PX4ParameterFactMetaData.xml 540 KB
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<parameters>
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  <version>3</version>
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  <parameter_version_major>1</parameter_version_major>
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  <parameter_version_minor>15</parameter_version_minor>
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  <group name="UAVCAN Motor Parameters" no_code_generation="true">
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    <parameter default="75" name="ctl_bw" type="INT32">
      <short_desc>Speed controller bandwidth</short_desc>
      <long_desc>Speed controller bandwidth, in Hz. Higher values result in faster speed and current rise times, but may result in overshoot and higher current consumption. For fixed-wing aircraft, this value should be less than 50 Hz; for multirotors, values up to 100 Hz may provide improvements in responsiveness.</long_desc>
      <unit>Hertz</unit>
      <min>10</min>
      <max>250</max>
    </parameter>
    <parameter default="1" name="ctl_dir" type="INT32">
      <short_desc>Reverse direction</short_desc>
      <long_desc>Motor spin direction as detected during initial enumeration. Use 0 or 1 to reverse direction.</long_desc>
      <min>0</min>
      <max>1</max>
    </parameter>
    <parameter default="1" name="ctl_gain" type="FLOAT">
      <short_desc>Speed (RPM) controller gain</short_desc>
      <long_desc>Speed (RPM) controller gain. Determines controller
            aggressiveness; units are amp-seconds per radian. Systems with
            higher rotational inertia (large props) will need gain increased;
            systems with low rotational inertia (small props) may need gain
            decreased. Higher values result in faster response, but may result
            in oscillation and excessive overshoot. Lower values result in a
            slower, smoother response.</long_desc>
      <unit>amp-seconds per radian</unit>
      <decimal>3</decimal>
      <min>0.00</min>
      <max>1.00</max>
    </parameter>
    <parameter default="3.5" name="ctl_hz_idle" type="FLOAT">
      <short_desc>Idle speed (e Hz)</short_desc>
      <long_desc>Idle speed (e Hz)</long_desc>
      <unit>Hertz</unit>
      <decimal>3</decimal>
      <min>0.0</min>
      <max>100.0</max>
    </parameter>
    <parameter default="25" name="ctl_start_rate" type="INT32">
      <short_desc>Spin-up rate (e Hz/s)</short_desc>
      <long_desc>Spin-up rate (e Hz/s)</long_desc>
      <unit>Hz/s</unit>
      <min>5</min>
      <max>1000</max>
    </parameter>
    <parameter default="0" name="esc_index" type="INT32">
      <short_desc>Index of this ESC in throttle command messages.</short_desc>
      <long_desc>Index of this ESC in throttle command messages.</long_desc>
      <unit>Index</unit>
      <min>0</min>
      <max>15</max>
    </parameter>
    <parameter default="20034" name="id_ext_status" type="INT32">
      <short_desc>Extended status ID</short_desc>
      <long_desc>Extended status ID</long_desc>
      <min>1</min>
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      <max>1000000</max>
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    </parameter>
    <parameter default="50000" name="int_ext_status" type="INT32">
      <short_desc>Extended status interval (µs)</short_desc>
      <long_desc>Extended status interval (µs)</long_desc>
      <unit>µs</unit>
      <min>0</min>
      <max>1000000</max>
    </parameter>
    <parameter default="50000" name="int_status" type="INT32">
      <short_desc>ESC status interval (µs)</short_desc>
      <long_desc>ESC status interval (µs)</long_desc>
      <unit>µs</unit>
      <max>1000000</max>
    </parameter>
    <parameter default="12" name="mot_i_max" type="FLOAT">
      <short_desc>Motor current limit in amps</short_desc>
      <long_desc>Motor current limit in amps. This determines the maximum
            current controller setpoint, as well as the maximum allowable
            current setpoint slew rate. This value should generally be set to
            the continuous current rating listed in the motor’s specification
            sheet, or set equal to the motor’s specified continuous power
            divided by the motor voltage limit.</long_desc>
      <unit>Amps</unit>
      <decimal>3</decimal>
      <min>1</min>
      <max>80</max>
    </parameter>
    <parameter default="2300" name="mot_kv" type="INT32">
      <short_desc>Motor Kv in RPM per volt</short_desc>
      <long_desc>Motor Kv in RPM per volt. This can be taken from the motor’s
            specification sheet; accuracy will help control performance but
            some deviation from the specified value is acceptable.</long_desc>
      <unit>RPM/v</unit>
      <min>0</min>
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      <max>4000</max>
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    </parameter>
    <parameter default="0.0" name="mot_ls" type="FLOAT">
      <short_desc>READ ONLY: Motor inductance in henries.</short_desc>
      <long_desc>READ ONLY: Motor inductance in henries. This is measured on start-up.</long_desc>
      <unit>henries</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="14" name="mot_num_poles" type="INT32">
      <short_desc>Number of motor poles.</short_desc>
      <long_desc>Number of motor poles. Used to convert mechanical speeds to
            electrical speeds. This number should be taken from the motor’s
            specification sheet.</long_desc>
      <unit>Poles</unit>
      <min>2</min>
      <max>40</max>
    </parameter>
    <parameter default="0.0" name="mot_rs" type="FLOAT">
      <short_desc>READ ONLY: Motor resistance in ohms</short_desc>
      <long_desc>READ ONLY: Motor resistance in ohms. This is measured on start-up. When
            tuning a new motor, check that this value is approximately equal
            to the value shown in the motor’s specification sheet.</long_desc>
      <unit>Ohms</unit>
      <decimal>3</decimal>
    </parameter>
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    <parameter default="0.5" name="mot_v_accel" type="FLOAT">
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      <short_desc>Acceleration limit (V)</short_desc>
      <long_desc>Acceleration limit (V)</long_desc>
      <unit>Volts</unit>
      <decimal>3</decimal>
      <min>0.01</min>
      <max>1.00</max>
    </parameter>
    <parameter default="14.8" name="mot_v_max" type="FLOAT">
      <short_desc>Motor voltage limit in volts</short_desc>
      <long_desc>Motor voltage limit in volts. The current controller’s
            commanded voltage will never exceed this value. Note that this may
            safely be above the nominal voltage of the motor; to determine the
            actual motor voltage limit, divide the motor’s rated power by the
            motor current limit.</long_desc>
      <unit>Volts</unit>
      <decimal>3</decimal>
      <min>0</min>
    </parameter>
  </group>
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  <group name="UAVCAN GNSS" no_code_generation="true">
    <parameter default="0" name="gnss.warn_dimens" type="INT32">
      <short_desc>device health warning</short_desc>
      <long_desc>Set the device health to Warning if the dimensionality of
              the GNSS solution is less than this value. 3 for the full (3D)
              solution, 2 for planar (2D) solution, 1 for time-only solution,
              0 disables the feature.
      </long_desc>
      <min>0</min>
      <max>3</max>
      <values>
        <value code="0">disables the feature</value>
        <value code="1">time-only solution</value>
        <value code="2">planar (2D) solution</value>
        <value code="3">full (3D) solution</value>
      </values>
    </parameter>
    <parameter default="0" name="gnss.warn_sats" type="INT32">
      <short_desc />
      <long_desc>Set the device health to Warning if the number of satellites
        used in the GNSS solution is below this threshold. Zero
        disables the feature
      </long_desc>
    </parameter>
    <parameter default="2" name="gnss.dyn_model" type="INT32">
      <short_desc>GNSS dynamic model</short_desc>
      <long_desc>Dynamic model used in the GNSS positioning engine. 0 –
        Automotive, 1 – Sea, 2 – Airborne.
      </long_desc>
      <min>0</min>
      <max>2</max>
      <values>
        <value code="0">Automotive</value>
        <value code="1">Sea</value>
        <value code="2">Airborne</value>
      </values>
    </parameter>
    <parameter default="1" name="gnss.old_fix_msg" type="INT32">
      <short_desc>Broadcast old GNSS fix message</short_desc>
      <long_desc>Broadcast the old (deprecated) GNSS fix message
        uavcan.equipment.gnss.Fix alongside the new alternative
        uavcan.equipment.gnss.Fix2. It is recommended to
        disable this feature to reduce the CAN bus traffic.
      </long_desc>
      <min>0</min>
      <max>1</max>
      <values>
        <value code="0">Fix2</value>
        <value code="1">Fix and Fix2</value>
      </values>
    </parameter>
    <parameter default="0" name="uavcan.pubp-pres" type="INT32">
      <short_desc />
      <long_desc>Set the device health to Warning if the number of satellites
        used in the GNSS solution is below this threshold. Zero
        disables the feature
      </long_desc>
      <unit>microseconds</unit>
      <min>0</min>
      <max>1000000</max>
    </parameter>
  </group>
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  <group name="Airspeed Validator">
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    <parameter default="1" name="ASPD_BETA_GATE" type="INT32">
      <short_desc>Airspeed Selector: Gate size for sideslip angle fusion</short_desc>
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      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
      <min>1</min>
      <max>5</max>
      <unit>SD</unit>
    </parameter>
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    <parameter default="0.3" name="ASPD_BETA_NOISE" type="FLOAT">
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      <short_desc>Airspeed Selector: Wind estimator sideslip measurement noise</short_desc>
      <long_desc>Sideslip measurement noise of the internal wind estimator(s) of the airspeed selector.</long_desc>
      <min>0</min>
      <max>1</max>
      <unit>rad</unit>
    </parameter>
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    <parameter default="0" name="ASPD_DO_CHECKS" type="INT32">
      <short_desc>Enable checks on airspeed sensors</short_desc>
      <long_desc>If set to true then the data comming from the airspeed sensors is checked for validity. Only applied if ASPD_PRIMARY &gt; 0.</long_desc>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="ASPD_FALLBACK" type="INT32">
      <short_desc>Enable fallback to secondary airspeed measurement</short_desc>
      <long_desc>If ASPD_DO_CHECKS is set to true, then airspeed estimation can fallback from what specified in ASPD_PRIMARY to secondary source (other airspeed sensors, groundspeed minus windspeed).</long_desc>
      <reboot_required>true</reboot_required>
      <values>
        <value code="0">To other airspeed sensor (if one valid), else disable airspeed</value>
        <value code="1">To other airspeed sensor (if one valid), else to ground-windspeed</value>
      </values>
    </parameter>
    <parameter default="1.0" name="ASPD_FS_INNOV" type="FLOAT">
      <short_desc>Airspeed failsafe consistency threshold (Experimental)</short_desc>
      <long_desc>This specifies the minimum airspeed test ratio required to trigger a failsafe. Larger values make the check less sensitive, smaller values make it more sensitive. Start with a value of 1.0 when tuning. When tas_test_ratio is &gt; 1.0 it indicates the inconsistency between predicted and measured airspeed is large enough to cause the navigation EKF to reject airspeed measurements. The time required to detect a fault when the threshold is exceeded depends on the size of the exceedance and is controlled by the ASPD_FS_INTEG parameter.</long_desc>
      <min>0.5</min>
      <max>3.0</max>
    </parameter>
    <parameter default="-1.0" name="ASPD_FS_INTEG" type="FLOAT">
      <short_desc>Airspeed failsafe consistency delay (Experimental)</short_desc>
      <long_desc>This sets the time integral of airspeed test ratio exceedance above ASPD_FS_INNOV required to trigger a failsafe. For example if ASPD_FS_INNOV is 1 and estimator_status.tas_test_ratio is 2.0, then the exceedance is 1.0 and the integral will rise at a rate of 1.0/second. A negative value disables the check. Larger positive values make the check less sensitive, smaller positive values make it more sensitive.</long_desc>
      <max>30.0</max>
      <unit>s</unit>
    </parameter>
    <parameter default="3" name="ASPD_FS_T1" type="INT32">
      <short_desc>Airspeed failsafe stop delay (Experimental)</short_desc>
      <long_desc>Delay before stopping use of airspeed sensor if checks indicate sensor is bad.</long_desc>
      <min>1</min>
      <max>10</max>
      <unit>s</unit>
    </parameter>
    <parameter default="100" name="ASPD_FS_T2" type="INT32">
      <short_desc>Airspeed failsafe start delay (Experimental)</short_desc>
      <long_desc>Delay before switching back to using airspeed sensor if checks indicate sensor is good.</long_desc>
      <min>10</min>
      <max>1000</max>
      <unit>s</unit>
    </parameter>
    <parameter default="1" name="ASPD_PRIMARY" type="INT32">
      <short_desc>Index or primary airspeed measurement source</short_desc>
      <reboot_required>true</reboot_required>
      <values>
        <value code="-1">Disabled</value>
        <value code="0">Groundspeed minus windspeed</value>
        <value code="1">First airspeed sensor</value>
        <value code="2">Second airspeed sensor</value>
        <value code="3">Third airspeed sensor</value>
      </values>
    </parameter>
    <parameter default="1.0" name="ASPD_SCALE" type="FLOAT">
      <short_desc>Airspeed scale (scale from IAS to CAS/EAS)</short_desc>
      <long_desc>Scale can either be entered manually, or estimated in-flight by setting ASPD_SCALE_EST to 1.</long_desc>
      <min>0.5</min>
      <max>1.5</max>
    </parameter>
    <parameter default="0" name="ASPD_SCALE_EST" type="INT32">
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      <short_desc>Automatic airspeed scale estimation on</short_desc>
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      <long_desc>Turns the automatic airspeed scale (scale from IAS to CAS/EAS) on or off. It is recommended to fly level altitude while performing the estimation. Set to 1 to start estimation (best when already flying). Set to 0 to end scale estimation. The estimated scale is then saved using the ASPD_SCALE parameter.</long_desc>
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    </parameter>
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    <parameter default="0.0001" name="ASPD_SC_P_NOISE" type="FLOAT">
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      <short_desc>Airspeed Selector: Wind estimator true airspeed scale process noise</short_desc>
      <long_desc>Airspeed scale process noise of the internal wind estimator(s) of the airspeed selector.</long_desc>
      <min>0</min>
      <max>0.1</max>
      <unit>1/s</unit>
    </parameter>
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    <parameter default="10.0" name="ASPD_STALL" type="FLOAT">
      <short_desc>Airspeed fault detection stall airspeed. (Experimental)</short_desc>
      <long_desc>This is the minimum indicated airspeed at which the wing can produce 1g of lift. It is used by the airspeed sensor fault detection and failsafe calculation to detect a significant airspeed low measurement error condition and should be set based on flight test for reliable operation.</long_desc>
      <unit>m/s</unit>
    </parameter>
    <parameter default="3" name="ASPD_TAS_GATE" type="INT32">
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      <short_desc>Airspeed Selector: Gate size for true airspeed fusion</short_desc>
      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
      <min>1</min>
      <max>5</max>
      <unit>SD</unit>
    </parameter>
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    <parameter default="1.4" name="ASPD_TAS_NOISE" type="FLOAT">
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      <short_desc>Airspeed Selector: Wind estimator true airspeed measurement noise</short_desc>
      <long_desc>True airspeed measurement noise of the internal wind estimator(s) of the airspeed selector.</long_desc>
      <min>0</min>
      <max>4</max>
      <unit>m/s</unit>
    </parameter>
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    <parameter default="0.1" name="ASPD_W_P_NOISE" type="FLOAT">
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      <short_desc>Airspeed Selector: Wind estimator wind process noise</short_desc>
      <long_desc>Wind process noise of the internal wind estimator(s) of the airspeed selector.</long_desc>
      <min>0</min>
      <max>1</max>
      <unit>m/s/s</unit>
    </parameter>
  </group>
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  <group name="Attitude Q estimator">
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    <parameter default="1" name="ATT_ACC_COMP" type="INT32">
      <short_desc>Acceleration compensation based on GPS
velocity</short_desc>
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    </parameter>
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    <parameter default="0.05" name="ATT_BIAS_MAX" type="FLOAT">
      <short_desc>Gyro bias limit</short_desc>
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      <min>0</min>
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      <max>2</max>
      <unit>rad/s</unit>
      <decimal>3</decimal>
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    </parameter>
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    <parameter default="0" name="ATT_EXT_HDG_M" type="INT32">
      <short_desc>External heading usage mode (from Motion capture/Vision)
Set to 1 to use heading estimate from vision.
Set to 2 to use heading from motion capture</short_desc>
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      <min>0</min>
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      <max>2</max>
      <values>
        <value code="0">None</value>
        <value code="1">Vision</value>
        <value code="2">Motion Capture</value>
      </values>
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    </parameter>
    <parameter default="0.0" name="ATT_MAG_DECL" type="FLOAT">
      <short_desc>Magnetic declination, in degrees</short_desc>
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      <long_desc>This parameter is not used in normal operation, as the declination is looked up based on the GPS coordinates of the vehicle.</long_desc>
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      <unit>deg</unit>
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      <decimal>2</decimal>
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    </parameter>
    <parameter default="1" name="ATT_MAG_DECL_A" type="INT32">
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      <short_desc>Automatic GPS based declination compensation</short_desc>
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    </parameter>
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    <parameter default="0.2" name="ATT_W_ACC" type="FLOAT">
      <short_desc>Complimentary filter accelerometer weight</short_desc>
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      <min>0</min>
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      <max>1</max>
      <decimal>2</decimal>
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    </parameter>
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    <parameter default="0.1" name="ATT_W_EXT_HDG" type="FLOAT">
      <short_desc>Complimentary filter external heading weight</short_desc>
      <min>0</min>
      <max>1</max>
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    </parameter>
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    <parameter default="0.1" name="ATT_W_GYRO_BIAS" type="FLOAT">
      <short_desc>Complimentary filter gyroscope bias weight</short_desc>
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      <min>0</min>
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      <max>1</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.1" name="ATT_W_MAG" type="FLOAT">
      <short_desc>Complimentary filter magnetometer weight</short_desc>
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      <long_desc>Set to 0 to avoid using the magnetometer.</long_desc>
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      <min>0</min>
      <max>1</max>
      <decimal>2</decimal>
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    </parameter>
  </group>
  <group name="Battery Calibration">
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    <parameter default="-1.0" name="BAT1_A_PER_V" type="FLOAT">
      <short_desc>Battery 1 current per volt (A/V)</short_desc>
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      <long_desc>The voltage seen by the ADC multiplied by this factor will determine the battery current. A value of -1 means to use the board default.</long_desc>
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      <decimal>8</decimal>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="-1.0" name="BAT1_CAPACITY" type="FLOAT">
      <short_desc>Battery 1 capacity</short_desc>
      <long_desc>Defines the capacity of battery 1 in mAh.</long_desc>
      <min>-1.0</min>
      <max>100000</max>
      <unit>mAh</unit>
      <decimal>0</decimal>
      <increment>50</increment>
      <reboot_required>True</reboot_required>
    </parameter>
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    <parameter default="-1" name="BAT1_I_CHANNEL" type="INT32">
      <short_desc>Battery 1 Current ADC Channel</short_desc>
      <long_desc>This parameter specifies the ADC channel used to monitor current of main power battery. A value of -1 means to use the board default.</long_desc>
      <reboot_required>True</reboot_required>
    </parameter>
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    <parameter default="0" name="BAT1_N_CELLS" type="INT32">
      <short_desc>Number of cells for battery 1</short_desc>
      <long_desc>Defines the number of cells the attached battery consists of.</long_desc>
      <reboot_required>True</reboot_required>
      <values>
        <value code="2">2S Battery</value>
        <value code="3">3S Battery</value>
        <value code="4">4S Battery</value>
        <value code="5">5S Battery</value>
        <value code="6">6S Battery</value>
        <value code="7">7S Battery</value>
        <value code="8">8S Battery</value>
        <value code="9">9S Battery</value>
        <value code="10">10S Battery</value>
        <value code="11">11S Battery</value>
        <value code="12">12S Battery</value>
        <value code="13">13S Battery</value>
        <value code="14">14S Battery</value>
        <value code="15">15S Battery</value>
        <value code="16">16S Battery</value>
      </values>
    </parameter>
    <parameter default="-1.0" name="BAT1_R_INTERNAL" type="FLOAT">
      <short_desc>Explicitly defines the per cell internal resistance for battery 1</short_desc>
      <long_desc>If non-negative, then this will be used in place of BAT1_V_LOAD_DROP for all calculations.</long_desc>
      <min>-1.0</min>
      <max>0.2</max>
      <unit>Ohm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="0" name="BAT1_SOURCE" type="INT32">
      <short_desc>Battery 1 monitoring source</short_desc>
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      <long_desc>This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.</long_desc>
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      <reboot_required>True</reboot_required>
      <values>
        <value code="0">Power Module</value>
        <value code="1">External</value>
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        <value code="2">ESCs</value>
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      </values>
    </parameter>
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    <parameter default="-1" name="BAT1_V_CHANNEL" type="INT32">
      <short_desc>Battery 1 Voltage ADC Channel</short_desc>
      <long_desc>This parameter specifies the ADC channel used to monitor voltage of main power battery. A value of -1 means to use the board default.</long_desc>
      <reboot_required>True</reboot_required>
    </parameter>
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    <parameter default="4.05" name="BAT1_V_CHARGED" type="FLOAT">
      <short_desc>Full cell voltage (5C load)</short_desc>
      <long_desc>Defines the voltage where a single cell of battery 1 is considered full under a mild load. This will never be the nominal voltage of 4.2V</long_desc>
      <unit>V</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="-1.0" name="BAT1_V_DIV" type="FLOAT">
      <short_desc>Battery 1 voltage divider (V divider)</short_desc>
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      <long_desc>This is the divider from battery 1 voltage to ADC voltage. If using e.g. Mauch power modules the value from the datasheet can be applied straight here. A value of -1 means to use the board default.</long_desc>
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      <decimal>8</decimal>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="3.5" name="BAT1_V_EMPTY" type="FLOAT">
      <short_desc>Empty cell voltage (5C load)</short_desc>
      <long_desc>Defines the voltage where a single cell of battery 1 is considered empty. The voltage should be chosen before the steep dropoff to 2.8V. A typical lithium battery can only be discharged down to 10% before it drops off to a voltage level damaging the cells.</long_desc>
      <unit>V</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="0.3" name="BAT1_V_LOAD_DROP" type="FLOAT">
      <short_desc>Voltage drop per cell on full throttle</short_desc>
      <long_desc>This implicitely defines the internal resistance to maximum current ratio for battery 1 and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT1_R_INTERNAL is set.</long_desc>
      <min>0.07</min>
      <max>0.5</max>
      <unit>V</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="-1.0" name="BAT2_A_PER_V" type="FLOAT">
      <short_desc>Battery 2 current per volt (A/V)</short_desc>
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      <long_desc>The voltage seen by the ADC multiplied by this factor will determine the battery current. A value of -1 means to use the board default.</long_desc>
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      <decimal>8</decimal>
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      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="-1.0" name="BAT2_CAPACITY" type="FLOAT">
      <short_desc>Battery 2 capacity</short_desc>
      <long_desc>Defines the capacity of battery 2 in mAh.</long_desc>
      <min>-1.0</min>
      <max>100000</max>
      <unit>mAh</unit>
      <decimal>0</decimal>
      <increment>50</increment>
      <reboot_required>True</reboot_required>
    </parameter>
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    <parameter default="-1" name="BAT2_I_CHANNEL" type="INT32">
      <short_desc>Battery 2 Current ADC Channel</short_desc>
      <long_desc>This parameter specifies the ADC channel used to monitor current of main power battery. A value of -1 means to use the board default.</long_desc>
      <reboot_required>True</reboot_required>
    </parameter>
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    <parameter default="0" name="BAT2_N_CELLS" type="INT32">
      <short_desc>Number of cells for battery 2</short_desc>
      <long_desc>Defines the number of cells the attached battery consists of.</long_desc>
      <reboot_required>True</reboot_required>
      <values>
        <value code="2">2S Battery</value>
        <value code="3">3S Battery</value>
        <value code="4">4S Battery</value>
        <value code="5">5S Battery</value>
        <value code="6">6S Battery</value>
        <value code="7">7S Battery</value>
        <value code="8">8S Battery</value>
        <value code="9">9S Battery</value>
        <value code="10">10S Battery</value>
        <value code="11">11S Battery</value>
        <value code="12">12S Battery</value>
        <value code="13">13S Battery</value>
        <value code="14">14S Battery</value>
        <value code="15">15S Battery</value>
        <value code="16">16S Battery</value>
      </values>
    </parameter>
    <parameter default="-1.0" name="BAT2_R_INTERNAL" type="FLOAT">
      <short_desc>Explicitly defines the per cell internal resistance for battery 2</short_desc>
      <long_desc>If non-negative, then this will be used in place of BAT2_V_LOAD_DROP for all calculations.</long_desc>
      <min>-1.0</min>
      <max>0.2</max>
      <unit>Ohm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="0" name="BAT2_SOURCE" type="INT32">
      <short_desc>Battery 2 monitoring source</short_desc>
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      <long_desc>This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.</long_desc>
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      <reboot_required>True</reboot_required>
      <values>
        <value code="0">Power Module</value>
        <value code="1">External</value>
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        <value code="2">ESCs</value>
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      </values>
    </parameter>
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    <parameter default="-1" name="BAT2_V_CHANNEL" type="INT32">
      <short_desc>Battery 2 Voltage ADC Channel</short_desc>
      <long_desc>This parameter specifies the ADC channel used to monitor voltage of main power battery. A value of -1 means to use the board default.</long_desc>
      <reboot_required>True</reboot_required>
    </parameter>
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    <parameter default="4.05" name="BAT2_V_CHARGED" type="FLOAT">
      <short_desc>Full cell voltage (5C load)</short_desc>
      <long_desc>Defines the voltage where a single cell of battery 1 is considered full under a mild load. This will never be the nominal voltage of 4.2V</long_desc>
      <unit>V</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="-1.0" name="BAT2_V_DIV" type="FLOAT">
      <short_desc>Battery 2 voltage divider (V divider)</short_desc>
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      <long_desc>This is the divider from battery 2 voltage to ADC voltage. If using e.g. Mauch power modules the value from the datasheet can be applied straight here. A value of -1 means to use the board default.</long_desc>
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      <decimal>8</decimal>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="3.5" name="BAT2_V_EMPTY" type="FLOAT">
      <short_desc>Empty cell voltage (5C load)</short_desc>
      <long_desc>Defines the voltage where a single cell of battery 1 is considered empty. The voltage should be chosen before the steep dropoff to 2.8V. A typical lithium battery can only be discharged down to 10% before it drops off to a voltage level damaging the cells.</long_desc>
      <unit>V</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="0.3" name="BAT2_V_LOAD_DROP" type="FLOAT">
      <short_desc>Voltage drop per cell on full throttle</short_desc>
      <long_desc>This implicitely defines the internal resistance to maximum current ratio for battery 1 and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT2_R_INTERNAL is set.</long_desc>
      <min>0.07</min>
      <max>0.5</max>
      <unit>V</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="-1" name="BAT_ADC_CHANNEL" type="INT32">
      <short_desc>This parameter is deprecated. Please use BAT1_ADC_CHANNEL</short_desc>
    </parameter>
    <parameter default="-1.0" name="BAT_A_PER_V" type="FLOAT">
      <short_desc>This parameter is deprecated. Please use BAT1_A_PER_V</short_desc>
      <decimal>8</decimal>
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    </parameter>
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    <parameter default="-1.0" name="BAT_CAPACITY" type="FLOAT">
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      <short_desc>This parameter is deprecated. Please use BAT1_CAPACITY instead</short_desc>
      <long_desc>Defines the capacity of battery 1.</long_desc>
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      <min>-1.0</min>
      <max>100000</max>
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      <unit>mAh</unit>
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      <decimal>0</decimal>
      <increment>50</increment>
      <reboot_required>true</reboot_required>
    </parameter>
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    <parameter default="0.07" name="BAT_CRIT_THR" type="FLOAT">
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      <short_desc>Critical threshold</short_desc>
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      <long_desc>Sets the threshold when the battery will be reported as critically low. This has to be lower than the low threshold. This threshold commonly will trigger RTL.</long_desc>
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      <min>0.05</min>
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      <max>0.25</max>
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      <unit>norm</unit>
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      <decimal>2</decimal>
      <increment>0.01</increment>
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      <reboot_required>true</reboot_required>
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    </parameter>
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    <parameter default="0.05" name="BAT_EMERGEN_THR" type="FLOAT">
      <short_desc>Emergency threshold</short_desc>
      <long_desc>Sets the threshold when the battery will be reported as dangerously low. This has to be lower than the critical threshold. This threshold commonly will trigger landing.</long_desc>
      <min>0.03</min>
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      <max>0.1</max>
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      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
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      <reboot_required>true</reboot_required>
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    </parameter>
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    <parameter default="0.15" name="BAT_LOW_THR" type="FLOAT">
      <short_desc>Low threshold</short_desc>
      <long_desc>Sets the threshold when the battery will be reported as low. This has to be higher than the critical threshold.</long_desc>
      <min>0.12</min>
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      <max>0.5</max>
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      <unit>norm</unit>
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      <decimal>2</decimal>
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      <increment>0.01</increment>
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      <reboot_required>true</reboot_required>
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    </parameter>
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    <parameter default="0" name="BAT_N_CELLS" type="INT32">
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      <short_desc>This parameter is deprecated. Please use BAT1_N_CELLS instead</short_desc>
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      <long_desc>Defines the number of cells the attached battery consists of.</long_desc>
      <unit>S</unit>
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      <reboot_required>true</reboot_required>
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      <values>
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        <value code="0">Unconfigured</value>
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        <value code="2">2S Battery</value>
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        <value code="3">3S Battery</value>
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        <value code="4">4S Battery</value>
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        <value code="5">5S Battery</value>
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        <value code="6">6S Battery</value>
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        <value code="7">7S Battery</value>
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        <value code="8">8S Battery</value>
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        <value code="9">9S Battery</value>
        <value code="10">10S Battery</value>
        <value code="11">11S Battery</value>
        <value code="12">12S Battery</value>
        <value code="13">13S Battery</value>
        <value code="14">14S Battery</value>
        <value code="15">15S Battery</value>
        <value code="16">16S Battery</value>
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      </values>
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    </parameter>
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    <parameter default="-1.0" name="BAT_R_INTERNAL" type="FLOAT">
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      <short_desc>This parameter is deprecated. Please use BAT1_R_INTERNAL instead</short_desc>
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      <long_desc>If non-negative, then this will be used in place of BAT_V_LOAD_DROP for all calculations.</long_desc>
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      <min>-1.0</min>
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      <max>0.2</max>
      <unit>Ohms</unit>
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      <reboot_required>true</reboot_required>
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    </parameter>
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    <parameter default="0" name="BAT_SOURCE" type="INT32">
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      <short_desc>This parameter is deprecated. Please use BAT1_SOURCE instead</short_desc>
      <long_desc>Battery monitoring source. This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages.</long_desc>
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      <min>0</min>
      <max>1</max>
      <values>
        <value code="0">Power Module</value>
        <value code="1">External</value>
      </values>
    </parameter>
    <parameter default="4.05" name="BAT_V_CHARGED" type="FLOAT">
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      <short_desc>This parameter is deprecated. Please use BAT1_V_CHARGED instead</short_desc>
      <long_desc>Defines the voltage where a single cell of battery 1 is considered full under a mild load. This will never be the nominal voltage of 4.2V</long_desc>
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      <unit>V</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="-1.0" name="BAT_V_DIV" type="FLOAT">
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      <short_desc>This parameter is deprecated. Please use BAT1_V_DIV</short_desc>
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      <decimal>8</decimal>
    </parameter>
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    <parameter default="3.5" name="BAT_V_EMPTY" type="FLOAT">
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      <short_desc>This parameter is deprecated. Please use BAT1_V_EMPTY instead</short_desc>
      <long_desc>Defines the voltage where a single cell of battery 1 is considered empty. The voltage should be chosen before the steep dropoff to 2.8V. A typical lithium battery can only be discharged down to 10% before it drops off to a voltage level damaging the cells.</long_desc>
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      <unit>V</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0.3" name="BAT_V_LOAD_DROP" type="FLOAT">
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      <short_desc>This parameter is deprecated. Please use BAT1_V_LOAD_DROP instead</short_desc>
      <long_desc>This implicitely defines the internal resistance to maximum current ratio for battery 1 and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT_R_INTERNAL is set.</long_desc>
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      <min>0.07</min>
      <max>0.5</max>
      <unit>V</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0.0" name="BAT_V_OFFS_CURR" type="FLOAT">
      <short_desc>Offset in volt as seen by the ADC input of the current sensor</short_desc>
      <long_desc>This offset will be subtracted before calculating the battery current based on the voltage.</long_desc>
      <decimal>8</decimal>
    </parameter>
  </group>
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  <group name="Camera Capture">
    <parameter default="0.0" name="CAM_CAP_DELAY" type="FLOAT">
      <short_desc>Camera strobe delay</short_desc>
      <long_desc>This parameter sets the delay between image integration start and strobe firing</long_desc>
      <min>0.0</min>
      <max>100.0</max>
      <unit>ms</unit>
      <decimal>1</decimal>
    </parameter>
  </group>
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  <group name="Camera Control">
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    <parameter default="0" name="CAM_CAP_EDGE" type="INT32">
      <short_desc>Camera capture edge</short_desc>
      <reboot_required>true</reboot_required>
      <values>
        <value code="0">Falling edge</value>
        <value code="1">Rising edge</value>
      </values>
    </parameter>
    <parameter default="0" name="CAM_CAP_FBACK" type="INT32">
      <short_desc>Camera capture feedback</short_desc>
      <long_desc>Enables camera capture feedback</long_desc>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="CAM_CAP_MODE" type="INT32">
      <short_desc>Camera capture timestamping mode</short_desc>
      <long_desc>Change time measurement</long_desc>
      <reboot_required>true</reboot_required>
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      <values>
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        <value code="0">Get absolute timestamp</value>
        <value code="1">Get timestamp of mid exposure (active high)</value>
        <value code="2">Get timestamp of mid exposure (active low)</value>
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      </values>
    </parameter>
  </group>
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  <group name="Camera trigger">
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    <parameter default="40.0" name="TRIG_ACT_TIME" type="FLOAT">
      <short_desc>Camera trigger activation time</short_desc>
      <long_desc>This parameter sets the time the trigger needs to pulled high or low.</long_desc>
      <min>0.1</min>
      <max>3000</max>
      <unit>ms</unit>
      <decimal>1</decimal>
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      <reboot_required>true</reboot_required>
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    </parameter>
    <parameter default="25.0" name="TRIG_DISTANCE" type="FLOAT">
      <short_desc>Camera trigger distance</short_desc>
      <long_desc>Sets the distance at which to trigger the camera.</long_desc>
      <min>0</min>
      <unit>m</unit>
      <decimal>1</decimal>
      <increment>1</increment>
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      <reboot_required>true</reboot_required>
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    </parameter>
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    <parameter default="4" name="TRIG_INTERFACE" type="INT32">
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      <short_desc>Camera trigger Interface</short_desc>
      <long_desc>Selects the trigger interface</long_desc>
      <reboot_required>true</reboot_required>
      <values>
        <value code="1">GPIO</value>
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        <value code="2">Seagull MAP2 (over PWM)</value>
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        <value code="3">MAVLink (forward via MAV_CMD_IMAGE_START_CAPTURE)</value>
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        <value code="4">Generic PWM (IR trigger, servo)</value>
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      </values>
    </parameter>
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    <parameter default="40.0" name="TRIG_INTERVAL" type="FLOAT">
      <short_desc>Camera trigger interval</short_desc>
      <long_desc>This parameter sets the time between two consecutive trigger events</long_desc>
      <min>4.0</min>
      <max>10000.0</max>
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      <unit>ms</unit>
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      <decimal>1</decimal>
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      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="1.0" name="TRIG_MIN_INTERVA" type="FLOAT">
      <short_desc>Minimum camera trigger interval</short_desc>
      <long_desc>This parameter sets the minimum time between two consecutive trigger events the specific camera setup is supporting.</long_desc>
      <min>1.0</min>
      <max>10000.0</max>
      <unit>ms</unit>
      <decimal>1</decimal>
      <reboot_required>true</reboot_required>
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    </parameter>
    <parameter default="0" name="TRIG_MODE" type="INT32">
      <short_desc>Camera trigger mode</short_desc>
      <min>0</min>
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      <max>4</max>
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      <reboot_required>true</reboot_required>
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      <values>
        <value code="0">Disable</value>
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        <value code="1">Time based, on command</value>
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        <value code="2">Time based, always on</value>
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        <value code="3">Distance based, always on</value>
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        <value code="4">Distance based, on command (Survey mode)</value>
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      </values>
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    </parameter>
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    <parameter default="56" name="TRIG_PINS" type="INT32">
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      <short_desc>Camera trigger pin</short_desc>
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      <long_desc>Selects which FMU pin is used (range: AUX1-AUX6 on Pixhawk controllers with an I/O board, MAIN1-MAIN6 on controllers without an I/O board. The PWM interface takes two pins per camera, while relay triggers on every pin individually. Example: Value 56 would trigger on pins 5 and 6. For GPIO mode Pin 6 will be triggered followed by 5. With a value of 65 pin 5 will be triggered followed by 6. Pins may be non contiguous. I.E. 16 or 61. In GPIO mode the delay pin to pin is &lt; .2 uS.</long_desc>
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      <min>1</min>
      <max>123456</max>
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      <decimal>0</decimal>
      <reboot_required>true</reboot_required>
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    </parameter>
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    <parameter default="0" name="TRIG_POLARITY" type="INT32">
      <short_desc>Camera trigger polarity</short_desc>
      <long_desc>This parameter sets the polarity of the trigger (0 = active low, 1 = active high )</long_desc>
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      <min>0</min>
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      <max>1</max>
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      <reboot_required>true</reboot_required>
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      <values>
        <value code="0">Active low</value>
        <value code="1">Active high</value>
      </values>
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    </parameter>
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    <parameter default="1500" name="TRIG_PWM_NEUTRAL" type="INT32">
      <short_desc>PWM neutral output on trigger pin</short_desc>
      <min>1000</min>
      <max>2000</max>
      <unit>us</unit>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="1900" name="TRIG_PWM_SHOOT" type="INT32">
      <short_desc>PWM output to trigger shot</short_desc>
      <min>1000</min>
      <max>2000</max>
      <unit>us</unit>
      <reboot_required>true</reboot_required>
    </parameter>
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  </group>
  <group name="Circuit Breaker">
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    <parameter category="Developer" default="0" name="CBRK_AIRSPD_CHK" type="INT32">
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      <short_desc>Circuit breaker for airspeed sensor</short_desc>
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      <long_desc>Setting this parameter to 162128 will disable the check for an airspeed sensor. The sensor driver will not be started and it cannot be calibrated. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
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      <min>0</min>
      <max>162128</max>
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      <reboot_required>true</reboot_required>
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    </parameter>
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    <parameter category="Developer" default="0" name="CBRK_BUZZER" type="INT32">
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      <short_desc>Circuit breaker for disabling buzzer</short_desc>
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      <long_desc>Setting this parameter to 782097 will disable the buzzer audio notification. Setting this parameter to 782090 will disable the startup tune, while keeping all others enabled.</long_desc>
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      <min>0</min>
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      <max>782097</max>
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      <reboot_required>true</reboot_required>
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    </parameter>
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    <parameter category="Developer" default="284953" name="CBRK_ENGINEFAIL" type="INT32">
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      <short_desc>Circuit breaker for engine failure detection</short_desc>
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      <long_desc>Setting this parameter to 284953 will disable the engine failure detection. If the aircraft is in engine failure mode the engine failure flag will be set to healthy WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
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      <min>0</min>
      <max>284953</max>
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      <reboot_required>true</reboot_required>
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    </parameter>
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    <parameter category="Developer" default="121212" name="CBRK_FLIGHTTERM" type="INT32">
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      <short_desc>Circuit breaker for flight termination</short_desc>
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      <long_desc>Setting this parameter to 121212 will disable the flight termination action if triggered by the FailureDetector logic or if FMU is lost. This circuit breaker does not affect the RC loss, data link loss, geofence, and takeoff failure detection safety logic.</long_desc>
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      <min>0</min>
      <max>121212</max>
      <reboot_required>true</reboot_required>
    </parameter>
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    <parameter category="Developer" default="0" name="CBRK_IO_SAFETY" type="INT32">
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      <short_desc>Circuit breaker for IO safety</short_desc>
      <long_desc>Setting this parameter to 22027 will disable IO safety. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
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      <min>0</min>
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      <max>22027</max>
      <reboot_required>true</reboot_required>
    </parameter>
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    <parameter category="Developer" default="0" name="CBRK_RATE_CTRL" type="INT32">
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      <short_desc>Circuit breaker for rate controller output</short_desc>
      <long_desc>Setting this parameter to 140253 will disable the rate controller uORB publication. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
      <min>0</min>
      <max>140253</max>
      <reboot_required>true</reboot_required>
    </parameter>
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    <parameter category="Developer" default="0" name="CBRK_SUPPLY_CHK" type="INT32">
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      <short_desc>Circuit breaker for power supply check</short_desc>
      <long_desc>Setting this parameter to 894281 will disable the power valid checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
      <min>0</min>
      <max>894281</max>
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      <reboot_required>true</reboot_required>
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    </parameter>
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    <parameter category="Developer" default="0" name="CBRK_USB_CHK" type="INT32">
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      <short_desc>Circuit breaker for USB link check</short_desc>
      <long_desc>Setting this parameter to 197848 will disable the USB connected checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
      <min>0</min>
      <max>197848</max>
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      <reboot_required>true</reboot_required>
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    </parameter>
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    <parameter category="Developer" default="0" name="CBRK_VELPOSERR" type="INT32">
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      <short_desc>Circuit breaker for position error check</short_desc>
      <long_desc>Setting this parameter to 201607 will disable the position and velocity accuracy checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
      <min>0</min>
      <max>201607</max>
      <reboot_required>true</reboot_required>
    </parameter>
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    <parameter category="Developer" default="0" name="CBRK_VTOLARMING" type="INT32">
      <short_desc>Circuit breaker for arming in fixed-wing mode check</short_desc>
      <long_desc>Setting this parameter to 159753 will enable arming in fixed-wing mode for VTOLs. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
      <min>0</min>
      <max>159753</max>
      <reboot_required>true</reboot_required>
    </parameter>
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  </group>
  <group name="Commander">
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    <parameter default="256010" name="COM_ARM_AUTH" type="INT32">
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      <short_desc>Arm authorization parameters, this uint32_t will be split between starting from the LSB:
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- 8bits to authorizer system id
- 16bits to authentication method parameter, this will be used to store a timeout for the first 2 methods but can be used to another parameter for other new authentication methods.
- 7bits to authentication method
- one arm = 0
- two step arm = 1
* the MSB bit is not used to avoid problems in the conversion between int and uint</short_desc>
      <long_desc>Default value: (10 &lt;&lt; 0 | 1000 &lt;&lt; 8 | 0 &lt;&lt; 24) = 256010 - authorizer system id = 10 - authentication method parameter = 10000msec of timeout - authentication method = during arm</long_desc>
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    </parameter>
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    <parameter default="0" name="COM_ARM_AUTH_REQ" type="INT32">
      <short_desc>Require arm authorization to arm</short_desc>
      <long_desc>The default allows to arm the vehicle without a arm authorization.</long_desc>
    </parameter>
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    <parameter default="1" name="COM_ARM_CHK_ESCS" type="INT32">
      <short_desc>Require all the ESCs to be detected to arm</short_desc>
      <long_desc>This param is specific for ESCs reporting status. Normal ESCs configurations are not affected by the change of this param.</long_desc>
    </parameter>
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    <parameter default="0.0022" name="COM_ARM_EKF_AB" type="FLOAT">
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      <short_desc>Maximum value of EKF accelerometer delta velocity bias estimate that will allow arming.
Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than EKF2_ABL_LIM * FILTER_UPDATE_PERIOD_MS * 0.001 so this parameter must be less than that to be useful</short_desc>
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      <min>0.001</min>
      <max>0.01</max>
      <unit>m/s</unit>
      <decimal>4</decimal>
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      <increment>0.0001</increment>
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    </parameter>
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    <parameter default="0.0011" name="COM_ARM_EKF_GB" type="FLOAT">
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      <short_desc>Maximum value of EKF gyro delta angle bias estimate that will allow arming</short_desc>
      <min>0.0001</min>
      <max>0.0017</max>
      <unit>rad</unit>
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      <decimal>4</decimal>
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      <increment>0.0001</increment>
    </parameter>
    <parameter default="1.0" name="COM_ARM_EKF_HGT" type="FLOAT">
      <short_desc>Maximum EKF height innovation test ratio that will allow arming</short_desc>
      <min>0.1</min>
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      <max>1.0</max>
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      <decimal>2</decimal>
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      <increment>0.05</increment>
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    </parameter>
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    <parameter default="0.5" name="COM_ARM_EKF_POS" type="FLOAT">
      <short_desc>Maximum EKF position innovation test ratio that will allow arming</short_desc>
      <min>0.1</min>
      <max>1.0</max>
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      <decimal>2</decimal>
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      <increment>0.05</increment>
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    </parameter>
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    <parameter default="0.5" name="COM_ARM_EKF_VEL" type="FLOAT">
      <short_desc>Maximum EKF velocity innovation test ratio that will allow arming</short_desc>
      <min>0.1</min>
      <max>1.0</max>
      <decimal>2</decimal>
      <increment>0.05</increment>
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    </parameter>
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    <parameter default="0.5" name="COM_ARM_EKF_YAW" type="FLOAT">
      <short_desc>Maximum EKF yaw innovation test ratio that will allow arming</short_desc>
      <min>0.1</min>
      <max>1.0</max>
      <decimal>2</decimal>
      <increment>0.05</increment>
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    </parameter>
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    <parameter default="0.7" name="COM_ARM_IMU_ACC" type="FLOAT">
      <short_desc>Maximum accelerometer inconsistency between IMU units that will allow arming</short_desc>
      <min>0.1</min>
      <max>1.0</max>
      <unit>m/s/s</unit>
      <decimal>2</decimal>
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      <increment>0.05</increment>
    </parameter>
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    <parameter default="0.25" name="COM_ARM_IMU_GYR" type="FLOAT">
      <short_desc>Maximum rate gyro inconsistency between IMU units that will allow arming</short_desc>
      <min>0.02</min>
      <max>0.3</max>
      <unit>rad/s</unit>
      <decimal>3</decimal>
      <increment>0.01</increment>
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    </parameter>
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    <parameter default="30" name="COM_ARM_MAG_ANG" type="INT32">
      <short_desc>Maximum magnetic field inconsistency between units that will allow arming
Set -1 to disable the check</short_desc>
      <min>3</min>
      <max>180</max>
      <unit>deg</unit>
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    </parameter>
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    <parameter default="1" name="COM_ARM_MAG_STR" type="INT32">
      <short_desc>Enable mag strength preflight check</short_desc>
      <long_desc>Deny arming if the estimator detects a strong magnetic disturbance (check enabled by EKF2_MAG_CHECK)</long_desc>
    </parameter>
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    <parameter default="0" name="COM_ARM_MIS_REQ" type="INT32">
      <short_desc>Require valid mission to arm</short_desc>
      <long_desc>The default allows to arm the vehicle without a valid mission.</long_desc>
    </parameter>
    <parameter default="0" name="COM_ARM_SWISBTN" type="INT32">
      <short_desc>Arm switch is only a button</short_desc>
      <long_desc>The default uses the arm switch as real switch. If parameter set button gets handled like stick arming.</long_desc>
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    </parameter>
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    <parameter default="1" name="COM_ARM_WO_GPS" type="INT32">
      <short_desc>Allow arming without GPS</short_desc>
      <long_desc>The default allows to arm the vehicle without GPS signal.</long_desc>
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    </parameter>
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    <parameter default="90.0" name="COM_CPU_MAX" type="FLOAT">
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      <short_desc>Maximum allowed CPU load to still arm</short_desc>
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      <long_desc>A negative value disables the check.</long_desc>
      <min>-1</min>
      <max>100</max>
      <unit>%</unit>
      <increment>1</increment>
    </parameter>
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    <parameter default="2.0" name="COM_DISARM_LAND" type="FLOAT">
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      <short_desc>Time-out for auto disarm after landing</short_desc>
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      <long_desc>A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period. A zero or negative value means that automatic disarming triggered by landing detection is disabled.</long_desc>
      <unit>s</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="10.0" name="COM_DISARM_PRFLT" type="FLOAT">
      <short_desc>Time-out for auto disarm if too slow to takeoff</short_desc>
      <long_desc>A non-zero, positive value specifies the time after arming, in seconds, within which the vehicle must take off (after which it will automatically disarm). A zero or negative value means that automatic disarming triggered by a pre-takeoff timeout is disabled.</long_desc>
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      <unit>s</unit>
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      <decimal>2</decimal>
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    </parameter>
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    <parameter default="10" name="COM_DL_LOSS_T" type="INT32">
      <short_desc>Datalink loss time threshold</short_desc>
      <long_desc>After this amount of seconds without datalink the data link lost mode triggers</long_desc>
      <min>5</min>
      <max>300</max>
      <unit>s</unit>
      <decimal>1</decimal>
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      <increment>1</increment>
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    </parameter>
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    <parameter default="5.0" name="COM_EF_C2T" type="FLOAT">
      <short_desc>Engine Failure Current/Throttle Threshold</short_desc>
      <long_desc>Engine failure triggers only below this current value</long_desc>
      <min>0.0</min>
      <max>50.0</max>
      <unit>A/%</unit>
      <decimal>2</decimal>
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      <increment>1</increment>
    </parameter>
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    <parameter default="0.5" name="COM_EF_THROT" type="FLOAT">
      <short_desc>Engine Failure Throttle Threshold</short_desc>
      <long_desc>Engine failure triggers only above this throttle value</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="10.0" name="COM_EF_TIME" type="FLOAT">
      <short_desc>Engine Failure Time Threshold</short_desc>
      <long_desc>Engine failure triggers only if the throttle threshold and the current to throttle threshold are violated for this time</long_desc>
      <min>0.0</min>
      <max>60.0</max>
      <unit>s</unit>
      <decimal>1</decimal>
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      <increment>1</increment>
    </parameter>
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    <parameter category="System" default="0" name="COM_FLIGHT_UUID" type="INT32" volatile="true">
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      <short_desc>Next flight UUID</short_desc>
      <long_desc>This number is incremented automatically after every flight on disarming in order to remember the next flight UUID. The first flight is 0.</long_desc>
      <min>0</min>
    </parameter>
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    <parameter default="-1" name="COM_FLTMODE1" type="INT32">
      <short_desc>First flightmode slot (1000-1160)</short_desc>
      <long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
      <values>
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        <value code="-1">Unassigned</value>
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        <value code="0">Manual</value>
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        <value code="1">Altitude</value>
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        <value code="2">Position</value>
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        <value code="3">Mission</value>
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        <value code="4">Hold</value>
        <value code="5">Return</value>
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        <value code="6">Acro</value>
        <value code="7">Offboard</value>
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        <value code="8">Stabilized</value>
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        <value code="9">Rattitude</value>
        <value code="10">Takeoff</value>
        <value code="11">Land</value>
        <value code="12">Follow Me</value>
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      </values>
    </parameter>
    <parameter default="-1" name="COM_FLTMODE2" type="INT32">
      <short_desc>Second flightmode slot (1160-1320)</short_desc>
      <long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
      <values>
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        <value code="-1">Unassigned</value>
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        <value code="0">Manual</value>
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        <value code="1">Altitude</value>
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        <value code="2">Position</value>
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        <value code="3">Mission</value>
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        <value code="4">Hold</value>
        <value code="5">Return</value>
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        <value code="6">Acro</value>
        <value code="7">Offboard</value>
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        <value code="8">Stabilized</value>
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        <value code="9">Rattitude</value>
        <value code="10">Takeoff</value>
        <value code="11">Land</value>
        <value code="12">Follow Me</value>
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      </values>
    </parameter>
    <parameter default="-1" name="COM_FLTMODE3" type="INT32">
      <short_desc>Third flightmode slot (1320-1480)</short_desc>
      <long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
      <values>
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        <value code="-1">Unassigned</value>
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        <value code="0">Manual</value>
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        <value code="1">Altitude</value>
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        <value code="2">Position</value>
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        <value code="3">Mission</value>
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        <value code="4">Hold</value>
        <value code="5">Return</value>
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        <value code="6">Acro</value>
        <value code="7">Offboard</value>
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        <value code="8">Stabilized</value>
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        <value code="9">Rattitude</value>
        <value code="10">Takeoff</value>
        <value code="11">Land</value>
        <value code="12">Follow Me</value>
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      </values>
    </parameter>
    <parameter default="-1" name="COM_FLTMODE4" type="INT32">
      <short_desc>Fourth flightmode slot (1480-1640)</short_desc>
      <long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
      <values>
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        <value code="-1">Unassigned</value>
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        <value code="0">Manual</value>
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        <value code="1">Altitude</value>
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        <value code="2">Position</value>
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        <value code="3">Mission</value>
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        <value code="4">Hold</value>
        <value code="5">Return</value>
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        <value code="6">Acro</value>
        <value code="7">Offboard</value>
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        <value code="8">Stabilized</value>
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        <value code="9">Rattitude</value>
        <value code="10">Takeoff</value>
        <value code="11">Land</value>
        <value code="12">Follow Me</value>
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      </values>
    </parameter>
    <parameter default="-1" name="COM_FLTMODE5" type="INT32">
      <short_desc>Fifth flightmode slot (1640-1800)</short_desc>
      <long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
      <values>
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        <value code="-1">Unassigned</value>
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        <value code="0">Manual</value>
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        <value code="1">Altitude</value>
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        <value code="2">Position</value>
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        <value code="3">Mission</value>
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        <value code="4">Hold</value>
        <value code="5">Return</value>
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        <value code="6">Acro</value>
        <value code="7">Offboard</value>
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        <value code="8">Stabilized</value>
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        <value code="9">Rattitude</value>
        <value code="10">Takeoff</value>
        <value code="11">Land</value>
        <value code="12">Follow Me</value>
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      </values>
    </parameter>
    <parameter default="-1" name="COM_FLTMODE6" type="INT32">
      <short_desc>Sixth flightmode slot (1800-2000)</short_desc>
      <long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
      <values>
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        <value code="-1">Unassigned</value>
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        <value code="0">Manual</value>
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        <value code="1">Altitude</value>
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        <value code="2">Position</value>
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        <value code="3">Mission</value>
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        <value code="4">Hold</value>
        <value code="5">Return</value>
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        <value code="6">Acro</value>
        <value code="7">Offboard</value>
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        <value code="8">Stabilized</value>
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        <value code="9">Rattitude</value>
        <value code="10">Takeoff</value>
        <value code="11">Land</value>
        <value code="12">Follow Me</value>
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      </values>
    </parameter>
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    <parameter default="0" name="COM_FLT_PROFILE" type="INT32">
      <short_desc>User Flight Profile</short_desc>
      <long_desc>Describes the intended use of the vehicle. Can be used by ground control software or log post processing. This param does not influence the behavior within the firmware. This means for example the control logic is independent of the setting of this param (but depends on other params).</long_desc>
      <values>
        <value code="0">Default</value>
        <value code="100">Pro User</value>
        <value code="200">Flight Tester</value>
        <value code="300">Developer</value>
      </values>
    </parameter>
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    <parameter default="120" name="COM_HLDL_LOSS_T" type="INT32">
      <short_desc>High Latency Datalink loss time threshold</short_desc>
      <long_desc>After this amount of seconds without datalink the data link lost mode triggers</long_desc>
      <min>60</min>
      <max>3600</max>
      <unit>s</unit>
    </parameter>
    <parameter default="0" name="COM_HLDL_REG_T" type="INT32">
      <short_desc>High Latency Datalink regain time threshold</short_desc>
      <long_desc>After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss' flag is set back to false</long_desc>
      <min>0</min>
      <max>60</max>
      <unit>s</unit>
    </parameter>
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    <parameter default="5.0" name="COM_HOME_H_T" type="FLOAT">
      <short_desc>Home set horizontal threshold</short_desc>
      <long_desc>The home position will be set if the estimated positioning accuracy is below the threshold.</long_desc>
      <min>2</min>
      <max>15</max>
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      <unit>m</unit>
      <decimal>2</decimal>
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      <increment>0.5</increment>
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    </parameter>
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    <parameter default="10.0" name="COM_HOME_V_T" type="FLOAT">
      <short_desc>Home set vertical threshold</short_desc>
      <long_desc>The home position will be set if the estimated positioning accuracy is below the threshold.</long_desc>
      <min>5</min>
      <max>25</max>
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      <unit>m</unit>
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      <decimal>2</decimal>
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      <increment>0.5</increment>
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    </parameter>
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    <parameter default="5.0" name="COM_KILL_DISARM" type="FLOAT">
      <short_desc>Timeout value for disarming when kill switch is engaged</short_desc>
      <min>0.0</min>
      <max>30.0</max>
      <unit>s</unit>
      <increment>0.1</increment>
    </parameter>
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    <parameter default="0" name="COM_LOW_BAT_ACT" type="INT32">
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      <short_desc>Battery failsafe mode</short_desc>
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      <long_desc>Action the system takes at critical battery. See also BAT_CRIT_THR and BAT_EMERGEN_THR for definition of battery states.</long_desc>
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      <decimal>0</decimal>
      <increment>1</increment>
      <values>
        <value code="0">Warning</value>
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        <value code="2">Land mode</value>
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        <value code="3">Return at critical level, land at emergency level</value>
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      </values>
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    </parameter>
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    <parameter default="1" name="COM_MOT_TEST_EN" type="INT32">
      <short_desc>Enable Motor Testing</short_desc>
      <long_desc>If set, enables the motor test interface via MAVLink (DO_MOTOR_TEST), that allows spinning the motors for testing purposes.</long_desc>
    </parameter>
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    <parameter default="0" name="COM_OBL_ACT" type="INT32">
      <short_desc>Set offboard loss failsafe mode</short_desc>
      <long_desc>The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds.</long_desc>
      <values>
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        <value code="-1">Disabled</value>
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        <value code="0">Land mode</value>
        <value code="1">Hold mode</value>
        <value code="2">Return mode</value>
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        <value code="3">Terminate</value>
        <value code="4">Lockdown</value>
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      </values>
    </parameter>
    <parameter default="0" name="COM_OBL_RC_ACT" type="INT32">
      <short_desc>Set offboard loss failsafe mode when RC is available</short_desc>
      <long_desc>The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds.</long_desc>
      <values>
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        <value code="-1">Disabled</value>
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        <value code="0">Position mode</value>
        <value code="1">Altitude mode</value>
        <value code="2">Manual</value>
        <value code="3">Return mode</value>
        <value code="4">Land mode</value>
        <value code="5">Hold mode</value>
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        <value code="6">Terminate</value>
        <value code="7">Lockdown</value>
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      </values>
    </parameter>
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    <parameter default="0.5" name="COM_OF_LOSS_T" type="FLOAT">
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      <short_desc>Time-out to wait when offboard connection is lost before triggering offboard lost action.
See COM_OBL_ACT and COM_OBL_RC_ACT to configure action</short_desc>
      <min>0</min>
      <max>60</max>
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      <unit>s</unit>
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      <increment>0.01</increment>
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    </parameter>
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    <parameter default="0" name="COM_POSCTL_NAVL" type="INT32">
      <short_desc>Position control navigation loss response</short_desc>
      <long_desc>This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control. Navigation accuracy checks can be disabled using the CBRK_VELPOSERR parameter, but doing so will remove protection for all flight modes.</long_desc>
      <values>
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        <value code="0">Altitude/Manual. Assume use of remote control after fallback. Switch to Altitude mode if a height estimate is available, else switch to MANUAL.</value>
        <value code="1">Land/Terminate.  Assume no use of remote control after fallback. Switch to Land mode if a height estimate is available, else switch to TERMINATION.</value>
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      </values>
    </parameter>
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    <parameter default="1" name="COM_POS_FS_DELAY" type="INT32">
      <short_desc>Loss of position failsafe activation delay</short_desc>
      <long_desc>This sets number of seconds that the position checks need to be failed before the failsafe will activate. The default value has been optimised for rotary wing applications. For fixed wing applications, a larger value between 5 and 10 should be used.</long_desc>
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      <min>1</min>
      <max>100</max>
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      <unit>sec</unit>
      <reboot_required>true</reboot_required>
    </parameter>
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    <parameter default="5" name="COM_POS_FS_EPH" type="FLOAT">
      <short_desc>Horizontal position error threshold</short_desc>
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      <long_desc>This is the horizontal position error (EPH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.</long_desc>
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      <unit>m</unit>
    </parameter>
    <parameter default="10" name="COM_POS_FS_EPV" type="FLOAT">
      <short_desc>Vertical position error threshold</short_desc>
      <long_desc>This is the vertical position error (EPV) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.</long_desc>
      <unit>m</unit>
    </parameter>
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    <parameter default="10" name="COM_POS_FS_GAIN" type="INT32">
      <short_desc>Loss of position probation gain factor</short_desc>
      <long_desc>This sets the rate that the loss of position probation time grows when position checks are failing. The default value has been optimised for rotary wing applications. For fixed wing applications a value of 0 should be used.</long_desc>
      <reboot_required>true</reboot_required>
    </parameter>
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    <parameter default="30" name="COM_POS_FS_PROB" type="INT32">
      <short_desc>Loss of position probation delay at takeoff</short_desc>
      <long_desc>The probation delay is the number of seconds that the EKF innovation checks need to pass for the position to be declared good after it has been declared bad. The probation delay will be reset to this parameter value when takeoff is detected. After takeoff, if position checks are passing, the probation delay will reduce by one second for every lapsed second of valid position down to a minimum of 1 second. If position checks are failing, the probation delay will increase by COM_POS_FS_GAIN seconds for every lapsed second up to a maximum of 100 seconds. The default value has been optimised for rotary wing applications. For fixed wing applications, a value of 1 should be used.</long_desc>
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      <min>1</min>
      <max>100</max>
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      <unit>sec</unit>
      <reboot_required>true</reboot_required>
    </parameter>
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    <parameter default="1" name="COM_POWER_COUNT" type="INT32">
      <short_desc>Required number of redundant power modules</short_desc>
      <long_desc>This configures a check to verify the expected number of 5V rail power supplies are present. By default only one is expected. Note: CBRK_SUPPLY_CHK disables all power checks including this one.</long_desc>
      <min>0</min>
      <max>4</max>
    </parameter>
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    <parameter default="1" name="COM_PREARM_MODE" type="INT32">
      <short_desc>Condition to enter prearmed mode</short_desc>
      <long_desc>Condition to enter the prearmed state, an intermediate state between disarmed and armed in which non-throttling actuators are active.</long_desc>
      <values>
        <value code="0">Disabled</value>
        <value code="1">Safety button</value>
        <value code="2">Always</value>
      </values>
    </parameter>
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    <parameter default="1000" name="COM_RC_ARM_HYST" type="INT32">
      <short_desc>RC input arm/disarm command duration</short_desc>
      <long_desc>The default value of 1000 requires the stick to be held in the arm or disarm position for 1 second.</long_desc>
      <min>100</min>
      <max>1500</max>
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    </parameter>
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    <parameter default="0" name="COM_RC_IN_MODE" type="INT32">
      <short_desc>RC control input mode</short_desc>
      <long_desc>The default value of 0 requires a valid RC transmitter setup. Setting this to 1 allows joystick control and disables RC input handling and the associated checks. A value of 2 will generate RC control data from manual input received via MAVLink instead of directly forwarding the manual input data.</long_desc>
      <min>0</min>
      <max>2</max>
      <values>
        <value code="0">RC Transmitter</value>
        <value code="1">Joystick/No RC Checks</value>
        <value code="2">Virtual RC by Joystick</value>
      </values>
    </parameter>
    <parameter default="0.5" name="COM_RC_LOSS_T" type="FLOAT">
      <short_desc>RC loss time threshold</short_desc>
      <long_desc>After this amount of seconds without RC connection the rc lost flag is set to true</long_desc>
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      <min>0</min>
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      <max>35</max>
      <unit>s</unit>
      <decimal>1</decimal>
      <increment>0.1</increment>
    </parameter>
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    <parameter default="1" name="COM_RC_OVERRIDE" type="INT32">
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      <short_desc>Enable RC stick override of auto and/or offboard modes</short_desc>
      <long_desc>When RC stick override is enabled, moving the RC sticks immediately gives control back to the pilot (switches to manual position mode): bit 0: Enable for auto modes (except for in critical battery reaction), bit 1: Enable for offboard mode. Only has an effect on multicopters, and VTOLS in multicopter mode.</long_desc>
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      <min>0</min>
      <max>3</max>
      <bitmask>
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        <bit index="0"> Enable override in auto modes</bit>
        <bit index="1"> Enable override in offboard mode</bit>
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      </bitmask>
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    </parameter>
    <parameter default="12.0" name="COM_RC_STICK_OV" type="FLOAT">
      <short_desc>RC stick override threshold</short_desc>
      <long_desc>If an RC stick is moved more than by this amount the system will interpret this as override request by the pilot.</long_desc>
      <min>5</min>
      <max>40</max>
      <unit>%</unit>
      <decimal>0</decimal>
      <increment>0.05</increment>
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    </parameter>
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    <parameter default="1" name="COM_VEL_FS_EVH" type="FLOAT">
      <short_desc>Horizontal velocity error threshold</short_desc>
      <long_desc>This is the horizontal velocity error (EVH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.</long_desc>
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      <unit>m/s</unit>
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    </parameter>
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  </group>
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  <group name="DShot">
    <parameter default="0" name="DSHOT_CONFIG" type="INT32">
      <short_desc>Configure DShot</short_desc>
      <long_desc>This enables/disables DShot. The different modes define different speeds, for example DShot150 = 150kb/s. Not all ESCs support all modes. Note: this enables DShot on the FMU outputs. For boards with an IO it is the AUX outputs.</long_desc>
      <reboot_required>True</reboot_required>
      <values>
        <value code="0">Disable (use PWM/Oneshot)</value>
        <value code="150">DShot150</value>
        <value code="300">DShot300</value>
        <value code="600">DShot600</value>
        <value code="1200">DShot1200</value>
      </values>
    </parameter>
    <parameter default="0.055" name="DSHOT_MIN" type="FLOAT">
      <short_desc>Minimum DShot Motor Output</short_desc>
      <long_desc>Minimum Output Value for DShot in percent. The value depends on the ESC. Make sure to set this high enough so that the motors are always spinning while armed.</long_desc>
      <min>0</min>
      <max>1</max>
      <unit>%</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0" name="DSHOT_TEL_CFG" type="INT32">
      <short_desc>Serial Configuration for DShot Driver</short_desc>
      <long_desc>Configure on which serial port to run DShot Driver.</long_desc>
      <reboot_required>true</reboot_required>
      <values>
        <value code="0">Disabled</value>
        <value code="6">UART 6</value>
        <value code="101">TELEM 1</value>
        <value code="102">TELEM 2</value>
        <value code="103">TELEM 3</value>
        <value code="104">TELEM/SERIAL 4</value>
        <value code="201">GPS 1</value>
        <value code="202">GPS 2</value>
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        <value code="203">GPS 3</value>
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        <value code="300">Radio Controller</value>
      </values>
    </parameter>
    <parameter default="14" name="MOT_POLE_COUNT" type="INT32">
      <short_desc>Number of magnetic poles of the motors</short_desc>
      <long_desc>Specify the number of magnetic poles of the motors. It is required to compute the RPM value from the eRPM returned with the ESC telemetry. Either get the number from the motor spec sheet or count the magnets on the bell of the motor (not the stator magnets). Typical motors for 5 inch props have 14 poles.</long_desc>
    </parameter>
  </group>
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  <group name="Data Link Loss">
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    <parameter default="600.0" name="NAV_AH_ALT" type="FLOAT">
      <short_desc>Airfield home alt</short_desc>
      <long_desc>Altitude of airfield home waypoint</long_desc>
      <min>-50</min>
      <unit>m</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
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    <parameter default="-265847810" name="NAV_AH_LAT" type="INT32">
      <short_desc>Airfield home Lat</short_desc>
      <long_desc>Latitude of airfield home waypoint</long_desc>
      <min>-900000000</min>
      <max>900000000</max>
      <unit>deg * 1e7</unit>
    </parameter>
    <parameter default="1518423250" name="NAV_AH_LON" type="INT32">
      <short_desc>Airfield home Lon</short_desc>
      <long_desc>Longitude of airfield home waypoint</long_desc>
      <min>-1800000000</min>
      <max>1800000000</max>
      <unit>deg * 1e7</unit>
    </parameter>
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  </group>
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  <group name="EKF2">
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    <parameter default="0.2" name="EKF2_ABIAS_INIT" type="FLOAT">
      <short_desc>1-sigma IMU accelerometer switch-on bias</short_desc>
      <min>0.0</min>
      <max>0.5</max>
      <unit>m/s/s</unit>
      <decimal>2</decimal>
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      <reboot_required>true</reboot_required>
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    </parameter>
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    <parameter default="25.0" name="EKF2_ABL_ACCLIM" type="FLOAT">
      <short_desc>Maximum IMU accel magnitude that allows IMU bias learning.
If the magnitude of the IMU accelerometer vector exceeds this value, the EKF delta velocity state estimation will be inhibited.
This reduces the adverse effect of high manoeuvre accelerations and IMU nonlinerity and scale factor errors on the delta velocity bias estimates</short_desc>
      <min>20.0</min>
      <max>200.0</max>
      <unit>m/s/s</unit>
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      <decimal>1</decimal>
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    </parameter>
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    <parameter default="3.0" name="EKF2_ABL_GYRLIM" type="FLOAT">
      <short_desc>Maximum IMU gyro angular rate magnitude that allows IMU bias learning.
If the magnitude of the IMU angular rate vector exceeds this value, the EKF delta velocity state estimation will be inhibited.
This reduces the adverse effect of rapid rotation rates and associated errors on the delta velocity bias estimates</short_desc>
      <min>2.0</min>
      <max>20.0</max>
      <unit>rad/s</unit>
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      <decimal>1</decimal>
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    </parameter>
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    <parameter default="0.4" name="EKF2_ABL_LIM" type="FLOAT">
      <short_desc>Accelerometer bias learning limit. The ekf delta velocity bias states will be limited to within a range equivalent to +- of this value</short_desc>
      <min>0.0</min>
      <max>0.8</max>
      <unit>m/s/s</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.5" name="EKF2_ABL_TAU" type="FLOAT">
      <short_desc>Time constant used by acceleration and angular rate magnitude checks used to inhibit delta velocity bias learning.
The vector magnitude of angular rate and acceleration used to check if learning should be inhibited has a peak hold filter applied to it with an exponential decay.
This parameter controls the time constant of the decay</short_desc>
      <min>0.1</min>
      <max>1.0</max>
      <unit>s</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="3.0e-3" name="EKF2_ACC_B_NOISE" type="FLOAT">
      <short_desc>Process noise for IMU accelerometer bias prediction</short_desc>
      <min>0.0</min>
      <max>0.01</max>
      <unit>m/s**3</unit>
      <decimal>6</decimal>
    </parameter>
    <parameter default="3.5e-1" name="EKF2_ACC_NOISE" type="FLOAT">
      <short_desc>Accelerometer noise for covariance prediction</short_desc>
      <min>0.01</min>
      <max>1.0</max>
      <unit>m/s/s</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="1" name="EKF2_AID_MASK" type="INT32">
      <short_desc>Integer bitmask controlling data fusion and aiding methods</short_desc>
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      <long_desc>Set bits in the following positions to enable: 0 : Set to true to use GPS data if available 1 : Set to true to use optical flow data if available 2 : Set to true to inhibit IMU delta velocity bias estimation 3 : Set to true to enable vision position fusion 4 : Set to true to enable vision yaw fusion. Cannot be used if bit position 7 is true. 5 : Set to true to enable multi-rotor drag specific force fusion 6 : set to true if the EV observations are in a non NED reference frame and need to be rotated before being used 7 : Set to true to enable GPS yaw fusion. Cannot be used if bit position 4 is true.</long_desc>
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      <min>0</min>
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      &l