC_Z_P" type="FLOAT">
            <short_desc>Proportional gain for vertical position error</short_desc>
            <min>0.0</min>
        </parameter>
        <parameter default="0.1" name="MPC_Z_VEL_P" type="FLOAT">
            <short_desc>Proportional gain for vertical velocity error</short_desc>
            <min>0.0</min>
        </parameter>
        <parameter default="0.02" name="MPC_Z_VEL_I" type="FLOAT">
            <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>
            <min>0.0</min>
        </parameter>
        <parameter default="0.0" name="MPC_Z_VEL_D" type="FLOAT">
            <short_desc>Differential gain for vertical velocity error</short_desc>
            <min>0.0</min>
        </parameter>
        <parameter default="5.0" name="MPC_Z_VEL_MAX" type="FLOAT">
            <short_desc>Maximum vertical velocity</short_desc>
            <long_desc>Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).</long_desc>
            <min>0.0</min>
            <unit>m/s</unit>
        </parameter>
        <parameter default="0.5" name="MPC_Z_FF" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter default="1.0" name="MPC_XY_P" type="FLOAT">
            <short_desc>Proportional gain for horizontal position error</short_desc>
            <min>0.0</min>
        </parameter>
        <parameter default="0.1" name="MPC_XY_VEL_P" type="FLOAT">
            <short_desc>Proportional gain for horizontal velocity error</short_desc>
            <min>0.0</min>
        </parameter>
        <parameter default="0.02" name="MPC_XY_VEL_I" type="FLOAT">
            <short_desc>Integral gain for horizontal velocity error</short_desc>
            <long_desc>Non-zero value allows to resist wind.</long_desc>
            <min>0.0</min>
        </parameter>
        <parameter default="0.01" name="MPC_XY_VEL_D" type="FLOAT">
            <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>
            <min>0.0</min>
        </parameter>
        <parameter default="5.0" name="MPC_XY_VEL_MAX" type="FLOAT">
            <short_desc>Maximum horizontal velocity</short_desc>
            <long_desc>Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL).</long_desc>
            <min>0.0</min>
            <unit>m/s</unit>
        </parameter>
        <parameter default="0.5" name="MPC_XY_FF" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter default="45.0" name="MPC_TILTMAX_AIR" type="FLOAT">
            <short_desc>Maximum tilt angle in air</short_desc>
            <long_desc>Limits maximum tilt in AUTO and POSCTRL modes during flight.</long_desc>
            <min>0.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter default="15.0" name="MPC_TILTMAX_LND" type="FLOAT">
            <short_desc>Maximum tilt during landing</short_desc>
            <long_desc>Limits maximum tilt angle on landing.</long_desc>
            <min>0.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter default="1.0" name="MPC_LAND_SPEED" type="FLOAT">
            <short_desc>Landing descend rate</short_desc>
            <min>0.0</min>
            <unit>m/s</unit>
        </parameter>
        <parameter default="35.0" name="MPC_MAN_R_MAX" type="FLOAT">
            <short_desc>Max manual roll</short_desc>
            <min>0.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter default="35.0" name="MPC_MAN_P_MAX" type="FLOAT">
            <short_desc>Max manual pitch</short_desc>
            <min>0.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter default="120.0" name="MPC_MAN_Y_MAX" type="FLOAT">
            <short_desc>Max manual yaw rate</short_desc>
            <min>0.0</min>
            <unit>deg/s</unit>
        </parameter>
        <parameter default="" name="MPC_THR_MIN" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter default="" name="MPC_THR_MAX" type="FLOAT">
            <short_desc>Maximum thrust</short_desc>
            <long_desc>Limit max allowed thrust.</long_desc>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter default="" name="MPC_Z_P" type="FLOAT">
            <short_desc>Proportional gain for vertical position error</short_desc>
            <min>0.0</min>
        </parameter>
        <parameter default="" name="MPC_Z_VEL_P" type="FLOAT">
            <short_desc>Proportional gain for vertical velocity error</short_desc>
            <min>0.0</min>
        </parameter>
        <parameter default="" name="MPC_Z_VEL_I" type="FLOAT">
            <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>
            <min>0.0</min>
        </parameter>
        <parameter default="" name="MPC_Z_VEL_D" type="FLOAT">
            <short_desc>Differential gain for vertical velocity error</short_desc>
            <min>0.0</min>
        </parameter>
        <parameter default="" name="MPC_Z_VEL_MAX" type="FLOAT">
            <short_desc>Maximum vertical velocity</short_desc>
            <long_desc>Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL).</long_desc>
            <min>0.0</min>
            <unit>m/s</unit>
        </parameter>
        <parameter default="" name="MPC_Z_FF" type="FLOAT">
            <short_desc>Vertical velocity feed forward</short_desc>
            <long_desc>Feed forward weight for altitude control in stabilized modes (ALTCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.</long_desc>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter default="" name="MPC_XY_P" type="FLOAT">
            <short_desc>Proportional gain for horizontal position error</short_desc>
            <min>0.0</min>
        </parameter>
        <parameter default="" name="MPC_XY_VEL_P" type="FLOAT">
            <short_desc>Proportional gain for horizontal velocity error</short_desc>
            <min>0.0</min>
        </parameter>
        <parameter default="" name="MPC_XY_VEL_I" type="FLOAT">
            <short_desc>Integral gain for horizontal velocity error</short_desc>
            <long_desc>Non-zero value allows to resist wind.</long_desc>
            <min>0.0</min>
        </parameter>
        <parameter default="" name="MPC_XY_VEL_D" type="FLOAT">
            <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>
            <min>0.0</min>
        </parameter>
        <parameter default="" name="MPC_XY_VEL_MAX" type="FLOAT">
            <short_desc>Maximum horizontal velocity</short_desc>
            <long_desc>Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL).</long_desc>
            <min>0.0</min>
            <unit>m/s</unit>
        </parameter>
        <parameter default="" name="MPC_XY_FF" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter default="" name="MPC_TILTMAX_AIR" type="FLOAT">
            <short_desc>Maximum tilt angle in air</short_desc>
            <long_desc>Limits maximum tilt in AUTO and POSCTRL modes during flight.</long_desc>
            <min>0.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter default="" name="MPC_TILTMAX_LND" type="FLOAT">
            <short_desc>Maximum tilt during landing</short_desc>
            <long_desc>Limits maximum tilt angle on landing.</long_desc>
            <min>0.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter default="" name="MPC_LAND_SPEED" type="FLOAT">
            <short_desc>Landing descend rate</short_desc>
            <min>0.0</min>
            <unit>m/s</unit>
        </parameter>
    </group>
    <group name="Payload drop">
        <parameter default="0.03" name="BD_GPROPERTIES" type="FLOAT">
            <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>
            <min>0.001</min>
            <max>0.1</max>
            <unit>unknown</unit>
        </parameter>
        <parameter default="120.0" name="BD_TURNRADIUS" type="FLOAT">
            <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>
            <min>30.0</min>
            <max>500.0</max>
            <unit>meter</unit>
        </parameter>
        <parameter default="30.0" name="BD_PRECISION" type="FLOAT">
            <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>
            <min>1.0</min>
            <max>80.0</max>
            <unit>meter</unit>
        </parameter>
        <parameter default="0.1" name="BD_OBJ_CD" type="FLOAT">
            <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>
            <min>0.08</min>
            <max>1.5</max>
            <unit>meter</unit>
        </parameter>
        <parameter default="0.6" name="BD_OBJ_MASS" type="FLOAT">
            <short_desc>Payload mass</short_desc>
            <long_desc>A typical small toy ball:
                0.025 kg
                OBC water bottle:
                0.6 kg</long_desc>
            <min>0.001</min>
            <max>5.0</max>
            <unit>kilogram</unit>
        </parameter>
        <parameter default="0.00311724531" name="BD_OBJ_SURFACE" type="FLOAT">
            <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>
            <min>0.001</min>
            <max>0.5</max>
            <unit>m^2</unit>
        </parameter>
    </group>
    <group name="Position Estimator">
        <parameter default="230" name="PE_VEL_DELAY_MS" type="INT32">
            <short_desc>Velocity estimate delay</short_desc>
            <long_desc>The delay in milliseconds of the velocity estimate from GPS.</long_desc>
            <min>0</min>
            <max>1000</max>
        </parameter>
        <parameter default="210" name="PE_POS_DELAY_MS" type="INT32">
            <short_desc>Position estimate delay</short_desc>
            <long_desc>The delay in milliseconds of the position estimate from GPS.</long_desc>
            <min>0</min>
            <max>1000</max>
        </parameter>
        <parameter default="350" name="PE_HGT_DELAY_MS" type="INT32">
            <short_desc>Height estimate delay</short_desc>
            <long_desc>The delay in milliseconds of the height estimate from the barometer.</long_desc>
            <min>0</min>
            <max>1000</max>
        </parameter>
        <parameter default="30" name="PE_MAG_DELAY_MS" type="INT32">
            <short_desc>Mag estimate delay</short_desc>
            <long_desc>The delay in milliseconds of the magnetic field estimate from
                the magnetometer.</long_desc>
            <min>0</min>
            <max>1000</max>
        </parameter>
        <parameter default="210" name="PE_TAS_DELAY_MS" type="INT32">
            <short_desc>True airspeeed estimate delay</short_desc>
            <long_desc>The delay in milliseconds of the airspeed estimate.</long_desc>
            <min>0</min>
            <max>1000</max>
        </parameter>
        <parameter default="0.9" name="PE_GPS_ALT_WGT" type="FLOAT">
            <short_desc>GPS vs. barometric altitude update weight</short_desc>
            <long_desc>RE-CHECK this.</long_desc>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter default="1.4" name="PE_EAS_NOISE" type="FLOAT">
            <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>
            <min>0.5</min>
            <max>5.0</max>
        </parameter>
        <parameter default="0.3" name="PE_VELNE_NOISE" type="FLOAT">
            <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>
            <min>0.05</min>
            <max>5.0</max>
        </parameter>
        <parameter default="0.5" name="PE_VELD_NOISE" type="FLOAT">
            <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>
            <min>0.05</min>
            <max>5.0</max>
        </parameter>
        <parameter default="0.5" name="PE_POSNE_NOISE" type="FLOAT">
            <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>
            <min>0.1</min>
            <max>10.0</max>
        </parameter>
        <parameter default="0.5" name="PE_POSD_NOISE" type="FLOAT">
            <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>
            <min>0.1</min>
            <max>10.0</max>
        </parameter>
        <parameter default="0.05" name="PE_MAG_NOISE" type="FLOAT">
            <short_desc>Magnetometer measurement noise</short_desc>
            <long_desc>Generic defaults: 0.05, multicopters: 0.05, ground vehicles: 0.05</long_desc>
            <min>0.1</min>
            <max>10.0</max>
        </parameter>
        <parameter default="0.015" name="PE_GYRO_PNOISE" type="FLOAT">
            <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>
            <min>0.001</min>
            <max>0.05</max>
        </parameter>
        <parameter default="0.25" name="PE_ACC_PNOISE" type="FLOAT">
            <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>
            <min>0.05</min>
            <max>1.0</max>
        </parameter>
        <parameter default="1e-06" name="PE_GBIAS_PNOISE" type="FLOAT">
            <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>
            <min>0.0000001</min>
            <max>0.00001</max>
        </parameter>
        <parameter default="0.0002" name="PE_ABIAS_PNOISE" type="FLOAT">
            <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>
            <min>0.00001</min>
            <max>0.001</max>
        </parameter>
        <parameter default="0.0003" name="PE_MAGE_PNOISE" type="FLOAT">
            <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>
            <min>0.0001</min>
            <max>0.01</max>
        </parameter>
        <parameter default="0.0003" name="PE_MAGB_PNOISE" type="FLOAT">
            <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>
            <min>0.0001</min>
            <max>0.01</max>
        </parameter>
        <parameter default="5.0" name="PE_POSDEV_INIT" type="FLOAT">
            <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>
            <min>0.3</min>
            <max>10.0</max>
        </parameter>
    </group>
    <group name="Position Estimator INAV">
        <parameter default="0.5" name="INAV_W_Z_BARO" type="FLOAT">
            <short_desc>Z axis weight for barometer</short_desc>
            <long_desc>Weight (cutoff frequency) for barometer altitude measurements.</long_desc>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter default="0.005" name="INAV_W_Z_GPS_P" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter default="0.0" name="INAV_W_Z_GPS_V" type="FLOAT">
            <short_desc>Z velocity weight for GPS</short_desc>
            <long_desc>Weight (cutoff frequency) for GPS altitude velocity measurements.</long_desc>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter default="0.5" name="INAV_W_Z_VIS_P" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter default="3.0" name="INAV_W_Z_SONAR" type="FLOAT">
            <short_desc>Z axis weight for sonar</short_desc>
            <long_desc>Weight (cutoff frequency) for sonar measurements.</long_desc>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter default="1.0" name="INAV_W_XY_GPS_P" type="FLOAT">
            <short_desc>XY axis weight for GPS position</short_desc>
            <long_desc>Weight (cutoff frequency) for GPS position measurements.</long_desc>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter default="2.0" name="INAV_W_XY_GPS_V" type="FLOAT">
            <short_desc>XY axis weight for GPS velocity</short_desc>
            <long_desc>Weight (cutoff frequency) for GPS velocity measurements.</long_desc>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter default="7.0" name="INAV_W_XY_VIS_P" type="FLOAT">
            <short_desc>XY axis weight for vision position</short_desc>
            <long_desc>Weight (cutoff frequency) for vision position measurements.</long_desc>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter default="0.0" name="INAV_W_XY_VIS_V" type="FLOAT">
            <short_desc>XY axis weight for vision velocity</short_desc>
            <long_desc>Weight (cutoff frequency) for vision velocity measurements.</long_desc>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter default="5.0" name="INAV_W_XY_FLOW" type="FLOAT">
            <short_desc>XY axis weight for optical flow</short_desc>
            <long_desc>Weight (cutoff frequency) for optical flow (velocity) measurements.</long_desc>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter default="0.5" name="INAV_W_XY_RES_V" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter default="0.1" name="INAV_W_GPS_FLOW" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter default="0.05" name="INAV_W_ACC_BIAS" type="FLOAT">
            <short_desc>Accelerometer bias estimation weight</short_desc>
            <long_desc>Weight (cutoff frequency) for accelerometer bias estimation. 0 to disable.</long_desc>
            <min>0.0</min>
            <max>0.1</max>
        </parameter>
        <parameter default="0.15" name="INAV_FLOW_K" type="FLOAT">
            <short_desc>Optical flow scale factor</short_desc>
            <long_desc>Factor to convert raw optical flow (in pixels) to radians [rad/px].</long_desc>
            <min>0.0</min>
            <max>1.0</max>
            <unit>rad/px</unit>
        </parameter>
        <parameter default="0.5" name="INAV_FLOW_Q_MIN" type="FLOAT">
            <short_desc>Minimal acceptable optical flow quality</short_desc>
            <long_desc>0 - lowest quality, 1 - best quality.</long_desc>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter default="0.05" name="INAV_SONAR_FILT" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter default="0.5" name="INAV_SONAR_ERR" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>1.0</max>
            <unit>m</unit>
        </parameter>
        <parameter default="3.0" name="INAV_LAND_T" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>10.0</max>
            <unit>s</unit>
        </parameter>
        <parameter default="0.7" name="INAV_LAND_DISP" type="FLOAT">
            <short_desc>Land detector altitude dispersion threshold</short_desc>
            <long_desc>Dispersion threshold for triggering land detector.</long_desc>
            <min>0.0</min>
            <max>10.0</max>
            <unit>m</unit>
        </parameter>
        <parameter default="0.2" name="INAV_LAND_THR" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter default="0.2" name="INAV_DELAY_GPS" type="FLOAT">
            <short_desc>GPS delay</short_desc>
            <long_desc>GPS delay compensation</long_desc>
            <min>0.0</min>
            <max>1.0</max>
            <unit>s</unit>
        </parameter>
        <parameter default="0" name="CBRK_NO_VISION" type="INT32">
            <short_desc>Disable vision input</short_desc>
            <long_desc>Set to the appropriate key (328754) to disable vision input.</long_desc>
            <min>0</min>
            <max>1</max>
        </parameter>
        <parameter default="1" name="INAV_ENABLED" type="INT32">
            <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>
            <min>0</min>
            <max>1</max>
        </parameter>
    </group>
    <group name="Radio Calibration">
        <parameter default="1000.0" name="RC1_MIN" type="FLOAT">
            <short_desc>RC Channel 1 Minimum</short_desc>
            <long_desc>Minimum value for RC channel 1</long_desc>
            <min>800.0</min>
            <max>1500.0</max>
        </parameter>
        <parameter default="1500.0" name="RC1_TRIM" type="FLOAT">
            <short_desc>RC Channel 1 Trim</short_desc>
            <long_desc>Mid point value (same as min for throttle)</long_desc>
            <min>800.0</min>
            <max>2200.0</max>
        </parameter>
        <parameter default="2000.0" name="RC1_MAX" type="FLOAT">
            <short_desc>RC Channel 1 Maximum</short_desc>
            <long_desc>Maximum value for RC channel 1</long_desc>
            <min>1500.0</min>
            <max>2200.0</max>
        </parameter>
        <parameter default="1.0" name="RC1_REV" type="FLOAT">
            <short_desc>RC Channel 1 Reverse</short_desc>
            <long_desc>Set to -1 to reverse channel.</long_desc>
            <min>-1.0</min>
            <max>1.0</max>
        </parameter>
        <parameter default="10.0" name="RC1_DZ" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1000.0" name="RC2_MIN" type="FLOAT">
            <short_desc>RC Channel 2 Minimum</short_desc>
            <long_desc>Minimum value for RC channel 2</long_desc>
            <min>800.0</min>
            <max>1500.0</max>
        </parameter>
        <parameter default="1500.0" name="RC2_TRIM" type="FLOAT">
            <short_desc>RC Channel 2 Trim</short_desc>
            <long_desc>Mid point value (same as min for throttle)</long_desc>
            <min>800.0</min>
            <max>2200.0</max>
        </parameter>
        <parameter default="2000.0" name="RC2_MAX" type="FLOAT">
            <short_desc>RC Channel 2 Maximum</short_desc>
            <long_desc>Maximum value for RC channel 2</long_desc>
            <min>1500.0</min>
            <max>2200.0</max>
        </parameter>
        <parameter default="1.0" name="RC2_REV" type="FLOAT">
            <short_desc>RC Channel 2 Reverse</short_desc>
            <long_desc>Set to -1 to reverse channel.</long_desc>
            <min>-1.0</min>
            <max>1.0</max>
        </parameter>
        <parameter default="10.0" name="RC2_DZ" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1000" name="RC3_MIN" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1500" name="RC3_TRIM" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="2000" name="RC3_MAX" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1.0" name="RC3_REV" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="10.0" name="RC3_DZ" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1000" name="RC4_MIN" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1500" name="RC4_TRIM" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="2000" name="RC4_MAX" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1.0" name="RC4_REV" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="10.0" name="RC4_DZ" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1000" name="RC5_MIN" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1500" name="RC5_TRIM" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="2000" name="RC5_MAX" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1.0" name="RC5_REV" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="10.0" name="RC5_DZ" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1000" name="RC6_MIN" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1500" name="RC6_TRIM" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="2000" name="RC6_MAX" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1.0" name="RC6_REV" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="10.0" name="RC6_DZ" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1000" name="RC7_MIN" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1500" name="RC7_TRIM" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="2000" name="RC7_MAX" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1.0" name="RC7_REV" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="10.0" name="RC7_DZ" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1000" name="RC8_MIN" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1500" name="RC8_TRIM" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="2000" name="RC8_MAX" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1.0" name="RC8_REV" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="10.0" name="RC8_DZ" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1000" name="RC9_MIN" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1500" name="RC9_TRIM" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="2000" name="RC9_MAX" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1.0" name="RC9_REV" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="0.0" name="RC9_DZ" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1000" name="RC10_MIN" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1500" name="RC10_TRIM" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="2000" name="RC10_MAX" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1.0" name="RC10_REV" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="0.0" name="RC10_DZ" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1000" name="RC11_MIN" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1500" name="RC11_TRIM" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="2000" name="RC11_MAX" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1.0" name="RC11_REV" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="0.0" name="RC11_DZ" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1000" name="RC12_MIN" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1500" name="RC12_TRIM" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="2000" name="RC12_MAX" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1.0" name="RC12_REV" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="0.0" name="RC12_DZ" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1000" name="RC13_MIN" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1500" name="RC13_TRIM" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="2000" name="RC13_MAX" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1.0" name="RC13_REV" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="0.0" name="RC13_DZ" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1000" name="RC14_MIN" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1500" name="RC14_TRIM" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="2000" name="RC14_MAX" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1.0" name="RC14_REV" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="0.0" name="RC14_DZ" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1000" name="RC15_MIN" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1500" name="RC15_TRIM" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="2000" name="RC15_MAX" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1.0" name="RC15_REV" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="0.0" name="RC15_DZ" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1000" name="RC16_MIN" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1500" name="RC16_TRIM" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="2000" name="RC16_MAX" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1.0" name="RC16_REV" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="0.0" name="RC16_DZ" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1000" name="RC17_MIN" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1500" name="RC17_TRIM" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="2000" name="RC17_MAX" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1.0" name="RC17_REV" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="0.0" name="RC17_DZ" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1000" name="RC18_MIN" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1500" name="RC18_TRIM" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="2000" name="RC18_MAX" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="1.0" name="RC18_REV" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="0.0" name="RC18_DZ" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter default="-1" name="RC_DSM_BIND" type="INT32">
            <short_desc>DSM binding trigger</short_desc>
            <long_desc>-1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind</long_desc>
        </parameter>
        <parameter default="0" name="RC_CHAN_CNT" type="INT32">
            <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>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter default="1" name="RC_TH_USER" type="INT32">
            <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>
            <min>0</min>
            <max>1</max>
        </parameter>
        <parameter default="1" name="RC_MAP_ROLL" type="INT32">
            <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>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter default="2" name="RC_MAP_PITCH" type="INT32">
            <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>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter default="3" name="RC_MAP_THROTTLE" type="INT32">
            <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>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter default="4" name="RC_MAP_YAW" type="INT32">
            <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>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter default="0" name="RC_MAP_AUX1" type="INT32">
            <short_desc>Auxiliary switch 1 channel mapping</short_desc>
            <long_desc>Default function: Camera pitch</long_desc>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter default="0" name="RC_MAP_AUX2" type="INT32">
            <short_desc>Auxiliary switch 2 channel mapping</short_desc>
            <long_desc>Default function: Camera roll</long_desc>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter default="0" name="RC_MAP_AUX3" type="INT32">
            <short_desc>Auxiliary switch 3 channel mapping</short_desc>
            <long_desc>Default function: Camera azimuth / yaw</long_desc>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter default="0" name="RC_MAP_PARAM1" type="INT32">
            <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>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter default="0" name="RC_MAP_PARAM2" type="INT32">
            <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>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter default="0" name="RC_MAP_PARAM3" type="INT32">
            <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>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter default="0" name="RC_FAILS_THR" type="INT32">
            <short_desc>Failsafe channel PWM threshold</short_desc>
            <min>800</min>
            <max>2200</max>
        </parameter>
        <parameter default="0" name="RC_RSSI_PWM_CHAN" type="INT32">
            <short_desc>PWM input channel that provides RSSI</short_desc>
            <long_desc>0: do not read RSSI from input channel
                1-18: read RSSI from specified input channel
                Specify the range for RSSI input with RC_RSSI_PWM_MIN and RC_RSSI_PWM_MAX parameters.</long_desc>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter default="1000" name="RC_RSSI_PWM_MAX" type="INT32">
            <short_desc>Max input value for RSSI reading</short_desc>
            <long_desc>Only used if RC_RSSI_PWM_CHAN &gt; 0</long_desc>
            <min>0</min>
            <max>2000</max>
        </parameter>
        <parameter default="2000" name="RC_RSSI_PWM_MIN" type="INT32">
            <short_desc>Min input value for RSSI reading</short_desc>
            <long_desc>Only used if RC_RSSI_PWM_CHAN &gt; 0</long_desc>
            <min>0</min>
            <max>2000</max>
        </parameter>
    </group>
    <group name="Radio Signal Loss">
        <parameter default="120.0" name="NAV_RCL_LT" type="FLOAT">
            <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>
            <min>-1.0</min>
            <unit>seconds</unit>
        </parameter>
    </group>
    <group name="Radio Switches">
        <parameter default="0" name="RC_MAP_MODE_SW" type="INT32">
            <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>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter default="0" name="RC_MAP_RETURN_SW" type="INT32">
            <short_desc>Return switch channel mapping</short_desc>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter default="0" name="RC_MAP_POSCTL_SW" type="INT32">
            <short_desc>Posctl switch channel mapping</short_desc>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter default="0" name="RC_MAP_LOITER_SW" type="INT32">
            <short_desc>Loiter switch channel mapping</short_desc>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter default="0" name="RC_MAP_ACRO_SW" type="INT32">
            <short_desc>Acro switch channel mapping</short_desc>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter default="0" name="RC_MAP_OFFB_SW" type="INT32">
            <short_desc>Offboard switch channel mapping</short_desc>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter default="0" name="RC_MAP_FLAPS" type="INT32">
            <short_desc>Flaps channel mapping</short_desc>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter default="0.25" name="RC_ASSIST_TH" type="FLOAT">
            <short_desc>Threshold for selecting assist mode</short_desc>
            <long_desc>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>
            <min>-1</min>
            <max>1</max>
        </parameter>
        <parameter default="0.75" name="RC_AUTO_TH" type="FLOAT">
            <short_desc>Threshold for selecting auto mode</short_desc>
            <long_desc>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>
            <min>-1</min>
            <max>1</max>
        </parameter>
        <parameter default="0.5" name="RC_RETURN_TH" type="FLOAT">
            <short_desc>Threshold for selecting return to launch mode</short_desc>
            <long_desc>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>
            <min>-1</min>
            <max>1</max>
        </parameter>
        <parameter default="0.5" name="RC_LOITER_TH" type="FLOAT">
            <short_desc>Threshold for selecting loiter mode</short_desc>
            <long_desc>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>
            <min>-1</min>
            <max>1</max>
        </parameter>
        <parameter default="0.5" name="RC_ACRO_TH" type="FLOAT">
            <short_desc>Threshold for selecting acro mode</short_desc>
            <long_desc>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>
            <min>-1</min>
            <max>1</max>
        </parameter>
        <parameter default="0.5" name="RC_OFFB_TH" type="FLOAT">
            <short_desc>Threshold for selecting offboard mode</short_desc>
            <long_desc>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>
            <min>-1</min>
            <max>1</max>
        </parameter>
    </group>
    <group name="Return To Land">
        <parameter default="60" name="RTL_RETURN_ALT" type="FLOAT">
            <short_desc>RTL altitude</short_desc>
            <long_desc>Altitude to fly back in RTL in meters</long_desc>
            <min>0</min>
            <max>150</max>
            <unit>meters</unit>
        </parameter>
        <parameter default="30" name="RTL_DESCEND_ALT" type="FLOAT">
            <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>
            <min>2</min>
            <max>100</max>
            <unit>meters</unit>
        </parameter>
        <parameter default="-1.0" name="RTL_LAND_DELAY" type="FLOAT">
            <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>
            <min>-1</min>
            <max>300</max>
            <unit>seconds</unit>
        </parameter>
    </group>
    <group name="SD Logging">
        <parameter default="-1" name="SDLOG_RATE" type="INT32">
            <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>
            <min>-1</min>
            <max>1</max>
        </parameter>
        <parameter default="-1" name="SDLOG_EXT" type="INT32">
            <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>
            <min>-1</min>
            <max>1</max>
        </parameter>
    </group>
    <group name="Sensor Calibration">
        <parameter default="0" name="CAL_BOARD_ID" type="INT32">
            <short_desc>ID of the board this parameter set was calibrated on</short_desc>
        </parameter>
        <parameter default="0" name="CAL_GYRO0_ID" type="INT32">
            <short_desc>ID of the Gyro that the calibration is for</short_desc>
        </parameter>
        <parameter default="0.0" name="CAL_GYRO0_XOFF" type="FLOAT">
            <short_desc>Gyro X-axis offset</short_desc>
            <min>-10.0</min>
            <max>10.0</max>
        </parameter>
        <parameter default="0.0" name="CAL_GYRO0_YOFF" type="FLOAT">
            <short_desc>Gyro Y-axis offset</short_desc>
            <min>-10.0</min>
            <max>10.0</max>
        </parameter>
        <parameter default="0.0" name="CAL_GYRO0_ZOFF" type="FLOAT">
            <short_desc>Gyro Z-axis offset</short_desc>
            <min>-5.0</min>
            <max>5.0</max>
        </parameter>
        <parameter default="1.0" name="CAL_GYRO0_XSCALE" type="FLOAT">
            <short_desc>Gyro X-axis scaling factor</short_desc>
            <min>-1.5</min>
            <max>1.5</max>
        </parameter>
        <parameter default="1.0" name="CAL_GYRO0_YSCALE" type="FLOAT">
            <short_desc>Gyro Y-axis scaling factor</short_desc>
            <min>-1.5</min>
            <max>1.5</max>
        </parameter>
        <parameter default="1.0" name="CAL_GYRO0_ZSCALE" type="FLOAT">
            <short_desc>Gyro Z-axis scaling factor</short_desc>
            <min>-1.5</min>
            <max>1.5</max>
        </parameter>
        <parameter default="0" name="CAL_MAG0_ID" type="INT32">
            <short_desc>ID of Magnetometer the calibration is for</short_desc>
        </parameter>
        <parameter default="-1" name="CAL_MAG0_ROT" type="INT32">
            <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>
            <min>-1</min>
            <max>30</max>
        </parameter>
        <parameter default="0.0" name="CAL_MAG0_XOFF" type="FLOAT">
            <short_desc>Magnetometer X-axis offset</short_desc>
            <min>-500.0</min>
            <max>500.0</max>
        </parameter>
        <parameter default="0.0" name="CAL_MAG0_YOFF" type="FLOAT">
            <short_desc>Magnetometer Y-axis offset</short_desc>
            <min>-500.0</min>
            <max>500.0</max>
        </parameter>
        <parameter default="0.0" name="CAL_MAG0_ZOFF" type="FLOAT">
            <short_desc>Magnetometer Z-axis offset</short_desc>
            <min>-500.0</min>
            <max>500.0</max>
        </parameter>
        <parameter default="1.0" name="CAL_MAG0_XSCALE" type="FLOAT">
            <short_desc>Magnetometer X-axis scaling factor</short_desc>
        </parameter>
        <parameter default="1.0" name="CAL_MAG0_YSCALE" type="FLOAT">
            <short_desc>Magnetometer Y-axis scaling factor</short_desc>
        </parameter>
        <parameter default="1.0" name="CAL_MAG0_ZSCALE" type="FLOAT">
            <short_desc>Magnetometer Z-axis scaling factor</short_desc>
        </parameter>
        <parameter default="0" name="CAL_ACC0_ID" type="INT32">
            <short_desc>ID of the Accelerometer that the calibration is for</short_desc>
        </parameter>
        <parameter default="0.0" name="CAL_ACC0_XOFF" type="FLOAT">
            <short_desc>Accelerometer X-axis offset</short_desc>
        </parameter>
        <parameter default="0.0" name="CAL_ACC0_YOFF" type="FLOAT">
            <short_desc>Accelerometer Y-axis offset</short_desc>
        </parameter>
        <parameter default="0.0" name="CAL_ACC0_ZOFF" type="FLOAT">
            <short_desc>Accelerometer Z-axis offset</short_desc>
        </parameter>
        <parameter default="1.0" name="CAL_ACC0_XSCALE" type="FLOAT">
            <short_desc>Accelerometer X-axis scaling factor</short_desc>
        </parameter>
        <parameter default="1.0" name="CAL_ACC0_YSCALE" type="FLOAT">
            <short_desc>Accelerometer Y-axis scaling factor</short_desc>
        </parameter>
        <parameter default="1.0" name="CAL_ACC0_ZSCALE" type="FLOAT">
            <short_desc>Accelerometer Z-axis scaling factor</short_desc>
        </parameter>
        <parameter default="0" name="CAL_GYRO1_ID" type="INT32">
            <short_desc>ID of the Gyro that the calibration is for</short_desc>
        </parameter>
        <parameter default="0.0" name="CAL_GYRO1_XOFF" type="FLOAT">
            <short_desc>Gyro X-axis offset</short_desc>
            <min>-10.0</min>
            <max>10.0</max>
        </parameter>
        <parameter default="0.0" name="CAL_GYRO1_YOFF" type="FLOAT">
            <short_desc>Gyro Y-axis offset</short_desc>
            <min>-10.0</min>
            <max>10.0</max>
        </parameter>
        <parameter default="0.0" name="CAL_GYRO1_ZOFF" type="FLOAT">
            <short_desc>Gyro Z-axis offset</short_desc>
            <min>-5.0</min>
            <max>5.0</max>
        </parameter>
        <parameter default="1.0" name="CAL_GYRO1_XSCALE" type="FLOAT">
            <short_desc>Gyro X-axis scaling factor</short_desc>
            <min>-1.5</min>
            <max>1.5</max>
        </parameter>
        <parameter default="1.0" name="CAL_GYRO1_YSCALE" type="FLOAT">
            <short_desc>Gyro Y-axis scaling factor</short_desc>
            <min>-1.5</min>
            <max>1.5</max>
        </parameter>
        <parameter default="1.0" name="CAL_GYRO1_ZSCALE" type="FLOAT">
            <short_desc>Gyro Z-axis scaling factor</short_desc>
            <min>-1.5</min>
            <max>1.5</max>
        </parameter>
        <parameter default="0" name="CAL_MAG1_ID" type="INT32">
            <short_desc>ID of Magnetometer the calibration is for</short_desc>
        </parameter>
        <parameter default="-1" name="CAL_MAG1_ROT" type="INT32">
            <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>
            <min>-1</min>
            <max>30</max>
        </parameter>
        <parameter default="0.0" name="CAL_MAG1_XOFF" type="FLOAT">
            <short_desc>Magnetometer X-axis offset</short_desc>
            <min>-500.0</min>
            <max>500.0</max>
        </parameter>
        <parameter default="0.0" name="CAL_MAG1_YOFF" type="FLOAT">
            <short_desc>Magnetometer Y-axis offset</short_desc>
            <min>-500.0</min>
            <max>500.0</max>
        </parameter>
        <parameter default="0.0" name="CAL_MAG1_ZOFF" type="FLOAT">
            <short_desc>Magnetometer Z-axis offset</short_desc>
            <min>-500.0</min>
            <max>500.0</max>
        </parameter>
        <parameter default="1.0" name="CAL_MAG1_XSCALE" type="FLOAT">
            <short_desc>Magnetometer X-axis scaling factor</short_desc>
        </parameter>
        <parameter default="1.0" name="CAL_MAG1_YSCALE" type="FLOAT">
            <short_desc>Magnetometer Y-axis scaling factor</short_desc>
        </parameter>
        <parameter default="1.0" name="CAL_MAG1_ZSCALE" type="FLOAT">
            <short_desc>Magnetometer Z-axis scaling factor</short_desc>
        </parameter>
        <parameter default="0" name="CAL_ACC1_ID" type="INT32">
            <short_desc>ID of the Accelerometer that the calibration is for</short_desc>
        </parameter>
        <parameter default="0.0" name="CAL_ACC1_XOFF" type="FLOAT">
            <short_desc>Accelerometer X-axis offset</short_desc>
        </parameter>
        <parameter default="0.0" name="CAL_ACC1_YOFF" type="FLOAT">
            <short_desc>Accelerometer Y-axis offset</short_desc>
        </parameter>
        <parameter default="0.0" name="CAL_ACC1_ZOFF" type="FLOAT">
            <short_desc>Accelerometer Z-axis offset</short_desc>
        </parameter>
        <parameter default="1.0" name="CAL_ACC1_XSCALE" type="FLOAT">
            <short_desc>Accelerometer X-axis scaling factor</short_desc>
        </parameter>
        <parameter default="1.0" name="CAL_ACC1_YSCALE" type="FLOAT">
            <short_desc>Accelerometer Y-axis scaling factor</short_desc>
        </parameter>
        <parameter default="1.0" name="CAL_ACC1_ZSCALE" type="FLOAT">
            <short_desc>Accelerometer Z-axis scaling factor</short_desc>
        </parameter>
        <parameter default="0" name="CAL_GYRO2_ID" type="INT32">
            <short_desc>ID of the Gyro that the calibration is for</short_desc>
        </parameter>
        <parameter default="0.0" name="CAL_GYRO2_XOFF" type="FLOAT">
            <short_desc>Gyro X-axis offset</short_desc>
            <min>-10.0</min>
            <max>10.0</max>
        </parameter>
        <parameter default="0.0" name="CAL_GYRO2_YOFF" type="FLOAT">
            <short_desc>Gyro Y-axis offset</short_desc>
            <min>-10.0</min>
            <max>10.0</max>
        </parameter>
        <parameter default="0.0" name="CAL_GYRO2_ZOFF" type="FLOAT">
            <short_desc>Gyro Z-axis offset</short_desc>
            <min>-5.0</min>
            <max>5.0</max>
        </parameter>
        <parameter default="1.0" name="CAL_GYRO2_XSCALE" type="FLOAT">
            <short_desc>Gyro X-axis scaling factor</short_desc>
            <min>-1.5</min>
            <max>1.5</max>
        </parameter>
        <parameter default="1.0" name="CAL_GYRO2_YSCALE" type="FLOAT">
            <short_desc>Gyro Y-axis scaling factor</short_desc>
            <min>-1.5</min>
            <max>1.5</max>
        </parameter>
        <parameter default="1.0" name="CAL_GYRO2_ZSCALE" type="FLOAT">
            <short_desc>Gyro Z-axis scaling factor</short_desc>
            <min>-1.5</min>
            <max>1.5</max>
        </parameter>
        <parameter default="0" name="CAL_MAG2_ID" type="INT32">
            <short_desc>ID of Magnetometer the calibration is for</short_desc>
        </parameter>
        <parameter default="-1" name="CAL_MAG2_ROT" type="INT32">
            <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>
            <min>-1</min>
            <max>30</max>
        </parameter>
        <parameter default="0.0" name="CAL_MAG2_XOFF" type="FLOAT">
            <short_desc>Magnetometer X-axis offset</short_desc>
            <min>-500.0</min>
            <max>500.0</max>
        </parameter>
        <parameter default="0.0" name="CAL_MAG2_YOFF" type="FLOAT">
            <short_desc>Magnetometer Y-axis offset</short_desc>
            <min>-500.0</min>
            <max>500.0</max>
        </parameter>
        <parameter default="0.0" name="CAL_MAG2_ZOFF" type="FLOAT">
            <short_desc>Magnetometer Z-axis offset</short_desc>
            <min>-500.0</min>
            <max>500.0</max>
        </parameter>
        <parameter default="1.0" name="CAL_MAG2_XSCALE" type="FLOAT">
            <short_desc>Magnetometer X-axis scaling factor</short_desc>
        </parameter>
        <parameter default="1.0" name="CAL_MAG2_YSCALE" type="FLOAT">
            <short_desc>Magnetometer Y-axis scaling factor</short_desc>
        </parameter>
        <parameter default="1.0" name="CAL_MAG2_ZSCALE" type="FLOAT">
            <short_desc>Magnetometer Z-axis scaling factor</short_desc>
        </parameter>
        <parameter default="0" name="CAL_ACC2_ID" type="INT32">
            <short_desc>ID of the Accelerometer that the calibration is for</short_desc>
        </parameter>
        <parameter default="0.0" name="CAL_ACC2_XOFF" type="FLOAT">
            <short_desc>Accelerometer X-axis offset</short_desc>
        </parameter>
        <parameter default="0.0" name="CAL_ACC2_YOFF" type="FLOAT">
            <short_desc>Accelerometer Y-axis offset</short_desc>
        </parameter>
        <parameter default="0.0" name="CAL_ACC2_ZOFF" type="FLOAT">
            <short_desc>Accelerometer Z-axis offset</short_desc>
        </parameter>
        <parameter default="1.0" name="CAL_ACC2_XSCALE" type="FLOAT">
            <short_desc>Accelerometer X-axis scaling factor</short_desc>
        </parameter>
        <parameter default="1.0" name="CAL_ACC2_YSCALE" type="FLOAT">
            <short_desc>Accelerometer Y-axis scaling factor</short_desc>
        </parameter>
        <parameter default="1.0" name="CAL_ACC2_ZSCALE" type="FLOAT">
            <short_desc>Accelerometer Z-axis scaling factor</short_desc>
        </parameter>
        <parameter default="0.0" name="SENS_DPRES_OFF" type="FLOAT">
            <short_desc>Differential pressure sensor offset</short_desc>
            <long_desc>The offset (zero-reading) in Pascal</long_desc>
        </parameter>
        <parameter default="0" name="SENS_DPRES_ANSC" type="FLOAT">
            <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>
        </parameter>
        <parameter default="1013.25" name="SENS_BARO_QNH" type="FLOAT">
            <short_desc>QNH for barometer</short_desc>
            <min>500</min>
            <max>1500</max>
            <unit>hPa</unit>
        </parameter>
        <parameter default="0" name="SENS_BOARD_ROT" type="INT32">
            <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&#176;
                2 = Yaw 90&#176;
                3 = Yaw 135&#176;
                4 = Yaw 180&#176;
                5 = Yaw 225&#176;
                6 = Yaw 270&#176;
                7 = Yaw 315&#176;
                8 = Roll 180&#176;
                9 = Roll 180&#176;, Yaw 45&#176;
                10 = Roll 180&#176;, Yaw 90&#176;
                11 = Roll 180&#176;, Yaw 135&#176;
                12 = Pitch 180&#176;
                13 = Roll 180&#176;, Yaw 225&#176;
                14 = Roll 180&#176;, Yaw 270&#176;
                15 = Roll 180&#176;, Yaw 315&#176;
                16 = Roll 90&#176;
                17 = Roll 90&#176;, Yaw 45&#176;
                18 = Roll 90&#176;, Yaw 90&#176;
                19 = Roll 90&#176;, Yaw 135&#176;
                20 = Roll 270&#176;
                21 = Roll 270&#176;, Yaw 45&#176;
                22 = Roll 270&#176;, Yaw 90&#176;
                23 = Roll 270&#176;, Yaw 135&#176;
                24 = Pitch 90&#176;
                25 = Pitch 270&#176;</long_desc>
        </parameter>
        <parameter default="0" name="SENS_FLOW_ROT" type="INT32">
            <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&#176;
                2 = Yaw 90&#176;
                3 = Yaw 135&#176;
                4 = Yaw 180&#176;
                5 = Yaw 225&#176;
                6 = Yaw 270&#176;
                7 = Yaw 315&#176;</long_desc>
        </parameter>
        <parameter default="0.0" name="SENS_BOARD_Y_OFF" type="FLOAT">
            <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>
        </parameter>
        <parameter default="0.0" name="SENS_BOARD_X_OFF" type="FLOAT">
            <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>
        </parameter>
        <parameter default="0.0" name="SENS_BOARD_Z_OFF" type="FLOAT">
            <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>
        </parameter>
        <parameter default="0" name="SENS_EXT_MAG_ROT" type="INT32">
            <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>
        </parameter>
        <parameter default="0" name="SENS_EXT_MAG" type="INT32">
            <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>
            <min>0</min>
            <max>2</max>
        </parameter>
    </group>
    <group name="Subscriber Example">
        <parameter default="" name="SUB_INTERV" type="INT32">
            <short_desc>Interval of one subscriber in the example in ms</short_desc>
        </parameter>
        <parameter default="" name="SUB_TESTF" type="FLOAT">
            <short_desc>Float Demonstration Parameter in the Example</short_desc>
        </parameter>
    </group>
    <group name="System">
        <parameter default="0" name="SYS_AUTOSTART" type="INT32">
            <short_desc>Auto-start script index</short_desc>
            <long_desc>Defines the auto-start script used to bootstrap the system.</long_desc>
        </parameter>
        <parameter default="0" name="SYS_AUTOCONFIG" type="INT32">
            <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>
            <min>0</min>
            <max>1</max>
        </parameter>
        <parameter default="1" name="SYS_USE_IO" type="INT32">
            <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>
            <min>0</min>
            <max>1</max>
        </parameter>
        <parameter default="2" name="SYS_RESTART_TYPE" type="INT32">
            <short_desc>Set restart type</short_desc>
            <long_desc>Set by px4io to indicate type of restart</long_desc>
            <min>0</min>
            <max>2</max>
        </parameter>
        <parameter default="0" name="SYS_COMPANION" type="INT32">
            <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>
            <min>0</min>
            <max>921600</max>
        </parameter>
        <parameter default="1" name="SYS_PARAM_VER" type="INT32">
            <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>
            <min>0</min>
        </parameter>
    </group>
    <group name="UAVCAN">
        <parameter default="0" name="UAVCAN_ENABLE" type="INT32">
            <short_desc>Enable UAVCAN</short_desc>
            <long_desc>Enables support for UAVCAN-interfaced actuators and sensors.</long_desc>
            <min>0</min>
            <max>1</max>
        </parameter>
        <parameter default="1" name="UAVCAN_NODE_ID" type="INT32">
            <short_desc>UAVCAN Node ID</short_desc>
            <long_desc>Read the specs at http://uavcan.org to learn more about Node ID.</long_desc>
            <min>1</min>
            <max>125</max>
        </parameter>
        <parameter default="1000000" name="UAVCAN_BITRATE" type="INT32">
            <short_desc>UAVCAN CAN bus bitrate</short_desc>
            <min>20000</min>
            <max>1000000</max>
        </parameter>
    </group>
    <group name="VTOL Attitude Control">
        <parameter default="0" name="VT_MOT_COUNT" type="INT32">
            <short_desc>VTOL number of engines</short_desc>
            <min>1</min>
        </parameter>
        <parameter default="900" name="VT_IDLE_PWM_MC" type="INT32">
            <short_desc>Idle speed of VTOL when in multicopter mode</short_desc>
            <min>900</min>
        </parameter>
        <parameter default="10.0" name="VT_MC_ARSPD_MIN" type="FLOAT">
            <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>
            <min>0.0</min>
        </parameter>
        <parameter default="30.0" name="VT_MC_ARSPD_MAX" type="FLOAT">
            <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>
            <min>0.0</min>
        </parameter>
        <parameter default="10.0" name="VT_MC_ARSPD_TRIM" type="FLOAT">
            <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>
            <min>0.0</min>
        </parameter>
        <parameter default="0" name="VT_FW_PERM_STAB" type="INT32">
            <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>
            <min>0</min>
            <max>1</max>
        </parameter>
        <parameter default="0.0" name="VT_FW_PITCH_TRIM" type="FLOAT">
            <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>
            <min>-1</min>
            <max>1</max>
        </parameter>
        <parameter default="120.0" name="VT_POWER_MAX" type="FLOAT">
            <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>
            <min>1</min>
        </parameter>
        <parameter default="0.0" name="VT_PROP_EFF" type="FLOAT">
            <short_desc>Propeller efficiency parameter</short_desc>
            <long_desc>Influences propeller efficiency at different power settings. Should be tuned beforehand.</long_desc>
            <min>0.5</min>
            <max>0.9</max>
        </parameter>
        <parameter default="0.3" name="VT_ARSP_LP_GAIN" type="FLOAT">
            <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>
            <min>0.0</min>
            <max>0.99</max>
        </parameter>
    </group>
    <group name="mTECS">
        <parameter default="0" name="MT_ENABLED" type="INT32">
            <short_desc>mTECS enabled</short_desc>
            <long_desc>Set to 1 to enable mTECS</long_desc>
            <min>0</min>
            <max>1</max>
        </parameter>
        <parameter default="0.7" name="MT_THR_FF" type="FLOAT">
            <short_desc>Total Energy Rate Control Feedforward
                Maps the total energy rate setpoint to the throttle setpoint</short_desc>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter default="0.1" name="MT_THR_P" type="FLOAT">
            <short_desc>Total Energy Rate Control P
                Maps the total energy rate error to the throttle setpoint</short_desc>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter default="0.25" name="MT_THR_I" type="FLOAT">
            <short_desc>Total Energy Rate Control I
                Maps the integrated total energy rate to the throttle setpoint</short_desc>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter default="0.7" name="MT_THR_OFF" type="FLOAT">
            <short_desc>Total Energy Rate Control Offset (Cruise throttle sp)</short_desc>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter default="0.4" name="MT_PIT_FF" type="FLOAT">
            <short_desc>Energy Distribution Rate Control Feedforward
                Maps the energy distribution rate setpoint to the pitch setpoint</short_desc>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter default="0.03" name="MT_PIT_P" type="FLOAT">
            <short_desc>Energy Distribution Rate Control P
                Maps the energy distribution rate error to the pitch setpoint</short_desc>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter default="0.03" name="MT_PIT_I" type="FLOAT">
            <short_desc>Energy Distribution Rate Control I
                Maps the integrated energy distribution rate error to the pitch setpoint</short_desc>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter default="0.0" name="MT_PIT_OFF" type="FLOAT">
            <short_desc>Total Energy Distribution Offset (Cruise pitch sp)</short_desc>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter default="0.0" name="MT_THR_MIN" type="FLOAT">
            <short_desc>Minimal Throttle Setpoint</short_desc>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter default="1.0" name="MT_THR_MAX" type="FLOAT">
            <short_desc>Maximal Throttle Setpoint</short_desc>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter default="-45.0" name="MT_PIT_MIN" type="FLOAT">
            <short_desc>Minimal Pitch Setpoint in Degrees</short_desc>
            <min>-90.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter default="20.0" name="MT_PIT_MAX" type="FLOAT">
            <short_desc>Maximal Pitch Setpoint in Degrees</short_desc>
            <min>-90.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter default="1.0" name="MT_ALT_LP" type="FLOAT">
            <short_desc>Lowpass (cutoff freq.) for altitude</short_desc>
        </parameter>
        <parameter default="1.0" name="MT_FPA_LP" type="FLOAT">
            <short_desc>Lowpass (cutoff freq.) for the flight path angle</short_desc>
        </parameter>
        <parameter default="0.3" name="MT_FPA_P" type="FLOAT">
            <short_desc>P gain for the altitude control
                Maps the altitude error to the flight path angle setpoint</short_desc>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter default="0.0" name="MT_FPA_D" type="FLOAT">
            <short_desc>D gain for the altitude control
                Maps the change of altitude error to the flight path angle setpoint</short_desc>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter default="1.0" name="MT_FPA_D_LP" type="FLOAT">
            <short_desc>Lowpass for FPA error derivative calculation (see MT_FPA_D)</short_desc>
        </parameter>
        <parameter default="-20.0" name="MT_FPA_MIN" type="FLOAT">
            <short_desc>Minimal flight path angle setpoint</short_desc>
            <min>-90.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter default="30.0" name="MT_FPA_MAX" type="FLOAT">
            <short_desc>Maximal flight path angle setpoint</short_desc>
            <min>-90.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter default="0.5" name="MT_A_LP" type="FLOAT">
            <short_desc>Lowpass (cutoff freq.) for airspeed</short_desc>
        </parameter>
        <parameter default="0.5" name="MT_AD_LP" type="FLOAT">
            <short_desc>Airspeed derivative calculation lowpass</short_desc>
        </parameter>
        <parameter default="0.3" name="MT_ACC_P" type="FLOAT">
            <short_desc>P gain for the airspeed control
                Maps the airspeed error to the acceleration setpoint</short_desc>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter default="0.0" name="MT_ACC_D" type="FLOAT">
            <short_desc>D gain for the airspeed control
                Maps the change of airspeed error to the acceleration setpoint</short_desc>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter default="0.5" name="MT_ACC_D_LP" type="FLOAT">
            <short_desc>Lowpass for ACC error derivative calculation (see MT_ACC_D)</short_desc>
        </parameter>
        <parameter default="-40.0" name="MT_ACC_MIN" type="FLOAT">
            <short_desc>Minimal acceleration (air)</short_desc>
            <unit>m/s^2</unit>
        </parameter>
        <parameter default="40.0" name="MT_ACC_MAX" type="FLOAT">
            <short_desc>Maximal acceleration (air)</short_desc>
            <unit>m/s^2</unit>
        </parameter>
        <parameter default="1.0" name="MT_TKF_THR_MIN" type="FLOAT">
            <short_desc>Minimal throttle during takeoff</short_desc>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter default="1.0" name="MT_TKF_THR_MAX" type="FLOAT">
            <short_desc>Maximal throttle during takeoff</short_desc>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter default="0.0" name="MT_TKF_PIT_MIN" type="FLOAT">
            <short_desc>Minimal pitch during takeoff</short_desc>
            <min>-90.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter default="45.0" name="MT_TKF_PIT_MAX" type="FLOAT">
            <short_desc>Maximal pitch during takeoff</short_desc>
            <min>-90.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter default="1.0" name="MT_USP_THR_MIN" type="FLOAT">
            <short_desc>Minimal throttle in underspeed mode</short_desc>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter default="1.0" name="MT_USP_THR_MAX" type="FLOAT">
            <short_desc>Maximal throttle in underspeed mode</short_desc>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter default="-45.0" name="MT_USP_PIT_MIN" type="FLOAT">
            <short_desc>Minimal pitch in underspeed mode</short_desc>
            <min>-90.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter default="0.0" name="MT_USP_PIT_MAX" type="FLOAT">
            <short_desc>Maximal pitch in underspeed mode</short_desc>
            <min>-90.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter default="0.0" name="MT_LND_THR_MIN" type="FLOAT">
            <short_desc>Minimal throttle in landing mode (only last phase of landing)</short_desc>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter default="0.0" name="MT_LND_THR_MAX" type="FLOAT">
            <short_desc>Maximal throttle in landing mode (only last phase of landing)</short_desc>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter default="-5.0" name="MT_LND_PIT_MIN" type="FLOAT">
            <short_desc>Minimal pitch in landing mode</short_desc>
            <min>-90.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter default="15.0" name="MT_LND_PIT_MAX" type="FLOAT">
            <short_desc>Maximal pitch in landing mode</short_desc>
            <min>-90.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter default="10.0" name="MT_THR_I_MAX" type="FLOAT">
            <short_desc>Integrator Limit for Total Energy Rate Control</short_desc>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter default="10.0" name="MT_PIT_I_MAX" type="FLOAT">
            <short_desc>Integrator Limit for Energy Distribution Rate Control</short_desc>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
    </group>
    <group name="Miscellaneous">
        <parameter default="0.1" name="EXFW_HDNG_P" type="FLOAT">
            <short_desc>EXFW_HDNG_P</short_desc>
        </parameter>
        <parameter default="0.2" name="EXFW_ROLL_P" type="FLOAT">
            <short_desc>EXFW_ROLL_P</short_desc>
        </parameter>
        <parameter default="0.2" name="EXFW_PITCH_P" type="FLOAT">
            <short_desc>EXFW_PITCH_P</short_desc>
        </parameter>
        <parameter default="0.4" name="FPE_LO_THRUST" type="FLOAT">
            <short_desc>FPE_LO_THRUST</short_desc>
        </parameter>
        <parameter default="0.5" name="FPE_SONAR_LP_U" type="FLOAT">
            <short_desc>FPE_SONAR_LP_U</short_desc>
        </parameter>
        <parameter default="0.2" name="FPE_SONAR_LP_L" type="FLOAT">
            <short_desc>FPE_SONAR_LP_L</short_desc>
        </parameter>
        <parameter default="0" name="FPE_DEBUG" type="INT32">
            <short_desc>FPE_DEBUG</short_desc>
        </parameter>
        <parameter default="0.1" name="RV_YAW_P" type="FLOAT">
            <short_desc>RV_YAW_P</short_desc>
        </parameter>
        <parameter default="0.0" name="ATT_MAG_DECL" type="FLOAT">
            <short_desc>ATT_MAG_DECL</short_desc>
        </parameter>
        <parameter default="2" name="ATT_ACC_COMP" type="INT32">
            <short_desc>ATT_ACC_COMP</short_desc>
        </parameter>
        <parameter default="1.0" name="SO3_COMP_KP" type="FLOAT">
            <short_desc>SO3_COMP_KP</short_desc>
        </parameter>
        <parameter default="0.05" name="SO3_COMP_KI" type="FLOAT">
            <short_desc>SO3_COMP_KI</short_desc>
        </parameter>
        <parameter default="0.0" name="SO3_ROLL_OFFS" type="FLOAT">
            <short_desc>SO3_ROLL_OFFS</short_desc>
        </parameter>
        <parameter default="0.0" name="SO3_PITCH_OFFS" type="FLOAT">
            <short_desc>SO3_PITCH_OFFS</short_desc>
        </parameter>
        <parameter default="0.0" name="SO3_YAW_OFFS" type="FLOAT">
            <short_desc>SO3_YAW_OFFS</short_desc>
        </parameter>
        <parameter default="0.0" name="TRIM_ROLL" type="FLOAT">
            <short_desc>TRIM_ROLL</short_desc>
        </parameter>
        <parameter default="0.0" name="TRIM_PITCH" type="FLOAT">
            <short_desc>TRIM_PITCH</short_desc>
        </parameter>
        <parameter default="0.0" name="TRIM_YAW" type="FLOAT">
            <short_desc>TRIM_YAW</short_desc>
        </parameter>
        <parameter default="-1.0" name="TEST_MIN" type="FLOAT">
            <short_desc>TEST_MIN</short_desc>
        </parameter>
        <parameter default="1.0" name="TEST_MAX" type="FLOAT">
            <short_desc>TEST_MAX</short_desc>
        </parameter>
        <parameter default="0.5" name="TEST_TRIM" type="FLOAT">
            <short_desc>TEST_TRIM</short_desc>
        </parameter>
        <parameter default="10.0" name="TEST_HP" type="FLOAT">
            <short_desc>TEST_HP</short_desc>
        </parameter>
        <parameter default="10.0" name="TEST_LP" type="FLOAT">
            <short_desc>TEST_LP</short_desc>
        </parameter>
        <parameter default="0.2" name="TEST_P" type="FLOAT">
            <short_desc>TEST_P</short_desc>
        </parameter>
        <parameter default="0.1" name="TEST_I" type="FLOAT">
            <short_desc>TEST_I</short_desc>
        </parameter>
        <parameter default="1.0" name="TEST_I_MAX" type="FLOAT">
            <short_desc>TEST_I_MAX</short_desc>
        </parameter>
        <parameter default="0.01" name="TEST_D" type="FLOAT">
            <short_desc>TEST_D</short_desc>
        </parameter>
        <parameter default="10.0" name="TEST_D_LP" type="FLOAT">
            <short_desc>TEST_D_LP</short_desc>
        </parameter>
        <parameter default="1.0" name="TEST_MEAN" type="FLOAT">
            <short_desc>TEST_MEAN</short_desc>
        </parameter>
        <parameter default="2.0" name="TEST_DEV" type="FLOAT">
            <short_desc>TEST_DEV</short_desc>
        </parameter>
        <parameter default="300.0" name="FWB_P_LP" type="FLOAT">
            <short_desc>FWB_P_LP</short_desc>
        </parameter>
        <parameter default="300.0" name="FWB_Q_LP" type="FLOAT">
            <short_desc>FWB_Q_LP</short_desc>
        </parameter>
        <parameter default="300.0" name="FWB_R_LP" type="FLOAT">
            <short_desc>FWB_R_LP</short_desc>
        </parameter>
        <parameter default="1.0" name="FWB_R_HP" type="FLOAT">
            <short_desc>FWB_R_HP</short_desc>
        </parameter>
        <parameter default="0.3" name="FWB_P2AIL" type="FLOAT">
            <short_desc>FWB_P2AIL</short_desc>
        </parameter>
        <parameter default="0.1" name="FWB_Q2ELV" type="FLOAT">
            <short_desc>FWB_Q2ELV</short_desc>
        </parameter>
        <parameter default="0.1" name="FWB_R2RDR" type="FLOAT">
            <short_desc>FWB_R2RDR</short_desc>
        </parameter>
        <parameter default="0.5" name="FWB_PSI2PHI" type="FLOAT">
            <short_desc>FWB_PSI2PHI</short_desc>
        </parameter>
        <parameter default="1.0" name="FWB_PHI2P" type="FLOAT">
            <short_desc>FWB_PHI2P</short_desc>
        </parameter>
        <parameter default="0.3" name="FWB_PHI_LIM_MAX" type="FLOAT">
            <short_desc>FWB_PHI_LIM_MAX</short_desc>
        </parameter>
        <parameter default="1.0" name="FWB_V2THE_P" type="FLOAT">
            <short_desc>FWB_V2THE_P</short_desc>
        </parameter>
        <parameter default="0.0" name="FWB_V2THE_I" type="FLOAT">
            <short_desc>FWB_V2THE_I</short_desc>
        </parameter>
        <parameter default="0.0" name="FWB_V2THE_D" type="FLOAT">
            <short_desc>FWB_V2THE_D</short_desc>
        </parameter>
        <parameter default="0.0" name="FWB_V2THE_D_LP" type="FLOAT">
            <short_desc>FWB_V2THE_D_LP</short_desc>
        </parameter>
        <parameter default="0.0" name="FWB_V2THE_I_MAX" type="FLOAT">
            <short_desc>FWB_V2THE_I_MAX</short_desc>
        </parameter>
        <parameter default="-0.5" name="FWB_THE_MIN" type="FLOAT">
            <short_desc>FWB_THE_MIN</short_desc>
        </parameter>
        <parameter default="0.5" name="FWB_THE_MAX" type="FLOAT">
            <short_desc>FWB_THE_MAX</short_desc>
        </parameter>
        <parameter default="1.0" name="FWB_THE2Q_P" type="FLOAT">
            <short_desc>FWB_THE2Q_P</short_desc>
        </parameter>
        <parameter default="0.0" name="FWB_THE2Q_I" type="FLOAT">
            <short_desc>FWB_THE2Q_I</short_desc>
        </parameter>
        <parameter default="0.0" name="FWB_THE2Q_D" type="FLOAT">
            <short_desc>FWB_THE2Q_D</short_desc>
        </parameter>
        <parameter default="0.0" name="FWB_THE2Q_D_LP" type="FLOAT">
            <short_desc>FWB_THE2Q_D_LP</short_desc>
        </parameter>
        <parameter default="0.0" name="FWB_THE2Q_I_MAX" type="FLOAT">
            <short_desc>FWB_THE2Q_I_MAX</short_desc>
        </parameter>
        <parameter default="0.01" name="FWB_H2THR_P" type="FLOAT">
            <short_desc>FWB_H2THR_P</short_desc>
        </parameter>
        <parameter default="0.0" name="FWB_H2THR_I" type="FLOAT">
            <short_desc>FWB_H2THR_I</short_desc>
        </parameter>
        <parameter default="0.0" name="FWB_H2THR_D" type="FLOAT">
            <short_desc>FWB_H2THR_D</short_desc>
        </parameter>
        <parameter default="0.0" name="FWB_H2THR_D_LP" type="FLOAT">
            <short_desc>FWB_H2THR_D_LP</short_desc>
        </parameter>
        <parameter default="0.0" name="FWB_H2THR_I_MAX" type="FLOAT">
            <short_desc>FWB_H2THR_I_MAX</short_desc>
        </parameter>
        <parameter default="1.57" name="FWB_XT2YAW_MAX" type="FLOAT">
            <short_desc>FWB_XT2YAW_MAX</short_desc>
        </parameter>
        <parameter default="0.005" name="FWB_XT2YAW" type="FLOAT">
            <short_desc>FWB_XT2YAW</short_desc>
        </parameter>
        <parameter default="10.0" name="FWB_V_MIN" type="FLOAT">
            <short_desc>FWB_V_MIN</short_desc>
        </parameter>
        <parameter default="12.0" name="FWB_V_CMD" type="FLOAT">
            <short_desc>FWB_V_CMD</short_desc>
        </parameter>
        <parameter default="16.0" name="FWB_V_MAX" type="FLOAT">
            <short_desc>FWB_V_MAX</short_desc>
        </parameter>
        <parameter default="1.0" name="FWB_CR_MAX" type="FLOAT">
            <short_desc>FWB_CR_MAX</short_desc>
        </parameter>
        <parameter default="0.01" name="FWB_CR2THR_P" type="FLOAT">
            <short_desc>FWB_CR2THR_P</short_desc>
        </parameter>
        <parameter default="0.0" name="FWB_CR2THR_I" type="FLOAT">
            <short_desc>FWB_CR2THR_I</short_desc>
        </parameter>
        <parameter default="0.0" name="FWB_CR2THR_D" type="FLOAT">
            <short_desc>FWB_CR2THR_D</short_desc>
        </parameter>
        <parameter default="0.0" name="FWB_CR2THR_D_LP" type="FLOAT">
            <short_desc>FWB_CR2THR_D_LP</short_desc>
        </parameter>
        <parameter default="0.0" name="FWB_CR2THR_I_MAX" type="FLOAT">
            <short_desc>FWB_CR2THR_I_MAX</short_desc>
        </parameter>
        <parameter default="0.8" name="FWB_TRIM_THR" type="FLOAT">
            <short_desc>FWB_TRIM_THR</short_desc>
        </parameter>
        <parameter default="12.0" name="FWB_TRIM_V" type="FLOAT">
            <short_desc>FWB_TRIM_V</short_desc>
        </parameter>
        <parameter default="2.5" name="FW_FLARE_PMIN" type="FLOAT">
            <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>
        </parameter>
        <parameter default="15.0" name="FW_FLARE_PMAX" type="FLOAT">
            <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>
        </parameter>
        <parameter default="10.0" name="SEG_TH2V_P" type="FLOAT">
            <short_desc>SEG_TH2V_P</short_desc>
        </parameter>
        <parameter default="0.0" name="SEG_TH2V_I" type="FLOAT">
            <short_desc>SEG_TH2V_I</short_desc>
        </parameter>
        <parameter default="0.0" name="SEG_TH2V_I_MAX" type="FLOAT">
            <short_desc>SEG_TH2V_I_MAX</short_desc>
        </parameter>
        <parameter default="1.0" name="SEG_Q2V" type="FLOAT">
            <short_desc>SEG_Q2V</short_desc>
        </parameter>
        <parameter default="0" name="RC_RL1_DSM_VCC" type="INT32">
            <short_desc>RC_RL1_DSM_VCC</short_desc>
        </parameter>
        <parameter default="0" name="RC_MAP_FAILSAFE" type="INT32">
            <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>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter default="0.5" name="RC_POSCTL_TH" type="FLOAT">
            <short_desc>Threshold for selecting posctl mode</short_desc>
            <long_desc>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>
            <min>-1</min>
            <max>1</max>
        </parameter>
    </group>
</parameters>