APMParameterFactMetaData.Sub.3.5.xml

<?xml version="1.0" encoding="utf-8"?>
        <!-- Dynamically generated list of documented parameters (generated by param_parse.py) -->    
        <paramfile>
        <vehicles>
        <parameters name="ArduSub">
<param humanName="Depth reading at surface" name="ArduSub:SURFACE_DEPTH" documentation="The depth the external pressure sensor will read when the vehicle is considered at the surface (in centimeters)" user="Standard">
<field name="Range">-100 0</field>
<field name="Units">cm</field>
</param>
<param humanName="Eeprom format version number" name="ArduSub:SYSID_SW_MREV" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Software Type" name="ArduSub:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
<field name="ReadOnly">True</field>
<values>
<value code="0">ArduPlane</value>
<value code="4">AntennaTracker</value>
<value code="10">Copter</value>
<value code="20">Rover</value>
<value code="40">ArduSub</value>
</values>
</param>
<param humanName="MAVLink system ID of this vehicle" name="ArduSub:SYSID_THISMAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
<field name="Range">1 255</field>
</param>
<param humanName="My ground station number" name="ArduSub:SYSID_MYGCS" documentation="Allows restricting radio overrides to only come from my ground station" user="Advanced">
</param>
<param humanName="Throttle filter cutoff" name="ArduSub:PILOT_THR_FILT" documentation="Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">.5</field>
<field name="Units">Hz</field>
</param>
<param humanName="GCS PID tuning mask" name="ArduSub:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
<field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
<values>
<value code="0">None</value>
<value code="1">Roll</value>
<value code="2">Pitch</value>
<value code="4">Yaw</value>
</values>
</param>
<param humanName="Rangefinder gain" name="ArduSub:RNGFND_GAIN" documentation="Used to adjust the speed with which the target altitude is changed when objects are sensed below the sub" user="Standard">
<field name="Range">0.01 2.0</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Battery Failsafe Enable" name="ArduSub:FS_BATT_ENABLE" documentation="Controls whether failsafe will be invoked when battery voltage or current runs low" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Warn only</value>
<value code="2">Disarm</value>
<value code="3">Enter surface mode</value>
</values>
</param>
<param humanName="Failsafe battery voltage" name="ArduSub:FS_BATT_VOLTAGE" documentation="Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe." user="Standard">
<field name="Increment">0.1</field>
<field name="Units">Volts</field>
</param>
<param humanName="Failsafe battery milliAmpHours" name="ArduSub:FS_BATT_MAH" documentation="Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe." user="Standard">
<field name="Increment">50</field>
<field name="Units">mAh</field>
</param>
<param humanName="Ground Station Failsafe Enable" name="ArduSub:FS_GCS_ENABLE" documentation="Controls what action to take when GCS heartbeat is lost." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Warn only</value>
<value code="2">Disarm</value>
<value code="3">Enter depth hold mode</value>
<value code="4">Enter surface mode</value>
</values>
</param>
<param humanName="Leak Failsafe Enable" name="ArduSub:FS_LEAK_ENABLE" documentation="Controls what action to take if a leak is detected." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Warn only</value>
<value code="2">Enter surface mode</value>
</values>
</param>
<param humanName="Internal Pressure Failsafe Enable" name="ArduSub:FS_PRESS_ENABLE" documentation="Controls what action to take if internal pressure exceeds FS_PRESS_MAX parameter." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Warn only</value>
</values>
</param>
<param humanName="Internal Temperature Failsafe Enable" name="ArduSub:FS_TEMP_ENABLE" documentation="Controls what action to take if internal temperature exceeds FS_TEMP_MAX parameter." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Warn only</value>
</values>
</param>
<param humanName="Internal Pressure Failsafe Threshold" name="ArduSub:FS_PRESS_MAX" documentation="The maximum internal pressure allowed before triggering failsafe. Failsafe action is determined by FS_PRESS_ENABLE parameter" user="Standard">
<field name="Units">Pascal</field>
</param>
<param humanName="Internal Temperature Failsafe Threshold" name="ArduSub:FS_TEMP_MAX" documentation="The maximum internal temperature allowed before triggering failsafe. Failsafe action is determined by FS_TEMP_ENABLE parameter." user="Standard">
<field name="Units">Degrees Centigrade</field>
</param>
<param humanName="Terrain Failsafe Enable" name="ArduSub:FS_TERRAIN_ENAB" documentation="Controls what action to take if terrain information is lost during AUTO mode" user="Standard">
<values>
<value code="0">Disarm</value>
<value code=" 1">Hold Position</value>
<value code=" 2">Surface</value>
</values>
</param>
<param humanName="Pilot input failsafe action" name="ArduSub:FS_PILOT_INPUT" documentation="Controls what action to take if no pilot input has been received after the timeout period specified by the FS_PILOT_TIMEOUT parameter" user="Standard">
<values>
<value code="0">Disabled</value>
<value code=" 1">Warn Only</value>
<value code=" 2">Disarm</value>
</values>
</param>
<param humanName="Timeout for activation of pilot input failsafe" name="ArduSub:FS_PILOT_TIMEOUT" documentation="Controls the maximum interval between received pilot inputs before the failsafe action is triggered" user="Standard">
<field name="Range">0.1 3.0</field>
<field name="Units">Seconds</field>
</param>
<param humanName="Crosstrack correction angle limit" name="ArduSub:XTRACK_ANG_LIM" documentation="Maximum allowed angle (in degrees) between current track and desired heading during waypoint navigation" user="Standard">
<field name="Range">10 90</field>
</param>
<param humanName="Compass enable/disable" name="ArduSub:MAG_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Yaw behaviour during missions" name="ArduSub:WP_YAW_BEHAVIOR" documentation="Determines how the autopilot controls the yaw during missions and RTL" user="Standard">
<values>
<value code="0">Never change yaw</value>
<value code=" 1">Face next waypoint</value>
<value code=" 2">Face next waypoint except RTL</value>
<value code=" 3">Face along GPS course</value>
<value code=" 4">Correct crosstrack error</value>
</values>
</param>
<param humanName="Pilot maximum vertical speed" name="ArduSub:PILOT_VELZ_MAX" documentation="The maximum vertical velocity the pilot may request in cm/s" user="Standard">
<field name="Range">50 500</field>
<field name="Increment">10</field>
<field name="Units">Centimeters/Second</field>
</param>
<param humanName="Pilot vertical acceleration" name="ArduSub:PILOT_ACCEL_Z" documentation="The vertical acceleration used when pilot is controlling the altitude" user="Standard">
<field name="Range">50 500</field>
<field name="Increment">10</field>
<field name="Units">cm/s/s</field>
</param>
<param humanName="Throttle deadzone" name="ArduSub:THR_DZ" documentation="The deadzone above and below mid throttle.  Used in AltHold, Loiter, PosHold flight modes" user="Standard">
<field name="Range">0 300</field>
<field name="Increment">1</field>
<field name="Units">pwm</field>
</param>
<param humanName="Log bitmask" name="ArduSub:LOG_BITMASK" documentation="4 byte bitmap of log types to enable" user="Standard">
<field name="Bitmask">0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,17:MOTBATT,18:IMU_FAST,19:IMU_RAW</field>
<values>
<value code="830">Default</value>
<value code="894">Default+RCIN</value>
<value code="958">Default+IMU</value>
<value code="1854">Default+Motors</value>
<value code="-6146">NearlyAll-AC315</value>
<value code="45054">NearlyAll</value>
<value code="131071">All+FastATT</value>
<value code="262142">All+MotBatt</value>
<value code="393214">All+FastIMU</value>
<value code="397310">All+FastIMU+PID</value>
<value code="655358">All+FullIMU</value>
<value code="0">Disabled</value>
</values>
</param>
<param humanName="Angle Max" name="ArduSub:ANGLE_MAX" documentation="Maximum lean angle in all flight modes" user="Advanced">
<field name="Range">1000 8000</field>
<field name="Units">Centi-degrees</field>
</param>
<param humanName="RC Feel Roll/Pitch" name="ArduSub:RC_FEEL_RP" documentation="RC feel for roll/pitch which controls vehicle response to user input with 0 being extremely soft and 100 being crisp" user="Standard">
<field name="Range">0 100</field>
<values>
<value code="0">Very Soft</value>
<value code=" 25">Soft</value>
<value code=" 50">Medium</value>
<value code=" 75">Crisp</value>
<value code=" 100">Very Crisp</value>
</values>
<field name="Increment">10</field>
</param>
<param humanName="EKF Failsafe Action" name="ArduSub:FS_EKF_ACTION" documentation="Controls the action that will be taken when an EKF failsafe is invoked" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code=" 1">Warn only</value>
<value code=" 2">Disarm</value>
</values>
</param>
<param humanName="EKF failsafe variance threshold" name="ArduSub:FS_EKF_THRESH" documentation="Allows setting the maximum acceptable compass and velocity variance" user="Advanced">
<field name="Values">0.6:Strict, 0.8:Default, 1.0:Relaxed</field>
</param>
<param humanName="Crash check enable" name="ArduSub:FS_CRASH_CHECK" documentation="This enables automatic crash checking. When enabled the motors will disarm if a crash is detected." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Warn only</value>
<value code="2">Disarm</value>
</values>
</param>
<param humanName="Default gain at boot" name="ArduSub:JS_GAIN_DEFAULT" documentation="Default gain at boot, must be in range [JS_GAIN_MIN , JS_GAIN_MAX]" user="Standard">
<field name="Range">0.1 1.0</field>
</param>
<param humanName="Maximum joystick gain" name="ArduSub:JS_GAIN_MAX" documentation="Maximum joystick gain" user="Standard">
<field name="Range">0.2 1.0</field>
</param>
<param humanName="Minimum joystick gain" name="ArduSub:JS_GAIN_MIN" documentation="Minimum joystick gain" user="Standard">
<field name="Range">0.1 0.8</field>
</param>
<param humanName="Gain steps" name="ArduSub:JS_GAIN_STEPS" documentation="Controls the number of steps between minimum and maximum joystick gain when the gain is adjusted using buttons. Set to 1 to always use JS_GAIN_DEFAULT." user="Standard">
<field name="Range">1 10</field>
</param>
<param humanName="Lights brightness steps" name="ArduSub:JS_LIGHTS_STEPS" documentation="Number of steps in brightness between minimum and maximum brightness" user="Standard">
<field name="Range">1 10</field>
<field name="Units">PWM</field>
</param>
<param humanName="Throttle gain scalar" name="ArduSub:JS_THR_GAIN" documentation="Scalar for gain on the throttle channel" user="Standard">
<field name="Range">0.5 4.0</field>
</param>
<param humanName="Frame configuration" name="ArduSub:FRAME_CONFIG" documentation="Set this parameter according to your vehicle/motor configuration" user="Standard">
<values>
<value code="0">BlueROV1</value>
<value code=" 1">Vectored</value>
<value code=" 2">Vectored_6DOF</value>
<value code=" 3">Vectored_6DOF_90</value>
<value code=" 4">SimpleROV-3</value>
<value code=" 5">SimpleROV-4</value>
<value code=" 6">SimpleROV-5</value>
<value code=" 7">Custom</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="ESC Update Speed" name="ArduSub:RC_SPEED" documentation="This is the speed in Hertz that your ESCs will receive updates" user="Advanced">
<field name="Range">50 490</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="RC Channel Update Slew Rate" name="ArduSub:MANUAL_SLEW_RATE" documentation="This is slew rate in %/s that will be used in manual mode to avoid large step outputs on the motors. Set to zero to disable." user="Advanced">
<field name="Range">0 500</field>
<field name="Increment">10</field>
<field name="Units">%/s</field>
</param>
<param humanName="Acro Roll and Pitch P gain" name="ArduSub:ACRO_RP_P" documentation="Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode.  Higher values mean faster rate of rotation." user="Standard">
<field name="Range">1 10</field>
</param>
<param humanName="Acro Yaw P gain" name="ArduSub:ACRO_YAW_P" documentation="Converts pilot yaw input into a desired rate of rotation.  Higher values mean faster rate of rotation." user="Standard">
<field name="Range">1 10</field>
</param>
<param humanName="Acro Balance Roll" name="ArduSub:ACRO_BAL_ROLL" documentation="rate at which roll angle returns to level in acro mode.  A higher value causes the vehicle to return to level faster." user="Advanced">
<field name="Range">0 3</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Acro Balance Pitch" name="ArduSub:ACRO_BAL_PITCH" documentation="rate at which pitch angle returns to level in acro mode.  A higher value causes the vehicle to return to level faster." user="Advanced">
<field name="Range">0 3</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Acro Trainer" name="ArduSub:ACRO_TRAINER" documentation="Type of trainer used in acro mode" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Leveling</value>
<value code="2">Leveling and Limited</value>
</values>
</param>
<param humanName="Acro Expo" name="ArduSub:ACRO_EXPO" documentation="Acro roll/pitch Expo to allow faster rotation when stick at edges" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="0.1">Very Low</value>
<value code="0.2">Low</value>
<value code="0.3">Medium</value>
<value code="0.4">High</value>
<value code="0.5">Very High</value>
</values>
</param>
<param humanName="Velocity (horizontal) P gain" name="ArduSub:VEL_XY_P" documentation="Velocity (horizontal) P gain.  Converts the difference between desired velocity to a target acceleration" user="Advanced">
<field name="Range">0.1 6.0</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Velocity (horizontal) I gain" name="ArduSub:VEL_XY_I" documentation="Velocity (horizontal) I gain.  Corrects long-term difference in desired velocity to a target acceleration" user="Advanced">
<field name="Range">0.02 1.00</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Velocity (horizontal) integrator maximum" name="ArduSub:VEL_XY_IMAX" documentation="Velocity (horizontal) integrator maximum.  Constrains the target acceleration that the I gain will output" user="Advanced">
<field name="Range">0 4500</field>
<field name="Increment">10</field>
<field name="Units">cm/s/s</field>
</param>
<param humanName="Velocity (horizontal) integrator maximum" name="ArduSub:VEL_XY_FILT_HZ" documentation="Velocity (horizontal) integrator maximum.  Constrains the target acceleration that the I gain will output" user="Advanced">
<field name="Range">0 4500</field>
<field name="Increment">10</field>
<field name="Units">cm/s/s</field>
</param>
<param humanName="Velocity (vertical) P gain" name="ArduSub:VEL_Z_P" documentation="Velocity (vertical) P gain.  Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller" user="Standard">
<field name="Range">1.000 8.000</field>
</param>
<param humanName="Throttle acceleration controller P gain" name="ArduSub:ACCEL_Z_P" documentation="Throttle acceleration controller P gain.  Converts the difference between desired vertical acceleration and actual acceleration into a motor output" user="Standard">
<field name="Range">0.500 1.500</field>
<field name="Increment">0.05</field>
</param>
<param humanName="Throttle acceleration controller I gain" name="ArduSub:ACCEL_Z_I" documentation="Throttle acceleration controller I gain.  Corrects long-term difference in desired vertical acceleration and actual acceleration" user="Standard">
<field name="Range">0.000 3.000</field>
</param>
<param humanName="Throttle acceleration controller I gain maximum" name="ArduSub:ACCEL_Z_IMAX" documentation="Throttle acceleration controller I gain maximum.  Constrains the maximum pwm that the I term will generate" user="Standard">
<field name="Range">0 1000</field>
<field name="Units">Percent*10</field>
</param>
<param humanName="Throttle acceleration controller D gain" name="ArduSub:ACCEL_Z_D" documentation="Throttle acceleration controller D gain.  Compensates for short-term change in desired vertical acceleration vs actual acceleration" user="Standard">
<field name="Range">0.000 0.400</field>
</param>
<param humanName="Throttle acceleration filter" name="ArduSub:ACCEL_Z_FILT" documentation="Filter applied to acceleration to reduce noise.  Lower values reduce noise but add delay." user="Standard">
<field name="Range">1.000 100.000</field>
<field name="Units">Hz</field>
</param>
<param humanName="Position (vertical) controller P gain" name="ArduSub:POS_Z_P" documentation="Position (vertical) controller P gain.  Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller" user="Standard">
<field name="Range">1.000 3.000</field>
</param>
<param humanName="Position (horizonal) controller P gain" name="ArduSub:POS_XY_P" documentation="Loiter position controller P gain.  Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller" user="Standard">
<field name="Range">0.500 2.000</field>
</param>
<param humanName="Terrain Following use control" name="ArduSub:TERRAIN_FOLLOW" documentation="This enables terrain following for RTL and SURFACE flight modes. To use this option TERRAIN_ENABLE must be 1 and the GCS must  support sending terrain data to the aircraft.  In RTL the RTL_ALT will be considered a height above the terrain.  In LAND mode the vehicle will slow to LAND_SPEED 10m above terrain (instead of 10m above home).  This parameter does not affect AUTO and Guided which use a per-command flag to determine if the height is above-home, absolute or above-terrain." user="Standard">
<values>
<value code="0">Do Not Use in RTL and SURFACE</value>
<value code="1">Use in RTL and SURFACE</value>
</values>
</param>
</parameters>
</vehicles><libraries><parameters name="AHRS_">
<param humanName="AHRS GPS gain" name="AHRS_GPS_GAIN" documentation="This controls how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0." user="Advanced">
<field name="Range">0.0 1.0</field>
<field name="Increment">.01</field>
</param>
<param humanName="AHRS use GPS for navigation" name="AHRS_GPS_USE" documentation="This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Yaw P" name="AHRS_YAW_P" documentation="This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly." user="Advanced">
<field name="Range">0.1 0.4</field>
<field name="Increment">.01</field>
</param>
<param humanName="AHRS RP_P" name="AHRS_RP_P" documentation="This controls how fast the accelerometers correct the attitude" user="Advanced">
<field name="Range">0.1 0.4</field>
<field name="Increment">.01</field>
</param>
<param humanName="Maximum wind" name="AHRS_WIND_MAX" documentation="This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is." user="Advanced">
<field name="Range">0 127</field>
<field name="Increment">1</field>
<field name="Units">m/s</field>
</param>
<param humanName="AHRS Trim Roll" name="AHRS_TRIM_X" documentation="Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right." user="Standard">
<field name="Range">-0.1745 +0.1745</field>
<field name="Increment">0.01</field>
<field name="Units">Radians</field>
</param>
<param humanName="AHRS Trim Pitch" name="AHRS_TRIM_Y" documentation="Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back." user="Standard">
<field name="Range">-0.1745 +0.1745</field>
<field name="Increment">0.01</field>
<field name="Units">Radians</field>
</param>
<param humanName="AHRS Trim Yaw" name="AHRS_TRIM_Z" documentation="Not Used" user="Advanced">
<field name="Range">-0.1745 +0.1745</field>
<field name="Increment">0.01</field>
<field name="Units">Radians</field>
</param>
<param humanName="Board Orientation" name="AHRS_ORIENTATION" documentation="Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle." user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Yaw45</value>
<value code="2">Yaw90</value>
<value code="3">Yaw135</value>
<value code="4">Yaw180</value>
<value code="5">Yaw225</value>
<value code="6">Yaw270</value>
<value code="7">Yaw315</value>
<value code="8">Roll180</value>
<value code="9">Roll180Yaw45</value>
<value code="10">Roll180Yaw90</value>
<value code="11">Roll180Yaw135</value>
<value code="12">Pitch180</value>
<value code="13">Roll180Yaw225</value>
<value code="14">Roll180Yaw270</value>
<value code="15">Roll180Yaw315</value>
<value code="16">Roll90</value>
<value code="17">Roll90Yaw45</value>
<value code="18">Roll90Yaw90</value>
<value code="19">Roll90Yaw135</value>
<value code="20">Roll270</value>
<value code="21">Roll270Yaw45</value>
<value code="22">Roll270Yaw90</value>
<value code="23">Roll270Yaw136</value>
<value code="24">Pitch90</value>
<value code="25">Pitch270</value>
<value code="26">Pitch180Yaw90</value>
<value code="27">Pitch180Yaw270</value>
<value code="28">Roll90Pitch90</value>
<value code="29">Roll180Pitch90</value>
<value code="30">Roll270Pitch90</value>
<value code="31">Roll90Pitch180</value>
<value code="32">Roll270Pitch180</value>
<value code="33">Roll90Pitch270</value>
<value code="34">Roll180Pitch270</value>
<value code="35">Roll270Pitch270</value>
<value code="36">Roll90Pitch180Yaw90</value>
<value code="37">Roll90Yaw270</value>
</values>
</param>
<param humanName="AHRS Velocity Complementary Filter Beta Coefficient" name="AHRS_COMP_BETA" documentation="This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less." user="Advanced">
<field name="Range">0.001 0.5</field>
<field name="Increment">.01</field>
</param>
<param humanName="AHRS GPS Minimum satellites" name="AHRS_GPS_MINSATS" documentation="Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers." user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
</param>
<param humanName="Use NavEKF Kalman filter for attitude and position estimation" name="AHRS_EKF_TYPE" documentation="This controls which NavEKF Kalman filter version is used for attitude and position estimation" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="2">Enable EKF2</value>
<value code="3">Enable EKF3</value>
</values>
</param>
</parameters>
<parameters name="ARMING_">
<param humanName="Require Arming Motors " name="ARMING_REQUIRE" documentation="Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately).  If 1, require rudder stick or GCS arming before arming motors and sends the minimum throttle PWM value to the throttle channel when disarmed.  If 2, require rudder stick or GCS arming and send 0 PWM to throttle channel when disarmed. See the ARMING_CHECK_* parameters to see what checks are done before arming. Note, if setting this parameter to 0 a reboot is required to arm the plane.  Also note, even with this parameter at 0, if ARMING_CHECK parameter is not also zero the plane may fail to arm throttle at boot due to a pre-arm check failure." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">THR_MIN PWM when disarmed</value>
<value code="2">0 PWM when disarmed</value>
</values>
</param>
<param humanName="Arm Checks to Peform (bitmask)" name="ARMING_CHECK" documentation="Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. The default is no checks, allowing arming at any time. You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72. For most users it is recommended that you set this to 1 to enable all checks." user="Standard">
<field name="Bitmask">0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC Channels,7:Board voltage,8:Battery Level,10:Logging Available,11:Hardware safety switch,12:GPS Configuration</field>
<values>
<value code="0">None</value>
<value code="1">All</value>
<value code="2">Barometer</value>
<value code="4">Compass</value>
<value code="8">GPS Lock</value>
<value code="16">INS(INertial Sensors - accels &amp; gyros)</value>
<value code="32">Parameters(unused)</value>
<value code="64">RC Channels</value>
<value code="128">Board voltage</value>
<value code="256">Battery Level</value>
<value code="1024">LoggingAvailable</value>
<value code="2048">Hardware safety switch</value>
<value code="4096">GPS configuration</value>
</values>
</param>
<param humanName="Accelerometer error threshold" name="ARMING_ACCTHRESH" documentation="Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal." user="Advanced">
<field name="Range">0.25 3.0</field>
<field name="Units">m/s/s</field>
</param>
<param humanName="Minimum arming voltage on the first battery" name="ARMING_MIN_VOLT" documentation="The minimum voltage on the first battery to arm, 0 disables the check." user="Standard">
<field name="Increment">0.1 </field>
<field name="Units">Volts</field>
</param>
<param humanName="Minimum arming voltage on the second battery" name="ARMING_MIN_VOLT2" documentation="The minimum voltage on the first battery to arm, 0 disables the check." user="Standard">
<field name="Increment">0.1 </field>
<field name="Units">Volts</field>
</param>
</parameters>
<parameters name="ATC_">
<param humanName="Yaw target slew rate" name="ATC_SLEW_YAW" documentation="Maximum rate the yaw target can be updated in Loiter, RTL, Auto flight modes" user="Advanced">
<field name="Range">500 18000</field>
<field name="Increment">100</field>
<field name="Units">Centi-Degrees/Sec</field>
</param>
<param humanName="Acceleration Max for Yaw" name="ATC_ACCEL_Y_MAX" documentation="Maximum acceleration in yaw axis" user="Advanced">
<field name="Range">0 72000</field>
<values>
<value code="0">Disabled</value>
<value code=" 18000">Slow</value>
<value code=" 36000">Medium</value>
<value code=" 54000">Fast</value>
</values>
<field name="Increment">1000</field>
<field name="Units">Centi-Degrees/Sec/Sec</field>
</param>
<param humanName="Rate Feedforward Enable" name="ATC_RATE_FF_ENAB" documentation="Controls whether body-frame rate feedfoward is enabled or disabled" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
</values>
</param>
<param humanName="Acceleration Max for Roll" name="ATC_ACCEL_R_MAX" documentation="Maximum acceleration in roll axis" user="Advanced">
<field name="Range">0 180000</field>
<values>
<value code="0">Disabled</value>
<value code=" 72000">Slow</value>
<value code=" 108000">Medium</value>
<value code=" 162000">Fast</value>
</values>
<field name="Increment">1000</field>
<field name="Units">Centi-Degrees/Sec/Sec</field>
</param>
<param humanName="Acceleration Max for Pitch" name="ATC_ACCEL_P_MAX" documentation="Maximum acceleration in pitch axis" user="Advanced">
<field name="Range">0 180000</field>
<values>
<value code="0">Disabled</value>
<value code=" 72000">Slow</value>
<value code=" 108000">Medium</value>
<value code=" 162000">Fast</value>
</values>
<field name="Increment">1000</field>
<field name="Units">Centi-Degrees/Sec/Sec</field>
</param>
<param humanName="Angle Boost" name="ATC_ANGLE_BOOST" documentation="Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
</values>
</param>
<param humanName="Roll axis angle controller P gain" name="ATC_ANG_RLL_P" documentation="Roll axis angle controller P gain.  Converts the error between the desired roll angle and actual angle to a desired roll rate" user="Standard">
<field name="Range">0.0 12.000</field>
</param>
<param humanName="Pitch axis angle controller P gain" name="ATC_ANG_PIT_P" documentation="Pitch axis angle controller P gain.  Converts the error between the desired pitch angle and actual angle to a desired pitch rate" user="Standard">
<field name="Range">0.0 12.000</field>
</param>
<param humanName="Yaw axis angle controller P gain" name="ATC_ANG_YAW_P" documentation="Yaw axis angle controller P gain.  Converts the error between the desired yaw angle and actual angle to a desired yaw rate" user="Standard">
<field name="Range">0.0 6.000</field>
</param>
<param humanName="Angle Limit (to maintain altitude) Time Constant" name="ATC_ANG_LIM_TC" documentation="Angle Limit (to maintain altitude) Time Constant" user="Advanced">
<field name="Range">0.5 10.0</field>
</param>
<param humanName="Roll axis rate controller P gain" name="ATC_RAT_RLL_P" documentation="Roll axis rate controller P gain.  Converts the difference between desired roll rate and actual roll rate into a motor speed output" user="Standard">
<field name="Range">0.0 0.30</field>
<field name="Increment">0.005</field>
</param>
<param humanName="Roll axis rate controller I gain" name="ATC_RAT_RLL_I" documentation="Roll axis rate controller I gain.  Corrects long-term difference in desired roll rate vs actual roll rate" user="Standard">
<field name="Range">0.0 0.5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Roll axis rate controller I gain maximum" name="ATC_RAT_RLL_IMAX" documentation="Roll axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
<field name="Units">Percent</field>
</param>
<param humanName="Roll axis rate controller D gain" name="ATC_RAT_RLL_D" documentation="Roll axis rate controller D gain.  Compensates for short-term change in desired roll rate vs actual roll rate" user="Standard">
<field name="Range">0.0 0.02</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Roll axis rate controller feed forward" name="ATC_RAT_RLL_FF" documentation="Roll axis rate controller feed forward" user="Standard">
<field name="Range">0 0.5</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Roll axis rate controller input frequency in Hz" name="ATC_RAT_RLL_FILT" documentation="Roll axis rate controller input frequency in Hz" user="Standard">
<field name="Range">1 100</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Pitch axis rate controller P gain" name="ATC_RAT_PIT_P" documentation="Pitch axis rate controller P gain.  Converts the difference between desired pitch rate and actual pitch rate into a motor speed output" user="Standard">
<field name="Range">0.0 0.30</field>
<field name="Increment">0.005</field>
</param>
<param humanName="Pitch axis rate controller I gain" name="ATC_RAT_PIT_I" documentation="Pitch axis rate controller I gain.  Corrects long-term difference in desired pitch rate vs actual pitch rate" user="Standard">
<field name="Range">0.0 0.5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Pitch axis rate controller I gain maximum" name="ATC_RAT_PIT_IMAX" documentation="Pitch axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
<field name="Units">Percent</field>
</param>
<param humanName="Pitch axis rate controller D gain" name="ATC_RAT_PIT_D" documentation="Pitch axis rate controller D gain.  Compensates for short-term change in desired pitch rate vs actual pitch rate" user="Standard">
<field name="Range">0.0 0.02</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Pitch axis rate controller feed forward" name="ATC_RAT_PIT_FF" documentation="Pitch axis rate controller feed forward" user="Standard">
<field name="Range">0 0.5</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Pitch axis rate controller input frequency in Hz" name="ATC_RAT_PIT_FILT" documentation="Pitch axis rate controller input frequency in Hz" user="Standard">
<field name="Range">1 100</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Yaw axis rate controller P gain" name="ATC_RAT_YAW_P" documentation="Yaw axis rate controller P gain.  Converts the difference between desired yaw rate and actual yaw rate into a motor speed output" user="Standard">
<field name="Range">0.0 0.50</field>
<field name="Increment">0.005</field>
</param>
<param humanName="Yaw axis rate controller I gain" name="ATC_RAT_YAW_I" documentation="Yaw axis rate controller I gain.  Corrects long-term difference in desired yaw rate vs actual yaw rate" user="Standard">
<field name="Range">0.0 0.05</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Yaw axis rate controller I gain maximum" name="ATC_RAT_YAW_IMAX" documentation="Yaw axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
<field name="Units">Percent</field>
</param>
<param humanName="Yaw axis rate controller D gain" name="ATC_RAT_YAW_D" documentation="Yaw axis rate controller D gain.  Compensates for short-term change in desired yaw rate vs actual yaw rate" user="Standard">
<field name="Range">0.000 0.02</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Yaw axis rate controller feed forward" name="ATC_RAT_YAW_FF" documentation="Yaw axis rate controller feed forward" user="Standard">
<field name="Range">0 0.5</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Yaw axis rate controller input frequency in Hz" name="ATC_RAT_YAW_FILT" documentation="Yaw axis rate controller input frequency in Hz" user="Standard">
<field name="Range">1 100</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
</param>
<param humanName="Throttle Mix Minimum" name="ATC_THR_MIX_MIN" documentation="Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)" user="Advanced">
<field name="Range">0.1 0.25</field>
</param>
<param humanName="Throttle Mix Maximum" name="ATC_THR_MIX_MAX" documentation="Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)" user="Advanced">
<field name="Range">0.5 0.9</field>
</param>
<param humanName="Throttle Mix Manual" name="ATC_THR_MIX_MAN" documentation="Throttle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle)" user="Advanced">
<field name="Range">0.5 0.9</field>
</param>
</parameters>
<parameters name="AVOID_">
<param humanName="Avoidance control enable/disable" name="AVOID_ENABLE" documentation="Enabled/disable stopping at fence" user="Standard">
<field name="Bitmask">0:StopAtFence,1:UseProximitySensor</field>
<values>
<value code="0">None</value>
<value code="1">StopAtFence</value>
<value code="2">UseProximitySensor</value>
<value code="3">All</value>
</values>
</param>
<param humanName="Avoidance max lean angle in non-GPS flight modes" name="AVOID_ANGLE_MAX" documentation="Max lean angle used to avoid obstacles while in non-GPS modes" user="Standard">
<field name="Range">0 4500</field>
</param>
<param humanName="Avoidance distance maximum in non-GPS flight modes" name="AVOID_DIST_MAX" documentation="Distance from object at which obstacle avoidance will begin in non-GPS modes" user="Standard">
<field name="Range">3 30</field>
<field name="Units">meters</field>
</param>
</parameters>
<parameters name="BATT">
<param humanName="Battery monitoring" name="BATT_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="3">Analog Voltage Only</value>
<value code="4">Analog Voltage and Current</value>
<value code="5">Solo</value>
<value code="6">Bebop</value>
<value code="7">SMBus-Maxell</value>
</values>
</param>
<param humanName="Battery Voltage sensing pin" name="BATT_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. For APM2.x power brick it should be set to 13. On the PX4-v1 it should be set to 100. On the Pixhawk, Pixracer and NAVIO board's PM connector it should be set to 2, Pixhawk2 Power2 is 13." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 0">A0</value>
<value code=" 1">A1</value>
<value code=" 2">Pixhawk/Pixracer/Navio2</value>
<value code=" 5">A5</value>
<value code=" 10">A10</value>
<value code=" 13">A13/Pixhawk2_PM2</value>
<value code=" 100">PX4-v1</value>
</values>
</param>
<param humanName="Battery Current sensing pin" name="BATT_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3, Pixhawk2 Power2 is 12." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 1">A1</value>
<value code=" 2">A2</value>
<value code=" 3">Pixhawk/Pixracer/Navio2</value>
<value code=" 11">A11</value>
<value code=" 12">A12/Pixhawk2_PM2</value>
<value code=" 101">PX4-v1</value>
</values>
</param>
<param humanName="Voltage Multiplier" name="BATT_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1." user="Advanced">
</param>
<param humanName="Amps per volt" name="BATT_AMP_PERVOLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
<field name="Units">Amps/Volt</field>
</param>
<param humanName="AMP offset" name="BATT_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
<field name="Units">Volts</field>
</param>
<param humanName="Battery capacity" name="BATT_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
<field name="Increment">50</field>
<field name="Units">mAh</field>
</param>
<param humanName="Maximum allowed power (Watts)" name="BATT_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
<field name="Increment">1</field>
<field name="Units">Watts</field>
</param>
<param humanName="Battery monitoring" name="BATT2_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="3">Analog Voltage Only</value>
<value code="4">Analog Voltage and Current</value>
<value code="5">Solo</value>
<value code="6">Bebop</value>
<value code="7">SMBus-Maxell</value>
</values>
</param>
<param humanName="Battery Voltage sensing pin" name="BATT2_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. For APM2.x power brick it should be set to 13. On the PX4-v1 it should be set to 100. On the Pixhawk, Pixracer and NAVIO board's PM connector it should be set to 2, Pixhawk2 Power2 is 13." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 0">A0</value>
<value code=" 1">A1</value>
<value code=" 2">Pixhawk/Pixracer/Navio2</value>
<value code=" 5">A5</value>
<value code=" 10">A10</value>
<value code=" 13">A13/Pixhawk2_PM2</value>
<value code=" 100">PX4-v1</value>
</values>
</param>
<param humanName="Battery Current sensing pin" name="BATT2_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3, Pixhawk2 Power2 is 12." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 1">A1</value>
<value code=" 2">A2</value>
<value code=" 3">Pixhawk/Pixracer/Navio2</value>
<value code=" 11">A11</value>
<value code=" 12">A12/Pixhawk2_PM2</value>
<value code=" 101">PX4-v1</value>
</values>
</param>
<param humanName="Voltage Multiplier" name="BATT2_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1." user="Advanced">
</param>
<param humanName="Amps per volt" name="BATT2_AMP_PERVOL" documentation="Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
<field name="Units">Amps/Volt</field>
</param>
<param humanName="AMP offset" name="BATT2_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
<field name="Units">Volts</field>
</param>
<param humanName="Battery capacity" name="BATT2_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
<field name="Increment">50</field>
<field name="Units">mAh</field>
</param>
<param humanName="Maximum allowed current" name="BATT2_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
<field name="Increment">1</field>
<field name="Units">Amps</field>
</param>
</parameters>
<parameters name="BRD_">
<param humanName="Auxiliary pin config" name="BRD_PWM_COUNT" documentation="Control assigning of FMU pins to PWM output, timer capture and GPIO. All unassigned pins can be used for GPIO" user="Advanced">
<values>
<value code="0">No PWMs</value>
<value code="2">Two PWMs</value>
<value code="4">Four PWMs</value>
<value code="6">Six PWMs</value>
<value code="7">Three PWMs and One Capture</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial 1 flow control" name="BRD_SER1_RTSCTS" documentation="Enable flow control on serial 1 (telemetry 1) on Pixhawk. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
<value code="2">Auto</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial 2 flow control" name="BRD_SER2_RTSCTS" documentation="Enable flow control on serial 2 (telemetry 2) on Pixhawk and PX4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
<value code="2">Auto</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Enable use of safety arming switch" name="BRD_SAFETYENABLE" documentation="This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName=" SBUS output rate" name="BRD_SBUS_OUT" documentation="This sets the SBUS output frame rate in Hz" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">50Hz</value>
<value code="2">75Hz</value>
<value code="3">100Hz</value>
<value code="4">150Hz</value>
<value code="5">200Hz</value>
<value code="6">250Hz</value>
<value code="7">300Hz</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="User-defined serial number" name="BRD_SERIAL_NUM" documentation="User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot" user="Standard">
<field name="Range">-32768 32767</field>
</param>
<param humanName="Channels to which ignore the safety switch state" name="BRD_SAFETY_MASK" documentation="A bitmask which controls what channels can move while the safety switch has not been pressed" user="Advanced">
<field name="Bitmask">0:Ch1,1:Ch2,2:Ch3,3:Ch4,4:Ch5,5:Ch6,6:Ch7,7:Ch8,8:Ch9,9:Ch10,10:Ch11,11:Ch12,12:Ch13,13:Ch14</field>
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Target IMU temperature" name="BRD_IMU_TARGTEMP" documentation="This sets the target IMU temperature for boards with controllable IMU heating units. A value of -1 disables heating." user="Advanced">
<field name="Range">-1 80</field>
<field name="Units">degreesC</field>
</param>
<param humanName="Board type" name="BRD_TYPE" documentation="This allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4)" user="Advanced">
<values>
<value code="0">AUTO</value>
<value code="1">PX4V1</value>
<value code="2">Pixhawk</value>
<value code="3">Pixhawk2</value>
<value code="4">Pixracer</value>
<value code="5">PixhawkMini</value>
<value code="6">Pixhawk2Slim</value>
<value code="7">VRBrain 5.1</value>
<value code="8">VRBrain 5.2</value>
<value code="9">VR Micro Brain 5.1</value>
<value code="10">VR Micro Brain 5.2</value>
<value code="11">VRBrain Core 1.0</value>
<value code="12">VRBrain 5.4</value>
<value code="13">Intel Aero FC</value>
<value code="20">AUAV2.1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Enable IO co-processor" name="BRD_BRD_IO_ENABLE" documentation="This allows for the IO co-processor on FMUv1 and FMUv2 to be disabled" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="BRD_CAN_">
<param humanName=" Enable use of CAN buses" name="BRD_CAN_ENABLE" documentation="Enabling this option enables use of CAN buses." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled first channel</value>
<value code="2">Enabled both channels</value>
</values>
</param>
<param humanName=" Bitrate of CAN interface" name="BRD_CAN_BITRATE" documentation="Bit rate can be set up to from 10000 to 1000000" user="Advanced">
<field name="Range">10000 1000000</field>
</param>
<param humanName=" Level of debug for CAN devices" name="BRD_CAN_DEBUG" documentation="Enabling this option will provide debug messages" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Major messages</value>
<value code="2">All messages</value>
</values>
</param>
<param humanName=" Enable use of UAVCAN devices" name="BRD_CAN_UC_EN" documentation="Enabling this option starts UAVCAN protocol." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
</parameters>
<parameters name="BRD_CAN_UC_">
<param humanName="UAVCAN node that is used for Ardupilot" name="BRD_CAN_UC_NODE" documentation="UAVCAN node should be set implicitly" user="Advanced">
<field name="Range">1 250</field>
</param>
</parameters>
<parameters name="BTN0_">
<param humanName="Function for button" name="BTN0_FUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_manual</value>
<value code="6">mode_stabilize</value>
<value code="7">mode_depth_hold</value>
<value code="8">mode_poshold</value>
<value code="9">mode_auto</value>
<value code="10">mode_circle</value>
<value code="11">mode_guided</value>
<value code="12">mode_acro</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_set</value>
<value code="49">roll_pitch_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="54">relay_2_on</value>
<value code="55">relay_2_off</value>
<value code="56">relay_2_toggle</value>
<value code="57">relay_3_on</value>
<value code="58">relay_3_off</value>
<value code="59">relay_3_toggle</value>
<value code="61">servo_1_inc</value>
<value code="62">servo_1_dec</value>
<value code="63">servo_1_min</value>
<value code="64">servo_1_max</value>
<value code="65">servo_1_center</value>
<value code="66">servo_2_inc</value>
<value code="67">servo_2_dec</value>
<value code="68">servo_2_min</value>
<value code="69">servo_2_max</value>
<value code="70">servo_2_center</value>
<value code="71">servo_3_inc</value>
<value code="72">servo_3_dec</value>
<value code="73">servo_3_min</value>
<value code="74">servo_3_max</value>
<value code="75">servo_3_center</value>
<value code="76">servo_1_min_momentary</value>
<value code="77">servo_1_max_momentary</value>
<value code="78">servo_1_min_toggle</value>
<value code="79">servo_1_max_toggle</value>
<value code="80">servo_2_min_momentary</value>
<value code="81">servo_2_max_momentary</value>
<value code="82">servo_2_min_toggle</value>
<value code="83">servo_2_max_toggle</value>
<value code="84">servo_3_min_momentary</value>
<value code="85">servo_3_max_momentary</value>
<value code="86">servo_3_min_toggle</value>
<value code="87">servo_3_max_toggle</value>
<value code="91">custom_1</value>
<value code="92">custom_2</value>
<value code="93">custom_3</value>
<value code="94">custom_4</value>
<value code="95">custom_5</value>
<value code="96">custom_6</value>
<value code="101">relay_4_on</value>
<value code="102">relay_4_off</value>
<value code="103">relay_4_toggle</value>
<value code="104">relay_1_momentary</value>
<value code="105">relay_2_momentary</value>
<value code="106">relay_3_momentary</value>
<value code="107">relay_4_momentary</value>
</values>
</param>
<param humanName="Function for button when the shift mode is toggled on" name="BTN0_SFUNCTION" documentation="Set to 0 to disable or choose a function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">shift</value>
<value code="2">arm_toggle</value>
<value code="3">arm</value>
<value code="4">disarm</value>
<value code="5">mode_manual</value>
<value code="6">mode_stabilize</value>
<value code="7">mode_depth_hold</value>
<value code="8">mode_poshold</value>
<value code="9">mode_auto</value>
<value code="10">mode_circle</value>
<value code="11">mode_guided</value>
<value code="12">mode_acro</value>
<value code="21">mount_center</value>
<value code="22">mount_tilt_up</value>
<value code="23">mount_tilt_down</value>
<value code="24">camera_trigger</value>
<value code="25">camera_source_toggle</value>
<value code="26">mount_pan_right</value>
<value code="27">mount_pan_left</value>
<value code="31">lights1_cycle</value>
<value code="32">lights1_brighter</value>
<value code="33">lights1_dimmer</value>
<value code="34">lights2_cycle</value>
<value code="35">lights2_brighter</value>
<value code="36">lights2_dimmer</value>
<value code="41">gain_toggle</value>
<value code="42">gain_inc</value>
<value code="43">gain_dec</value>
<value code="44">trim_roll_inc</value>
<value code="45">trim_roll_dec</value>
<value code="46">trim_pitch_inc</value>
<value code="47">trim_pitch_dec</value>
<value code="48">input_hold_set</value>
<value code="49">roll_pitch_toggle</value>
<value code="51">relay_1_on</value>
<value code="52">relay_1_off</value>
<value code="53">relay_1_toggle</value>
<value code="54">relay_2_on</value>
<value code="55">relay_2_off</value>
<value code="56">relay_2_toggle</value>
<value code="57">relay_3_on</value>
<value code="58">relay_3_off</value>
<value code="59">relay_3_toggle</value>
<value code="61">servo_1_inc</value>
<value code="62">servo_1_dec</value>
<value code="63">servo_1_min</value>
<value code="64">servo_1_max</value>
<value code="65">servo_1_center</value>
<value code="66">servo_2_inc</value>
<value code="67">servo_2_dec</value>
<value code="68">servo_2_min</value>
<value code="69">servo_2_max</value>
<value code="70">servo_2_center</value>
<value code="71">servo_3_inc</value>
<value code="72">servo_3_dec</value>
<value code="73">servo_3_min</value>
<value code="74">servo_3_max</value>
<value code="75">servo_3_center</value>
<value code="76">servo_1_min_momentary</value>
<value code="77">servo_1_max_momentary</value>
<value code="78">servo_1_min_toggle</value>
<value code="79">servo_1_max_toggle</value>
<value code="80">servo_2_min_momentary</value>