APMParameterFactMetaData.Copter.3.6.xml 504 KB
Newer Older
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 733 734 735 736 737 738 739 740 741 742 743 744 745 746 747 748 749 750 751 752 753 754 755 756 757 758 759 760 761 762 763 764 765 766 767 768 769 770 771 772 773 774 775 776 777 778 779 780 781 782 783 784 785 786 787 788 789 790 791 792 793 794 795 796 797 798 799 800 801 802 803 804 805 806 807 808 809 810 811 812 813 814 815 816 817 818 819 820 821 822 823 824 825 826 827 828 829 830 831 832 833 834 835 836 837 838 839 840 841 842 843 844 845 846 847 848 849 850 851 852 853 854 855 856 857 858 859 860 861 862 863 864 865 866 867 868 869 870 871 872 873 874 875 876 877 878 879 880 881 882 883 884 885 886 887 888 889 890 891 892 893 894 895 896 897 898 899 900 901 902 903 904 905 906 907 908 909 910 911 912 913 914 915 916 917 918 919 920 921 922 923 924 925 926 927 928 929 930 931 932 933 934 935 936 937 938 939 940 941 942 943 944 945 946 947 948 949 950 951 952 953 954 955 956 957 958 959 960 961 962 963 964 965 966 967 968 969 970 971 972 973 974 975 976 977 978 979 980 981 982 983 984 985 986 987 988 989 990 991 992 993 994 995 996 997 998 999 1000 1001 1002 1003 1004 1005 1006 1007 1008 1009 1010 1011 1012 1013 1014 1015 1016 1017 1018 1019 1020 1021 1022 1023 1024 1025 1026 1027 1028 1029 1030 1031 1032 1033 1034 1035 1036 1037 1038 1039 1040 1041 1042 1043 1044 1045 1046 1047 1048 1049 1050 1051 1052 1053 1054 1055 1056 1057 1058 1059 1060 1061 1062 1063 1064 1065 1066 1067 1068 1069 1070 1071 1072 1073 1074 1075 1076 1077 1078 1079 1080 1081 1082 1083 1084 1085 1086 1087 1088 1089 1090 1091 1092 1093 1094 1095 1096 1097 1098 1099 1100 1101 1102 1103 1104 1105 1106 1107 1108 1109 1110 1111 1112 1113 1114 1115 1116 1117 1118 1119 1120 1121 1122 1123 1124 1125 1126 1127 1128 1129 1130 1131 1132 1133 1134 1135 1136 1137 1138 1139 1140 1141 1142 1143 1144 1145 1146 1147 1148 1149 1150 1151 1152 1153 1154 1155 1156 1157 1158 1159 1160 1161 1162 1163 1164 1165 1166 1167 1168 1169 1170 1171 1172 1173 1174 1175 1176 1177 1178 1179 1180 1181 1182 1183 1184 1185 1186 1187 1188 1189 1190 1191 1192 1193 1194 1195 1196 1197 1198 1199 1200 1201 1202 1203 1204 1205 1206 1207 1208 1209 1210 1211 1212 1213 1214 1215 1216 1217 1218 1219 1220 1221 1222 1223 1224 1225 1226 1227 1228 1229 1230 1231 1232 1233 1234 1235 1236 1237 1238 1239 1240 1241 1242 1243 1244 1245 1246 1247 1248 1249 1250 1251 1252 1253 1254 1255 1256 1257 1258 1259 1260 1261 1262 1263 1264 1265 1266 1267 1268 1269 1270 1271 1272 1273 1274 1275 1276 1277 1278 1279 1280 1281 1282 1283 1284 1285 1286 1287 1288 1289 1290 1291 1292 1293 1294 1295 1296 1297 1298 1299 1300 1301 1302 1303 1304 1305 1306 1307 1308 1309 1310 1311 1312 1313 1314 1315 1316 1317 1318 1319 1320 1321 1322 1323 1324 1325 1326 1327 1328 1329 1330 1331 1332 1333 1334 1335 1336 1337 1338 1339 1340 1341 1342 1343 1344 1345 1346 1347 1348 1349 1350 1351 1352 1353 1354 1355 1356 1357 1358 1359 1360 1361 1362 1363 1364 1365 1366 1367 1368 1369 1370 1371 1372 1373 1374 1375 1376 1377 1378 1379 1380 1381 1382 1383 1384 1385 1386 1387 1388 1389 1390 1391 1392 1393 1394 1395 1396 1397 1398 1399 1400 1401 1402 1403 1404 1405 1406 1407 1408 1409 1410 1411 1412 1413 1414 1415 1416 1417 1418 1419 1420 1421 1422 1423 1424 1425 1426 1427 1428 1429 1430 1431 1432 1433 1434 1435 1436 1437 1438 1439 1440 1441 1442 1443 1444 1445 1446 1447 1448 1449 1450 1451 1452 1453 1454 1455 1456 1457 1458 1459 1460 1461 1462 1463 1464 1465 1466 1467 1468 1469 1470 1471 1472 1473 1474 1475 1476 1477 1478 1479 1480 1481 1482 1483 1484 1485 1486 1487 1488 1489 1490 1491 1492 1493 1494 1495 1496 1497 1498 1499 1500 1501 1502 1503 1504 1505 1506 1507 1508 1509 1510 1511 1512 1513 1514 1515 1516 1517 1518 1519 1520 1521 1522 1523 1524 1525 1526 1527 1528 1529 1530 1531 1532 1533 1534 1535 1536 1537 1538 1539 1540 1541 1542 1543 1544 1545 1546 1547 1548 1549 1550 1551 1552 1553 1554 1555 1556 1557 1558 1559 1560 1561 1562 1563 1564 1565 1566 1567 1568 1569 1570 1571 1572 1573 1574 1575 1576 1577 1578 1579 1580 1581 1582 1583 1584 1585 1586 1587 1588 1589 1590 1591 1592 1593 1594 1595 1596 1597 1598 1599 1600 1601 1602 1603 1604 1605 1606 1607 1608 1609 1610 1611 1612 1613 1614 1615 1616 1617 1618 1619 1620 1621 1622 1623 1624 1625 1626 1627 1628 1629 1630 1631 1632 1633 1634 1635 1636 1637 1638 1639 1640 1641 1642 1643 1644 1645 1646 1647 1648 1649 1650 1651 1652 1653 1654 1655 1656 1657 1658 1659 1660 1661 1662 1663 1664 1665 1666 1667 1668 1669 1670 1671 1672 1673 1674 1675 1676 1677 1678 1679 1680 1681 1682 1683 1684 1685 1686
<?xml version="1.0" encoding="utf-8"?>
        <!-- Dynamically generated list of documented parameters (generated by param_parse.py) -->    
        <paramfile>
        <vehicles>
        <parameters name="ArduCopter">
<param humanName="Eeprom format version number" name="ArduCopter:SYSID_SW_MREV" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Software Type" name="ArduCopter:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
<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="ArduCopter:SYSID_THISMAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
<field name="Range">1 255</field>
</param>
<param humanName="My ground station number" name="ArduCopter:SYSID_MYGCS" documentation="Allows restricting radio overrides to only come from my ground station" user="Advanced">
<values>
<value code="255">Mission Planner and DroidPlanner</value>
<value code=" 252"> AP Planner 2</value>
</values>
</param>
<param humanName="Throttle filter cutoff" name="ArduCopter:PILOT_THR_FILT" documentation="Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">.5</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Pilot takeoff altitude" name="ArduCopter:PILOT_TKOFF_ALT" documentation="Altitude that altitude control modes will climb to when a takeoff is triggered with the throttle stick." user="Standard">
<field name="Range">0.0 1000.0</field>
<field name="Increment">10</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Takeoff trigger deadzone" name="ArduCopter:PILOT_TKOFF_DZ" documentation="Offset from mid stick at which takeoff is triggered" user="Standard">
<field name="Range">0 500</field>
<field name="Increment">10</field>
</param>
<param humanName="Throttle stick behavior" name="ArduCopter:PILOT_THR_BHV" documentation="Bitmask containing various throttle stick options. Add up the values for options that you want." user="Standard">
<field name="Bitmask">0:Feedback from mid stick,1:High throttle cancels landing,2:Disarm on land detection</field>
<values>
<value code="0">None</value>
<value code="1">Feedback from mid stick</value>
<value code="2">High throttle cancels landing</value>
<value code="4">Disarm on land detection</value>
</values>
</param>
<param humanName="Telemetry startup delay" name="ArduCopter:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Advanced">
<field name="Range">0 30</field>
<field name="Increment">1</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="GCS PID tuning mask" name="ArduCopter:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
<field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
<values>
<value code="0">None</value>
<value code="1">Roll</value>
<value code="2">Pitch</value>
<value code="4">Yaw</value>
</values>
</param>
<param humanName="RTL Altitude" name="ArduCopter:RTL_ALT" documentation="The minimum relative altitude the model will move to before Returning to Launch.  Set to zero to return at current altitude." user="Standard">
<field name="Range">0 8000</field>
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="RTL cone slope" name="ArduCopter:RTL_CONE_SLOPE" documentation="Defines a cone above home which determines maximum climb" user="Standard">
<field name="Range">0.5 10.0</field>
<values>
<value code="0">Disabled</value>
<value code="1">Shallow</value>
<value code="3">Steep</value>
</values>
<field name="Increment">.1</field>
</param>
<param humanName="RTL speed" name="ArduCopter:RTL_SPEED" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain horizontally while flying home. If this is set to zero, WPNAV_SPEED will be used instead." user="Standard">
<field name="Range">0 2000</field>
<field name="Increment">50</field>
<field name="Units">cm/s</field>
<field name="UnitText">centimeters per second</field>
</param>
<param humanName="RTL Final Altitude" name="ArduCopter:RTL_ALT_FINAL" documentation="This is the altitude the vehicle will move to as the final stage of Returning to Launch or after completing a mission.  Set to zero to land." user="Standard">
<field name="Range">-1 1000</field>
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="RTL minimum climb" name="ArduCopter:RTL_CLIMB_MIN" documentation="The vehicle will climb this many cm during the initial climb portion of the RTL" user="Standard">
<field name="Range">0 3000</field>
<field name="Increment">10</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="RTL loiter time" name="ArduCopter:RTL_LOIT_TIME" documentation="Time (in milliseconds) to loiter above home before beginning final descent" user="Standard">
<field name="Range">0 60000</field>
<field name="Increment">1000</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
</param>
<param humanName="Rangefinder gain" name="ArduCopter:RNGFND_GAIN" documentation="Used to adjust the speed with which the target altitude is changed when objects are sensed below the copter" user="Standard">
<field name="Range">0.01 2.0</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Ground Station Failsafe Enable" name="ArduCopter:FS_GCS_ENABLE" documentation="Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. NB. The GCS Failsafe is only active when RC_OVERRIDE is being used to control the vehicle." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled always RTL</value>
<value code="2">Enabled Continue with Mission in Auto Mode</value>
<value code="3">Enabled always SmartRTL or RTL</value>
<value code="4">Enabled always SmartRTL or Land</value>
</values>
</param>
<param humanName="GPS Hdop Good" name="ArduCopter:GPS_HDOP_GOOD" documentation="GPS Hdop value at or below this value represent a good position.  Used for pre-arm checks" user="Advanced">
<field name="Range">100 900</field>
</param>
<param humanName="Compass enable/disable" name="ArduCopter:MAG_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Super Simple Mode" name="ArduCopter:SUPER_SIMPLE" documentation="Bitmask to enable Super Simple mode for some flight modes. Setting this to Disabled(0) will disable Super Simple Mode" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Mode1</value>
<value code="2">Mode2</value>
<value code="3">Mode1+2</value>
<value code="4">Mode3</value>
<value code="5">Mode1+3</value>
<value code="6">Mode2+3</value>
<value code="7">Mode1+2+3</value>
<value code="8">Mode4</value>
<value code="9">Mode1+4</value>
<value code="10">Mode2+4</value>
<value code="11">Mode1+2+4</value>
<value code="12">Mode3+4</value>
<value code="13">Mode1+3+4</value>
<value code="14">Mode2+3+4</value>
<value code="15">Mode1+2+3+4</value>
<value code="16">Mode5</value>
<value code="17">Mode1+5</value>
<value code="18">Mode2+5</value>
<value code="19">Mode1+2+5</value>
<value code="20">Mode3+5</value>
<value code="21">Mode1+3+5</value>
<value code="22">Mode2+3+5</value>
<value code="23">Mode1+2+3+5</value>
<value code="24">Mode4+5</value>
<value code="25">Mode1+4+5</value>
<value code="26">Mode2+4+5</value>
<value code="27">Mode1+2+4+5</value>
<value code="28">Mode3+4+5</value>
<value code="29">Mode1+3+4+5</value>
<value code="30">Mode2+3+4+5</value>
<value code="31">Mode1+2+3+4+5</value>
<value code="32">Mode6</value>
<value code="33">Mode1+6</value>
<value code="34">Mode2+6</value>
<value code="35">Mode1+2+6</value>
<value code="36">Mode3+6</value>
<value code="37">Mode1+3+6</value>
<value code="38">Mode2+3+6</value>
<value code="39">Mode1+2+3+6</value>
<value code="40">Mode4+6</value>
<value code="41">Mode1+4+6</value>
<value code="42">Mode2+4+6</value>
<value code="43">Mode1+2+4+6</value>
<value code="44">Mode3+4+6</value>
<value code="45">Mode1+3+4+6</value>
<value code="46">Mode2+3+4+6</value>
<value code="47">Mode1+2+3+4+6</value>
<value code="48">Mode5+6</value>
<value code="49">Mode1+5+6</value>
<value code="50">Mode2+5+6</value>
<value code="51">Mode1+2+5+6</value>
<value code="52">Mode3+5+6</value>
<value code="53">Mode1+3+5+6</value>
<value code="54">Mode2+3+5+6</value>
<value code="55">Mode1+2+3+5+6</value>
<value code="56">Mode4+5+6</value>
<value code="57">Mode1+4+5+6</value>
<value code="58">Mode2+4+5+6</value>
<value code="59">Mode1+2+4+5+6</value>
<value code="60">Mode3+4+5+6</value>
<value code="61">Mode1+3+4+5+6</value>
<value code="62">Mode2+3+4+5+6</value>
<value code="63">Mode1+2+3+4+5+6</value>
</values>
</param>
<param humanName="Yaw behaviour during missions" name="ArduCopter:WP_YAW_BEHAVIOR" documentation="Determines how the autopilot controls the yaw during missions and RTL" user="Standard">
<values>
<value code="0">Never change yaw</value>
<value code=" 1">Face next waypoint</value>
<value code=" 2">Face next waypoint except RTL</value>
<value code=" 3">Face along GPS course</value>
</values>
</param>
<param humanName="Land speed" name="ArduCopter:LAND_SPEED" documentation="The descent speed for the final stage of landing in cm/s" user="Standard">
<field name="Range">30 200</field>
<field name="Increment">10</field>
<field name="Units">cm/s</field>
<field name="UnitText">centimeters per second</field>
</param>
<param humanName="Land speed high" name="ArduCopter:LAND_SPEED_HIGH" documentation="The descent speed for the first stage of landing in cm/s. If this is zero then WPNAV_SPEED_DN is used" user="Standard">
<field name="Range">0 500</field>
<field name="Increment">10</field>
<field name="Units">cm/s</field>
<field name="UnitText">centimeters per second</field>
</param>
<param humanName="Pilot maximum vertical speed ascending" name="ArduCopter:PILOT_SPEED_UP" documentation="The maximum vertical ascending velocity the pilot may request in cm/s" user="Standard">
<field name="Range">50 500</field>
<field name="Increment">10</field>
<field name="Units">cm/s</field>
<field name="UnitText">centimeters per second</field>
</param>
<param humanName="Pilot vertical acceleration" name="ArduCopter:PILOT_ACCEL_Z" documentation="The vertical acceleration used when pilot is controlling the altitude" user="Standard">
<field name="Range">50 500</field>
<field name="Increment">10</field>
<field name="Units">cm/s/s</field>
<field name="UnitText">centimeters per square second</field>
</param>
<param humanName="Throttle Failsafe Enable" name="ArduCopter:FS_THR_ENABLE" documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled always RTL</value>
<value code="2">Enabled Continue with Mission in Auto Mode</value>
<value code="3">Enabled always Land</value>
<value code="4">Enabled always SmartRTL or RTL</value>
<value code="5">Enabled always SmartRTL or Land</value>
</values>
</param>
<param humanName="Throttle Failsafe Value" name="ArduCopter:FS_THR_VALUE" documentation="The PWM level in microseconds on channel 3 below which throttle failsafe triggers" user="Standard">
<field name="Range">925 1100</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Throttle deadzone" name="ArduCopter:THR_DZ" documentation="The deadzone above and below mid throttle in PWM microseconds. 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>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Flight Mode 1" name="ArduCopter:FLTMODE1" documentation="Flight mode when Channel 5 pwm is &lt;= 1230" user="Standard">
<values>
<value code="0">Stabilize</value>
<value code="1">Acro</value>
<value code="2">AltHold</value>
<value code="3">Auto</value>
<value code="4">Guided</value>
<value code="5">Loiter</value>
<value code="6">RTL</value>
<value code="7">Circle</value>
<value code="9">Land</value>
<value code="11">Drift</value>
<value code="13">Sport</value>
<value code="14">Flip</value>
<value code="15">AutoTune</value>
<value code="16">PosHold</value>
<value code="17">Brake</value>
<value code="18">Throw</value>
<value code="19">Avoid_ADSB</value>
<value code="20">Guided_NoGPS</value>
<value code="21">Smart_RTL</value>
<value code="22">FlowHold</value>
<value code="23">Follow</value>
</values>
</param>
<param humanName="Flight Mode 2" name="ArduCopter:FLTMODE2" documentation="Flight mode when Channel 5 pwm is &gt;1230, &lt;= 1360" user="Standard">
<values>
<value code="0">Stabilize</value>
<value code="1">Acro</value>
<value code="2">AltHold</value>
<value code="3">Auto</value>
<value code="4">Guided</value>
<value code="5">Loiter</value>
<value code="6">RTL</value>
<value code="7">Circle</value>
<value code="9">Land</value>
<value code="11">Drift</value>
<value code="13">Sport</value>
<value code="14">Flip</value>
<value code="15">AutoTune</value>
<value code="16">PosHold</value>
<value code="17">Brake</value>
<value code="18">Throw</value>
<value code="19">Avoid_ADSB</value>
<value code="20">Guided_NoGPS</value>
<value code="21">Smart_RTL</value>
<value code="22">FlowHold</value>
<value code="23">Follow</value>
</values>
</param>
<param humanName="Flight Mode 3" name="ArduCopter:FLTMODE3" documentation="Flight mode when Channel 5 pwm is &gt;1360, &lt;= 1490" user="Standard">
<values>
<value code="0">Stabilize</value>
<value code="1">Acro</value>
<value code="2">AltHold</value>
<value code="3">Auto</value>
<value code="4">Guided</value>
<value code="5">Loiter</value>
<value code="6">RTL</value>
<value code="7">Circle</value>
<value code="9">Land</value>
<value code="11">Drift</value>
<value code="13">Sport</value>
<value code="14">Flip</value>
<value code="15">AutoTune</value>
<value code="16">PosHold</value>
<value code="17">Brake</value>
<value code="18">Throw</value>
<value code="19">Avoid_ADSB</value>
<value code="20">Guided_NoGPS</value>
<value code="21">Smart_RTL</value>
<value code="22">FlowHold</value>
<value code="23">Follow</value>
</values>
</param>
<param humanName="Flight Mode 4" name="ArduCopter:FLTMODE4" documentation="Flight mode when Channel 5 pwm is &gt;1490, &lt;= 1620" user="Standard">
<values>
<value code="0">Stabilize</value>
<value code="1">Acro</value>
<value code="2">AltHold</value>
<value code="3">Auto</value>
<value code="4">Guided</value>
<value code="5">Loiter</value>
<value code="6">RTL</value>
<value code="7">Circle</value>
<value code="9">Land</value>
<value code="11">Drift</value>
<value code="13">Sport</value>
<value code="14">Flip</value>
<value code="15">AutoTune</value>
<value code="16">PosHold</value>
<value code="17">Brake</value>
<value code="18">Throw</value>
<value code="19">Avoid_ADSB</value>
<value code="20">Guided_NoGPS</value>
<value code="21">Smart_RTL</value>
<value code="22">FlowHold</value>
<value code="23">Follow</value>
</values>
</param>
<param humanName="Flight Mode 5" name="ArduCopter:FLTMODE5" documentation="Flight mode when Channel 5 pwm is &gt;1620, &lt;= 1749" user="Standard">
<values>
<value code="0">Stabilize</value>
<value code="1">Acro</value>
<value code="2">AltHold</value>
<value code="3">Auto</value>
<value code="4">Guided</value>
<value code="5">Loiter</value>
<value code="6">RTL</value>
<value code="7">Circle</value>
<value code="9">Land</value>
<value code="11">Drift</value>
<value code="13">Sport</value>
<value code="14">Flip</value>
<value code="15">AutoTune</value>
<value code="16">PosHold</value>
<value code="17">Brake</value>
<value code="18">Throw</value>
<value code="19">Avoid_ADSB</value>
<value code="20">Guided_NoGPS</value>
<value code="21">Smart_RTL</value>
<value code="22">FlowHold</value>
<value code="23">Follow</value>
</values>
</param>
<param humanName="Flight Mode 6" name="ArduCopter:FLTMODE6" documentation="Flight mode when Channel 5 pwm is &gt;=1750" user="Standard">
<values>
<value code="0">Stabilize</value>
<value code="1">Acro</value>
<value code="2">AltHold</value>
<value code="3">Auto</value>
<value code="4">Guided</value>
<value code="5">Loiter</value>
<value code="6">RTL</value>
<value code="7">Circle</value>
<value code="9">Land</value>
<value code="11">Drift</value>
<value code="13">Sport</value>
<value code="14">Flip</value>
<value code="15">AutoTune</value>
<value code="16">PosHold</value>
<value code="17">Brake</value>
<value code="18">Throw</value>
<value code="19">Avoid_ADSB</value>
<value code="20">Guided_NoGPS</value>
<value code="21">Smart_RTL</value>
<value code="22">FlowHold</value>
<value code="23">Follow</value>
</values>
</param>
<param humanName="Flightmode channel" name="ArduCopter:FLTMODE_CH" documentation="RC Channel to use for flight mode control" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="5">Channel5</value>
<value code="6">Channel6</value>
<value code="7">Channel7</value>
<value code="8">Channel8</value>
</values>
</param>
<param humanName="Simple mode bitmask" name="ArduCopter:SIMPLE" documentation="Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode)" user="Advanced">
</param>
<param humanName="Log bitmask" name="ArduCopter:LOG_BITMASK" documentation="4 byte bitmap of log types to enable" user="Standard">
<field name="Bitmask">0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,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="ESC Calibration" name="ArduCopter:ESC_CALIBRATION" documentation="Controls whether ArduCopter will enter ESC calibration on the next restart.  Do not adjust this parameter manually." user="Advanced">
<values>
<value code="0">Normal Start-up</value>
<value code=" 1">Start-up in ESC Calibration mode if throttle high</value>
<value code=" 2">Start-up in ESC Calibration mode regardless of throttle</value>
<value code=" 3">Start-up and automatically calibrate ESCs</value>
<value code=" 9">Disabled</value>
</values>
</param>
<param humanName="Channel 6 Tuning" name="ArduCopter:TUNE" documentation="Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Stab Roll/Pitch kP</value>
<value code="4">Rate Roll/Pitch kP</value>
<value code="5">Rate Roll/Pitch kI</value>
<value code="21">Rate Roll/Pitch kD</value>
<value code="3">Stab Yaw kP</value>
<value code="6">Rate Yaw kP</value>
<value code="26">Rate Yaw kD</value>
<value code="56">Rate Yaw Filter</value>
<value code="55">Motor Yaw Headroom</value>
<value code="14">AltHold kP</value>
<value code="7">Throttle Rate kP</value>
<value code="34">Throttle Accel kP</value>
<value code="35">Throttle Accel kI</value>
<value code="36">Throttle Accel kD</value>
<value code="12">Loiter Pos kP</value>
<value code="22">Velocity XY kP</value>
<value code="28">Velocity XY kI</value>
<value code="10">WP Speed</value>
<value code="25">Acro RollPitch kP</value>
<value code="40">Acro Yaw kP</value>
<value code="45">RC Feel</value>
<value code="13">Heli Ext Gyro</value>
<value code="38">Declination</value>
<value code="39">Circle Rate</value>
<value code="41">RangeFinder Gain</value>
<value code="46">Rate Pitch kP</value>
<value code="47">Rate Pitch kI</value>
<value code="48">Rate Pitch kD</value>
<value code="49">Rate Roll kP</value>
<value code="50">Rate Roll kI</value>
<value code="51">Rate Roll kD</value>
<value code="52">Rate Pitch FF</value>
<value code="53">Rate Roll FF</value>
<value code="54">Rate Yaw FF</value>
<value code="57">Winch</value>
</values>
</param>
<param humanName="Tuning minimum" name="ArduCopter:TUNE_LOW" documentation="The minimum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob" user="Standard">
<field name="Range">0 32767</field>
</param>
<param humanName="Tuning maximum" name="ArduCopter:TUNE_HIGH" documentation="The maximum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob" user="Standard">
<field name="Range">0 32767</field>
</param>
<param humanName="Frame Type (+, X, V, etc)" name="ArduCopter:FRAME_TYPE" documentation="Controls motor mixing for multicopters.  Not used for Tri or Traditional Helicopters." user="Standard">
<values>
<value code="0">Plus</value>
<value code=" 1">X</value>
<value code=" 2">V</value>
<value code=" 3">H</value>
<value code=" 4">V-Tail</value>
<value code=" 5">A-Tail</value>
<value code=" 10">Y6B</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Channel 7 option" name="ArduCopter:CH7_OPT" documentation="Select which function is performed when CH7 is above 1800 pwm" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 2">Flip</value>
<value code=" 3">Simple Mode</value>
<value code=" 4">RTL</value>
<value code=" 5">Save Trim</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 10">RangeFinder</value>
<value code=" 11">Fence</value>
<value code=" 13">Super Simple Mode</value>
<value code=" 14">Acro Trainer</value>
<value code=" 15">Sprayer</value>
<value code=" 16">Auto</value>
<value code=" 17">AutoTune</value>
<value code=" 18">Land</value>
<value code=" 19">Gripper</value>
<value code=" 21">Parachute Enable</value>
<value code=" 22">Parachute Release</value>
<value code=" 23">Parachute 3pos</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 25">AttCon Feed Forward</value>
<value code=" 26">AttCon Accel Limits</value>
<value code=" 27">Retract Mount</value>
<value code=" 28">Relay On/Off</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 29">Landing Gear</value>
<value code=" 30">Lost Copter Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 32">Motor Interlock</value>
<value code=" 33">Brake</value>
<value code=" 37">Throw</value>
<value code=" 38">ADSB-Avoidance</value>
<value code=" 39">PrecLoiter</value>
<value code=" 40">Object Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 43">InvertedFlight</value>
<value code=" 44">Winch Enable</value>
<value code=" 45">WinchControl</value>
</values>
</param>
<param humanName="Channel 8 option" name="ArduCopter:CH8_OPT" documentation="Select which function is performed when CH8 is above 1800 pwm" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 2">Flip</value>
<value code=" 3">Simple Mode</value>
<value code=" 4">RTL</value>
<value code=" 5">Save Trim</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 10">RangeFinder</value>
<value code=" 11">Fence</value>
<value code=" 13">Super Simple Mode</value>
<value code=" 14">Acro Trainer</value>
<value code=" 15">Sprayer</value>
<value code=" 16">Auto</value>
<value code=" 17">AutoTune</value>
<value code=" 18">Land</value>
<value code=" 19">Gripper</value>
<value code=" 21">Parachute Enable</value>
<value code=" 22">Parachute Release</value>
<value code=" 23">Parachute 3pos</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 25">AttCon Feed Forward</value>
<value code=" 26">AttCon Accel Limits</value>
<value code=" 27">Retract Mount</value>
<value code=" 28">Relay On/Off</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 29">Landing Gear</value>
<value code=" 30">Lost Copter Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 32">Motor Interlock</value>
<value code=" 33">Brake</value>
<value code=" 37">Throw</value>
<value code=" 38">ADSB-Avoidance</value>
<value code=" 39">PrecLoiter</value>
<value code=" 40">Object Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 43">InvertedFlight</value>
<value code=" 44">Winch Enable</value>
<value code=" 45">WinchControl</value>
</values>
</param>
<param humanName="Channel 9 option" name="ArduCopter:CH9_OPT" documentation="Select which function is performed when CH9 is above 1800 pwm" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 2">Flip</value>
<value code=" 3">Simple Mode</value>
<value code=" 4">RTL</value>
<value code=" 5">Save Trim</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 10">RangeFinder</value>
<value code=" 11">Fence</value>
<value code=" 13">Super Simple Mode</value>
<value code=" 14">Acro Trainer</value>
<value code=" 15">Sprayer</value>
<value code=" 16">Auto</value>
<value code=" 17">AutoTune</value>
<value code=" 18">Land</value>
<value code=" 19">Gripper</value>
<value code=" 21">Parachute Enable</value>
<value code=" 22">Parachute Release</value>
<value code=" 23">Parachute 3pos</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 25">AttCon Feed Forward</value>
<value code=" 26">AttCon Accel Limits</value>
<value code=" 27">Retract Mount</value>
<value code=" 28">Relay On/Off</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 29">Landing Gear</value>
<value code=" 30">Lost Copter Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 32">Motor Interlock</value>
<value code=" 33">Brake</value>
<value code=" 37">Throw</value>
<value code=" 38">ADSB-Avoidance</value>
<value code=" 39">PrecLoiter</value>
<value code=" 40">Object Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 43">InvertedFlight</value>
<value code=" 44">Winch Enable</value>
<value code=" 45">WinchControl</value>
</values>
</param>
<param humanName="Channel 10 option" name="ArduCopter:CH10_OPT" documentation="Select which function is performed when CH10 is above 1800 pwm" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 2">Flip</value>
<value code=" 3">Simple Mode</value>
<value code=" 4">RTL</value>
<value code=" 5">Save Trim</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 10">RangeFinder</value>
<value code=" 11">Fence</value>
<value code=" 13">Super Simple Mode</value>
<value code=" 14">Acro Trainer</value>
<value code=" 15">Sprayer</value>
<value code=" 16">Auto</value>
<value code=" 17">AutoTune</value>
<value code=" 18">Land</value>
<value code=" 19">Gripper</value>
<value code=" 21">Parachute Enable</value>
<value code=" 22">Parachute Release</value>
<value code=" 23">Parachute 3pos</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 25">AttCon Feed Forward</value>
<value code=" 26">AttCon Accel Limits</value>
<value code=" 27">Retract Mount</value>
<value code=" 28">Relay On/Off</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 29">Landing Gear</value>
<value code=" 30">Lost Copter Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 32">Motor Interlock</value>
<value code=" 33">Brake</value>
<value code=" 37">Throw</value>
<value code=" 38">ADSB-Avoidance</value>
<value code=" 39">PrecLoiter</value>
<value code=" 40">Object Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 43">InvertedFlight</value>
<value code=" 44">Winch Enable</value>
<value code=" 45">WinchControl</value>
</values>
</param>
<param humanName="Channel 11 option" name="ArduCopter:CH11_OPT" documentation="Select which function is performed when CH11 is above 1800 pwm" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 2">Flip</value>
<value code=" 3">Simple Mode</value>
<value code=" 4">RTL</value>
<value code=" 5">Save Trim</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 10">RangeFinder</value>
<value code=" 11">Fence</value>
<value code=" 13">Super Simple Mode</value>
<value code=" 14">Acro Trainer</value>
<value code=" 15">Sprayer</value>
<value code=" 16">Auto</value>
<value code=" 17">AutoTune</value>
<value code=" 18">Land</value>
<value code=" 19">Gripper</value>
<value code=" 21">Parachute Enable</value>
<value code=" 22">Parachute Release</value>
<value code=" 23">Parachute 3pos</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 25">AttCon Feed Forward</value>
<value code=" 26">AttCon Accel Limits</value>
<value code=" 27">Retract Mount</value>
<value code=" 28">Relay On/Off</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 29">Landing Gear</value>
<value code=" 30">Lost Copter Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 32">Motor Interlock</value>
<value code=" 33">Brake</value>
<value code=" 37">Throw</value>
<value code=" 38">ADSB-Avoidance</value>
<value code=" 39">PrecLoiter</value>
<value code=" 40">Object Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 43">InvertedFlight</value>
<value code=" 44">Winch Enable</value>
<value code=" 45">WinchControl</value>
</values>
</param>
<param humanName="Channel 12 option" name="ArduCopter:CH12_OPT" documentation="Select which function is performed when CH12 is above 1800 pwm" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 2">Flip</value>
<value code=" 3">Simple Mode</value>
<value code=" 4">RTL</value>
<value code=" 5">Save Trim</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 10">RangeFinder</value>
<value code=" 11">Fence</value>
<value code=" 13">Super Simple Mode</value>
<value code=" 14">Acro Trainer</value>
<value code=" 15">Sprayer</value>
<value code=" 16">Auto</value>
<value code=" 17">AutoTune</value>
<value code=" 18">Land</value>
<value code=" 19">Gripper</value>
<value code=" 21">Parachute Enable</value>
<value code=" 22">Parachute Release</value>
<value code=" 23">Parachute 3pos</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 25">AttCon Feed Forward</value>
<value code=" 26">AttCon Accel Limits</value>
<value code=" 27">Retract Mount</value>
<value code=" 28">Relay On/Off</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 29">Landing Gear</value>
<value code=" 30">Lost Copter Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 32">Motor Interlock</value>
<value code=" 33">Brake</value>
<value code=" 37">Throw</value>
<value code=" 38">ADSB-Avoidance</value>
<value code=" 39">PrecLoiter</value>
<value code=" 40">Object Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 43">InvertedFlight</value>
<value code=" 44">Winch Enable</value>
<value code=" 45">WinchControl</value>
</values>
</param>
<param humanName="Disarm delay" name="ArduCopter:DISARM_DELAY" documentation="Delay before automatic disarm in seconds. A value of zero disables auto disarm." user="Advanced">
<field name="Range">0 127</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Angle Max" name="ArduCopter:ANGLE_MAX" documentation="Maximum lean angle in all flight modes" user="Advanced">
<field name="Range">1000 8000</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="PosHold braking rate" name="ArduCopter:PHLD_BRAKE_RATE" documentation="PosHold flight mode's rotation rate during braking in deg/sec" user="Advanced">
<field name="Range">4 12</field>
<field name="Units">deg/s</field>
<field name="UnitText">degrees per second</field>
</param>
<param humanName="PosHold braking angle max" name="ArduCopter:PHLD_BRAKE_ANGLE" documentation="PosHold flight mode's max lean angle during braking in centi-degrees" user="Advanced">
<field name="Range">2000 4500</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Land repositioning" name="ArduCopter:LAND_REPOSITION" documentation="Enables user input during LAND mode, the landing phase of RTL, and auto mode landings." user="Advanced">
<values>
<value code="0">No repositioning</value>
<value code=" 1">Repositioning</value>
</values>
</param>
<param humanName="EKF Failsafe Action" name="ArduCopter:FS_EKF_ACTION" documentation="Controls the action that will be taken when an EKF failsafe is invoked" user="Advanced">
<values>
<value code="1">Land</value>
<value code=" 2">AltHold</value>
<value code=" 3">Land even in Stabilize</value>
</values>
</param>
<param humanName="EKF failsafe variance threshold" name="ArduCopter:FS_EKF_THRESH" documentation="Allows setting the maximum acceptable compass and velocity variance" user="Advanced">
<field name="Values">0.6:Strict, 0.8:Default, 1.0:Relaxed</field>
</param>
<param humanName="Crash check enable" name="ArduCopter:FS_CRASH_CHECK" documentation="This enables automatic crash checking. When enabled the motors will disarm if a crash is detected." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
</values>
</param>
<param humanName="ESC Update Speed" name="ArduCopter:RC_SPEED" documentation="This is the speed in Hertz that your ESCs will receive updates" user="Advanced">
<field name="Range">50 490</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Acro Roll and Pitch P gain" name="ArduCopter:ACRO_RP_P" documentation="Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode.  Higher values mean faster rate of rotation." user="Standard">
<field name="Range">1 10</field>
</param>
<param humanName="Acro Yaw P gain" name="ArduCopter:ACRO_YAW_P" documentation="Converts pilot yaw input into a desired rate of rotation in ACRO, Stabilize and SPORT modes.  Higher values mean faster rate of rotation." user="Standard">
<field name="Range">1 10</field>
</param>
<param humanName="Acro Balance Roll" name="ArduCopter:ACRO_BAL_ROLL" documentation="rate at which roll angle returns to level in acro and sport mode.  A higher value causes the vehicle to return to level faster." user="Advanced">
<field name="Range">0 3</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Acro Balance Pitch" name="ArduCopter:ACRO_BAL_PITCH" documentation="rate at which pitch angle returns to level in acro and sport mode.  A higher value causes the vehicle to return to level faster." user="Advanced">
<field name="Range">0 3</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Acro Trainer" name="ArduCopter:ACRO_TRAINER" documentation="Type of trainer used in acro mode" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Leveling</value>
<value code="2">Leveling and Limited</value>
</values>
</param>
<param humanName="Acro Roll/Pitch Expo" name="ArduCopter:ACRO_RP_EXPO" documentation="Acro roll/pitch Expo to allow faster rotation when stick at edges" user="Advanced">
<field name="Range">-0.5 1.0</field>
<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="Autotune axis bitmask" name="ArduCopter:AUTOTUNE_AXES" documentation="1-byte bitmap of axes to autotune" user="Standard">
<field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
<values>
<value code="7">All</value>
<value code="1">Roll Only</value>
<value code="2">Pitch Only</value>
<value code="4">Yaw Only</value>
<value code="3">Roll and Pitch</value>
<value code="5">Roll and Yaw</value>
<value code="6">Pitch and Yaw</value>
</values>
</param>
<param humanName="Autotune aggressiveness" name="ArduCopter:AUTOTUNE_AGGR" documentation="Autotune aggressiveness. Defines the bounce back used to detect size of the D term." user="Standard">
<field name="Range">0.05 0.10</field>
</param>
<param humanName="AutoTune minimum D" name="ArduCopter:AUTOTUNE_MIN_D" documentation="Defines the minimum D gain" user="Standard">
<field name="Range">0.001 0.006</field>
</param>
<param humanName="Start motors before throwing is detected" name="ArduCopter:THROW_MOT_START" documentation="Used by THROW mode. Controls whether motors will run at the speed set by THR_MIN or will be stopped when armed and waiting for the throw." user="Standard">
<values>
<value code="0">Stopped</value>
<value code="1">Running</value>
</values>
</param>
<param humanName="Terrain Following use control" name="ArduCopter:TERRAIN_FOLLOW" documentation="This enables terrain following for RTL and LAND 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 Land</value>
<value code="1">Use in RTL and Land</value>
</values>
</param>
<param humanName="Minimum navigation altitude" name="ArduCopter:WP_NAVALT_MIN" documentation="This is the altitude in meters above which for navigation can begin. This applies in auto takeoff and auto landing." user="Standard">
<field name="Range">0 5</field>
</param>
<param humanName="Throw mode's follow up mode" name="ArduCopter:THROW_NEXTMODE" documentation="Vehicle will switch to this mode after the throw is successfully completed.  Default is to stay in throw mode (18)" user="Standard">
<values>
<value code="3">Auto</value>
<value code="4">Guided</value>
<value code="5">LOITER</value>
<value code="6">RTL</value>
<value code="9">Land</value>
<value code="17">Brake</value>
<value code="18">Throw</value>
</values>
</param>
<param humanName="Type of Type" name="ArduCopter:THROW_TYPE" documentation="Used by THROW mode. Specifies whether Copter is thrown upward or dropped." user="Standard">
<values>
<value code="0">Upward Throw</value>
<value code="1">Drop</value>
</values>
</param>
<param humanName="Ground Effect Compensation Enable/Disable" name="ArduCopter:GND_EFFECT_COMP" documentation="Ground Effect Compensation Enable/Disable" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Development options" name="ArduCopter:DEV_OPTIONS" documentation="Bitmask of developer options. The meanings of the bit fields in this parameter may vary at any time. Developers should check the source code for current meaning" user="Advanced">
<field name="Bitmask">0:ADSBMavlinkProcessing</field>
</param>
<param humanName="Acro Yaw Expo" name="ArduCopter:ACRO_Y_EXPO" documentation="Acro yaw expo to allow faster rotation when stick at edges" user="Advanced">
<field name="Range">-0.5 1.0</field>
<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="Acro Thr Mid" name="ArduCopter:ACRO_THR_MID" documentation="Acro Throttle Mid" user="Advanced">
<field name="Range">0 1</field>
</param>
<param humanName="GCS sysid enforcement" name="ArduCopter:SYSID_ENFORCE" documentation="This controls whether packets from other than the expected GCS system ID will be accepted" user="Advanced">
<values>
<value code="0">NotEnforced</value>
<value code="1">Enforced</value>
</values>
</param>
<param humanName="Frame Class" name="ArduCopter:FRAME_CLASS" documentation="Controls major frame class for multicopter component" user="Standard">
<values>
<value code="0">Undefined</value>
<value code=" 1">Quad</value>
<value code=" 2">Hexa</value>
<value code=" 3">Octa</value>
<value code=" 4">OctaQuad</value>
<value code=" 5">Y6</value>
<value code=" 6">Heli</value>
<value code=" 7">Tri</value>
<value code=" 8">SingleCopter</value>
<value code=" 9">CoaxCopter</value>
<value code=" 11">Heli_Dual</value>
<value code=" 12">DodecaHexa</value>
<value code=" 13">HeliQuad</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Pilot maximum vertical speed descending" name="ArduCopter:PILOT_SPEED_DN" documentation="The maximum vertical descending velocity the pilot may request in cm/s" user="Standard">
<field name="Range">50 500</field>
<field name="Increment">10</field>
<field name="Units">cm/s</field>
<field name="UnitText">centimeters per second</field>
</param>
<param humanName="Land alt low" name="ArduCopter:LAND_ALT_LOW" documentation="Altitude during Landing at which vehicle slows to LAND_SPEED" user="Advanced">
<field name="Range">100 10000</field>
<field name="Increment">10</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
</parameters>
</vehicles><libraries><parameters name="ADSB_">
<param humanName="Enable ADSB" name="ADSB_ENABLE" documentation="Enable ADS-B" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ADSB vehicle list size" name="ADSB_LIST_MAX" documentation="ADSB list size of nearest vehicles. Longer lists take longer to refresh with lower SRx_ADSB values." user="Advanced">
<field name="Range">1 100</field>
</param>
<param humanName="ADSB vehicle list radius filter" name="ADSB_LIST_RADIUS" documentation="ADSB vehicle list radius filter. Vehicles detected outside this radius will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations." user="Advanced">
<field name="Range">1 100000</field>
</param>
<param humanName="ICAO_ID vehicle identification number" name="ADSB_ICAO_ID" documentation="ICAO_ID unique vehicle identification number of this aircraft. This is a integer limited to 24bits. If set to 0 then one will be randomly generated. If set to -1 then static information is not sent, transceiver is assumed pre-programmed." user="Advanced">
<field name="Range">-1 16777215</field>
</param>
<param humanName="Emitter type" name="ADSB_EMIT_TYPE" documentation="ADSB classification for the type of vehicle emitting the transponder signal. Default value is 14 (UAV)." user="Advanced">
<values>
<value code="0">NoInfo</value>
<value code="1">Light</value>
<value code="2">Small</value>
<value code="3">Large</value>
<value code="4">HighVortexlarge</value>
<value code="5">Heavy</value>
<value code="6">HighlyManuv</value>
<value code="7">Rotocraft</value>
<value code="8">RESERVED</value>
<value code="9">Glider</value>
<value code="10">LightAir</value>
<value code="11">Parachute</value>
<value code="12">UltraLight</value>
<value code="13">RESERVED</value>
<value code="14">UAV</value>
<value code="15">Space</value>
<value code="16">RESERVED</value>
<value code="17">EmergencySurface</value>
<value code="18">ServiceSurface</value>
<value code="19">PointObstacle</value>
</values>
</param>
<param humanName="Aircraft length and width" name="ADSB_LEN_WIDTH" documentation="Aircraft length and width dimension options in Length and Width in meters. In most cases, use a value of 1 for smallest size." user="Advanced">
<values>
<value code="0">NO_DATA</value>
<value code="1">L15W23</value>
<value code="2">L25W28P5</value>
<value code="3">L25W34</value>
<value code="4">L35W33</value>
<value code="5">L35W38</value>
<value code="6">L45W39P5</value>
<value code="7">L45W45</value>
<value code="8">L55W45</value>
<value code="9">L55W52</value>
<value code="10">L65W59P5</value>
<value code="11">L65W67</value>
<value code="12">L75W72P5</value>
<value code="13">L75W80</value>
<value code="14">L85W80</value>
<value code="15">L85W90</value>
</values>
</param>
<param humanName="GPS antenna lateral offset" name="ADSB_OFFSET_LAT" documentation="GPS antenna lateral offset. This describes the physical location offest from center of the GPS antenna on the aircraft." user="Advanced">
<values>
<value code="0">NoData</value>
<value code="1">Left2m</value>
<value code="2">Left4m</value>
<value code="3">Left6m</value>
<value code="4">Center</value>
<value code="5">Right2m</value>
<value code="6">Right4m</value>
<value code="7">Right6m</value>
</values>
</param>
<param humanName="GPS antenna longitudinal offset" name="ADSB_OFFSET_LON" documentation="GPS antenna longitudinal offset. This is usually set to 1, Applied By Sensor" user="Advanced">
<values>
<value code="0">NO_DATA</value>
<value code="1">AppliedBySensor</value>
</values>
</param>
<param humanName="Transceiver RF selection" name="ADSB_RF_SELECT" documentation="Transceiver RF selection for Rx enable and/or Tx enable. This only effects devices that can Tx and Rx. Rx-only devices override this to always be Rx-only." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Rx-Only</value>
<value code="2">Tx-Only</value>
<value code="3">Rx and Tx Enabled</value>
</values>
</param>
<param humanName="Squawk code" name="ADSB_SQUAWK" documentation="VFR squawk (Mode 3/A) code is a pre-programmed default code when the pilot is flying VFR and not in contact with ATC. In the USA, the VFR squawk code is octal 1200 (hex 0x280, decimal 640) and in most parts of Europe the VFR squawk code is octal 7000. If an invalid octal number is set then it will be reset to 1200." user="Advanced">
<field name="Units">octal</field>
<field name="UnitText">octal</field>
</param>
<param humanName="RF capabilities" name="ADSB_RF_CAPABLE" documentation="Describes your hardware RF In/Out capabilities." user="Advanced">
<field name="Bitmask">0:UAT_in,1:1090ES_in,2:UAT_out,3:1090ES_out</field>
<values>
<value code="0">Unknown</value>
<value code="1">Rx UAT only</value>
<value code="3">Rx UAT and 1090ES</value>
<value code="7">Rx&amp;Tx UAT and 1090ES</value>
</values>
</param>
</parameters>
<parameters name="AFS_">
<param humanName="Enable Advanced Failsafe" name="AFS_ENABLE" documentation="This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect" user="Advanced">
</param>
<param humanName="Manual Pin" name="AFS_MAN_PIN" documentation="This sets a digital output pin to set high when in manual mode" user="Advanced">
</param>
<param humanName="Heartbeat Pin" name="AFS_HB_PIN" documentation="This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination." user="Advanced">
</param>
<param humanName="Comms Waypoint" name="AFS_WP_COMMS" documentation="Waypoint number to navigate to on comms loss" user="Advanced">
</param>
<param humanName="GPS Loss Waypoint" name="AFS_GPS_LOSS" documentation="Waypoint number to navigate to on GPS lock loss" user="Advanced">
</param>
<param humanName="Force Terminate" name="AFS_TERMINATE" documentation="Can be set in flight to force termination of the heartbeat signal" user="Advanced">
</param>
<param humanName="Terminate action" name="AFS_TERM_ACTION" documentation="This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup APM to handle it here. Please consult the wiki for more information on the possible values of the parameter" user="Advanced">
</param>
<param humanName="Terminate Pin" name="AFS_TERM_PIN" documentation="This sets a digital output pin to set high on flight termination" user="Advanced">
</param>
<param humanName="AMSL limit" name="AFS_AMSL_LIMIT" documentation="This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Error margin for GPS based AMSL limit" name="AFS_AMSL_ERR_GPS" documentation="This sets margin for error in GPS derived altitude limit. This error margin is only used if the barometer has failed. If the barometer fails then the GPS will be used to enforce the AMSL_LIMIT, but this margin will be subtracted from the AMSL_LIMIT first, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached. OBC users should set this to comply with their D2 safety case. A value of -1 will mean that barometer failure will lead to immediate termination." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="QNH pressure" name="AFS_QNH_PRESSURE" documentation="This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit. A value of zero disables the altitude limit." user="Advanced">
<field name="Units">mbar</field>
<field name="UnitText">millibar</field>
</param>
<param humanName="Maximum number of GPS loss events" name="AFS_MAX_GPS_LOSS" documentation="Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events." user="Advanced">
</param>
<param humanName="Maximum number of comms loss events" name="AFS_MAX_COM_LOSS" documentation="Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events." user="Advanced">
</param>
<param humanName="Enable geofence Advanced Failsafe" name="AFS_GEOFENCE" documentation="This enables the geofence part of the AFS. Will only be in effect if AFS_ENABLE is also 1" user="Advanced">
</param>
<param humanName="Enable RC Advanced Failsafe" name="AFS_RC" documentation="This enables the RC part of the AFS. Will only be in effect if AFS_ENABLE is also 1" user="Advanced">
</param>
<param humanName="Enable RC Termination only in manual control modes" name="AFS_RC_MAN_ONLY" documentation="If this parameter is set to 1, then an RC loss will only cause the plane to terminate in manual control modes. If it is 0, then the plane will terminate in any flight mode." user="Advanced">
</param>
<param humanName="Enable dual loss terminate due to failure of both GCS and GPS simultaneously" name="AFS_DUAL_LOSS" documentation='This enables the dual loss termination part of the AFS system. If this parameter is 1 and both GPS and the ground control station fail simultaneously, this will be considered a "dual loss" and cause termination.' user="Advanced">
</param>
<param humanName="RC failure time" name="AFS_RC_FAIL_TIME" documentation="This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be (1.5). Use 0 to disable." user="Advanced">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
</parameters>
<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. Currently this affects only the DCM-based AHRS: the EKF uses GPS whenever it is available." 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>
<field name="UnitText">meters per second</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">rad</field>
<field name="UnitText">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">rad</field>
<field name="UnitText">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">rad</field>
<field name="UnitText">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">Roll270Yaw135</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>
<value code="38">Yaw293Pitch68Roll180</value>
<value code="39">Pitch315</value>
<value code="40">Roll90Pitch315</value>
<value code="100">Custom</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>
<param humanName="Board orientation roll offset" name="AHRS_CUSTOM_ROLL" documentation="Autopilot mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
<field name="Range">-180 180</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Board orientation pitch offset" name="AHRS_CUSTOM_PIT" documentation="Autopilot mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
<field name="Range">-180 180</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Board orientation yaw offset" name="AHRS_CUSTOM_YAW" documentation="Autopilot mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
<field name="Range">-180 180</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</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>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Arming voltage minimum on the first battery" name="ARMING_VOLT_MIN" documentation="The minimum voltage of the first battery required to arm, 0 disables the check" user="Standard">
<field name="Increment">0.1 </field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Arming voltage minimum on the second battery" name="ARMING_VOLT2_MIN" documentation="The minimum voltage of the second battery required to arm, 0 disables the check" user="Standard">
<field name="Increment">0.1 </field>
<field name="Units">V</field>
<field name="UnitText">volt</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">cdeg/s</field>
<field name="UnitText">centidegrees per second</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=" 9000">VerySlow</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">cdeg/s/s</field>
<field name="UnitText">centidegrees per square second</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=" 30000">VerySlow</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">cdeg/s/s</field>
<field name="UnitText">centidegrees per square second</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=" 30000">VerySlow</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">cdeg/s/s</field>
<field name="UnitText">centidegrees per square second</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">3.000 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">3.000 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">3.000 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="Angular Velocity Max for Roll" name="ATC_RATE_R_MAX" documentation="Maximum angular velocity in roll axis" user="Advanced">
<field name="Range">0 1080</field>
<values>
<value code="0">Disabled</value>
<value code=" 360">Slow</value>
<value code=" 720">Medium</value>
<value code=" 1080">Fast</value>
</values>
<field name="Increment">1</field>
<field name="Units">deg/s</field>
<field name="UnitText">degrees per second</field>
</param>
<param humanName="Angular Velocity Max for Pitch" name="ATC_RATE_P_MAX" documentation="Maximum angular velocity in pitch axis" user="Advanced">
<field name="Range">0 1080</field>
<values>
<value code="0">Disabled</value>
<value code=" 360">Slow</value>
<value code=" 720">Medium</value>
<value code=" 1080">Fast</value>
</values>
<field name="Increment">1</field>
<field name="Units">deg/s</field>
<field name="UnitText">degrees per second</field>
</param>
<param humanName="Angular Velocity Max for Pitch" name="ATC_RATE_Y_MAX" documentation="Maximum angular velocity in pitch axis" user="Advanced">
<field name="Range">0 1080</field>
<values>
<value code="0">Disabled</value>
<value code=" 360">Slow</value>
<value code=" 720">Medium</value>
<value code=" 1080">Fast</value>
</values>
<field name="Increment">1</field>
<field name="Units">deg/s</field>
<field name="UnitText">degrees per second</field>
</param>
<param humanName="Attitude control input time constant (aka smoothing)" name="ATC_INPUT_TC" documentation="Attitude control input time constant.  Low numbers lead to sharper response, higher numbers to softer response" user="Standard">
<field name="Range">0 1</field>
<field name="Values">0.5:Very Soft, 0.2:Soft, 0.15:Medium, 0.1:Crisp, 0.05:Very Crisp</field>
<field name="Increment">0.01</field>
<field name="Units">s</field>
<field name="UnitText">seconds</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">0.05 0.5</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">0.01 2.0</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">%</field>
<field name="UnitText">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>
<field name="UnitText">hertz</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">0.05 0.50</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">0.01 2.0</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">%</field>
<field name="UnitText">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>
<field name="UnitText">hertz</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">0.10 2.50</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">0.010 1.0</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">%</field>
<field name="UnitText">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 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</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">0.1 0.9</field>
</param>
<param humanName="Hover Roll Trim" name="ATC_HOVR_ROL_TRM" documentation="Trim the hover roll angle to counter tail rotor thrust in a hover" user="Advanced">
<field name="Range">0 1000</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</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">0.08 0.35</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">0.01 0.6</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>
</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">0.001 0.03</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">
<field name="Range">1 20</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</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">0.08 0.35</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">0.01 0.6</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>
</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">0.001 0.03</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">
<field name="Range">1 20</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</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">0.180 0.60</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">0.01 0.06</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>
</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">
<field name="Range">1 20</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Piro Comp Enable" name="ATC_PIRO_COMP" documentation="Pirouette compensation enabled" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
</parameters>
<parameters name="AVD_">
<param humanName="Enable Avoidance using ADSB" name="AVD_ENABLE" documentation="Enable Avoidance using ADSB" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Recovery behaviour after a fail event" name="AVD_F_RCVRY" documentation="Determines what the aircraft will do after a fail event is resolved" user="Advanced">
<values>
<value code="0">Remain in AVOID_ADSB</value>
<value code="1">Resume previous flight mode</value>
<value code="2">RTL</value>
<value code="3">Resume if AUTO else Loiter</value>
</values>
</param>
<param humanName="Maximum number of obstacles to track" name="AVD_OBS_MAX" documentation="Maximum number of obstacles to track" user="Advanced">
</param>
<param humanName="Time Horizon Warn" name="AVD_W_TIME" documentation="Aircraft velocity vectors are multiplied by this time to determine closest approach.  If this results in an approach closer than W_DIST_XY or W_DIST_Z then W_ACTION is undertaken (assuming F_ACTION is not undertaken)" user="Advanced">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Time Horizon Fail" name="AVD_F_TIME" documentation="Aircraft velocity vectors are multiplied by this time to determine closest approach.  If this results in an approach closer than F_DIST_XY or F_DIST_Z then F_ACTION is undertaken" user="Advanced">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Distance Warn XY" name="AVD_W_DIST_XY" documentation="Closest allowed projected distance before W_ACTION is undertaken" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Distance Fail XY" name="AVD_F_DIST_XY" documentation="Closest allowed projected distance before F_ACTION is undertaken" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Distance Warn Z" name="AVD_W_DIST_Z" documentation="Closest allowed projected distance before BEHAVIOUR_W is undertaken" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Distance Fail Z" name="AVD_F_DIST_Z" documentation="Closest allowed projected distance before BEHAVIOUR_F is undertaken" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="ADS-B avoidance minimum altitude" name="AVD_F_ALT_MIN" documentation="Minimum altitude for ADS-B avoidance. If the vehicle is below this altitude, no avoidance action will take place. Useful to prevent ADS-B avoidance from activating while below the tree line or around structures. Default of 0 is no minimum." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</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,2:StopAtBeaconFence</field>
<values>
<value code="0">None</value>
<value code="1">StopAtFence</value>
<value code="2">UseProximitySensor</value>
<value code="3">StopAtFence and UseProximitySensor</value>
<value code="4">StopAtBeaconFence</value>
<value code="7">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>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</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">1 30</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Avoidance distance margin in GPS modes" name="AVOID_MARGIN" documentation="Vehicle will attempt to stay at least this distance (in meters) from objects while in GPS modes" user="Standard">
<field name="Range">1 10</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Avoidance behaviour" name="AVOID_BEHAVE" documentation="Avoidance behaviour (slide or stop)" user="Standard">
<values>
<value code="0">Slide</value>
<value code="1">Stop</value>
</values>
</param>
</parameters>
<parameters name="BATT2_">
<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>
<value code="8">UAVCAN-BatteryInfo</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. On the PX4-v1 it should be set to 100. On the Pixhawk, Pixracer and NAVIO boards 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/Pixhawk2_PM1</value>
<value code=" 13">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. On the PX4-v1 it should be set to 101. On the Pixhawk, Pixracer and NAVIO boards it should be set to 3, Pixhawk2 Power2 is 14." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 1">A1</value>
<value code=" 2">A2</value>
<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code=" 14">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 (BATT2_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 PX using the PX4IO power supply this should be set to 1." user="Advanced">
</param>
<param humanName="Amps per volt" name="BATT2_AMP_PERVLT" 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">A/V</field>
<field name="UnitText">ampere per 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">V</field>
<field name="UnitText">volt</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>
1687
<field name="Units">mAh</field>
1688 1689 1690 1691 1692 1693 1694 1695 1696 1697 1698 1699 1700 1701 1702 1703 1704 1705 1706 1707 1708 1709 1710 1711 1712 1713 1714 1715
<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Maximum allowed power (Watts)" 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">W</field>
<field name="UnitText">watt</field>
</param>
<param humanName="Battery serial number" name="BATT2_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
</param>
<param humanName="Low voltage timeout" name="BATT2_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
<field name="Range">0 120</field>
<field name="Increment">1</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Failsafe voltage source" name="BATT2_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
<values>
<value code="0">Raw Voltage</value>
<value code=" 1">Sag Compensated Voltage</value>
</values>
</param>
<param humanName="Low battery voltage" name="BATT2_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter." user="Standard">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Low battery capacity" name="BATT2_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter." user="Standard">
<field name="Increment">50</field>
1716
<field name="Units">mAh</field>
1717 1718 1719 1720 1721 1722 1723 1724 1725
<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Critical battery voltage" name="BATT2_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter." user="Standard">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery critical capacity" name="BATT2_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2__FS_CRT_ACT parameter." user="Standard">
<field name="Increment">50</field>
1726
<field name="Units">mAh</field>
1727 1728 1729 1730
<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Low battery failsafe action" name="BATT2_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
<values>
1731
<value code="0">None</value>
1732 1733 1734 1735 1736 1737 1738 1739 1740
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
</values>
</param>
<param humanName="Critical battery failsafe action" name="BATT2_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
<values>
1741
<value code="0">None</value>
1742 1743 1744 1745 1746 1747 1748 1749 1750 1751 1752 1753 1754 1755 1756 1757 1758 1759 1760 1761 1762 1763 1764 1765 1766 1767 1768 1769 1770 1771 1772 1773 1774 1775 1776 1777 1778 1779 1780 1781 1782 1783 1784 1785 1786 1787 1788 1789 1790 1791 1792 1793
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
</values>
</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>
<value code="8">UAVCAN-BatteryInfo</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. On the PX4-v1 it should be set to 100. On the Pixhawk, Pixracer and NAVIO boards 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/Pixhawk2_PM1</value>
<value code=" 13">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. On the PX4-v1 it should be set to 101. On the Pixhawk, Pixracer and NAVIO boards it should be set to 3, Pixhawk2 Power2 is 14." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 1">A1</value>
<value code=" 2">A2</value>
<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code=" 14">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 PX using the PX4IO power supply this should be set to 1." user="Advanced">
</param>
<param humanName="Amps per volt" name="BATT_AMP_PERVLT" 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">A/V</field>
<field name="UnitText">ampere per 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">V</field>
<field name="UnitText">volt</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>
1794
<field name="Units">mAh</field>
1795 1796 1797 1798 1799 1800 1801 1802 1803 1804 1805 1806 1807 1808 1809 1810 1811 1812 1813 1814 1815 1816 1817 1818 1819 1820 1821 1822
<field name="UnitText">milliampere hour</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">W</field>
<field name="UnitText">watt</field>
</param>
<param humanName="Battery serial number" name="BATT_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
</param>
<param humanName="Low voltage timeout" name="BATT_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
<field name="Range">0 120</field>
<field name="Increment">1</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Failsafe voltage source" name="BATT_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
<values>
<value code="0">Raw Voltage</value>
<value code=" 1">Sag Compensated Voltage</value>
</values>
</param>
<param humanName="Low battery voltage" name="BATT_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter." user="Standard">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Low battery capacity" name="BATT_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter." user="Standard">
<field name="Increment">50</field>
1823
<field name="Units">mAh</field>
1824 1825 1826 1827 1828 1829 1830 1831 1832
<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Critical battery voltage" name="BATT_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter." user="Standard">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery critical capacity" name="BATT_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT__FS_CRT_ACT parameter." user="Standard">
<field name="Increment">50</field>
1833
<field name="Units">mAh</field>
1834 1835 1836 1837
<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Low battery failsafe action" name="BATT_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
<values>
1838
<value code="0">None</value>
1839 1840 1841 1842 1843 1844 1845 1846 1847
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
</values>
</param>
<param humanName="Critical battery failsafe action" name="BATT_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
<values>
1848
<value code="0">None</value>
1849 1850 1851 1852 1853 1854 1855 1856 1857 1858 1859 1860 1861 1862 1863 1864 1865 1866 1867 1868 1869 1870 1871 1872 1873 1874 1875 1876 1877 1878 1879 1880 1881 1882 1883 1884 1885 1886 1887 1888 1889 1890 1891 1892 1893 1894 1895 1896 1897 1898 1899 1900 1901 1902 1903 1904 1905 1906 1907 1908 1909 1910 1911 1912 1913 1914 1915 1916 1917 1918 1919 1920 1921 1922 1923 1924 1925 1926 1927 1928 1929 1930 1931 1932 1933 1934 1935 1936 1937 1938 1939 1940 1941 1942 1943 1944 1945 1946 1947 1948 1949 1950 1951 1952 1953 1954 1955 1956 1957 1958 1959 1960 1961 1962 1963 1964 1965 1966 1967 1968 1969 1970 1971 1972 1973 1974 1975 1976 1977 1978 1979 1980 1981 1982 1983 1984 1985 1986 1987 1988 1989 1990 1991 1992 1993 1994 1995 1996 1997 1998 1999 2000 2001 2002 2003 2004 2005 2006 2007 2008 2009 2010 2011 2012 2013 2014 2015 2016 2017 2018 2019 2020 2021 2022 2023 2024 2025 2026 2027 2028 2029 2030 2031 2032 2033 2034 2035 2036 2037 2038 2039 2040 2041 2042 2043 2044 2045 2046 2047 2048 2049 2050 2051 2052 2053 2054 2055 2056 2057 2058 2059 2060 2061 2062 2063 2064 2065 2066 2067 2068 2069 2070 2071 2072 2073 2074 2075 2076 2077 2078 2079 2080 2081 2082 2083 2084 2085 2086 2087 2088 2089 2090 2091 2092 2093 2094 2095 2096 2097 2098 2099 2100 2101 2102 2103 2104 2105 2106 2107 2108 2109 2110 2111 2112 2113 2114 2115 2116 2117 2118 2119 2120 2121 2122 2123 2124 2125 2126 2127 2128 2129 2130 2131 2132 2133 2134 2135 2136 2137 2138 2139 2140 2141 2142 2143 2144 2145 2146 2147 2148 2149 2150 2151 2152 2153 2154 2155 2156 2157 2158 2159 2160 2161 2162 2163 2164 2165 2166 2167 2168 2169 2170 2171 2172 2173 2174 2175 2176 2177 2178 2179 2180 2181 2182 2183 2184 2185 2186 2187 2188 2189 2190 2191 2192 2193 2194 2195 2196 2197 2198 2199 2200 2201 2202 2203 2204 2205 2206 2207 2208 2209 2210 2211 2212 2213 2214 2215 2216 2217 2218 2219 2220 2221 2222 2223 2224 2225 2226 2227 2228 2229 2230 2231 2232 2233 2234 2235 2236 2237 2238 2239 2240 2241 2242 2243 2244 2245 2246 2247 2248 2249 2250 2251 2252 2253 2254 2255 2256 2257 2258 2259 2260 2261 2262 2263 2264 2265 2266 2267 2268 2269 2270 2271 2272 2273 2274 2275 2276 2277 2278 2279 2280 2281 2282 2283 2284 2285 2286 2287 2288 2289 2290 2291 2292 2293 2294 2295 2296 2297 2298 2299 2300 2301 2302 2303 2304 2305 2306 2307 2308 2309 2310 2311 2312 2313 2314 2315 2316 2317 2318 2319 2320 2321 2322 2323 2324 2325 2326 2327 2328 2329 2330 2331 2332 2333 2334 2335 2336 2337 2338 2339 2340 2341 2342 2343 2344 2345 2346 2347 2348 2349 2350 2351 2352 2353 2354 2355 2356 2357 2358 2359 2360 2361 2362 2363 2364 2365 2366 2367 2368 2369 2370 2371 2372 2373 2374 2375 2376 2377 2378 2379 2380 2381 2382 2383 2384 2385 2386 2387 2388 2389 2390 2391 2392 2393 2394 2395 2396 2397 2398 2399 2400 2401 2402 2403 2404 2405 2406 2407 2408 2409 2410 2411 2412 2413 2414 2415 2416 2417 2418 2419 2420 2421 2422 2423 2424 2425 2426 2427 2428 2429 2430 2431 2432 2433 2434 2435 2436 2437 2438 2439 2440 2441 2442 2443 2444 2445 2446 2447 2448 2449 2450 2451 2452 2453 2454 2455 2456 2457 2458 2459 2460 2461 2462 2463 2464 2465 2466 2467 2468 2469 2470 2471 2472 2473 2474 2475 2476 2477 2478 2479 2480 2481 2482 2483 2484 2485 2486 2487 2488 2489 2490 2491 2492 2493 2494 2495 2496 2497 2498 2499 2500 2501 2502 2503 2504 2505 2506 2507 2508 2509 2510 2511 2512 2513 2514 2515 2516 2517 2518 2519 2520 2521 2522 2523 2524 2525 2526 2527 2528 2529 2530 2531 2532 2533 2534 2535 2536 2537 2538 2539 2540 2541 2542 2543 2544 2545 2546 2547 2548 2549 2550 2551 2552 2553 2554 2555 2556 2557 2558 2559 2560 2561 2562 2563 2564 2565 2566 2567 2568 2569 2570 2571 2572 2573 2574 2575 2576 2577 2578 2579 2580 2581 2582 2583 2584 2585 2586 2587 2588 2589 2590 2591 2592 2593 2594 2595 2596 2597 2598 2599 2600 2601 2602 2603 2604 2605 2606 2607 2608 2609 2610 2611 2612 2613 2614 2615 2616 2617 2618 2619 2620 2621 2622 2623 2624 2625 2626 2627 2628 2629 2630 2631 2632 2633 2634 2635 2636 2637 2638 2639 2640 2641 2642 2643 2644 2645 2646 2647 2648 2649 2650 2651 2652 2653 2654 2655 2656 2657 2658 2659 2660 2661 2662 2663 2664 2665 2666 2667 2668 2669 2670 2671 2672 2673 2674 2675 2676 2677 2678 2679 2680 2681 2682 2683 2684 2685 2686 2687 2688 2689 2690 2691 2692 2693 2694 2695 2696 2697 2698 2699 2700 2701 2702 2703 2704 2705 2706 2707 2708 2709 2710 2711 2712 2713 2714 2715 2716 2717 2718 2719 2720 2721 2722 2723 2724 2725 2726 2727 2728 2729 2730 2731 2732 2733 2734 2735 2736 2737 2738 2739 2740 2741 2742 2743 2744 2745 2746 2747 2748 2749 2750 2751 2752 2753 2754 2755 2756 2757 2758 2759 2760 2761 2762 2763 2764 2765 2766 2767 2768 2769 2770 2771 2772 2773 2774 2775 2776 2777 2778 2779 2780 2781 2782 2783 2784 2785 2786 2787 2788 2789 2790 2791 2792 2793 2794 2795 2796 2797 2798 2799 2800 2801 2802 2803 2804 2805 2806 2807 2808 2809 2810 2811 2812 2813 2814 2815 2816 2817 2818 2819 2820 2821 2822 2823 2824 2825 2826 2827 2828 2829 2830 2831 2832 2833 2834 2835 2836 2837 2838 2839 2840 2841 2842 2843 2844 2845 2846 2847 2848 2849 2850 2851 2852 2853 2854 2855 2856 2857 2858 2859 2860 2861 2862 2863 2864 2865 2866 2867 2868 2869 2870 2871 2872 2873 2874 2875 2876 2877 2878 2879 2880 2881 2882 2883 2884 2885 2886 2887 2888 2889 2890 2891 2892 2893 2894 2895 2896 2897 2898 2899 2900 2901 2902 2903 2904 2905 2906 2907 2908 2909 2910 2911 2912 2913 2914 2915 2916 2917 2918 2919 2920 2921 2922 2923 2924 2925 2926 2927 2928 2929 2930 2931 2932 2933 2934 2935 2936 2937 2938 2939 2940 2941 2942 2943 2944 2945 2946 2947 2948 2949 2950 2951 2952 2953 2954 2955 2956 2957 2958 2959 2960 2961 2962 2963 2964 2965 2966 2967 2968 2969 2970 2971 2972 2973 2974 2975 2976 2977 2978 2979 2980 2981 2982 2983 2984 2985 2986 2987 2988 2989 2990 2991 2992 2993 2994 2995 2996 2997 2998 2999 3000 3001 3002 3003 3004 3005 3006 3007 3008 3009 3010 3011 3012 3013 3014 3015 3016 3017 3018 3019 3020 3021 3022 3023 3024 3025 3026 3027 3028 3029 3030 3031 3032 3033 3034 3035 3036 3037 3038 3039 3040 3041 3042 3043 3044 3045 3046 3047 3048 3049 3050 3051 3052 3053 3054 3055 3056 3057 3058 3059 3060 3061 3062 3063 3064 3065 3066 3067 3068 3069 3070 3071 3072 3073 3074 3075 3076 3077 3078 3079 3080 3081 3082 3083 3084 3085 3086 3087 3088 3089 3090 3091 3092 3093 3094 3095 3096 3097 3098 3099 3100 3101 3102 3103 3104 3105 3106 3107 3108 3109 3110 3111 3112 3113 3114 3115 3116 3117 3118 3119 3120 3121 3122 3123 3124 3125 3126 3127 3128 3129 3130 3131 3132 3133 3134 3135 3136 3137 3138 3139 3140 3141 3142 3143 3144 3145 3146 3147 3148 3149 3150 3151 3152 3153 3154 3155 3156 3157 3158 3159 3160 3161 3162 3163 3164 3165 3166 3167 3168 3169 3170 3171 3172 3173 3174 3175 3176 3177 3178 3179 3180 3181 3182 3183 3184 3185 3186 3187 3188 3189 3190 3191 3192 3193 3194 3195 3196 3197 3198 3199 3200 3201 3202 3203 3204 3205 3206 3207 3208 3209 3210 3211 3212 3213 3214 3215 3216 3217 3218 3219 3220 3221 3222 3223 3224 3225 3226 3227 3228 3229 3230 3231 3232 3233 3234 3235 3236 3237 3238 3239 3240 3241 3242 3243 3244 3245 3246 3247 3248 3249 3250 3251 3252 3253 3254 3255 3256 3257 3258 3259 3260 3261 3262 3263 3264 3265 3266 3267 3268 3269 3270 3271 3272 3273 3274 3275 3276 3277 3278 3279 3280 3281 3282 3283 3284 3285 3286 3287 3288 3289 3290 3291 3292 3293 3294 3295 3296 3297 3298 3299 3300 3301 3302 3303 3304 3305 3306 3307 3308 3309 3310 3311 3312 3313 3314 3315 3316 3317 3318 3319 3320 3321 3322 3323 3324 3325 3326 3327 3328 3329 3330 3331 3332 3333 3334 3335 3336 3337 3338 3339 3340 3341 3342 3343 3344 3345 3346 3347 3348 3349 3350 3351 3352 3353 3354 3355 3356 3357 3358 3359 3360 3361 3362 3363 3364 3365 3366 3367 3368 3369 3370 3371 3372 3373 3374 3375 3376 3377 3378 3379 3380 3381 3382 3383 3384 3385 3386 3387 3388 3389 3390 3391 3392 3393 3394 3395 3396 3397 3398 3399 3400 3401 3402 3403 3404 3405 3406 3407 3408 3409 3410 3411 3412 3413 3414 3415 3416 3417 3418 3419 3420 3421 3422 3423 3424 3425 3426 3427 3428 3429 3430 3431 3432 3433 3434 3435 3436 3437 3438 3439 3440 3441 3442 3443 3444 3445 3446 3447 3448 3449 3450 3451 3452 3453 3454 3455 3456 3457 3458 3459 3460 3461 3462 3463 3464 3465 3466 3467 3468 3469 3470 3471 3472 3473 3474 3475 3476 3477 3478 3479 3480 3481 3482 3483 3484 3485 3486 3487 3488 3489 3490 3491 3492 3493 3494 3495 3496 3497 3498 3499 3500 3501 3502 3503 3504 3505 3506 3507 3508 3509
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
</values>
</param>
</parameters>
<parameters name="BCN">
<param humanName="Beacon based position estimation device type" name="BCN_TYPE" documentation="What type of beacon based position estimation device is connected" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Pozyx</value>
<value code="2">Marvelmind</value>
</values>
</param>
<param humanName="Beacon origin's latitude" name="BCN_LATITUDE" documentation="Beacon origin's latitude" user="Advanced">
<field name="Range">-90 90</field>
<field name="Increment">0.000001</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Beacon origin's longitude" name="BCN_LONGITUDE" documentation="Beacon origin's longitude" user="Advanced">
<field name="Range">-180 180</field>
<field name="Increment">0.000001</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Beacon origin's altitude above sealevel in meters" name="BCN_ALT" documentation="Beacon origin's altitude above sealevel in meters" user="Advanced">
<field name="Range">0 10000</field>
<field name="Increment">1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Beacon systems rotation from north in degrees" name="BCN_ORIENT_YAW" documentation="Beacon systems rotation from north in degrees" user="Advanced">
<field name="Range">-180 +180</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</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 STATE. 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. DO NOT SET -1 on The Cube. A value of -1 sets PH1 behaviour " user="Advanced">
<field name="Range">-1 80</field>
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</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">Cube/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_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>
<param humanName="Options for safety button behavior" name="BRD_SAFETYOPTION" documentation="This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed" user="Standard">
<field name="Bitmask">0:ActiveForSafetyEnable,1:ActiveForSafetyDisable,2:ActiveWhenArmed</field>
</param>
</parameters>
<parameters name="BRD_RADIO">
<param humanName="Set type of direct attached radio" name="BRD_RADIO_TYPE" documentation="This enables support for direct attached radio receivers" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">CYRF6936</value>
</values>
</param>
<param humanName="protocol" name="BRD_RADIO_PROT" documentation="Select air protocol" user="Advanced">
<values>
<value code="0">Auto</value>
<value code="1">DSM2</value>
<value code="2">DSMX</value>
</values>
</param>
<param humanName="debug level" name="BRD_RADIO_DEBUG" documentation="radio debug level" user="Advanced">
<field name="Range">0 4</field>
</param>
<param humanName="disable receive CRC" name="BRD_RADIO_DISCRC" documentation="disable receive CRC (for debug)" user="Advanced">
<values>
<value code="0">NotDisabled</value>
<value code="1">Disabled</value>
</values>
</param>
<param humanName="RSSI signal strength" name="BRD_RADIO_SIGCH" documentation="Channel to show receive RSSI signal strength, or zero for disabled" user="Advanced">
<field name="Range">0 16</field>
</param>
<param humanName="Packet rate channel" name="BRD_RADIO_PPSCH" documentation="Channel to show received packet-per-second rate, or zero for disabled" user="Advanced">
<field name="Range">0 16</field>
</param>
<param humanName="Enable telemetry" name="BRD_RADIO_TELEM" documentation="If this is non-zero then telemetry packets will be sent over DSM" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Telemetry Transmit power" name="BRD_RADIO_TXPOW" documentation="Set telemetry transmit power. This is the power level (from 1 to 8) for telemetry packets sent from the RX to the TX" user="Advanced">
<field name="Range">1 8</field>
</param>
<param humanName="Put radio into FCC test mode" name="BRD_RADIO_FCCTST" documentation="If this is enabled then the radio will continuously transmit as required for FCC testing. The transmit channel is set by the value of the parameter. The radio will not work for RC input while this is enabled" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">MinChannel</value>
<value code="2">MidChannel</value>
<value code="3">MaxChannel</value>
<value code="4">MinChannelCW</value>
<value code="5">MidChannelCW</value>
<value code="6">MaxChannelCW</value>
</values>
</param>
<param humanName="Stick input mode" name="BRD_RADIO_STKMD" documentation="This selects between different stick input modes. The default is mode2, which has throttle on the left stick and pitch on the right stick. You can instead set mode1, which has throttle on the right stick and pitch on the left stick." user="Advanced">
<values>
<value code="1">Mode1</value>
<value code="2">Mode2</value>
</values>
</param>
<param humanName="Set radio to factory test channel" name="BRD_RADIO_TESTCH" documentation="This sets the radio to a fixed test channel for factory testing. Using a fixed channel avoids the need for binding in factory testing." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">TestChan1</value>
<value code="2">TestChan2</value>
<value code="3">TestChan3</value>
<value code="4">TestChan4</value>
<value code="5">TestChan5</value>
<value code="6">TestChan6</value>
<value code="7">TestChan7</value>
<value code="8">TestChan8</value>
</values>
</param>
<param humanName="RSSI value channel for telemetry data on transmitter" name="BRD_RADIO_TSIGCH" documentation="Channel to show telemetry RSSI value as received by TX" user="Advanced">
<field name="Range">0 16</field>
</param>
<param humanName="Telemetry PPS channel" name="BRD_RADIO_TPPSCH" documentation="Channel to show telemetry packets-per-second value, as received at TX" user="Advanced">
<field name="Range">0 16</field>
</param>
<param humanName="Transmitter transmit power" name="BRD_RADIO_TXMAX" documentation="Set transmitter maximum transmit power (from 1 to 8)" user="Advanced">
<field name="Range">1 8</field>
</param>
<param humanName="Transmitter buzzer adjustment" name="BRD_RADIO_BZOFS" documentation="Set transmitter buzzer note adjustment (adjust frequency up)" user="Advanced">
<field name="Range">0 40</field>
</param>
<param humanName="Auto-bind time" name="BRD_RADIO_ABTIME" documentation="When non-zero this sets the time with no transmitter packets before we start looking for auto-bind packets." user="Advanced">
<field name="Range">0 120</field>
</param>
<param humanName="Auto-bind level" name="BRD_RADIO_ABLVL" documentation="This sets the minimum RSSI of an auto-bind packet for it to be accepted. This should be set so that auto-bind will only happen at short range to minimise the change of an auto-bind happening accidentially" user="Advanced">
<field name="Range">0 31</field>
</param>
</parameters>
<parameters name="BTN_">
<param humanName="Enable button reporting" name="BTN_ENABLE" documentation="This enables the button checking module. When this is disabled the parameters for setting button inputs are not visible" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
</values>
</param>
<param humanName="First button Pin" name="BTN_PIN1" documentation="Digital pin number for first button input. " user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2</value>
</values>
</param>
<param humanName="Second button Pin" name="BTN_PIN2" documentation="Digital pin number for second button input. " user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2</value>
</values>
</param>
<param humanName="Third button Pin" name="BTN_PIN3" documentation="Digital pin number for third button input. " user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2</value>
</values>
</param>
<param humanName="Fourth button Pin" name="BTN_PIN4" documentation="Digital pin number for fourth button input. " user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2</value>
</values>
</param>
<param humanName="Report send time" name="BTN_REPORT_SEND" documentation="The duration in seconds that a BUTTON_CHANGE report is repeatedly sent to the GCS regarding a button changing state. Note that the BUTTON_CHANGE message is MAVLink2 only." user="Standard">
<field name="Range">0 3600</field>
</param>
</parameters>
<parameters name="CAM_">
<param humanName="Camera shutter (trigger) type" name="CAM_TRIGG_TYPE" documentation="how to trigger the camera to take a picture" user="Standard">
<values>
<value code="0">Servo</value>
<value code="1">Relay</value>
</values>
</param>
<param humanName="Duration that shutter is held open" name="CAM_DURATION" documentation="How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)" user="Standard">
<field name="Range">0 50</field>
<field name="Units">ds</field>
<field name="UnitText">deciseconds</field>
</param>
<param humanName="Servo ON PWM value" name="CAM_SERVO_ON" documentation="PWM value in microseconds to move servo to when shutter is activated" user="Standard">
<field name="Range">1000 2000</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo OFF PWM value" name="CAM_SERVO_OFF" documentation="PWM value in microseconds to move servo to when shutter is deactivated" user="Standard">
<field name="Range">1000 2000</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Camera trigger distance" name="CAM_TRIGG_DIST" documentation="Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the GPS position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight." user="Standard">
<field name="Range">0 1000</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Relay ON value" name="CAM_RELAY_ON" documentation="This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera" user="Standard">
<values>
<value code="0">Low</value>
<value code="1">High</value>
</values>
</param>
<param humanName="Minimum time between photos" name="CAM_MIN_INTERVAL" documentation="Postpone shooting if previous picture was taken less than preset time(ms) ago." user="Standard">
<field name="Range">0 10000</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
</param>
<param humanName="Maximum photo roll angle." name="CAM_MAX_ROLL" documentation="Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll)." user="Standard">
<field name="Range">0 180</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Camera feedback pin" name="CAM_FEEDBACK_PIN" documentation="pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. See also the CAM_FEEDBACK_POL option. If using AUX4 pin on a Pixhawk then a fast capture method is used that allows for the trigger time to be as short as one microsecond." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">PX4 AUX1</value>
<value code="51">PX4 AUX2</value>
<value code="52">PX4 AUX3</value>
<value code="53">PX4 AUX4(fast capture)</value>
<value code="54">PX4 AUX5</value>
<value code="55">PX4 AUX6</value>
</values>
</param>
<param humanName="Camera feedback pin polarity" name="CAM_FEEDBACK_POL" documentation="Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low" user="Standard">
<values>
<value code="0">TriggerLow</value>
<value code="1">TriggerHigh</value>
</values>
</param>
<param humanName="Distance-trigging in AUTO mode only" name="CAM_AUTO_ONLY" documentation="When enabled, trigging by distance is done in AUTO mode only." user="Standard">
<values>
<value code="0">Always</value>
<value code="1">Only when in AUTO</value>
</values>
</param>
</parameters>
<parameters name="CAN_D1_">
<param humanName="Enable use of specific protocol over virtual driver" name="CAN_D1_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">UAVCAN</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="CAN_D1_UC_">
<param humanName="UAVCAN node that is used for this network" name="CAN_D1_UC_NODE" documentation="UAVCAN node should be set implicitly" user="Advanced">
<field name="Range">1 250</field>
</param>
<param humanName="RC Out channels to be transmitted as servo over UAVCAN" name="CAN_D1_UC_SRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over UAVCAN" user="Advanced">
<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</field>
</param>
<param humanName="RC Out channels to be transmitted as ESC over UAVCAN" name="CAN_D1_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN" user="Advanced">
<field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
</param>
<param humanName="Servo output rate" name="CAN_D1_UC_SRV_RT" documentation="Maximum transmit rate for servo outputs" user="Advanced">
<field name="Range">1 200</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
<parameters name="CAN_D2_">
<param humanName="Enable use of specific protocol over virtual driver" name="CAN_D2_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">UAVCAN</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="CAN_D2_UC_">
<param humanName="UAVCAN node that is used for this network" name="CAN_D2_UC_NODE" documentation="UAVCAN node should be set implicitly" user="Advanced">
<field name="Range">1 250</field>
</param>
<param humanName="RC Out channels to be transmitted as servo over UAVCAN" name="CAN_D2_UC_SRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over UAVCAN" user="Advanced">
<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</field>
</param>
<param humanName="RC Out channels to be transmitted as ESC over UAVCAN" name="CAN_D2_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN" user="Advanced">
<field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
</param>
<param humanName="Servo output rate" name="CAN_D2_UC_SRV_RT" documentation="Maximum transmit rate for servo outputs" user="Advanced">
<field name="Range">1 200</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
<parameters name="CAN_D3_">
<param humanName="Enable use of specific protocol over virtual driver" name="CAN_D3_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">UAVCAN</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="CAN_D3_UC_">
<param humanName="UAVCAN node that is used for this network" name="CAN_D3_UC_NODE" documentation="UAVCAN node should be set implicitly" user="Advanced">
<field name="Range">1 250</field>
</param>
<param humanName="RC Out channels to be transmitted as servo over UAVCAN" name="CAN_D3_UC_SRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over UAVCAN" user="Advanced">
<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</field>
</param>
<param humanName="RC Out channels to be transmitted as ESC over UAVCAN" name="CAN_D3_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN" user="Advanced">
<field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
</param>
<param humanName="Servo output rate" name="CAN_D3_UC_SRV_RT" documentation="Maximum transmit rate for servo outputs" user="Advanced">
<field name="Range">1 200</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
<parameters name="CAN_P1_">
<param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P1_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">First driver</value>
<value code="2">Second driver</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Bitrate of CAN interface" name="CAN_P1_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="CAN_P1_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>
</parameters>
<parameters name="CAN_P2_">
<param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P2_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">First driver</value>
<value code="2">Second driver</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Bitrate of CAN interface" name="CAN_P2_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="CAN_P2_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>
</parameters>
<parameters name="CAN_P3_">
<param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P3_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">First driver</value>
<value code="2">Second driver</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Bitrate of CAN interface" name="CAN_P3_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="CAN_P3_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>
</parameters>
<parameters name="CHUTE_">
<param humanName="Parachute release enabled or disabled" name="CHUTE_ENABLED" documentation="Parachute release enabled or disabled" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Parachute release mechanism type (relay or servo)" name="CHUTE_TYPE" documentation="Parachute release mechanism type (relay or servo)" user="Standard">
<values>
<value code="0">First Relay</value>
<value code="1">Second Relay</value>
<value code="2">Third Relay</value>
<value code="3">Fourth Relay</value>
<value code="10">Servo</value>
</values>
</param>
<param humanName="Parachute Servo ON PWM value" name="CHUTE_SERVO_ON" documentation="Parachute Servo PWM value in microseconds when parachute is released" user="Standard">
<field name="Range">1000 2000</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo OFF PWM value" name="CHUTE_SERVO_OFF" documentation="Parachute Servo PWM value in microseconds when parachute is not released" user="Standard">
<field name="Range">1000 2000</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Parachute min altitude in meters above home" name="CHUTE_ALT_MIN" documentation="Parachute min altitude above home.  Parachute will not be released below this altitude.  0 to disable alt check." user="Standard">
<field name="Range">0 32000</field>
<field name="Increment">1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Parachute release delay" name="CHUTE_DELAY_MS" documentation="Delay in millseconds between motor stop and chute release" user="Standard">
<field name="Range">0 5000</field>
<field name="Increment">1</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
</param>
</parameters>
<parameters name="CIRCLE_">
<param humanName="Circle Radius" name="CIRCLE_RADIUS" documentation="Defines the radius of the circle the vehicle will fly when in Circle flight mode" user="Standard">
<field name="Range">0 10000</field>
<field name="Increment">100</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Circle rate" name="CIRCLE_RATE" documentation="Circle mode's turn rate in deg/sec.  Positive to turn clockwise, negative for counter clockwise" user="Standard">
<field name="Range">-90 90</field>
<field name="Increment">1</field>
<field name="Units">deg/s</field>
<field name="UnitText">degrees per second</field>
</param>
</parameters>
<parameters name="COMPASS_">
<param humanName="Compass offsets in milligauss on the X axis" name="COMPASS_OFS_X" documentation="Offset to be added to the compass x-axis values to compensate for metal in the frame" user="Advanced">
<field name="Range">-400 400</field>
<field name="Increment">1</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
</param>
<param humanName="Compass offsets in milligauss on the Y axis" name="COMPASS_OFS_Y" documentation="Offset to be added to the compass y-axis values to compensate for metal in the frame" user="Advanced">
<field name="Range">-400 400</field>
<field name="Increment">1</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
</param>
<param humanName="Compass offsets in milligauss on the Z axis" name="COMPASS_OFS_Z" documentation="Offset to be added to the compass z-axis values to compensate for metal in the frame" user="Advanced">
<field name="Range">-400 400</field>
<field name="Increment">1</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
</param>
<param humanName="Compass declination" name="COMPASS_DEC" documentation="An angle to compensate between the true north and magnetic north" user="Standard">
<field name="Range">-3.142 3.142</field>
<field name="Increment">0.01</field>
<field name="Units">rad</field>
<field name="UnitText">radians</field>
</param>
<param humanName="Learn compass offsets automatically" name="COMPASS_LEARN" documentation="Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Internal-Learning</value>
<value code="2">EKF-Learning</value>
</values>
</param>
<param humanName="Use compass for yaw" name="COMPASS_USE" documentation="Enable or disable the use of the compass (instead of the GPS) for determining heading" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Auto Declination" name="COMPASS_AUTODEC" documentation="Enable or disable the automatic calculation of the declination based on gps location" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Motor interference compensation type" name="COMPASS_MOTCT" documentation="Set motor interference compensation type to disabled, throttle or current.  Do not change manually." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Use Throttle</value>
<value code="2">Use Current</value>
</values>
</param>
<param humanName="Motor interference compensation for body frame X axis" name="COMPASS_MOT_X" documentation="Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
</param>
<param humanName="Motor interference compensation for body frame Y axis" name="COMPASS_MOT_Y" documentation="Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
</param>
<param humanName="Motor interference compensation for body frame Z axis" name="COMPASS_MOT_Z" documentation="Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
</param>
<param humanName="Compass orientation" name="COMPASS_ORIENT" documentation="The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used." 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">Roll270Yaw135</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>
<value code="38">Yaw293Pitch68Roll180</value>
<value code="39">Pitch315</value>
<value code="40">Roll90Pitch315</value>
</values>
</param>
<param humanName="Compass is attached via an external cable" name="COMPASS_EXTERNAL" documentation="Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
<values>
<value code="0">Internal</value>
<value code="1">External</value>
<value code="2">ForcedExternal</value>
</values>
</param>
<param humanName="Compass2 offsets in milligauss on the X axis" name="COMPASS_OFS2_X" documentation="Offset to be added to compass2's x-axis values to compensate for metal in the frame" user="Advanced">
<field name="Range">-400 400</field>
<field name="Increment">1</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
</param>
<param humanName="Compass2 offsets in milligauss on the Y axis" name="COMPASS_OFS2_Y" documentation="Offset to be added to compass2's y-axis values to compensate for metal in the frame" user="Advanced">
<field name="Range">-400 400</field>
<field name="Increment">1</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
</param>
<param humanName="Compass2 offsets in milligauss on the Z axis" name="COMPASS_OFS2_Z" documentation="Offset to be added to compass2's z-axis values to compensate for metal in the frame" user="Advanced">
<field name="Range">-400 400</field>
<field name="Increment">1</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
</param>
<param humanName="Motor interference compensation to compass2 for body frame X axis" name="COMPASS_MOT2_X" documentation="Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
</param>
<param humanName="Motor interference compensation to compass2 for body frame Y axis" name="COMPASS_MOT2_Y" documentation="Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
</param>
<param humanName="Motor interference compensation to compass2 for body frame Z axis" name="COMPASS_MOT2_Z" documentation="Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
</param>
<param humanName="Choose primary compass" name="COMPASS_PRIMARY" documentation="If more than one compass is available, this selects which compass is the primary. When external compasses are connected, they will be ordered first. NOTE: If no external compass is attached, this parameter is ignored." user="Advanced">
<values>
<value code="0">FirstCompass</value>
<value code="1">SecondCompass</value>
<value code="2">ThirdCompass</value>
</values>
</param>
<param humanName="Compass3 offsets in milligauss on the X axis" name="COMPASS_OFS3_X" documentation="Offset to be added to compass3's x-axis values to compensate for metal in the frame" user="Advanced">
<field name="Range">-400 400</field>
<field name="Increment">1</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
</param>
<param humanName="Compass3 offsets in milligauss on the Y axis" name="COMPASS_OFS3_Y" documentation="Offset to be added to compass3's y-axis values to compensate for metal in the frame" user="Advanced">
<field name="Range">-400 400</field>
<field name="Increment">1</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
</param>
<param humanName="Compass3 offsets in milligauss on the Z axis" name="COMPASS_OFS3_Z" documentation="Offset to be added to compass3's z-axis values to compensate for metal in the frame" user="Advanced">
<field name="Range">-400 400</field>
<field name="Increment">1</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
</param>
<param humanName="Motor interference compensation to compass3 for body frame X axis" name="COMPASS_MOT3_X" documentation="Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
</param>
<param humanName="Motor interference compensation to compass3 for body frame Y axis" name="COMPASS_MOT3_Y" documentation="Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
</param>
<param humanName="Motor interference compensation to compass3 for body frame Z axis" name="COMPASS_MOT3_Z" documentation="Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
</param>
<param humanName="Compass device id" name="COMPASS_DEV_ID" documentation="Compass device id.  Automatically detected, do not set manually" user="Advanced">
</param>
<param humanName="Compass2 device id" name="COMPASS_DEV_ID2" documentation="Second compass's device id.  Automatically detected, do not set manually" user="Advanced">
</param>
<param humanName="Compass3 device id" name="COMPASS_DEV_ID3" documentation="Third compass's device id.  Automatically detected, do not set manually" user="Advanced">
</param>
<param humanName="Compass2 used for yaw" name="COMPASS_USE2" documentation="Enable or disable the second compass for determining heading." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Compass2 orientation" name="COMPASS_ORIENT2" documentation="The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used." 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">Roll270Yaw135</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>
<value code="38">Yaw293Pitch68Roll180</value>
<value code="39">Pitch315</value>
<value code="40">Roll90Pitch315</value>
</values>
</param>
<param humanName="Compass2 is attached via an external cable" name="COMPASS_EXTERN2" documentation="Configure second compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
<values>
<value code="0">Internal</value>
<value code="1">External</value>
<value code="2">ForcedExternal</value>
</values>
</param>
<param humanName="Compass3 used for yaw" name="COMPASS_USE3" documentation="Enable or disable the third compass for determining heading." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Compass3 orientation" name="COMPASS_ORIENT3" documentation="The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used." 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">Roll270Yaw135</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>
<value code="38">Yaw293Pitch68Roll180</value>
<value code="39">Pitch315</value>
<value code="40">Roll90Pitch315</value>
</values>
</param>
<param humanName="Compass3 is attached via an external cable" name="COMPASS_EXTERN3" documentation="Configure third compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
<values>
<value code="0">Internal</value>
<value code="1">External</value>
<value code="2">ForcedExternal</value>
</values>
</param>
<param humanName="Compass soft-iron diagonal X component" name="COMPASS_DIA_X" documentation="DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass soft-iron diagonal Y component" name="COMPASS_DIA_Y" documentation="DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass soft-iron diagonal Z component" name="COMPASS_DIA_Z" documentation="DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass soft-iron off-diagonal X component" name="COMPASS_ODI_X" documentation="ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass soft-iron off-diagonal Y component" name="COMPASS_ODI_Y" documentation="ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass soft-iron off-diagonal Z component" name="COMPASS_ODI_Z" documentation="ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass2 soft-iron diagonal X component" name="COMPASS_DIA2_X" documentation="DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass2 soft-iron diagonal Y component" name="COMPASS_DIA2_Y" documentation="DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass2 soft-iron diagonal Z component" name="COMPASS_DIA2_Z" documentation="DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass2 soft-iron off-diagonal X component" name="COMPASS_ODI2_X" documentation="ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass2 soft-iron off-diagonal Y component" name="COMPASS_ODI2_Y" documentation="ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass2 soft-iron off-diagonal Z component" name="COMPASS_ODI2_Z" documentation="ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass3 soft-iron diagonal X component" name="COMPASS_DIA3_X" documentation="DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass3 soft-iron diagonal Y component" name="COMPASS_DIA3_Y" documentation="DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass3 soft-iron diagonal Z component" name="COMPASS_DIA3_Z" documentation="DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass3 soft-iron off-diagonal X component" name="COMPASS_ODI3_X" documentation="ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass3 soft-iron off-diagonal Y component" name="COMPASS_ODI3_Y" documentation="ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass3 soft-iron off-diagonal Z component" name="COMPASS_ODI3_Z" documentation="ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass calibration fitness" name="COMPASS_CAL_FIT" documentation="This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value." user="Advanced">
<field name="Range">4 32</field>
<values>
<value code="4">Very Strict</value>
<value code="8">Strict</value>
<value code="16">Default</value>
<value code="32">Relaxed</value>
</values>
<field name="Increment">0.1</field>
</param>
<param humanName="Compass maximum offset" name="COMPASS_OFFS_MAX" documentation="This sets the maximum allowed compass offset in calibration and arming checks" user="Advanced">
<field name="Range">500 3000</field>
<field name="Increment">1</field>
</param>
<param humanName="Compass disable driver type mask" name="COMPASS_TYPEMASK" documentation="This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup" user="Advanced">
<field name="Bitmask">0:HMC5883,1:LSM303D,2:AK8963,3:BMM150,4:LSM9DS1,5:LIS3MDL,6:AK09916,7:IST8310,8:ICM20948,9:MMC3416,11:UAVCAN,12:QMC5883</field>
</param>
<param humanName="Range in which sample is accepted" name="COMPASS_FLTR_RNG" documentation="This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.">
<field name="Range">0 100</field>
<field name="Increment">1</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
</parameters>
<parameters name="COMPASS_PMOT">
<param humanName="per-motor compass correction enable" name="COMPASS_PMOT_EN" documentation="This enables per-motor compass corrections" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="per-motor exponential correction" name="COMPASS_PMOT_EXP" documentation="This is the exponential correction for the power output of the motor for per-motor compass correction" user="Advanced">
<field name="Range">0 2</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Compass per-motor1 X" name="COMPASS_PMOT1_X" documentation="Compensation for X axis of motor1" user="Advanced">
</param>
<param humanName="Compass per-motor1 Y" name="COMPASS_PMOT1_Y" documentation="Compensation for Y axis of motor1" user="Advanced">
</param>
<param humanName="Compass per-motor1 Z" name="COMPASS_PMOT1_Z" documentation="Compensation for Z axis of motor1" user="Advanced">
</param>
<param humanName="Compass per-motor2 X" name="COMPASS_PMOT2_X" documentation="Compensation for X axis of motor2" user="Advanced">
</param>
<param humanName="Compass per-motor2 Y" name="COMPASS_PMOT2_Y" documentation="Compensation for Y axis of motor2" user="Advanced">
</param>
<param humanName="Compass per-motor2 Z" name="COMPASS_PMOT2_Z" documentation="Compensation for Z axis of motor2" user="Advanced">
</param>
<param humanName="Compass per-motor3 X" name="COMPASS_PMOT3_X" documentation="Compensation for X axis of motor3" user="Advanced">
</param>
<param humanName="Compass per-motor3 Y" name="COMPASS_PMOT3_Y" documentation="Compensation for Y axis of motor3" user="Advanced">
</param>
<param humanName="Compass per-motor3 Z" name="COMPASS_PMOT3_Z" documentation="Compensation for Z axis of motor3" user="Advanced">
</param>
<param humanName="Compass per-motor4 X" name="COMPASS_PMOT4_X" documentation="Compensation for X axis of motor4" user="Advanced">
</param>
<param humanName="Compass per-motor4 Y" name="COMPASS_PMOT4_Y" documentation="Compensation for Y axis of motor4" user="Advanced">
</param>
<param humanName="Compass per-motor4 Z" name="COMPASS_PMOT4_Z" documentation="Compensation for Z axis of motor4" user="Advanced">
</param>
</parameters>
<parameters name="EK2_">
<param humanName="Enable EKF2" name="EK2_ENABLE" documentation="This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="GPS mode control" name="EK2_GPS_TYPE" documentation="This controls use of GPS measurements : 0 = use 3D velocity &amp; 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors." user="Advanced">
<values>
<value code="0">GPS 3D Vel and 2D Pos</value>
<value code=" 1">GPS 2D vel and 2D pos</value>
<value code=" 2">GPS 2D pos</value>
<value code=" 3">No GPS</value>
</values>
</param>
<param humanName="GPS horizontal velocity measurement noise (m/s)" name="EK2_VELNE_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements." user="Advanced">
<field name="Range">0.05 5.0</field>
<field name="Increment">0.05</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="GPS vertical velocity measurement noise (m/s)" name="EK2_VELD_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements." user="Advanced">
<field name="Range">0.05 5.0</field>
<field name="Increment">0.05</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="GPS velocity innovation gate size" name="EK2_VEL_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="GPS horizontal position measurement noise (m)" name="EK2_POSNE_M_NSE" documentation="This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements." user="Advanced">
<field name="Range">0.1 10.0</field>
<field name="Increment">0.1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="GPS position measurement gate size" name="EK2_POS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="GPS glitch radius gate size (m)" name="EK2_GLITCH_RAD" documentation="This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position." user="Advanced">
<field name="Range">10 100</field>
<field name="Increment">5</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="GPS measurement delay (msec)" name="EK2_GPS_DELAY" documentation="This is the number of msec that the GPS measurements lag behind the inertial measurements." user="Advanced">
<field name="Range">0 250</field>
<field name="Increment">10</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Primary altitude sensor source" name="EK2_ALT_SOURCE" documentation="This parameter controls the primary height sensor used by the EKF. If the selected option cannot be used, it will default to Baro as the primary height source. Setting 0 will use the baro altitude at all times. Setting 1 uses the range finder and is only available in combination with optical flow navigation (EK2_GPS_TYPE = 3). Setting 2 uses GPS. Setting 3 uses the range beacon data. NOTE - the EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground." user="Advanced">
<values>
<value code="0">Use Baro</value>
<value code=" 1">Use Range Finder</value>
<value code=" 2">Use GPS</value>
<value code=" 3">Use Range Beacon</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Altitude measurement noise (m)" name="EK2_ALT_M_NSE" documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors." user="Advanced">
<field name="Range">0.1 10.0</field>
<field name="Increment">0.1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Height measurement gate size" name="EK2_HGT_I_GATE" documentation="This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Height measurement delay (msec)" name="EK2_HGT_DELAY" documentation="This is the number of msec that the Height measurements lag behind the inertial measurements." user="Advanced">
<field name="Range">0 250</field>
<field name="Increment">10</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Magnetometer measurement noise (Gauss)" name="EK2_MAG_M_NSE" documentation="This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
<field name="Range">0.01 0.5</field>
<field name="Increment">0.01</field>
<field name="Units">Gauss</field>
<field name="UnitText">gauss</field>
</param>
<param humanName="Magnetometer default fusion mode" name="EK2_MAG_CAL" documentation="This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK2_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK2_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK2_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK2_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter." user="Advanced">
<values>
<value code="0">When flying</value>
<value code="1">When manoeuvring</value>
<value code="2">Never</value>
<value code="3">After first climb yaw reset</value>
<value code="4">Always</value>
</values>
</param>
<param humanName="Magnetometer measurement gate size" name="EK2_MAG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Equivalent airspeed measurement noise (m/s)" name="EK2_EAS_M_NSE" documentation="This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements." user="Advanced">
<field name="Range">0.5 5.0</field>
<field name="Increment">0.1</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="Airspeed measurement gate size" name="EK2_EAS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Range finder measurement noise (m)" name="EK2_RNG_M_NSE" documentation="This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
<field name="Range">0.1 10.0</field>
<field name="Increment">0.1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Range finder measurement gate size" name="EK2_RNG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Maximum valid optical flow rate" name="EK2_MAX_FLOW" documentation="This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter" user="Advanced">
<field name="Range">1.0 4.0</field>
<field name="Increment">0.1</field>
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Optical flow measurement noise (rad/s)" name="EK2_FLOW_M_NSE" documentation="This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
<field name="Range">0.05 1.0</field>
<field name="Increment">0.05</field>
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Optical Flow measurement gate size" name="EK2_FLOW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Optical Flow measurement delay (msec)" name="EK2_FLOW_DELAY" documentation="This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
<field name="Range">0 127</field>
<field name="Increment">10</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Rate gyro noise (rad/s)" name="EK2_GYRO_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more." user="Advanced">
<field name="Range">0.0001 0.1</field>
<field name="Increment">0.0001</field>
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Accelerometer noise (m/s^2)" name="EK2_ACC_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more." user="Advanced">
<field name="Range">0.01 1.0</field>
<field name="Increment">0.01</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Rate gyro bias stability (rad/s/s)" name="EK2_GBIAS_P_NSE" documentation="This state  process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier." user="Advanced">
<field name="Range">0.00001 0.001</field>
<field name="Units">rad/s/s</field>
<field name="UnitText">radians per square second</field>
</param>
<param humanName="Rate gyro scale factor stability (1/s)" name="EK2_GSCL_P_NSE" documentation="This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier." user="Advanced">
<field name="Range">0.000001 0.001</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Accelerometer bias stability (m/s^3)" name="EK2_ABIAS_P_NSE" documentation="This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier." user="Advanced">
<field name="Range">0.00001 0.001</field>
<field name="Units">m/s/s/s</field>
<field name="UnitText">meters per cubic second</field>
</param>
<param humanName="Wind velocity process noise (m/s^2)" name="EK2_WIND_P_NSE" documentation="This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier." user="Advanced">
<field name="Range">0.01 1.0</field>
<field name="Increment">0.1</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Height rate to wind process noise scaler" name="EK2_WIND_PSCALE" documentation="This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser." user="Advanced">
<field name="Range">0.0 1.0</field>
<field name="Increment">0.1</field>
</param>
<param humanName="GPS preflight check" name="EK2_GPS_CHECK" documentation="This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat." user="Advanced">
<field name="Bitmask">0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed</field>
</param>
<param humanName="Bitmask of active IMUs" name="EK2_IMU_MASK" documentation="1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start." user="Advanced">
<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="GPS accuracy check scaler (%)" name="EK2_CHECK_SCALE" documentation="This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error." user="Advanced">
<field name="Range">50 200</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="Non-GPS operation position uncertainty (m)" name="EK2_NOAID_M_NSE" documentation="This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors." user="Advanced">
<field name="Range">0.5 50.0</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="EKF sensor logging IMU mask" name="EK2_LOG_MASK" documentation="This sets the IMU mask of sensors to do full logging for" user="Advanced">
<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Yaw measurement noise (rad)" name="EK2_YAW_M_NSE" documentation="This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements." user="Advanced">
<field name="Range">0.05 1.0</field>
<field name="Increment">0.05</field>
<field name="Units">rad</field>
<field name="UnitText">radians</field>
</param>
<param humanName="Yaw measurement gate size" name="EK2_YAW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Output complementary filter time constant (centi-sec)" name="EK2_TAU_OUTPUT" documentation="Sets the time constant of the output complementary filter/predictor in centi-seconds." user="Advanced">
<field name="Range">10 50</field>
<field name="Increment">5</field>
<field name="Units">cs</field>
<field name="UnitText">centiseconds</field>
</param>
<param humanName="Earth magnetic field process noise (gauss/s)" name="EK2_MAGE_P_NSE" documentation="This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier." user="Advanced">
<field name="Range">0.00001 0.01</field>
<field name="Units">Gauss/s</field>
<field name="UnitText">gauss per second</field>
</param>
<param humanName="Body magnetic field process noise (gauss/s)" name="EK2_MAGB_P_NSE" documentation="This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier." user="Advanced">
<field name="Range">0.00001 0.01</field>
<field name="Units">Gauss/s</field>
<field name="UnitText">gauss per second</field>
</param>
<param humanName="Range finder switch height percentage" name="EK2_RNG_USE_HGT" documentation="The range finder will be used as the primary height source when below a specified percentage of the sensor maximum as set by the RNGFND_MAX_CM parameter. Set to -1 to prevent range finder use." user="Advanced">
<field name="Range">-1 70</field>
<field name="Increment">1</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="Maximum terrain gradient" name="EK2_TERR_GRAD" documentation="Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference" user="Advanced">
<field name="Range">0 0.2</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Range beacon measurement noise (m)" name="EK2_BCN_M_NSE" documentation="This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
<field name="Range">0.1 10.0</field>
<field name="Increment">0.1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Range beacon measurement gate size" name="EK2_BCN_I_GTE" documentation="This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Range beacon measurement delay (msec)" name="EK2_BCN_DELAY" documentation="This is the number of msec that the range beacon measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
<field name="Range">0 127</field>
<field name="Increment">10</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Range finder max ground speed" name="EK2_RNG_USE_SPD" documentation="The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value." user="Advanced">
<field name="Range">2.0 6.0</field>
<field name="Increment">0.5</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="Bitmask of active EKF cores that will always use heading fusion" name="EK2_MAG_MASK" documentation="1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely." user="Advanced">
<field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Bitmask control of EKF reference height correction" name="EK2_OGN_HGT_MASK" documentation="When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default)." user="Advanced">
<field name="Bitmask">0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="EK3_">
<param humanName="Enable EKF3" name="EK3_ENABLE" documentation="This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="GPS mode control" name="EK3_GPS_TYPE" documentation="This controls use of GPS measurements : 0 = use 3D velocity &amp; 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors." user="Advanced">
<values>
<value code="0">GPS 3D Vel and 2D Pos</value>
<value code=" 1">GPS 2D vel and 2D pos</value>
<value code=" 2">GPS 2D pos</value>
<value code=" 3">No GPS</value>
</values>
</param>
<param humanName="GPS horizontal velocity measurement noise (m/s)" name="EK3_VELNE_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements." user="Advanced">
<field name="Range">0.05 5.0</field>
<field name="Increment">0.05</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="GPS vertical velocity measurement noise (m/s)" name="EK3_VELD_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements." user="Advanced">
<field name="Range">0.05 5.0</field>
<field name="Increment">0.05</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="GPS velocity innovation gate size" name="EK3_VEL_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="GPS horizontal position measurement noise (m)" name="EK3_POSNE_M_NSE" documentation="This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements." user="Advanced">
<field name="Range">0.1 10.0</field>
<field name="Increment">0.1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="GPS position measurement gate size" name="EK3_POS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="GPS glitch radius gate size (m)" name="EK3_GLITCH_RAD" documentation="This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position." user="Advanced">
<field name="Range">10 100</field>
<field name="Increment">5</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Primary altitude sensor source" name="EK3_ALT_SOURCE" documentation="This parameter controls the primary height sensor used by the EKF. If the selected option cannot be used, it will default to Baro as the primary height source. Setting 0 will use the baro altitude at all times. Setting 1 uses the range finder and is only available in combination with optical flow navigation (EK3_GPS_TYPE = 3). Setting 2 uses GPS. Setting 3 uses the range beacon data. NOTE - the EK3_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground." user="Advanced">
<values>
<value code="0">Use Baro</value>
<value code=" 1">Use Range Finder</value>
<value code=" 2">Use GPS</value>
<value code=" 3">Use Range Beacon</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Altitude measurement noise (m)" name="EK3_ALT_M_NSE" documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors." user="Advanced">
<field name="Range">0.1 10.0</field>
<field name="Increment">0.1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Height measurement gate size" name="EK3_HGT_I_GATE" documentation="This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Height measurement delay (msec)" name="EK3_HGT_DELAY" documentation="This is the number of msec that the Height measurements lag behind the inertial measurements." user="Advanced">
<field name="Range">0 250</field>
<field name="Increment">10</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Magnetometer measurement noise (Gauss)" name="EK3_MAG_M_NSE" documentation="This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
<field name="Range">0.01 0.5</field>
<field name="Increment">0.01</field>
<field name="Units">Gauss</field>
<field name="UnitText">gauss</field>
</param>
<param humanName="Magnetometer default fusion mode" name="EK3_MAG_CAL" documentation="This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK3_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK3_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK3_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK3_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK3_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter." user="Advanced">
<values>
<value code="0">When flying</value>
<value code="1">When manoeuvring</value>
<value code="2">Never</value>
<value code="3">After first climb yaw reset</value>
<value code="4">Always</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Magnetometer measurement gate size" name="EK3_MAG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Equivalent airspeed measurement noise (m/s)" name="EK3_EAS_M_NSE" documentation="This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements." user="Advanced">
<field name="Range">0.5 5.0</field>
<field name="Increment">0.1</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="Airspeed measurement gate size" name="EK3_EAS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Range finder measurement noise (m)" name="EK3_RNG_M_NSE" documentation="This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
<field name="Range">0.1 10.0</field>
<field name="Increment">0.1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Range finder measurement gate size" name="EK3_RNG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Maximum valid optical flow rate" name="EK3_MAX_FLOW" documentation="This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter" user="Advanced">
<field name="Range">1.0 4.0</field>
<field name="Increment">0.1</field>
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Optical flow measurement noise (rad/s)" name="EK3_FLOW_M_NSE" documentation="This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
<field name="Range">0.05 1.0</field>
<field name="Increment">0.05</field>
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Optical Flow measurement gate size" name="EK3_FLOW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Optical Flow measurement delay (msec)" name="EK3_FLOW_DELAY" documentation="This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
<field name="Range">0 250</field>
<field name="Increment">10</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Rate gyro noise (rad/s)" name="EK3_GYRO_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more." user="Advanced">
<field name="Range">0.0001 0.1</field>
<field name="Increment">0.0001</field>
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Accelerometer noise (m/s^2)" name="EK3_ACC_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more." user="Advanced">
<field name="Range">0.01 1.0</field>
<field name="Increment">0.01</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Rate gyro bias stability (rad/s/s)" name="EK3_GBIAS_P_NSE" documentation="This state  process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier." user="Advanced">
<field name="Range">0.00001 0.001</field>
<field name="Units">rad/s/s</field>
<field name="UnitText">radians per square second</field>
</param>
<param humanName="Accelerometer bias stability (m/s^3)" name="EK3_ABIAS_P_NSE" documentation="This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier." user="Advanced">
<field name="Range">0.00001 0.001</field>
<field name="Units">m/s/s/s</field>
<field name="UnitText">meters per cubic second</field>
</param>
<param humanName="Wind velocity process noise (m/s^2)" name="EK3_WIND_P_NSE" documentation="This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier." user="Advanced">
<field name="Range">0.01 1.0</field>
<field name="Increment">0.1</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Height rate to wind process noise scaler" name="EK3_WIND_PSCALE" documentation="This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser." user="Advanced">
<field name="Range">0.0 1.0</field>
<field name="Increment">0.1</field>
</param>
<param humanName="GPS preflight check" name="EK3_GPS_CHECK" documentation="This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat." user="Advanced">
<field name="Bitmask">0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed</field>
</param>
<param humanName="Bitmask of active IMUs" name="EK3_IMU_MASK" documentation="1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start." user="Advanced">
<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="GPS accuracy check scaler (%)" name="EK3_CHECK_SCALE" documentation="This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error." user="Advanced">
<field name="Range">50 200</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="Non-GPS operation position uncertainty (m)" name="EK3_NOAID_M_NSE" documentation="This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors." user="Advanced">
<field name="Range">0.5 50.0</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="EKF sensor logging IMU mask" name="EK3_LOG_MASK" documentation="This sets the IMU mask of sensors to do full logging for" user="Advanced">
<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Yaw measurement noise (rad)" name="EK3_YAW_M_NSE" documentation="This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements." user="Advanced">
<field name="Range">0.05 1.0</field>
<field name="Increment">0.05</field>
<field name="Units">rad</field>
<field name="UnitText">radians</field>
</param>
<param humanName="Yaw measurement gate size" name="EK3_YAW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Output complementary filter time constant (centi-sec)" name="EK3_TAU_OUTPUT" documentation="Sets the time constant of the output complementary filter/predictor in centi-seconds." user="Advanced">
<field name="Range">10 50</field>
<field name="Increment">5</field>
<field name="Units">cs</field>
<field name="UnitText">centiseconds</field>
</param>
<param humanName="Earth magnetic field process noise (gauss/s)" name="EK3_MAGE_P_NSE" documentation="This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier." user="Advanced">
<field name="Range">0.00001 0.01</field>
<field name="Units">Gauss/s</field>
<field name="UnitText">gauss per second</field>
</param>
<param humanName="Body magnetic field process noise (gauss/s)" name="EK3_MAGB_P_NSE" documentation="This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier." user="Advanced">
<field name="Range">0.00001 0.01</field>
<field name="Units">Gauss/s</field>
<field name="UnitText">gauss per second</field>
</param>
<param humanName="Range finder switch height percentage" name="EK3_RNG_USE_HGT" documentation="The range finder will be used as the primary height source when below a specified percentage of the sensor maximum as set by the RNGFND_MAX_CM parameter. Set to -1 to prevent range finder use." user="Advanced">
<field name="Range">-1 70</field>
<field name="Increment">1</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="Maximum terrain gradient" name="EK3_TERR_GRAD" documentation="Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference" user="Advanced">
<field name="Range">0 0.2</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Range beacon measurement noise (m)" name="EK3_BCN_M_NSE" documentation="This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
<field name="Range">0.1 10.0</field>
<field name="Increment">0.1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Range beacon measurement gate size" name="EK3_BCN_I_GTE" documentation="This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Range beacon measurement delay (msec)" name="EK3_BCN_DELAY" documentation="This is the number of msec that the range beacon measurements lag behind the inertial measurements." user="Advanced">
<field name="Range">0 250</field>
<field name="Increment">10</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Range finder max ground speed" name="EK3_RNG_USE_SPD" documentation="The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value." user="Advanced">
<field name="Range">2.0 6.0</field>
<field name="Increment">0.5</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="Accelerometer bias limit" name="EK3_ACC_BIAS_LIM" documentation="The accelerometer bias state will be limited to +- this value" user="Advanced">
<field name="Range">0.5 2.5</field>
<field name="Increment">0.1</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Bitmask of active EKF cores that will always use heading fusion" name="EK3_MAG_MASK" documentation="1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely." user="Advanced">
<field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Bitmask control of EKF reference height correction" name="EK3_OGN_HGT_MASK" documentation="When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default)." user="Advanced">
<field name="Bitmask">0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Visual odometry minimum velocity error" name="EK3_VIS_VERR_MIN" documentation="This is the 1-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX." user="Advanced">
<field name="Range">0.05 0.5</field>
<field name="Increment">0.05</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="Visual odometry maximum velocity error" name="EK3_VIS_VERR_MAX" documentation="This is the 1-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX." user="Advanced">
<field name="Range">0.5 5.0</field>
<field name="Increment">0.1</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="Wheel odometry velocity error" name="EK3_WENC_VERR" documentation="This is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused." user="Advanced">
<field name="Range">0.01 1.0</field>
<field name="Increment">0.1</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
</parameters>
<parameters name="FENCE_">
<param humanName="Fence enable/disable" name="FENCE_ENABLE" documentation="Allows you to enable (1) or disable (0) the fence functionality" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Fence Type" name="FENCE_TYPE" documentation="Enabled fence types held as bitmask" user="Standard">
<field name="Bitmask">0:Altitude,1:Circle,2:Polygon</field>
<values>
<value code="0">None</value>
<value code="1">Altitude</value>
<value code="2">Circle</value>
<value code="3">Altitude and Circle</value>
<value code="4">Polygon</value>
<value code="5">Altitude and Polygon</value>
<value code="6">Circle and Polygon</value>
<value code="7">All</value>
</values>
</param>
<param humanName="Fence Action" name="FENCE_ACTION" documentation="What action should be taken when fence is breached" user="Standard">
<values>
<value code="0">Report Only</value>
<value code="1">RTL or Land</value>
</values>
</param>
<param humanName="Fence Maximum Altitude" name="FENCE_ALT_MAX" documentation="Maximum altitude allowed before geofence triggers" user="Standard">
<field name="Range">10 1000</field>
<field name="Increment">1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Circular Fence Radius" name="FENCE_RADIUS" documentation="Circle fence radius which when breached will cause an RTL" user="Standard">
<field name="Range">30 10000</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Fence Margin" name="FENCE_MARGIN" documentation="Distance that autopilot's should maintain from the fence to avoid a breach" user="Standard">
<field name="Range">1 10</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Fence polygon point total" name="FENCE_TOTAL" documentation="Number of polygon points saved in eeprom (do not update manually)" user="Standard">
<field name="Range">1 20</field>
</param>
<param humanName="Fence Minimum Altitude" name="FENCE_ALT_MIN" documentation="Minimum altitude allowed before geofence triggers" user="Standard">
<field name="Range">-100 100</field>
<field name="Increment">1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
</parameters>
<parameters name="FHLD">
<param humanName="FlowHold P gain" name="FHLD_XY_P" documentation="FlowHold (horizontal) P gain." user="Advanced">
<field name="Range">0.1 6.0</field>
<field name="Increment">0.1</field>
</param>
<param humanName="FlowHold I gain" name="FHLD_XY_I" documentation="FlowHold (horizontal) I gain" user="Advanced">
<field name="Range">0.02 1.00</field>
<field name="Increment">0.01</field>
</param>
<param humanName="FlowHold Integrator Max" name="FHLD_XY_IMAX" documentation="FlowHold (horizontal) integrator maximum" user="Advanced">
<field name="Range">0 4500</field>
<field name="Increment">10</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="FlowHold Flow Rate Max" name="FHLD_FLOW_MAX" documentation="Controls maximum apparent flow rate in flowhold" user="Standard">
<field name="Range">0.1 2.5</field>
</param>
<param humanName="FlowHold Filter Frequency" name="FHLD_FILT_HZ" documentation="Filter frequency for flow data" user="Standard">
<field name="Range">1 100</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="FlowHold Flow quality minimum" name="FHLD_QUAL_MIN" documentation="Minimum flow quality to use flow position hold" user="Standard">
<field name="Range">0 255</field>
</param>
<param humanName="FlowHold Braking rate" name="FHLD_BRAKE_RATE" documentation="Controls deceleration rate on stick release" user="Standard">
<field name="Range">1 30</field>
<field name="Units">deg/s</field>
<field name="UnitText">degrees per second</field>
</param>
</parameters>
<parameters name="FLOW">
<param humanName="Optical flow enable/disable" name="FLOW_ENABLE" documentation="Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow" user="Standard">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
</values>
</param>
<param humanName="X axis optical flow scale factor correction" name="FLOW_FXSCALER" documentation="This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor." user="Standard">
<field name="Range">-200 +200</field>
<field name="Increment">1</field>
</param>
<param humanName="Y axis optical flow scale factor correction" name="FLOW_FYSCALER" documentation="This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor." user="Standard">
<field name="Range">-200 +200</field>
<field name="Increment">1</field>
</param>
<param humanName="Flow sensor yaw alignment" name="FLOW_ORIENT_YAW" documentation="Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle." user="Standard">
<field name="Range">-18000 +18000</field>
<field name="Increment">1</field>
</param>
<param humanName=" X position offset" name="FLOW_POS_X" documentation="X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Y position offset" name="FLOW_POS_Y" documentation="Y position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Z position offset" name="FLOW_POS_Z" documentation="Z position of the optical flow sensor focal point in body frame. Positive Z is down from the origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Address on the bus" name="FLOW_ADDR" documentation="This is used to select between multiple possible I2C addresses for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus." user="Advanced">
<field name="Range">0 127</field>
</param>
</parameters>
<parameters name="FOLL">
<param humanName="Follow enable/disable" name="FOLL_ENABLE" documentation="Enabled/disable following a target" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Follow target's mavlink system id" name="FOLL_SYSID" documentation="Follow target's mavlink system id" user="Standard">
<field name="Range">0 255</field>
</param>
<param humanName="Follow distance maximum" name="FOLL_DIST_MAX" documentation="Follow distance maximum.  targets further than this will be ignored" user="Standard">
<field name="Range">1 1000</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
DonLakeFlyer's avatar
DonLakeFlyer committed
3510
<param humanName="Follow offset type" name="ffolFOLL_OFS_TYPE" documentation="Follow offset type" user="Standard">
3511 3512 3513 3514 3515 3516 3517 3518 3519 3520 3521 3522 3523 3524 3525 3526 3527 3528 3529 3530 3531 3532 3533 3534 3535 3536 3537 3538 3539 3540 3541 3542 3543 3544 3545 3546 3547 3548 3549 3550 3551 3552 3553 3554 3555 3556 3557 3558 3559 3560 3561 3562 3563 3564 3565 3566 3567 3568 3569 3570 3571 3572 3573 3574 3575 3576 3577 3578 3579 3580 3581 3582 3583 3584 3585 3586 3587 3588 3589 3590 3591 3592 3593 3594 3595 3596 3597 3598 3599 3600 3601 3602 3603 3604 3605 3606 3607 3608 3609 3610 3611 3612 3613 3614 3615 3616 3617 3618 3619 3620 3621 3622 3623 3624 3625 3626 3627 3628 3629 3630 3631 3632 3633 3634 3635 3636 3637 3638 3639 3640 3641 3642 3643 3644 3645 3646 3647 3648 3649 3650 3651 3652 3653 3654 3655 3656 3657 3658 3659 3660 3661 3662 3663 3664 3665 3666 3667 3668 3669 3670 3671 3672 3673 3674 3675 3676 3677 3678 3679 3680 3681 3682 3683 3684 3685 3686 3687 3688 3689 3690 3691 3692 3693 3694 3695 3696 3697 3698 3699 3700 3701 3702 3703 3704 3705 3706 3707 3708 3709 3710 3711 3712 3713 3714 3715 3716 3717 3718 3719 3720 3721 3722 3723 3724 3725 3726 3727 3728 3729 3730 3731 3732 3733 3734 3735 3736 3737 3738 3739 3740 3741 3742 3743 3744 3745 3746 3747 3748 3749 3750 3751 3752 3753 3754 3755 3756 3757 3758 3759 3760 3761 3762 3763 3764 3765 3766 3767 3768 3769 3770 3771 3772 3773 3774 3775 3776 3777 3778 3779 3780 3781 3782 3783 3784 3785 3786 3787 3788 3789 3790 3791 3792 3793 3794 3795 3796 3797 3798 3799 3800 3801 3802 3803 3804 3805 3806 3807 3808 3809 3810 3811 3812 3813 3814 3815 3816 3817 3818 3819 3820 3821 3822 3823 3824 3825 3826 3827 3828 3829 3830 3831 3832 3833 3834 3835 3836 3837 3838 3839 3840 3841 3842 3843 3844 3845 3846 3847 3848 3849 3850 3851 3852 3853 3854 3855 3856 3857 3858 3859 3860 3861 3862 3863 3864 3865 3866 3867 3868 3869 3870 3871 3872 3873 3874 3875 3876 3877 3878 3879 3880 3881 3882 3883 3884 3885 3886 3887 3888 3889 3890 3891 3892 3893 3894 3895 3896 3897 3898 3899 3900 3901 3902 3903 3904 3905 3906 3907 3908 3909 3910 3911 3912 3913 3914 3915 3916 3917 3918 3919 3920 3921
<values>
<value code="0">North-East-Down</value>
<value code=" 1">Relative to lead vehicle heading</value>
</values>
</param>
<param humanName="Follow offsets in meters north/forward" name="FOLL_OFS_X" documentation="Follow offsets in meters north/forward.  If positive, this vehicle fly ahead or north of lead vehicle.  Depends on FOLL_OFS_TYPE" user="Standard">
<field name="Range">-100 100</field>
<field name="Increment">1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Follow offsets in meters east/right" name="FOLL_OFS_Y" documentation="Follow offsets in meters east/right.  If positive, this vehicle fly to the right or east of lead vehicle.  Depends on FOLL_OFS_TYPE" user="Standard">
<field name="Range">-100 100</field>
<field name="Increment">1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Follow offsets in meters down" name="FOLL_OFS_Z" documentation="Follow offsets in meters down.  If positive, this vehicle fly below the lead vehicle" user="Standard">
<field name="Range">-100 100</field>
<field name="Increment">1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Follow yaw behaviour" name="FOLL_YAW_BEHAVE" documentation="Follow yaw behaviour" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Face Lead Vehicle</value>
<value code="2">Same as Lead vehicle</value>
<value code="3">Direction of Flight</value>
</values>
</param>
<param humanName="Follow position error P gain" name="FOLL_POS_P" documentation="Follow position error 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">0.01 1.00</field>
<field name="Increment">0.01</field>
</param>
</parameters>
<parameters name="GND_">
<param humanName="Absolute Pressure" name="GND_ABS_PRESS" documentation="calibrated ground pressure in Pascals" user="Advanced">
<field name="ReadOnly">True</field>
<field name="Volatile">True</field>
<field name="Increment">1</field>
<field name="Units">Pa</field>
<field name="UnitText">pascal</field>
</param>
<param humanName="ground temperature" name="GND_TEMP" documentation="User provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature." user="Advanced">
<field name="Volatile">True</field>
<field name="Increment">1</field>
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
</param>
<param humanName="altitude offset" name="GND_ALT_OFFSET" documentation="altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed." user="Advanced">
<field name="Increment">0.1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Primary barometer" name="GND_PRIMARY" documentation="This selects which barometer will be the primary if multiple barometers are found" user="Advanced">
<values>
<value code="0">FirstBaro</value>
<value code="1">2ndBaro</value>
<value code="2">3rdBaro</value>
</values>
</param>
<param humanName="External baro bus" name="GND_EXT_BUS" documentation="This selects the bus number for looking for an I2C barometer" user="Advanced">
<values>
<value code="-1">Disabled</value>
<value code="0">Bus0</value>
<value code="1">Bus1</value>
</values>
</param>
<param humanName="Specific Gravity (For water depth measurement)" name="GND_SPEC_GRAV" documentation="This sets the specific gravity of the fluid when flying an underwater ROV.">
<field name="Values">1.0:Freshwater,1.024:Saltwater</field>
</param>
<param humanName="Absolute Pressure" name="GND_ABS_PRESS2" documentation="calibrated ground pressure in Pascals" user="Advanced">
<field name="ReadOnly">True</field>
<field name="Volatile">True</field>
<field name="Increment">1</field>
<field name="Units">Pa</field>
<field name="UnitText">pascal</field>
</param>
<param humanName="Absolute Pressure" name="GND_ABS_PRESS3" documentation="calibrated ground pressure in Pascals" user="Advanced">
<field name="ReadOnly">True</field>
<field name="Volatile">True</field>
<field name="Increment">1</field>
<field name="Units">Pa</field>
<field name="UnitText">pascal</field>
</param>
<param humanName="Range in which sample is accepted" name="GND_FLTR_RNG" documentation="This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.">
<field name="Range">0 100</field>
<field name="Increment">1</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
</parameters>
<parameters name="GPS_">
<param humanName="GPS type" name="GPS_TYPE" documentation="GPS type" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">AUTO</value>
<value code="2">uBlox</value>
<value code="3">MTK</value>
<value code="4">MTK19</value>
<value code="5">NMEA</value>
<value code="6">SiRF</value>
<value code="7">HIL</value>
<value code="8">SwiftNav</value>
<value code="9">UAVCAN</value>
<value code="10">SBF</value>
<value code="11">GSOF</value>
<value code="13">ERB</value>
<value code="14">MAV</value>
<value code="15">NOVA</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="2nd GPS type" name="GPS_TYPE2" documentation="GPS type of 2nd GPS" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">AUTO</value>
<value code="2">uBlox</value>
<value code="3">MTK</value>
<value code="4">MTK19</value>
<value code="5">NMEA</value>
<value code="6">SiRF</value>
<value code="7">HIL</value>
<value code="8">SwiftNav</value>
<value code="9">UAVCAN</value>
<value code="10">SBF</value>
<value code="11">GSOF</value>
<value code="13">ERB</value>
<value code="14">MAV</value>
<value code="15">NOVA</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Navigation filter setting" name="GPS_NAVFILTER" documentation="Navigation filter engine setting" user="Advanced">
<values>
<value code="0">Portable</value>
<value code="2">Stationary</value>
<value code="3">Pedestrian</value>
<value code="4">Automotive</value>
<value code="5">Sea</value>
<value code="6">Airborne1G</value>
<value code="7">Airborne2G</value>
<value code="8">Airborne4G</value>
</values>
</param>
<param humanName="Automatic Switchover Setting" name="GPS_AUTO_SWITCH" documentation="Automatic switchover to GPS reporting best lock" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">UseBest</value>
<value code="2">Blend</value>
</values>
</param>
<param humanName="Minimum Lock Type Accepted for DGPS" name="GPS_MIN_DGPS" documentation="Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode." user="Advanced">
<values>
<value code="0">Any</value>
<value code="50">FloatRTK</value>
<value code="100">IntegerRTK</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="SBAS Mode" name="GPS_SBAS_MODE" documentation="This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
<value code="2">NoChange</value>
</values>
</param>
<param humanName="Minimum elevation" name="GPS_MIN_ELEV" documentation="This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default." user="Advanced">
<field name="Range">-100 90</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Destination for GPS_INJECT_DATA MAVLink packets" name="GPS_INJECT_TO" documentation="The GGS can send raw serial packets to inject data to multiple GPSes." user="Advanced">
<values>
<value code="0">send to first GPS</value>
<value code="1">send to 2nd GPS</value>
<value code="127">send to all</value>
</values>
</param>
<param humanName="Swift Binary Protocol Logging Mask" name="GPS_SBP_LOGMASK" documentation="Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged" user="Advanced">
<values>
<value code="0">None (0x0000)</value>
<value code="-1">All (0xFFFF)</value>
<value code="-256">External only (0xFF00)</value>
</values>
</param>
<param humanName="Raw data logging" name="GPS_RAW_DATA" documentation="Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into dataflash log; on Septentrio this will log on the equipment's SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming" user="Advanced">
<values>
<value code="0">Ignore</value>
<value code="1">Always log</value>
<value code="2">Stop logging when disarmed (SBF only)</value>
<value code="5">Only log every five samples (uBlox only)</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="GNSS system configuration" name="GPS_GNSS_MODE" documentation="Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS</field>
<values>
<value code="0">Leave as currently configured</value>
<value code=" 1">GPS-NoSBAS</value>
<value code=" 3">GPS+SBAS</value>
<value code=" 4">Galileo-NoSBAS</value>
<value code=" 6">Galileo+SBAS</value>
<value code=" 8">Beidou</value>
<value code=" 51">GPS+IMES+QZSS+SBAS (Japan Only)</value>
<value code=" 64">GLONASS</value>
<value code=" 66">GLONASS+SBAS</value>
<value code=" 67">GPS+GLONASS+SBAS</value>
</values>
</param>
<param humanName="Save GPS configuration" name="GPS_SAVE_CFG" documentation="Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above." user="Advanced">
<values>
<value code="0">Do not save config</value>
<value code="1">Save config</value>
<value code="2">Save only when needed</value>
</values>
</param>
<param humanName="GNSS system configuration" name="GPS_GNSS_MODE2" documentation="Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS</field>
<values>
<value code="0">Leave as currently configured</value>
<value code=" 1">GPS-NoSBAS</value>
<value code=" 3">GPS+SBAS</value>
<value code=" 4">Galileo-NoSBAS</value>
<value code=" 6">Galileo+SBAS</value>
<value code=" 8">Beidou</value>
<value code=" 51">GPS+IMES+QZSS+SBAS (Japan Only)</value>
<value code=" 64">GLONASS</value>
<value code=" 66">GLONASS+SBAS</value>
<value code=" 67">GPS+GLONASS+SBAS</value>
</values>
</param>
<param humanName="Automatic GPS configuration" name="GPS_AUTO_CONFIG" documentation="Controls if the autopilot should automatically configure the GPS based on the parameters and default settings" user="Advanced">
<values>
<value code="0">Disables automatic configuration</value>
<value code="1">Enable automatic configuration</value>
</values>
</param>
<param humanName="GPS update rate in milliseconds" name="GPS_RATE_MS" documentation="Controls how often the GPS should provide a position update. Lowering below 5Hz is not allowed" user="Advanced">
<field name="Range">50 200</field>
<values>
<value code="100">10Hz</value>
<value code="125">8Hz</value>
<value code="200">5Hz</value>
</values>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
</param>
<param humanName="GPS 2 update rate in milliseconds" name="GPS_RATE_MS2" documentation="Controls how often the GPS should provide a position update. Lowering below 5Hz is not allowed" user="Advanced">
<field name="Range">50 200</field>
<values>
<value code="100">10Hz</value>
<value code="125">8Hz</value>
<value code="200">5Hz</value>
</values>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
</param>
<param humanName="Antenna X position offset" name="GPS_POS1_X" documentation="X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Antenna Y position offset" name="GPS_POS1_Y" documentation="Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Antenna Z position offset" name="GPS_POS1_Z" documentation="Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Antenna X position offset" name="GPS_POS2_X" documentation="X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Antenna Y position offset" name="GPS_POS2_Y" documentation="Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Antenna Z position offset" name="GPS_POS2_Z" documentation="Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="GPS delay in milliseconds" name="GPS_DELAY_MS" documentation="Controls the amount of GPS  measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type." user="Advanced">
<field name="Range">0 250</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="GPS 2 delay in milliseconds" name="GPS_DELAY_MS2" documentation="Controls the amount of GPS  measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type." user="Advanced">
<field name="Range">0 250</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Multi GPS Blending Mask" name="GPS_BLEND_MASK" documentation="Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2" user="Advanced">
<field name="Bitmask">0:Horiz Pos,1:Vert Pos,2:Speed</field>
</param>
<param humanName="Blending time constant" name="GPS_BLEND_TC" documentation="Controls the slowest time constant applied to the calculation of GPS position and height offsets used to adjust different GPS receivers for steady state position differences." user="Advanced">
<field name="Range">5.0 30.0</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
</parameters>
<parameters name="GRIP_">
<param humanName="Gripper Enable/Disable" name="GRIP_ENABLE" documentation="Gripper enable/disable" user="Standard">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
</values>
</param>
<param humanName="Gripper Type" name="GRIP_TYPE" documentation="Gripper enable/disable" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Servo</value>
<value code="2">EPM</value>
</values>
</param>
<param humanName="Gripper Grab PWM" name="GRIP_GRAB" documentation="PWM value in microseconds sent to Gripper to initiate grabbing the cargo" user="Advanced">
<field name="Range">1000 2000</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Gripper Release PWM" name="GRIP_RELEASE" documentation="PWM value in microseconds sent to Gripper to release the cargo" user="Advanced">
<field name="Range">1000 2000</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Neutral PWM" name="GRIP_NEUTRAL" documentation="PWM value in microseconds sent to grabber when not grabbing or releasing" user="Advanced">
<field name="Range">1000 2000</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Gripper Regrab interval" name="GRIP_REGRAB" documentation="Time in seconds that gripper will regrab the cargo to ensure grip has not weakened; 0 to disable" user="Advanced">
<field name="Range">0 255</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="EPM UAVCAN Hardpoint ID" name="GRIP_UAVCAN_ID" documentation="Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface" user="Standard">
<field name="Range">0 255</field>
</param>
</parameters>
<parameters name="H_">
<param humanName="Servo 1 Position" name="H_SV1_POS" documentation="Angular location of swash servo #1 - only used for H3 swash type" user="Standard">
<field name="Range">-180 180</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Servo 2 Position" name="H_SV2_POS" documentation="Angular location of swash servo #2 - only used for H3 swash type" user="Standard">
<field name="Range">-180 180</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Servo 3 Position" name="H_SV3_POS" documentation="Angular location of swash servo #3 - only used for H3 swash type" user="Standard">
<field name="Range">-180 180</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Tail Type" name="H_TAIL_TYPE" documentation="Tail type selection.  Simpler yaw controller used if external gyro is selected" user="Standard">
<values>
<value code="0">Servo only</value>
<value code="1">Servo with ExtGyro</value>
<value code="2">DirectDrive VarPitch</value>
<value code="3">DirectDrive FixedPitch</value>
</values>
</param>
<param humanName="Swash Type" name="H_SWASH_TYPE" documentation="Swash Type Setting" user="Standard">
<values>
<value code="0">H3 CCPM Adjustable</value>
<value code=" 1">H1 Straight Swash</value>
<value code=" 2">H3_140 CCPM</value>
</values>
</param>
<param humanName="External Gyro Gain" name="H_GYR_GAIN" documentation="PWM in microseconds sent to external gyro on ch7 when tail type is Servo w/ ExtGyro" user="Standard">
<field name="Range">0 1000</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Swashplate Phase Angle Compensation" name="H_PHANG" documentation="Only for H3 swashplate.  If pitching the swash forward induces a roll, this can be correct the problem" user="Advanced">
<field name="Range">-30 30</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Collective-Yaw Mixing" name="H_COLYAW" documentation="Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics." user="Advanced">
<field name="Range">-10 10</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Flybar Mode Selector" name="H_FLYBAR_MODE" documentation="Flybar present or not.  Affects attitude controller used during ACRO flight mode" user="Standard">
<values>
<value code="0">NoFlybar</value>
<value code="1">Flybar</value>
</values>
</param>
<param humanName="Direct Drive VarPitch Tail ESC speed" name="H_TAIL_SPEED" documentation="Direct Drive VarPitch Tail ESC speed in PWM microseconds.  Only used when TailType is DirectDrive VarPitch" user="Standard">
<field name="Range">0 1000</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="External Gyro Gain for ACRO" name="H_GYR_GAIN_ACRO" documentation="PWM in microseconds sent to external gyro on ch7 when tail type is Servo w/ ExtGyro. A value of zero means to use H_GYR_GAIN" user="Standard">
<field name="Range">0 1000</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Collective Control Direction" name="H_COL_CTRL_DIR" documentation="Collective Control Direction - 0 for Normal. 1 for Reversed" user="Standard">
DonLakeFlyer's avatar
DonLakeFlyer committed
3922 3923 3924 3925
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
3926 3927 3928 3929 3930 3931 3932 3933 3934 3935 3936 3937 3938 3939 3940 3941 3942 3943 3944 3945 3946 3947 3948 3949 3950 3951 3952 3953 3954 3955 3956 3957 3958 3959 3960 3961 3962 3963 3964 3965 3966 3967 3968 3969 3970 3971 3972 3973 3974 3975 3976 3977 3978 3979 3980 3981 3982 3983 3984 3985 3986 3987 3988 3989 3990 3991 3992 3993 3994 3995 3996 3997 3998 3999 4000 4001 4002 4003 4004 4005 4006 4007 4008 4009 4010 4011 4012 4013 4014 4015 4016 4017 4018 4019 4020 4021 4022 4023 4024 4025 4026 4027 4028 4029 4030 4031 4032 4033 4034 4035 4036 4037 4038 4039 4040 4041 4042 4043 4044 4045 4046 4047 4048 4049 4050 4051 4052 4053 4054 4055 4056 4057 4058 4059 4060 4061 4062 4063 4064 4065 4066 4067 4068 4069 4070 4071 4072 4073 4074 4075 4076 4077 4078 4079 4080 4081 4082 4083 4084 4085 4086 4087 4088 4089 4090 4091 4092 4093 4094 4095 4096 4097 4098 4099 4100 4101 4102 4103 4104 4105 4106 4107 4108 4109 4110 4111 4112 4113 4114 4115 4116 4117 4118 4119 4120 4121 4122 4123 4124 4125 4126 4127 4128 4129 4130 4131 4132 4133 4134 4135 4136 4137 4138 4139 4140 4141 4142 4143 4144 4145 4146 4147 4148 4149 4150 4151 4152 4153 4154 4155 4156 4157 4158 4159 4160 4161 4162 4163 4164 4165 4166 4167 4168 4169 4170 4171 4172 4173 4174 4175 4176 4177 4178 4179 4180 4181 4182 4183 4184 4185 4186 4187 4188 4189 4190 4191 4192 4193 4194 4195 4196 4197 4198 4199 4200 4201 4202 4203 4204 4205 4206 4207 4208 4209 4210 4211 4212 4213 4214 4215 4216 4217 4218 4219 4220 4221 4222 4223 4224 4225 4226 4227 4228 4229 4230 4231 4232 4233 4234 4235 4236 4237 4238 4239 4240 4241 4242 4243 4244 4245 4246 4247 4248 4249 4250 4251 4252 4253 4254 4255 4256 4257 4258 4259 4260 4261 4262 4263 4264 4265 4266 4267 4268 4269 4270 4271 4272 4273 4274 4275 4276 4277 4278 4279 4280 4281 4282 4283 4284 4285 4286 4287 4288 4289 4290 4291 4292 4293 4294 4295 4296 4297 4298 4299 4300 4301 4302 4303 4304 4305 4306 4307 4308 4309 4310 4311 4312 4313 4314 4315 4316 4317 4318 4319 4320 4321 4322 4323 4324 4325 4326 4327 4328 4329 4330 4331 4332 4333 4334 4335 4336 4337 4338 4339 4340 4341 4342 4343 4344 4345 4346 4347 4348 4349 4350 4351 4352 4353 4354 4355 4356 4357 4358 4359 4360 4361 4362 4363 4364 4365 4366 4367 4368 4369 4370 4371 4372 4373 4374 4375 4376 4377 4378 4379 4380 4381 4382 4383 4384 4385 4386 4387 4388 4389 4390 4391 4392 4393 4394 4395 4396 4397 4398 4399 4400 4401 4402 4403 4404 4405 4406 4407 4408 4409 4410 4411 4412 4413 4414 4415 4416 4417 4418 4419 4420 4421 4422 4423 4424 4425 4426 4427 4428 4429 4430 4431 4432 4433 4434 4435 4436 4437 4438 4439 4440 4441 4442 4443 4444 4445 4446 4447 4448 4449 4450 4451 4452 4453 4454 4455 4456 4457 4458 4459 4460 4461 4462 4463 4464 4465 4466 4467 4468 4469 4470 4471 4472 4473 4474 4475 4476 4477 4478 4479 4480 4481 4482 4483 4484 4485 4486 4487 4488 4489 4490 4491 4492 4493 4494 4495 4496 4497 4498 4499 4500 4501 4502 4503 4504 4505 4506 4507 4508 4509 4510 4511 4512 4513 4514 4515 4516 4517 4518 4519 4520 4521 4522 4523 4524 4525 4526 4527 4528 4529 4530 4531 4532 4533 4534 4535 4536 4537 4538 4539 4540 4541 4542 4543 4544 4545 4546 4547 4548 4549 4550 4551 4552 4553 4554 4555 4556 4557 4558 4559 4560 4561 4562 4563 4564 4565 4566 4567 4568 4569 4570 4571 4572 4573 4574 4575 4576 4577 4578 4579 4580 4581 4582 4583 4584 4585 4586 4587 4588 4589 4590 4591 4592 4593 4594 4595 4596 4597 4598 4599 4600 4601 4602 4603 4604 4605 4606 4607 4608 4609 4610 4611 4612 4613 4614 4615 4616 4617 4618 4619 4620 4621 4622 4623 4624 4625 4626 4627 4628 4629 4630 4631 4632 4633 4634 4635 4636 4637 4638 4639 4640 4641 4642 4643 4644 4645 4646 4647 4648 4649 4650 4651 4652 4653 4654 4655 4656 4657 4658 4659 4660 4661 4662 4663 4664 4665 4666 4667 4668 4669 4670 4671 4672 4673 4674 4675 4676 4677 4678 4679 4680 4681 4682 4683 4684 4685 4686 4687 4688 4689 4690 4691 4692 4693 4694 4695 4696 4697 4698 4699 4700 4701 4702 4703 4704 4705 4706 4707 4708 4709 4710 4711 4712 4713 4714 4715 4716 4717 4718 4719 4720 4721 4722 4723 4724 4725 4726 4727 4728 4729 4730 4731 4732 4733 4734 4735 4736 4737 4738 4739 4740 4741 4742 4743 4744 4745 4746 4747 4748 4749 4750 4751 4752 4753 4754 4755 4756 4757 4758 4759 4760 4761 4762 4763 4764 4765 4766 4767 4768 4769 4770 4771 4772 4773 4774 4775 4776 4777 4778 4779 4780 4781 4782 4783 4784 4785 4786 4787 4788 4789 4790 4791 4792 4793 4794 4795 4796 4797 4798 4799 4800 4801 4802 4803 4804 4805 4806 4807 4808 4809 4810 4811 4812 4813 4814 4815 4816 4817 4818 4819 4820 4821 4822 4823 4824 4825 4826 4827 4828 4829 4830 4831 4832 4833 4834 4835 4836 4837 4838 4839 4840 4841 4842 4843 4844 4845 4846 4847 4848 4849 4850 4851 4852 4853 4854 4855 4856 4857 4858 4859 4860 4861 4862 4863 4864 4865 4866 4867 4868 4869 4870 4871 4872 4873 4874 4875 4876 4877 4878 4879 4880 4881 4882 4883 4884 4885 4886 4887 4888 4889 4890 4891 4892 4893 4894 4895 4896 4897 4898 4899 4900 4901 4902 4903 4904 4905 4906 4907 4908 4909 4910 4911 4912 4913 4914 4915 4916 4917 4918 4919 4920 4921 4922 4923 4924 4925 4926 4927 4928 4929 4930 4931 4932 4933 4934 4935 4936 4937 4938 4939 4940 4941 4942 4943 4944 4945 4946 4947 4948 4949 4950 4951 4952 4953 4954 4955 4956 4957 4958 4959 4960 4961 4962 4963 4964 4965 4966 4967 4968 4969 4970 4971 4972 4973 4974 4975 4976 4977 4978 4979 4980 4981 4982 4983 4984 4985 4986 4987 4988 4989 4990 4991 4992 4993 4994 4995 4996 4997 4998 4999 5000 5001 5002 5003 5004 5005 5006 5007 5008 5009 5010 5011 5012 5013 5014 5015 5016 5017 5018 5019 5020 5021 5022 5023 5024 5025 5026 5027 5028 5029 5030 5031 5032 5033 5034 5035 5036 5037 5038 5039 5040 5041 5042 5043 5044 5045 5046 5047 5048 5049 5050 5051 5052 5053 5054 5055 5056 5057 5058 5059 5060 5061 5062 5063 5064 5065 5066 5067 5068 5069 5070 5071 5072 5073 5074 5075 5076 5077 5078 5079 5080 5081 5082 5083 5084 5085 5086 5087 5088 5089 5090 5091 5092 5093 5094 5095 5096 5097 5098 5099 5100 5101 5102 5103 5104 5105 5106 5107 5108 5109 5110 5111 5112 5113 5114 5115 5116 5117 5118 5119 5120 5121 5122 5123 5124 5125 5126 5127 5128 5129 5130 5131 5132 5133 5134 5135 5136 5137 5138 5139 5140 5141 5142 5143 5144 5145 5146 5147 5148 5149 5150 5151 5152 5153 5154 5155 5156 5157 5158 5159 5160 5161 5162 5163 5164 5165 5166 5167 5168 5169 5170 5171 5172 5173 5174 5175 5176 5177 5178 5179 5180 5181 5182 5183 5184 5185 5186 5187 5188 5189 5190 5191 5192 5193 5194 5195 5196 5197 5198 5199 5200 5201 5202 5203 5204 5205 5206 5207 5208 5209 5210 5211 5212 5213 5214 5215 5216 5217 5218 5219 5220 5221 5222 5223 5224 5225 5226 5227 5228 5229 5230 5231 5232 5233 5234 5235 5236 5237 5238 5239 5240 5241 5242 5243 5244 5245 5246 5247 5248 5249 5250 5251 5252 5253 5254 5255 5256 5257 5258 5259 5260 5261 5262 5263 5264 5265 5266 5267 5268 5269 5270 5271 5272 5273 5274 5275 5276 5277 5278 5279 5280 5281 5282 5283 5284 5285 5286 5287 5288 5289 5290 5291 5292 5293 5294 5295 5296 5297 5298 5299 5300 5301 5302 5303 5304 5305 5306 5307 5308 5309 5310 5311 5312 5313 5314 5315 5316 5317 5318 5319 5320 5321 5322 5323 5324 5325 5326 5327 5328 5329 5330 5331 5332 5333 5334 5335 5336 5337 5338 5339 5340 5341 5342 5343 5344 5345 5346 5347 5348 5349 5350 5351 5352 5353 5354 5355 5356 5357 5358 5359 5360 5361 5362 5363 5364 5365 5366 5367 5368 5369 5370 5371 5372 5373 5374 5375 5376 5377 5378 5379 5380 5381 5382 5383 5384 5385 5386 5387 5388 5389 5390 5391 5392 5393 5394 5395 5396 5397 5398 5399 5400 5401 5402 5403 5404 5405 5406 5407 5408 5409 5410 5411 5412 5413 5414 5415 5416 5417 5418 5419 5420 5421 5422 5423 5424 5425 5426 5427 5428 5429 5430 5431 5432 5433 5434 5435 5436 5437 5438 5439 5440 5441 5442 5443 5444 5445 5446 5447 5448 5449 5450 5451 5452 5453 5454 5455 5456 5457 5458 5459 5460 5461 5462 5463 5464 5465 5466 5467 5468 5469 5470 5471 5472 5473 5474 5475 5476 5477 5478 5479 5480 5481 5482 5483 5484 5485 5486 5487 5488 5489 5490 5491 5492 5493 5494 5495 5496 5497 5498 5499 5500 5501 5502 5503 5504 5505 5506 5507 5508 5509 5510 5511 5512 5513 5514 5515 5516 5517 5518 5519 5520 5521 5522 5523 5524 5525 5526 5527 5528 5529 5530 5531 5532 5533 5534 5535 5536 5537 5538 5539 5540 5541 5542 5543 5544 5545 5546 5547 5548 5549 5550 5551 5552 5553 5554 5555 5556 5557 5558 5559 5560 5561 5562 5563 5564 5565 5566 5567 5568 5569 5570 5571 5572 5573 5574 5575 5576 5577 5578 5579 5580 5581 5582 5583 5584 5585 5586 5587 5588 5589 5590 5591 5592 5593 5594 5595 5596 5597 5598 5599 5600 5601 5602 5603 5604 5605 5606 5607 5608 5609 5610 5611 5612 5613 5614 5615 5616 5617 5618 5619 5620 5621 5622 5623 5624 5625 5626 5627 5628 5629 5630 5631 5632 5633 5634 5635 5636 5637 5638 5639 5640 5641 5642 5643 5644 5645 5646 5647 5648 5649 5650 5651 5652 5653 5654 5655 5656 5657 5658 5659 5660 5661 5662 5663 5664 5665 5666 5667 5668 5669 5670 5671 5672 5673 5674 5675 5676 5677 5678 5679 5680 5681 5682 5683 5684 5685 5686 5687 5688 5689 5690 5691 5692 5693 5694 5695 5696 5697 5698 5699 5700 5701 5702 5703 5704 5705 5706 5707 5708 5709 5710 5711 5712 5713 5714 5715 5716 5717 5718 5719 5720 5721 5722 5723 5724 5725 5726 5727 5728 5729 5730 5731 5732 5733 5734 5735 5736 5737 5738 5739 5740 5741 5742 5743 5744 5745 5746 5747 5748 5749 5750 5751 5752 5753 5754 5755 5756 5757 5758 5759 5760 5761 5762 5763 5764 5765 5766 5767 5768 5769 5770 5771 5772 5773 5774 5775 5776 5777 5778 5779 5780 5781 5782 5783 5784 5785 5786 5787 5788 5789 5790 5791 5792 5793 5794 5795 5796 5797 5798 5799 5800 5801 5802 5803 5804 5805 5806 5807 5808 5809 5810 5811 5812 5813 5814 5815 5816 5817 5818 5819 5820 5821 5822 5823 5824 5825 5826 5827 5828 5829 5830 5831 5832 5833 5834 5835 5836 5837 5838 5839 5840 5841 5842 5843 5844 5845 5846 5847 5848 5849 5850 5851 5852 5853 5854 5855 5856 5857 5858 5859 5860 5861 5862 5863 5864 5865 5866 5867 5868 5869 5870 5871 5872 5873 5874 5875 5876 5877 5878 5879 5880 5881 5882 5883 5884 5885 5886 5887 5888 5889 5890 5891 5892 5893 5894 5895 5896 5897 5898 5899 5900 5901 5902 5903 5904 5905 5906 5907 5908 5909 5910 5911 5912 5913 5914 5915 5916 5917 5918 5919 5920 5921 5922 5923 5924 5925 5926 5927 5928 5929 5930 5931 5932 5933 5934 5935 5936 5937 5938 5939 5940 5941 5942 5943 5944 5945 5946 5947 5948 5949 5950 5951 5952 5953 5954 5955 5956 5957 5958 5959 5960 5961 5962 5963 5964 5965 5966 5967 5968 5969 5970 5971 5972 5973 5974 5975 5976 5977 5978 5979 5980 5981 5982 5983 5984 5985 5986 5987 5988 5989 5990 5991 5992 5993 5994 5995 5996 5997 5998 5999 6000 6001 6002 6003 6004 6005 6006 6007 6008 6009 6010 6011 6012 6013 6014 6015 6016 6017 6018 6019 6020 6021 6022 6023 6024 6025 6026 6027 6028 6029 6030 6031 6032 6033 6034 6035 6036 6037 6038 6039 6040 6041 6042 6043 6044 6045 6046 6047 6048 6049 6050 6051 6052 6053 6054 6055 6056 6057 6058 6059 6060 6061 6062 6063 6064 6065 6066 6067 6068 6069 6070 6071 6072 6073 6074 6075 6076 6077 6078 6079 6080 6081 6082 6083 6084 6085 6086 6087 6088 6089 6090 6091 6092 6093 6094 6095 6096 6097 6098 6099 6100 6101 6102 6103 6104 6105 6106 6107 6108 6109 6110 6111 6112 6113 6114 6115 6116 6117 6118 6119 6120 6121 6122 6123 6124 6125 6126 6127 6128 6129 6130 6131 6132 6133 6134 6135 6136 6137 6138 6139 6140 6141 6142 6143 6144 6145 6146 6147 6148 6149 6150 6151 6152 6153 6154 6155 6156 6157 6158 6159 6160 6161 6162 6163 6164 6165 6166 6167 6168 6169 6170 6171 6172 6173 6174 6175 6176 6177 6178 6179 6180 6181 6182 6183 6184 6185 6186 6187 6188 6189 6190 6191 6192 6193 6194 6195 6196 6197 6198 6199 6200 6201 6202 6203 6204 6205 6206 6207 6208 6209 6210 6211 6212 6213 6214 6215 6216 6217 6218 6219 6220 6221 6222 6223 6224 6225 6226 6227 6228 6229 6230 6231 6232 6233 6234 6235 6236 6237 6238 6239 6240 6241 6242 6243 6244 6245 6246 6247 6248 6249 6250 6251 6252 6253 6254 6255 6256 6257 6258 6259 6260 6261 6262 6263 6264 6265 6266 6267 6268 6269 6270 6271 6272 6273 6274 6275 6276 6277 6278 6279 6280 6281 6282 6283 6284 6285 6286 6287 6288 6289 6290 6291 6292 6293 6294 6295 6296 6297 6298 6299 6300 6301 6302 6303 6304 6305 6306 6307 6308 6309 6310 6311 6312 6313 6314 6315 6316 6317 6318 6319 6320 6321 6322 6323 6324 6325 6326 6327 6328 6329 6330 6331 6332 6333 6334 6335 6336 6337 6338 6339 6340 6341 6342 6343 6344 6345 6346 6347 6348 6349 6350 6351 6352 6353 6354 6355 6356 6357 6358 6359 6360 6361 6362 6363 6364 6365 6366 6367 6368 6369 6370 6371 6372 6373 6374 6375 6376 6377 6378 6379 6380 6381 6382 6383 6384 6385 6386 6387 6388 6389 6390 6391 6392 6393 6394 6395 6396 6397 6398 6399 6400 6401 6402 6403 6404 6405 6406 6407 6408 6409 6410 6411 6412 6413 6414 6415 6416 6417 6418 6419 6420 6421 6422 6423 6424 6425 6426 6427 6428 6429 6430 6431 6432 6433 6434 6435 6436 6437 6438 6439 6440 6441 6442 6443 6444 6445 6446 6447 6448 6449 6450 6451 6452 6453 6454 6455 6456 6457 6458 6459 6460 6461 6462 6463 6464 6465 6466 6467 6468 6469 6470 6471 6472 6473 6474 6475 6476 6477 6478 6479 6480 6481 6482 6483 6484 6485 6486 6487 6488 6489 6490 6491 6492 6493 6494 6495 6496 6497 6498 6499 6500 6501 6502 6503 6504 6505 6506 6507 6508 6509 6510 6511 6512 6513 6514 6515 6516 6517 6518 6519 6520 6521 6522 6523 6524 6525 6526 6527 6528 6529 6530 6531 6532 6533 6534 6535 6536 6537 6538 6539 6540 6541 6542 6543 6544 6545 6546 6547 6548 6549 6550 6551 6552 6553 6554 6555 6556 6557 6558 6559 6560 6561 6562 6563 6564 6565 6566 6567 6568 6569 6570 6571 6572 6573 6574 6575 6576 6577 6578 6579 6580 6581 6582 6583 6584 6585 6586 6587 6588 6589 6590 6591 6592 6593 6594 6595 6596 6597 6598 6599 6600 6601 6602 6603 6604 6605 6606 6607 6608 6609 6610 6611 6612 6613 6614 6615 6616 6617 6618 6619 6620 6621 6622 6623 6624 6625 6626 6627 6628 6629 6630 6631 6632 6633 6634 6635 6636 6637 6638 6639 6640 6641 6642 6643 6644 6645 6646 6647 6648 6649 6650 6651 6652 6653 6654 6655 6656 6657 6658 6659 6660 6661 6662 6663 6664 6665 6666 6667 6668 6669 6670 6671 6672 6673 6674 6675 6676 6677 6678 6679 6680 6681 6682 6683 6684 6685 6686 6687 6688 6689 6690 6691 6692 6693 6694 6695 6696 6697 6698 6699 6700 6701 6702 6703 6704 6705 6706 6707 6708 6709 6710 6711 6712 6713 6714 6715 6716 6717 6718 6719 6720 6721 6722 6723 6724 6725 6726 6727 6728 6729 6730 6731 6732 6733 6734 6735 6736 6737 6738 6739 6740 6741 6742 6743 6744 6745 6746 6747 6748 6749 6750 6751 6752 6753 6754 6755 6756 6757 6758 6759 6760 6761 6762 6763 6764 6765 6766 6767 6768 6769 6770 6771 6772 6773 6774 6775 6776 6777 6778 6779 6780 6781 6782 6783 6784 6785 6786 6787 6788 6789 6790 6791 6792 6793 6794 6795 6796 6797 6798 6799 6800 6801 6802 6803 6804 6805 6806 6807 6808 6809 6810 6811 6812 6813 6814 6815 6816 6817 6818 6819 6820 6821 6822 6823 6824 6825 6826 6827 6828 6829 6830 6831 6832 6833 6834 6835 6836 6837 6838 6839 6840 6841 6842 6843 6844 6845 6846 6847 6848 6849 6850 6851 6852 6853 6854 6855 6856 6857 6858 6859 6860 6861 6862 6863 6864 6865 6866 6867 6868 6869 6870 6871 6872 6873 6874 6875 6876 6877 6878 6879 6880 6881 6882 6883 6884 6885 6886 6887 6888 6889 6890 6891 6892 6893 6894 6895 6896 6897 6898 6899 6900 6901 6902 6903 6904 6905 6906 6907 6908 6909 6910 6911 6912 6913 6914 6915 6916 6917 6918 6919 6920 6921 6922 6923 6924 6925 6926 6927 6928 6929 6930 6931 6932 6933 6934 6935 6936 6937 6938 6939 6940 6941 6942 6943 6944 6945 6946 6947 6948 6949 6950 6951 6952 6953 6954 6955 6956 6957 6958 6959 6960 6961 6962 6963 6964 6965 6966 6967 6968 6969 6970 6971 6972 6973 6974 6975 6976 6977 6978 6979 6980 6981 6982 6983 6984 6985 6986 6987 6988 6989 6990 6991 6992 6993 6994 6995 6996 6997 6998 6999 7000 7001 7002 7003 7004 7005 7006 7007 7008 7009 7010 7011 7012 7013 7014 7015 7016 7017 7018 7019 7020 7021 7022 7023 7024 7025 7026 7027 7028 7029 7030 7031 7032 7033 7034 7035 7036 7037 7038 7039 7040 7041 7042 7043 7044 7045 7046 7047 7048 7049 7050 7051 7052 7053 7054 7055 7056 7057 7058 7059 7060 7061 7062 7063 7064 7065 7066 7067 7068 7069 7070 7071 7072 7073 7074 7075 7076 7077 7078 7079 7080 7081 7082 7083 7084 7085 7086 7087 7088 7089 7090 7091 7092 7093 7094 7095 7096 7097 7098 7099 7100 7101 7102 7103 7104 7105 7106 7107 7108 7109 7110 7111 7112 7113 7114 7115 7116 7117 7118 7119 7120 7121 7122 7123 7124 7125 7126 7127 7128 7129 7130 7131 7132 7133 7134 7135 7136 7137 7138 7139 7140 7141 7142 7143 7144 7145 7146 7147 7148 7149 7150 7151 7152 7153 7154 7155 7156 7157 7158 7159 7160 7161 7162 7163 7164 7165 7166 7167 7168 7169 7170 7171 7172 7173 7174 7175 7176 7177 7178 7179 7180 7181 7182 7183 7184 7185 7186 7187 7188 7189 7190 7191 7192 7193 7194 7195 7196 7197 7198 7199 7200 7201 7202 7203 7204 7205 7206 7207 7208 7209 7210 7211 7212 7213 7214 7215 7216 7217 7218 7219 7220 7221 7222 7223 7224 7225 7226 7227 7228 7229 7230 7231 7232 7233 7234 7235 7236 7237 7238 7239 7240 7241 7242 7243 7244 7245 7246 7247 7248 7249 7250 7251 7252 7253 7254 7255 7256 7257 7258 7259 7260 7261 7262 7263 7264 7265 7266 7267 7268 7269 7270 7271 7272 7273 7274 7275 7276 7277 7278 7279 7280 7281 7282 7283 7284 7285 7286 7287 7288 7289 7290 7291 7292 7293 7294 7295 7296 7297 7298 7299 7300 7301 7302 7303 7304 7305 7306 7307 7308 7309 7310 7311 7312 7313 7314 7315 7316 7317 7318 7319 7320 7321 7322 7323 7324 7325 7326 7327 7328 7329 7330 7331 7332 7333 7334 7335 7336 7337 7338 7339 7340 7341 7342 7343 7344 7345 7346 7347 7348 7349 7350 7351 7352 7353 7354 7355 7356 7357 7358 7359 7360 7361 7362 7363 7364 7365 7366 7367 7368 7369 7370 7371 7372 7373 7374 7375 7376 7377 7378 7379 7380 7381 7382 7383 7384 7385 7386 7387 7388 7389 7390 7391 7392 7393 7394 7395 7396 7397 7398 7399 7400 7401 7402 7403 7404 7405 7406 7407 7408 7409 7410 7411 7412 7413 7414 7415 7416 7417 7418 7419 7420 7421 7422 7423 7424 7425 7426 7427 7428 7429 7430 7431 7432 7433 7434 7435 7436 7437 7438 7439 7440 7441 7442 7443 7444 7445 7446 7447 7448 7449 7450 7451 7452 7453 7454 7455 7456 7457 7458 7459 7460 7461 7462 7463 7464 7465 7466 7467 7468 7469 7470 7471 7472 7473 7474 7475 7476 7477 7478 7479 7480 7481 7482 7483 7484 7485 7486 7487 7488 7489 7490 7491 7492 7493 7494 7495 7496 7497 7498 7499 7500 7501 7502 7503 7504 7505 7506 7507 7508 7509 7510 7511 7512 7513 7514 7515 7516 7517 7518 7519 7520 7521 7522 7523 7524 7525 7526 7527 7528 7529 7530 7531 7532 7533 7534 7535 7536 7537 7538 7539 7540 7541 7542 7543 7544 7545 7546 7547 7548 7549 7550 7551 7552 7553 7554 7555 7556 7557 7558 7559 7560 7561 7562 7563 7564 7565 7566 7567 7568 7569 7570 7571 7572 7573 7574 7575 7576 7577 7578 7579 7580 7581 7582 7583 7584 7585 7586 7587 7588 7589 7590 7591 7592 7593 7594 7595 7596 7597 7598 7599 7600 7601 7602 7603 7604 7605 7606 7607 7608 7609 7610 7611 7612 7613 7614 7615 7616 7617 7618 7619 7620 7621 7622 7623 7624 7625 7626 7627 7628 7629 7630 7631 7632 7633 7634 7635 7636 7637 7638 7639 7640 7641 7642 7643 7644 7645 7646 7647 7648 7649 7650 7651 7652 7653 7654 7655 7656 7657 7658 7659 7660 7661 7662 7663 7664 7665 7666 7667 7668 7669 7670 7671 7672 7673 7674 7675 7676 7677 7678 7679 7680 7681 7682 7683 7684 7685 7686 7687 7688 7689 7690 7691 7692 7693 7694 7695 7696 7697 7698 7699 7700 7701 7702 7703 7704 7705 7706 7707 7708 7709 7710 7711 7712 7713 7714 7715 7716 7717 7718 7719 7720 7721 7722 7723 7724 7725 7726 7727 7728 7729 7730 7731 7732 7733 7734 7735 7736 7737 7738 7739 7740 7741 7742 7743 7744 7745 7746 7747 7748 7749 7750 7751 7752 7753 7754 7755 7756 7757 7758 7759 7760 7761 7762 7763 7764 7765 7766 7767 7768 7769 7770 7771 7772 7773 7774 7775 7776 7777 7778 7779 7780 7781 7782 7783 7784 7785 7786 7787 7788 7789 7790 7791 7792 7793 7794 7795 7796 7797 7798 7799 7800 7801 7802 7803 7804 7805 7806 7807 7808 7809 7810 7811 7812 7813 7814 7815 7816 7817 7818 7819 7820 7821 7822 7823 7824 7825 7826 7827 7828 7829 7830 7831 7832 7833 7834 7835 7836 7837 7838 7839 7840 7841 7842 7843 7844 7845 7846 7847 7848 7849 7850 7851 7852 7853 7854 7855 7856 7857 7858 7859 7860 7861 7862 7863 7864 7865 7866 7867 7868 7869 7870 7871 7872 7873 7874 7875 7876 7877 7878 7879 7880 7881 7882 7883 7884 7885 7886 7887 7888 7889 7890 7891 7892 7893 7894 7895 7896 7897 7898 7899 7900 7901 7902 7903 7904 7905 7906 7907 7908 7909 7910 7911 7912 7913 7914 7915 7916 7917 7918 7919 7920 7921 7922 7923 7924 7925 7926 7927 7928 7929 7930 7931 7932 7933 7934 7935 7936 7937 7938 7939 7940 7941 7942 7943 7944 7945 7946 7947 7948 7949 7950 7951 7952 7953 7954 7955 7956 7957 7958 7959 7960 7961 7962 7963 7964 7965 7966 7967 7968 7969 7970 7971 7972 7973 7974 7975 7976 7977 7978 7979 7980 7981 7982 7983 7984 7985 7986 7987 7988 7989 7990 7991 7992 7993 7994 7995 7996 7997 7998 7999 8000 8001 8002 8003 8004 8005 8006 8007 8008 8009 8010 8011 8012 8013 8014 8015 8016 8017 8018 8019 8020 8021 8022 8023 8024 8025 8026 8027 8028 8029 8030 8031 8032 8033 8034 8035 8036 8037 8038 8039 8040 8041 8042 8043 8044 8045 8046 8047 8048 8049 8050 8051 8052 8053 8054 8055 8056 8057 8058 8059 8060 8061 8062 8063 8064 8065 8066 8067 8068 8069 8070 8071 8072 8073 8074 8075 8076 8077 8078 8079 8080 8081 8082 8083 8084 8085 8086 8087 8088 8089 8090 8091 8092 8093 8094 8095 8096 8097 8098 8099 8100 8101 8102 8103 8104 8105 8106 8107 8108 8109 8110 8111 8112 8113 8114 8115 8116 8117 8118 8119 8120 8121 8122 8123 8124 8125 8126 8127 8128 8129 8130 8131 8132 8133 8134 8135 8136 8137 8138 8139 8140 8141 8142 8143 8144 8145 8146 8147 8148 8149 8150 8151 8152 8153 8154 8155 8156 8157 8158 8159 8160 8161 8162 8163 8164 8165 8166 8167 8168 8169 8170 8171 8172 8173 8174 8175 8176 8177 8178 8179 8180 8181 8182 8183 8184 8185 8186 8187 8188 8189 8190 8191 8192 8193 8194 8195 8196 8197 8198 8199 8200 8201 8202 8203 8204 8205 8206 8207 8208 8209 8210 8211 8212 8213 8214 8215 8216 8217 8218 8219 8220 8221 8222 8223 8224 8225 8226 8227 8228 8229 8230 8231 8232 8233 8234 8235 8236 8237 8238 8239 8240 8241 8242 8243 8244 8245 8246 8247 8248 8249 8250 8251 8252 8253 8254 8255 8256 8257 8258 8259 8260 8261 8262 8263 8264 8265 8266 8267 8268 8269 8270 8271 8272 8273 8274 8275 8276 8277 8278 8279 8280 8281 8282 8283 8284 8285 8286 8287 8288 8289 8290 8291 8292 8293 8294 8295 8296 8297 8298 8299 8300 8301 8302 8303 8304 8305 8306 8307 8308 8309 8310 8311 8312 8313 8314 8315 8316 8317 8318 8319 8320 8321 8322 8323 8324 8325 8326 8327 8328 8329 8330 8331 8332 8333 8334 8335 8336 8337 8338 8339 8340 8341 8342 8343 8344 8345 8346 8347 8348 8349 8350 8351 8352 8353 8354 8355 8356 8357 8358 8359 8360 8361 8362 8363 8364 8365 8366 8367 8368 8369 8370 8371 8372 8373 8374 8375 8376 8377 8378 8379 8380 8381 8382 8383 8384 8385 8386 8387 8388 8389 8390 8391 8392 8393 8394 8395 8396 8397 8398 8399 8400 8401 8402 8403 8404 8405 8406 8407 8408 8409 8410 8411 8412 8413 8414 8415 8416 8417 8418 8419 8420 8421 8422 8423 8424 8425 8426 8427 8428 8429 8430 8431 8432 8433 8434 8435 8436 8437 8438 8439 8440 8441 8442 8443 8444 8445 8446 8447 8448 8449 8450 8451 8452 8453 8454 8455 8456 8457 8458 8459 8460 8461 8462 8463 8464 8465 8466 8467 8468 8469 8470 8471 8472 8473 8474 8475 8476 8477 8478 8479 8480 8481 8482 8483 8484 8485 8486 8487 8488 8489 8490 8491 8492 8493 8494 8495 8496 8497 8498 8499 8500 8501 8502 8503 8504 8505 8506 8507 8508 8509 8510 8511 8512 8513 8514 8515 8516 8517 8518 8519 8520 8521 8522 8523 8524 8525 8526 8527 8528 8529 8530 8531 8532 8533 8534 8535 8536 8537 8538 8539 8540 8541 8542 8543 8544 8545 8546 8547 8548 8549 8550 8551 8552 8553 8554 8555 8556 8557 8558 8559 8560 8561 8562 8563 8564 8565 8566 8567 8568 8569 8570 8571 8572 8573 8574 8575 8576 8577 8578 8579 8580 8581 8582 8583 8584 8585 8586 8587 8588 8589 8590 8591 8592 8593 8594 8595 8596 8597 8598 8599 8600 8601 8602 8603 8604 8605 8606 8607 8608 8609 8610 8611 8612 8613 8614 8615 8616 8617 8618 8619 8620 8621 8622 8623 8624 8625 8626 8627 8628 8629 8630 8631 8632 8633 8634 8635 8636 8637 8638 8639 8640 8641 8642 8643 8644 8645 8646 8647 8648 8649 8650 8651 8652 8653 8654 8655 8656 8657 8658 8659 8660 8661 8662 8663 8664 8665 8666 8667 8668 8669 8670 8671 8672 8673 8674 8675 8676 8677 8678 8679 8680 8681 8682 8683 8684 8685 8686 8687 8688 8689 8690 8691 8692 8693 8694 8695 8696 8697 8698 8699 8700 8701 8702 8703 8704 8705 8706 8707 8708 8709 8710 8711 8712 8713 8714 8715 8716 8717 8718 8719 8720 8721 8722 8723 8724 8725 8726 8727 8728 8729 8730 8731 8732 8733 8734 8735 8736 8737 8738 8739 8740 8741 8742 8743 8744 8745 8746 8747 8748 8749 8750 8751 8752 8753 8754 8755 8756 8757 8758 8759 8760 8761 8762 8763 8764 8765 8766 8767 8768 8769 8770 8771 8772 8773 8774 8775 8776 8777 8778 8779 8780 8781 8782 8783 8784 8785 8786 8787 8788 8789 8790 8791 8792 8793 8794 8795 8796 8797 8798 8799 8800 8801 8802 8803 8804 8805 8806 8807 8808 8809 8810 8811 8812 8813 8814 8815 8816 8817 8818 8819 8820 8821 8822 8823 8824 8825 8826 8827 8828 8829 8830 8831 8832 8833 8834 8835 8836 8837 8838 8839 8840 8841 8842 8843 8844 8845 8846 8847 8848 8849 8850 8851 8852 8853 8854 8855 8856 8857 8858 8859 8860 8861 8862 8863 8864 8865 8866 8867 8868 8869 8870 8871 8872 8873 8874 8875 8876 8877 8878 8879 8880 8881 8882 8883 8884 8885 8886 8887 8888 8889 8890 8891 8892 8893 8894 8895 8896 8897 8898 8899 8900 8901 8902 8903 8904 8905 8906 8907 8908 8909 8910 8911 8912 8913 8914 8915 8916 8917 8918 8919 8920 8921 8922 8923 8924 8925 8926 8927 8928 8929 8930 8931 8932 8933 8934 8935 8936 8937 8938 8939 8940 8941 8942 8943 8944 8945 8946 8947 8948 8949 8950 8951 8952 8953 8954 8955 8956 8957 8958 8959 8960 8961 8962 8963 8964 8965 8966 8967 8968 8969 8970 8971 8972 8973 8974 8975 8976 8977 8978 8979 8980 8981 8982 8983 8984 8985 8986 8987 8988 8989 8990 8991 8992 8993 8994 8995 8996 8997 8998 8999 9000 9001 9002 9003 9004 9005 9006 9007 9008 9009 9010 9011 9012 9013 9014 9015 9016 9017 9018 9019 9020 9021 9022 9023 9024 9025 9026 9027 9028 9029 9030 9031 9032 9033 9034 9035 9036 9037 9038 9039 9040 9041 9042 9043 9044 9045 9046 9047 9048 9049 9050 9051 9052 9053 9054 9055 9056 9057 9058 9059 9060 9061 9062 9063 9064 9065 9066 9067 9068 9069 9070 9071 9072 9073 9074 9075 9076 9077 9078 9079 9080 9081 9082 9083 9084 9085 9086 9087 9088 9089 9090 9091 9092 9093 9094 9095 9096 9097 9098 9099 9100 9101 9102 9103 9104 9105 9106 9107 9108 9109 9110 9111 9112 9113 9114 9115 9116 9117 9118 9119 9120 9121 9122 9123 9124 9125 9126 9127 9128 9129 9130 9131 9132 9133 9134 9135 9136 9137 9138 9139 9140 9141 9142 9143 9144 9145 9146 9147 9148 9149 9150 9151 9152 9153 9154 9155 9156 9157 9158 9159 9160 9161 9162 9163 9164 9165 9166 9167 9168 9169 9170 9171 9172 9173 9174 9175 9176 9177 9178 9179 9180 9181 9182 9183 9184 9185 9186 9187 9188 9189 9190 9191 9192 9193 9194 9195 9196 9197 9198 9199 9200 9201 9202 9203 9204 9205 9206 9207 9208 9209 9210 9211 9212 9213 9214 9215 9216 9217 9218 9219 9220 9221 9222 9223 9224 9225 9226 9227 9228 9229 9230 9231 9232 9233 9234 9235 9236 9237 9238 9239 9240 9241 9242 9243 9244 9245 9246 9247 9248 9249 9250 9251 9252 9253 9254 9255 9256 9257 9258 9259 9260 9261 9262 9263 9264 9265 9266 9267 9268 9269 9270 9271 9272 9273 9274 9275 9276 9277 9278 9279 9280 9281 9282 9283 9284 9285 9286 9287 9288 9289 9290 9291 9292 9293 9294 9295 9296 9297 9298 9299 9300 9301 9302 9303 9304 9305 9306 9307 9308 9309 9310 9311 9312 9313 9314 9315 9316 9317 9318 9319 9320 9321 9322 9323 9324 9325 9326 9327 9328 9329 9330 9331 9332 9333 9334 9335 9336 9337 9338 9339 9340 9341 9342 9343 9344 9345 9346 9347 9348 9349 9350 9351 9352 9353 9354 9355 9356 9357 9358 9359 9360 9361 9362 9363 9364 9365 9366 9367 9368 9369 9370 9371 9372 9373 9374 9375 9376 9377 9378 9379 9380 9381 9382 9383 9384 9385 9386 9387 9388 9389 9390 9391 9392 9393 9394 9395 9396 9397 9398 9399 9400 9401
</param>
<param humanName="Servo 1 Position" name="H_SV1_POS" documentation="Angular location of swash servo #1" user="Standard">
<field name="Range">-180 180</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Servo 2 Position" name="H_SV2_POS" documentation="Angular location of swash servo #2" user="Standard">
<field name="Range">-180 180</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Servo 3 Position" name="H_SV3_POS" documentation="Angular location of swash servo #3" user="Standard">
<field name="Range">-180 180</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Servo 4 Position" name="H_SV4_POS" documentation="Angular location of swash servo #4" user="Standard">
<field name="Range">-180 180</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Servo 5 Position" name="H_SV5_POS" documentation="Angular location of swash servo #5" user="Standard">
<field name="Range">-180 180</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Servo 6 Position" name="H_SV6_POS" documentation="Angular location of swash servo #6" user="Standard">
<field name="Range">-180 180</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Swashplate 1 Phase Angle Compensation" name="H_PHANG1" documentation="Phase angle correction for rotor head.  If pitching the swash forward induces a roll, this can be correct the problem" user="Advanced">
<field name="Range">-90 90</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Swashplate 2 Phase Angle Compensation" name="H_PHANG2" documentation="Phase angle correction for rotor head.  If pitching the swash forward induces a roll, this can be correct the problem" user="Advanced">
<field name="Range">-90 90</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Dual Mode" name="H_DUAL_MODE" documentation="Sets the dual mode of the heli, either as tandem or as transverse." user="Standard">
<values>
<value code="0">Longitudinal</value>
<value code=" 1">Transverse</value>
</values>
</param>
<param humanName="Differential-Collective-Pitch Scaler" name="H_DCP_SCALER" documentation="Scaling factor applied to the differential-collective-pitch" user="Standard">
<field name="Range">0 1</field>
</param>
<param humanName="Differential-Collective-Pitch Yaw Mixing" name="H_DCP_YAW" documentation="Feed-forward compensation to automatically add yaw input when differential collective pitch is applied.">
<field name="Range">-10 10</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Scaler for yaw mixing" name="H_YAW_SCALER" documentation="Scaler for mixing yaw into roll or pitch.">
<field name="Range">-10 10</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Collective Pitch Minimum for rear swashplate" name="H_COL2_MIN" documentation="Lowest possible servo position in PWM microseconds for the rear swashplate" user="Standard">
<field name="Range">1000 2000</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Collective Pitch Maximum for rear swashplate" name="H_COL2_MAX" documentation="Highest possible servo position in PWM microseconds for the rear swashplate" user="Standard">
<field name="Range">1000 2000</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Collective Pitch Mid-Point for rear swashplate" name="H_COL2_MID" documentation="Swash servo position in PWM microseconds corresponding to zero collective pitch for the rear swashplate (or zero lift for Asymmetrical blades)" user="Standard">
<field name="Range">1000 2000</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Collective Control Direction" name="H_COL_CTRL_DIR" documentation="Collective Control Direction - 0 for Normal. 1 for Reversed" user="Standard">
<field name="Values">0: Normal, 1: Reversed</field>
</param>
<param humanName="Collective Pitch Minimum" name="H_COL_MIN" documentation="Lowest possible servo position in PWM microseconds for the swashplate" user="Standard">
<field name="Range">1000 2000</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Collective Pitch Maximum" name="H_COL_MAX" documentation="Highest possible servo position in PWM microseconds for the swashplate" user="Standard">
<field name="Range">1000 2000</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Collective Pitch Mid-Point" name="H_COL_MID" documentation="Swash servo position in PWM microseconds corresponding to zero collective pitch (or zero lift for Asymmetrical blades)" user="Standard">
<field name="Range">1000 2000</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Manual Servo Mode" name="H_SV_MAN" documentation="Manual servo override for swash set-up. Do not set this manually!" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Passthrough</value>
<value code="2">Max collective</value>
<value code="3">Mid collective</value>
<value code="4">Min collective</value>
</values>
</param>
<param humanName="External Motor Governor Setpoint" name="H_RSC_SETPOINT" documentation="PWM in microseconds passed to the external motor governor when external governor is enabled" user="Standard">
<field name="Range">0 1000</field>
<field name="Increment">10</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Rotor Speed Control Mode" name="H_RSC_MODE" documentation="Determines the method of rotor speed control" user="Standard">
<values>
<value code="1">Ch8 Input</value>
<value code=" 2">SetPoint</value>
<value code=" 3">Throttle Curve</value>
</values>
</param>
<param humanName="Landing Collective Minimum" name="H_LAND_COL_MIN" documentation="Minimum collective position in PWM microseconds while landed or landing" user="Standard">
<field name="Range">0 500</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RSC Ramp Time" name="H_RSC_RAMP_TIME" documentation="Time in seconds for the output to the main rotor's ESC to reach full speed" user="Standard">
<field name="Range">0 60</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="RSC Runup Time" name="H_RSC_RUNUP_TIME" documentation="Time in seconds for the main rotor to reach full speed.  Must be longer than RSC_RAMP_TIME" user="Standard">
<field name="Range">0 60</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Critical Rotor Speed" name="H_RSC_CRITICAL" documentation="Rotor speed below which flight is not possible" user="Standard">
<field name="Range">0 1000</field>
<field name="Increment">10</field>
</param>
<param humanName="Rotor Speed Output at Idle" name="H_RSC_IDLE" documentation="Rotor speed output while armed but rotor control speed is not engaged" user="Standard">
<field name="Range">0 500</field>
<field name="Increment">10</field>
</param>
<param humanName="Cyclic Pitch Angle Max" name="H_CYC_MAX" documentation="Maximum pitch angle of the swash plate" user="Advanced">
<field name="Range">0 18000</field>
<field name="Increment">100</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Boot-up Servo Test Cycles" name="H_SV_TEST" documentation="Number of cycles to run servo test on boot-up" user="Standard">
<field name="Range">0 10</field>
<field name="Increment">1</field>
</param>
<param humanName="Throttle servo slew rate" name="H_RSC_SLEWRATE" documentation="This controls the maximum rate at which the throttle output can change, as a percentage per second. A value of 100 means the throttle can change over its full range in one second. A value of zero gives unlimited slew rate." user="Standard">
<field name="Range">0 500</field>
<field name="Increment">10</field>
</param>
<param humanName="Throttle Servo Position for 0 percent collective" name="H_RSC_THRCRV_0" documentation="Throttle Servo Position for 0 percent collective. This is on a scale from 0 to 1000, where 1000 is full throttle and 0 is zero throttle. Actual PWM values are controlled by SERVOX_MIN and SERVOX_MAX. The 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX." user="Standard">
<field name="Range">0 1000</field>
<field name="Increment">10</field>
</param>
<param humanName="Throttle Servo Position for 25 percent collective" name="H_RSC_THRCRV_25" documentation="Throttle Servo Position for 25 percent collective. This is on a scale from 0 to 1000, where 1000 is full throttle and 0 is zero throttle. Actual PWM values are controlled by SERVOX_MIN and SERVOX_MAX. The 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX." user="Standard">
<field name="Range">0 1000</field>
<field name="Increment">10</field>
</param>
<param humanName="Throttle Servo Position for 50 percent collective" name="H_RSC_THRCRV_50" documentation="Throttle Servo Position for 50 percent collective. This is on a scale from 0 to 1000, where 1000 is full throttle and 0 is zero throttle. Actual PWM values are controlled by SERVOX_MIN and SERVOX_MAX. The 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX." user="Standard">
<field name="Range">0 1000</field>
<field name="Increment">10</field>
</param>
<param humanName="Throttle Servo Position for 75 percent collective" name="H_RSC_THRCRV_75" documentation="Throttle Servo Position for 75 percent collective. This is on a scale from 0 to 1000, where 1000 is full throttle and 0 is zero throttle. Actual PWM values are controlled by SERVOX_MIN and SERVOX_MAX. The 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX." user="Standard">
<field name="Range">0 1000</field>
<field name="Increment">10</field>
</param>
<param humanName="Throttle Servo Position for 100 percent collective" name="H_RSC_THRCRV_100" documentation="Throttle Servo Position for 100 percent collective. This is on a scale from 0 to 1000, where 1000 is full throttle and 0 is zero throttle. Actual PWM values are controlled by SERVOX_MIN and SERVOX_MAX. The 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX." user="Standard">
<field name="Range">0 1000</field>
<field name="Increment">10</field>
</param>
</parameters>
<parameters name="IM_">
<param humanName="Stabilize Mode Collective Point 1" name="IM_STAB_COL_1" documentation="Helicopter's minimum collective pitch setting at zero throttle input in Stabilize mode" user="Standard">
<field name="Range">0 500</field>
<field name="Increment">1</field>
<field name="Units">d%</field>
<field name="UnitText">decipercent</field>
</param>
<param humanName="Stabilize Mode Collective Point 2" name="IM_STAB_COL_2" documentation="Helicopter's collective pitch setting at mid-low throttle input in Stabilize mode" user="Standard">
<field name="Range">0 500</field>
<field name="Increment">1</field>
<field name="Units">d%</field>
<field name="UnitText">decipercent</field>
</param>
<param humanName="Stabilize Mode Collective Point 3" name="IM_STAB_COL_3" documentation="Helicopter's collective pitch setting at mid-high throttle input in Stabilize mode" user="Standard">
<field name="Range">500 1000</field>
<field name="Increment">1</field>
<field name="Units">d%</field>
<field name="UnitText">decipercent</field>
</param>
<param humanName="Stabilize Mode Collective Point 4" name="IM_STAB_COL_4" documentation="Helicopter's maximum collective pitch setting at full throttle input in Stabilize mode" user="Standard">
<field name="Range">500 1000</field>
<field name="Increment">1</field>
<field name="Units">d%</field>
<field name="UnitText">decipercent</field>
</param>
<param humanName="Acro Mode Collective Expo" name="IM_ACRO_COL_EXP" documentation="Used to soften collective pitch inputs near center point in Acro mode." 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>
</parameters>
<parameters name="INS_">
<param humanName="IMU Product ID" name="INS_PRODUCT_ID" documentation="unused" user="Advanced">
</param>
<param humanName="Gyro offsets of X axis" name="INS_GYROFFS_X" documentation="Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Gyro offsets of Y axis" name="INS_GYROFFS_Y" documentation="Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Gyro offsets of Z axis" name="INS_GYROFFS_Z" documentation="Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Gyro2 offsets of X axis" name="INS_GYR2OFFS_X" documentation="Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Gyro2 offsets of Y axis" name="INS_GYR2OFFS_Y" documentation="Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Gyro2 offsets of Z axis" name="INS_GYR2OFFS_Z" documentation="Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Gyro3 offsets of X axis" name="INS_GYR3OFFS_X" documentation="Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Gyro3 offsets of Y axis" name="INS_GYR3OFFS_Y" documentation="Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Gyro3 offsets of Z axis" name="INS_GYR3OFFS_Z" documentation="Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Accelerometer scaling of X axis" name="INS_ACCSCAL_X" documentation="Accelerometer scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
<field name="Range">0.8 1.2</field>
</param>
<param humanName="Accelerometer scaling of Y axis" name="INS_ACCSCAL_Y" documentation="Accelerometer scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
<field name="Range">0.8 1.2</field>
</param>
<param humanName="Accelerometer scaling of Z axis" name="INS_ACCSCAL_Z" documentation="Accelerometer scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
<field name="Range">0.8 1.2</field>
</param>
<param humanName="Accelerometer offsets of X axis" name="INS_ACCOFFS_X" documentation="Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
<field name="Range">-3.5 3.5</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Accelerometer offsets of Y axis" name="INS_ACCOFFS_Y" documentation="Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
<field name="Range">-3.5 3.5</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Accelerometer offsets of Z axis" name="INS_ACCOFFS_Z" documentation="Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
<field name="Range">-3.5 3.5</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Accelerometer2 scaling of X axis" name="INS_ACC2SCAL_X" documentation="Accelerometer2 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
<field name="Range">0.8 1.2</field>
</param>
<param humanName="Accelerometer2 scaling of Y axis" name="INS_ACC2SCAL_Y" documentation="Accelerometer2 scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
<field name="Range">0.8 1.2</field>
</param>
<param humanName="Accelerometer2 scaling of Z axis" name="INS_ACC2SCAL_Z" documentation="Accelerometer2 scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
<field name="Range">0.8 1.2</field>
</param>
<param humanName="Accelerometer2 offsets of X axis" name="INS_ACC2OFFS_X" documentation="Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
<field name="Range">-3.5 3.5</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Accelerometer2 offsets of Y axis" name="INS_ACC2OFFS_Y" documentation="Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
<field name="Range">-3.5 3.5</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Accelerometer2 offsets of Z axis" name="INS_ACC2OFFS_Z" documentation="Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
<field name="Range">-3.5 3.5</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Accelerometer3 scaling of X axis" name="INS_ACC3SCAL_X" documentation="Accelerometer3 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
<field name="Range">0.8 1.2</field>
</param>
<param humanName="Accelerometer3 scaling of Y axis" name="INS_ACC3SCAL_Y" documentation="Accelerometer3 scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
<field name="Range">0.8 1.2</field>
</param>
<param humanName="Accelerometer3 scaling of Z axis" name="INS_ACC3SCAL_Z" documentation="Accelerometer3 scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
<field name="Range">0.8 1.2</field>
</param>
<param humanName="Accelerometer3 offsets of X axis" name="INS_ACC3OFFS_X" documentation="Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
<field name="Range">-3.5 3.5</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Accelerometer3 offsets of Y axis" name="INS_ACC3OFFS_Y" documentation="Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
<field name="Range">-3.5 3.5</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Accelerometer3 offsets of Z axis" name="INS_ACC3OFFS_Z" documentation="Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
<field name="Range">-3.5 3.5</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Gyro filter cutoff frequency" name="INS_GYRO_FILTER" documentation="Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)" user="Advanced">
<field name="Range">0 127</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Accel filter cutoff frequency" name="INS_ACCEL_FILTER" documentation="Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)" user="Advanced">
<field name="Range">0 127</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Use first IMU for attitude, velocity and position estimates" name="INS_USE" documentation="Use first IMU for attitude, velocity and position estimates" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Use second IMU for attitude, velocity and position estimates" name="INS_USE2" documentation="Use second IMU for attitude, velocity and position estimates" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Use third IMU for attitude, velocity and position estimates" name="INS_USE3" documentation="Use third IMU for attitude, velocity and position estimates" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Stillness threshold for detecting if we are moving" name="INS_STILL_THRESH" documentation="Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5" user="Advanced">
<field name="Range">0.05 50</field>
</param>
<param humanName="Gyro Calibration scheme" name="INS_GYR_CAL" documentation="Conrols when automatic gyro calibration is performed" user="Advanced">
<values>
<value code="0">Never</value>
<value code=" 1">Start-up only</value>
</values>
</param>
<param humanName="Accel cal trim option" name="INS_TRIM_OPTION" documentation="Specifies how the accel cal routine determines the trims" user="Advanced">
<values>
<value code="0">Don't adjust the trims</value>
<value code="1">Assume first orientation was level</value>
<value code="2">Assume ACC_BODYFIX is perfectly aligned to the vehicle</value>
</values>
</param>
<param humanName="Body-fixed accelerometer" name="INS_ACC_BODYFIX" documentation="The body-fixed accelerometer to be used for trim calculation" user="Advanced">
<values>
<value code="1">IMU 1</value>
<value code="2">IMU 2</value>
<value code="3">IMU 3</value>
</values>
</param>
<param humanName="IMU accelerometer X position" name="INS_POS1_X" documentation="X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="IMU accelerometer Y position" name="INS_POS1_Y" documentation="Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="IMU accelerometer Z position" name="INS_POS1_Z" documentation="Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="IMU accelerometer X position" name="INS_POS2_X" documentation="X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="IMU accelerometer Y position" name="INS_POS2_Y" documentation="Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="IMU accelerometer Z position" name="INS_POS2_Z" documentation="Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="IMU accelerometer X position" name="INS_POS3_X" documentation="X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="IMU accelerometer Y position" name="INS_POS3_Y" documentation="Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="IMU accelerometer Z position" name="INS_POS3_Z" documentation="Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Gyro ID" name="INS_GYR_ID" documentation="Gyro sensor ID, taking into account its type, bus and instance" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Gyro2 ID" name="INS_GYR2_ID" documentation="Gyro2 sensor ID, taking into account its type, bus and instance" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Gyro3 ID" name="INS_GYR3_ID" documentation="Gyro3 sensor ID, taking into account its type, bus and instance" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Accelerometer ID" name="INS_ACC_ID" documentation="Accelerometer sensor ID, taking into account its type, bus and instance" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Accelerometer2 ID" name="INS_ACC2_ID" documentation="Accelerometer2 sensor ID, taking into account its type, bus and instance" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Accelerometer3 ID" name="INS_ACC3_ID" documentation="Accelerometer3 sensor ID, taking into account its type, bus and instance" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Fast sampling mask" name="INS_FAST_SAMPLE" documentation="Mask of IMUs to enable fast sampling on, if available" user="Advanced">
<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU</field>
<values>
<value code="1">FirstIMUOnly</value>
<value code="3">FirstAndSecondIMU</value>
</values>
</param>
</parameters>
<parameters name="INS_LOG_">
<param humanName="sample count per batch" name="INS_LOG_BAT_CNT" documentation="Number of samples to take when logging streams of IMU sensor readings.  Will be rounded down to a multiple of 32." user="Advanced">
<field name="Increment">32</field>
</param>
<param humanName="Sensor Bitmask" name="INS_LOG_BAT_MASK" documentation="Bitmap of which IMUs to log batch data for" user="Advanced">
<field name="Bitmask">0:IMU1,1:IMU2,2:IMU3</field>
<values>
<value code="0">None</value>
<value code="1">First IMU</value>
<value code="255">All</value>
</values>
</param>
<param humanName="Batch Logging Options Mask" name="INS_LOG_BAT_OPT" documentation="Options for the BatchSampler" user="Advanced">
<field name="Bitmask">0:Sensor-Rate Logging (sample at full sensor rate seen by AP)</field>
</param>
<param humanName="logging interval" name="INS_LOG_BAT_LGIN" documentation="Interval between pushing samples to the DataFlash log">
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="Increment">10</field>
</param>
<param humanName="logging count" name="INS_LOG_BAT_LGCT" documentation="Number of samples to push to count every INS_LOG_BAT_LGIN">
<field name="Increment">1</field>
</param>
</parameters>
<parameters name="INS_NOTCH_">
<param humanName="Enable" name="INS_NOTCH_ENABLE" documentation="Enable notch filter" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Frequency" name="INS_NOTCH_FREQ" documentation="Notch center frequency in Hz" user="Advanced">
<field name="Range">10 200</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Bandwidth" name="INS_NOTCH_BW" documentation="Notch bandwidth in Hz" user="Advanced">
<field name="Range">5 50</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Attenuation" name="INS_NOTCH_ATT" documentation="Notch attenuation in dB" user="Advanced">
<field name="Range">5 30</field>
<field name="Units">dB</field>
<field name="UnitText">decibel</field>
</param>
</parameters>
<parameters name="LGR_">
<param humanName="Landing Gear Servo Retracted PWM Value" name="LGR_SERVO_RTRACT" documentation="Servo PWM value in microseconds when landing gear is retracted" user="Standard">
<field name="Range">1000 2000</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Landing Gear Servo Deployed PWM Value" name="LGR_SERVO_DEPLOY" documentation="Servo PWM value in microseconds when landing gear is deployed" user="Standard">
<field name="Range">1000 2000</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Landing Gear Startup position" name="LGR_STARTUP" documentation="Landing Gear Startup behaviour control" user="Standard">
<values>
<value code="0">WaitForPilotInput</value>
<value code=" 1">Retract</value>
<value code=" 2">Deploy</value>
</values>
</param>
</parameters>
<parameters name="LOG">
<param humanName="DataFlash Backend Storage type" name="LOG_BACKEND_TYPE" documentation="0 for None, 1 for File, 2 for dataflash mavlink, 3 for both file and dataflash" user="Standard">
<values>
<value code="0">None</value>
<value code="1">File</value>
<value code="2">MAVLink</value>
<value code="3">BothFileAndMAVLink</value>
</values>
</param>
<param humanName="Maximum DataFlash File Backend buffer size (in kilobytes)" name="LOG_FILE_BUFSIZE" documentation='The DataFlash_File backend uses a buffer to store data before writing to the block device.  Raising this value may reduce "gaps" in your SD card logging.  This buffer size may be reduced depending on available memory.  PixHawk requires at least 4 kilobytes.  Maximum value available here is 64 kilobytes.' user="Standard">
</param>
<param humanName="Enable logging while disarmed" name="LOG_DISARMED" documentation="If LOG_DISARMED is set to 1 then logging will be enabled while disarmed. This can make for very large logfiles but can help a lot when tracking down startup issues" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Enable logging of information needed for Replay" name="LOG_REPLAY" documentation="If LOG_REPLAY is set to 1 then the EKF2 state estimator will log detailed information needed for diagnosing problems with the Kalman filter. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Stop logging to current file on disarm" name="LOG_FILE_DSRMROT" documentation="When set, the current log file is closed when the vehicle is disarmed.  If LOG_DISARMED is set then a fresh log will be opened." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Maximum DataFlash MAVLink Backend buffer size" name="LOG_MAV_BUFSIZE" documentation="Maximum amount of memory to allocate to DataFlash-over-mavlink" user="Advanced">
<field name="Units">kB</field>
<field name="UnitText">kilobytes</field>
</param>
</parameters>
<parameters name="LOIT_">
<param humanName="Loiter Angle Max" name="LOIT_ANG_MAX" documentation="Loiter maximum lean angle. Set to zero for 2/3 of PSC_ANGLE_MAX or ANGLE_MAX" user="Advanced">
<field name="Range">0 45</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Loiter Horizontal Maximum Speed" name="LOIT_SPEED" documentation="Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode" user="Standard">
<field name="Range">20 2000</field>
<field name="Increment">50</field>
<field name="Units">cm/s</field>
<field name="UnitText">centimeters per second</field>
</param>
<param humanName="Loiter maximum correction acceleration" name="LOIT_ACC_MAX" documentation="Loiter maximum correction acceleration in cm/s/s.  Higher values cause the copter to correct position errors more aggressively." user="Advanced">
<field name="Range">100 981</field>
<field name="Increment">1</field>
<field name="Units">cm/s/s</field>
<field name="UnitText">centimeters per square second</field>
</param>
<param humanName="Loiter braking acceleration" name="LOIT_BRK_ACCEL" documentation="Loiter braking acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered." user="Advanced">
<field name="Range">25 250</field>
<field name="Increment">1</field>
<field name="Units">cm/s/s</field>
<field name="UnitText">centimeters per square second</field>
</param>
<param humanName="Loiter braking jerk" name="LOIT_BRK_JERK" documentation="Loiter braking jerk in cm/s/s/s. Higher values will remove braking faster if the pilot moves the sticks during a braking manuver." user="Advanced">
<field name="Range">500 5000</field>
<field name="Increment">1</field>
<field name="Units">cm/s/s/s</field>
<field name="UnitText">centimeters per cubic second</field>
</param>
<param humanName="Loiter brake start delay (in seconds)" name="LOIT_BRK_DELAY" documentation="Loiter brake start delay (in seconds)" user="Advanced">
<field name="Range">0 2</field>
<field name="Increment">0.1</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
</parameters>
<parameters name="MIS_">
<param humanName="Total mission commands" name="MIS_TOTAL" documentation="The number of mission mission items that has been loaded by the ground station. Do not change this manually." user="Advanced">
<field name="Range">0 32766</field>
<field name="Increment">1</field>
</param>
<param humanName="Mission Restart when entering Auto mode" name="MIS_RESTART" documentation="Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)" user="Advanced">
<values>
<value code="0">Resume Mission</value>
<value code=" 1">Restart Mission</value>
</values>
</param>
<param humanName="Mission options bitmask" name="MIS_OPTIONS" documentation="Bitmask of what options to use in missions." user="Advanced">
<field name="Bitmask">0:Clear Mission on reboot</field>
</param>
</parameters>
<parameters name="MNT">
<param humanName="Mount default operating mode" name="MNT_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
<values>
<value code="0">Retracted</value>
<value code="1">Neutral</value>
<value code="2">MavLink Targeting</value>
<value code="3">RC Targeting</value>
<value code="4">GPS Point</value>
</values>
</param>
<param humanName="Mount roll angle when in retracted position" name="MNT_RETRACT_X" documentation="Mount roll angle when in retracted position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Mount tilt/pitch angle when in retracted position" name="MNT_RETRACT_Y" documentation="Mount tilt/pitch angle when in retracted position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Mount yaw/pan angle when in retracted position" name="MNT_RETRACT_Z" documentation="Mount yaw/pan angle when in retracted position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Mount roll angle when in neutral position" name="MNT_NEUTRAL_X" documentation="Mount roll angle when in neutral position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Mount tilt/pitch angle when in neutral position" name="MNT_NEUTRAL_Y" documentation="Mount tilt/pitch angle when in neutral position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Mount pan/yaw angle when in neutral position" name="MNT_NEUTRAL_Z" documentation="Mount pan/yaw angle when in neutral position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Stabilize mount's roll angle" name="MNT_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Stabilize mount's pitch/tilt angle" name="MNT_STAB_TILT" documentation="enable tilt/pitch stabilisation relative to Earth" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Stabilize mount pan/yaw angle" name="MNT_STAB_PAN" documentation="enable pan/yaw stabilisation relative to Earth" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="roll RC input channel" name="MNT_RC_IN_ROLL" documentation="0 for none, any other for the RC channel to be used to control roll movements" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="5">RC5</value>
<value code="6">RC6</value>
<value code="7">RC7</value>
<value code="8">RC8</value>
<value code="9">RC9</value>
<value code="10">RC10</value>
<value code="11">RC11</value>
<value code="12">RC12</value>
</values>
</param>
<param humanName="Minimum roll angle" name="MNT_ANGMIN_ROL" documentation="Minimum physical roll angular position of mount." user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Maximum roll angle" name="MNT_ANGMAX_ROL" documentation="Maximum physical roll angular position of the mount" user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="tilt (pitch) RC input channel" name="MNT_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="5">RC5</value>
<value code="6">RC6</value>
<value code="7">RC7</value>
<value code="8">RC8</value>
<value code="9">RC9</value>
<value code="10">RC10</value>
<value code="11">RC11</value>
<value code="12">RC12</value>
</values>
</param>
<param humanName="Minimum tilt angle" name="MNT_ANGMIN_TIL" documentation="Minimum physical tilt (pitch) angular position of mount." user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Maximum tilt angle" name="MNT_ANGMAX_TIL" documentation="Maximum physical tilt (pitch) angular position of the mount" user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="pan (yaw) RC input channel" name="MNT_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="5">RC5</value>
<value code="6">RC6</value>
<value code="7">RC7</value>
<value code="8">RC8</value>
<value code="9">RC9</value>
<value code="10">RC10</value>
<value code="11">RC11</value>
<value code="12">RC12</value>
</values>
</param>
<param humanName="Minimum pan angle" name="MNT_ANGMIN_PAN" documentation="Minimum physical pan (yaw) angular position of mount." user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Maximum pan angle" name="MNT_ANGMAX_PAN" documentation="Maximum physical pan (yaw) angular position of the mount" user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="mount joystick speed" name="MNT_JSTICK_SPD" documentation="0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second." user="Standard">
<field name="Range">0 100</field>
<field name="Increment">1</field>
</param>
<param humanName="Roll stabilization lead time" name="MNT_LEAD_RLL" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
<field name="Range">0.0 0.2</field>
<field name="Increment">.005</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Pitch stabilization lead time" name="MNT_LEAD_PTCH" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
<field name="Range">0.0 0.2</field>
<field name="Increment">.005</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Mount Type" name="MNT_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
<values>
<value code="0">None</value>
<value code=" 1">Servo</value>
<value code=" 2">3DR Solo</value>
<value code=" 3">Alexmos Serial</value>
<value code=" 4">SToRM32 MAVLink</value>
<value code=" 5">SToRM32 Serial</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Mount default operating mode" name="MNT2_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
<values>
<value code="0">Retracted</value>
<value code="1">Neutral</value>
<value code="2">MavLink Targeting</value>
<value code="3">RC Targeting</value>
<value code="4">GPS Point</value>
</values>
</param>
<param humanName="Mount2 roll angle when in retracted position" name="MNT2_RETRACT_X" documentation="Mount2 roll angle when in retracted position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Mount2 tilt/pitch angle when in retracted position" name="MNT2_RETRACT_Y" documentation="Mount2 tilt/pitch angle when in retracted position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Mount2 yaw/pan angle when in retracted position" name="MNT2_RETRACT_Z" documentation="Mount2 yaw/pan angle when in retracted position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Mount2 roll angle when in neutral position" name="MNT2_NEUTRAL_X" documentation="Mount2 roll angle when in neutral position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Mount2 tilt/pitch angle when in neutral position" name="MNT2_NEUTRAL_Y" documentation="Mount2 tilt/pitch angle when in neutral position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Mount2 pan/yaw angle when in neutral position" name="MNT2_NEUTRAL_Z" documentation="Mount2 pan/yaw angle when in neutral position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Stabilize Mount2's roll angle" name="MNT2_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Stabilize Mount2's pitch/tilt angle" name="MNT2_STAB_TILT" documentation="enable tilt/pitch stabilisation relative to Earth" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Stabilize mount2 pan/yaw angle" name="MNT2_STAB_PAN" documentation="enable pan/yaw stabilisation relative to Earth" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Mount2's roll RC input channel" name="MNT2_RC_IN_ROLL" documentation="0 for none, any other for the RC channel to be used to control roll movements" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="5">RC5</value>
<value code="6">RC6</value>
<value code="7">RC7</value>
<value code="8">RC8</value>
<value code="9">RC9</value>
<value code="10">RC10</value>
<value code="11">RC11</value>
<value code="12">RC12</value>
</values>
</param>
<param humanName="Mount2's minimum roll angle" name="MNT2_ANGMIN_ROL" documentation="Mount2's minimum physical roll angular position" user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Mount2's maximum roll angle" name="MNT2_ANGMAX_ROL" documentation="Mount2's maximum physical roll angular position" user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Mount2's tilt (pitch) RC input channel" name="MNT2_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="5">RC5</value>
<value code="6">RC6</value>
<value code="7">RC7</value>
<value code="8">RC8</value>
<value code="9">RC9</value>
<value code="10">RC10</value>
<value code="11">RC11</value>
<value code="12">RC12</value>
</values>
</param>
<param humanName="Mount2's minimum tilt angle" name="MNT2_ANGMIN_TIL" documentation="Mount2's minimum physical tilt (pitch) angular position" user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Mount2's maximum tilt angle" name="MNT2_ANGMAX_TIL" documentation="Mount2's maximum physical tilt (pitch) angular position" user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Mount2's pan (yaw) RC input channel" name="MNT2_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="5">RC5</value>
<value code="6">RC6</value>
<value code="7">RC7</value>
<value code="8">RC8</value>
<value code="9">RC9</value>
<value code="10">RC10</value>
<value code="11">RC11</value>
<value code="12">RC12</value>
</values>
</param>
<param humanName="Mount2's minimum pan angle" name="MNT2_ANGMIN_PAN" documentation="Mount2's minimum physical pan (yaw) angular position" user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Mount2's maximum pan angle" name="MNT2_ANGMAX_PAN" documentation="MOunt2's maximum physical pan (yaw) angular position" user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Mount2's Roll stabilization lead time" name="MNT2_LEAD_RLL" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
<field name="Range">0.0 0.2</field>
<field name="Increment">.005</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Mount2's Pitch stabilization lead time" name="MNT2_LEAD_PTCH" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
<field name="Range">0.0 0.2</field>
<field name="Increment">.005</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Mount2 Type" name="MNT2_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
<values>
<value code="0">None</value>
<value code=" 1">Servo</value>
<value code=" 2">3DR Solo</value>
<value code=" 3">Alexmos Serial</value>
<value code=" 4">SToRM32 MAVLink</value>
<value code=" 5">SToRM32 Serial</value>
</values>
</param>
</parameters>
<parameters name="MOT_">
<param humanName="Matrix Yaw Min" name="MOT_YAW_HEADROOM" documentation="Yaw control is given at least this pwm in microseconds range" user="Advanced">
<field name="Range">0 500</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Thrust Curve Expo" name="MOT_THST_EXPO" documentation="Motor thrust curve exponent (from 0 for linear to 1.0 for second order curve)" user="Advanced">
<field name="Range">0.25 0.8</field>
</param>
<param humanName="Motor Spin maximum" name="MOT_SPIN_MAX" documentation="Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range" user="Advanced">
<field name="Values">0.9:Low, 0.95:Default, 1.0:High</field>
</param>
<param humanName="Battery voltage compensation maximum voltage" name="MOT_BAT_VOLT_MAX" documentation="Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust).  Recommend 4.4 * cell count, 0 = Disabled" user="Advanced">
<field name="Range">6 35</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery voltage compensation minimum voltage" name="MOT_BAT_VOLT_MIN" documentation="Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust).  Recommend 3.5 * cell count, 0 = Disabled" user="Advanced">
<field name="Range">6 35</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Motor Current Max" name="MOT_BAT_CURR_MAX" documentation="Maximum current over which maximum throttle is limited (0 = Disabled)" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">A</field>
<field name="UnitText">ampere</field>
</param>
<param humanName="Output PWM type" name="MOT_PWM_TYPE" documentation="This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output" user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">OneShot</value>
<value code="2">OneShot125</value>
<value code="3">Brushed</value>
<value code="4">DShot150</value>
<value code="5">DShot300</value>
<value code="6">DShot600</value>
<value code="7">DShot1200</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="PWM output miniumum" name="MOT_PWM_MIN" documentation="This sets the min PWM output value in microseconds that will ever be output to the motors, 0 = use input RC3_MIN" user="Advanced">
<field name="Range">0 2000</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="PWM output maximum" name="MOT_PWM_MAX" documentation="This sets the max PWM value in microseconds that will ever be output to the motors, 0 = use input RC3_MAX" user="Advanced">
<field name="Range">0 2000</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Motor Spin minimum" name="MOT_SPIN_MIN" documentation="Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range.  Should be higher than MOT_SPIN_ARM." user="Advanced">
<field name="Values">0.0:Low, 0.15:Default, 0.3:High</field>
</param>
<param humanName="Motor Spin armed" name="MOT_SPIN_ARM" documentation="Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range.  Should be lower than MOT_SPIN_MIN." user="Advanced">
<field name="Values">0.0:Low, 0.1:Default, 0.2:High</field>
</param>
<param humanName="Motor Current Max Time Constant" name="MOT_BAT_CURR_TC" documentation="Time constant used to limit the maximum current" user="Advanced">
<field name="Range">0 10</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Thrust Hover Value" name="MOT_THST_HOVER" documentation="Motor thrust needed to hover expressed as a number from 0 to 1" user="Advanced">
<field name="Range">0.2 0.8</field>
</param>
<param humanName="Hover Value Learning" name="MOT_HOVER_LEARN" documentation="Enable/Disable automatic learning of hover throttle" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code=" 1">Learn</value>
<value code=" 2">LearnAndSave</value>
</values>
</param>
<param humanName="Motor PWM output disabled when disarmed" name="MOT_SAFE_DISARM" documentation="Disables motor PWM output when disarmed" user="Advanced">
<values>
<value code="0">PWM enabled while disarmed</value>
<value code=" 1">PWM disabled while disarmed</value>
</values>
</param>
<param humanName="Yaw Servo Max Lean Angle" name="MOT_YAW_SV_ANGLE" documentation="Yaw servo's maximum lean angle" user="Standard">
<field name="Range">5 80</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Spool up time" name="MOT_SPOOL_TIME" documentation="Time in seconds to spool up the motors from zero to min throttle. " user="Advanced">
<field name="Range">0 2</field>
<field name="Increment">0.1</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Motor boost scale" name="MOT_BOOST_SCALE" documentation="This is a scaling factor for vehicles with a vertical booster motor used for extra lift. It is used with electric multicopters that have an internal combusion booster motor for longer endurance. The output to the BoostThrottle servo function is set to the current motor thottle times this scaling factor. A higher scaling factor will put more of the load on the booster motor. A value of 1 will set the BoostThrottle equal to the main throttle." user="Advanced">
<field name="Range">0 5</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Battery compensation index" name="MOT_BAT_IDX" documentation="Which battery monitor should be used for doing compensation" user="Advanced">
<values>
<value code="0">First battery</value>
<value code=" 1">Second battery</value>
</values>
</param>
</parameters>
<parameters name="NTF_">
<param humanName="LED Brightness" name="NTF_LED_BRIGHT" documentation="Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting." user="Advanced">
<values>
<value code="0">Off</value>
<value code="1">Low</value>
<value code="2">Medium</value>
<value code="3">High</value>
</values>
</param>
<param humanName="Buzzer enable" name="NTF_BUZZ_ENABLE" documentation="Enable or disable the buzzer. Only for Linux and PX4 based boards." user="Advanced">
<values>
<value code="0">Disable</value>
<value code="1">Enable</value>
</values>
</param>
<param humanName="Setup for MAVLink LED override" name="NTF_LED_OVERRIDE" documentation="This sets up the board RGB LED for override by MAVLink. Normal notify LED control is disabled" user="Advanced">
<values>
<value code="0">Disable</value>
<value code="1">Enable</value>
</values>
</param>
<param humanName="Type of on-board I2C display" name="NTF_DISPLAY_TYPE" documentation="This sets up the type of on-board I2C display. Disabled by default." user="Advanced">
<values>
<value code="0">Disable</value>
<value code="1">ssd1306</value>
<value code="2">sh1106</value>
</values>
</param>
<param humanName="OreoLED Theme" name="NTF_OREO_THEME" documentation="Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Aircraft</value>
<value code="2">Rover</value>
</values>
</param>
<param humanName="Buzzer pin" name="NTF_BUZZ_PIN" documentation="Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET!" user="Advanced">
<values>
<value code="0">Disabled</value>
</values>
</param>
</parameters>
<parameters name="PLND_">
<param humanName="Precision Land enabled/disabled and behaviour" name="PLND_ENABLED" documentation="Precision Land enabled/disabled and behaviour" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled Always Land</value>
<value code=" 2">Enabled Strict</value>
</values>
</param>
<param humanName="Precision Land Type" name="PLND_TYPE" documentation="Precision Land Type" user="Advanced">
<values>
<value code="0">None</value>
<value code=" 1">CompanionComputer</value>
<value code=" 2">IRLock</value>
<value code=" 3">SITL_Gazebo</value>
<value code=" 4">SITL</value>
</values>
</param>
<param humanName="Sensor yaw alignment" name="PLND_YAW_ALIGN" documentation="Yaw angle from body x-axis to sensor x-axis." user="Advanced">
<field name="Range">0 360</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Land offset forward" name="PLND_LAND_OFS_X" documentation="Desired landing position of the camera forward of the target in vehicle body frame" user="Advanced">
<field name="Range">-20 20</field>
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Land offset right" name="PLND_LAND_OFS_Y" documentation="desired landing position of the camera right of the target in vehicle body frame" user="Advanced">
<field name="Range">-20 20</field>
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Precision Land Estimator Type" name="PLND_EST_TYPE" documentation="Specifies the estimation method to be used" user="Advanced">
<values>
<value code="0">RawSensor</value>
<value code=" 1">KalmanFilter</value>
</values>
</param>
<param humanName="Kalman Filter Accelerometer Noise" name="PLND_ACC_P_NSE" documentation="Kalman Filter Accelerometer Noise, higher values weight the input from the camera more, accels less" user="Advanceds">
<field name="Range">0.5 5</field>
</param>
<param humanName="Camera X position offset" name="PLND_CAM_POS_X" documentation="X position of the camera in body frame. Positive X is forward of the origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Camera Y position offset" name="PLND_CAM_POS_Y" documentation="Y position of the camera in body frame. Positive Y is to the right of the origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Camera Z position offset" name="PLND_CAM_POS_Z" documentation="Z position of the camera in body frame. Positive Z is down from the origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Sensor Bus" name="PLND_BUS" documentation="Precland sensor bus for I2C sensors." user="Advanced">
<values>
<value code="-1">DefaultBus</value>
<value code="0">InternalI2C</value>
<value code="1">ExternalI2C</value>
</values>
</param>
</parameters>
<parameters name="PRX">
<param humanName="Proximity type" name="PRX_TYPE" documentation="What type of proximity sensor is connected" user="Standard">
<values>
<value code="0">None</value>
<value code="1">LightWareSF40C</value>
<value code="2">MAVLink</value>
<value code="3">TeraRangerTower</value>
<value code="4">RangeFinder</value>
<value code="5">RPLidarA2</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Proximity sensor orientation" name="PRX_ORIENT" documentation="Proximity sensor orientation" user="Standard">
<values>
<value code="0">Default</value>
<value code="1">Upside Down</value>
</values>
</param>
<param humanName="Proximity sensor yaw correction" name="PRX_YAW_CORR" documentation="Proximity sensor yaw correction" user="Standard">
<field name="Range">-180 180</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore angle 1" name="PRX_IGN_ANG1" documentation="Proximity sensor ignore angle 1" user="Standard">
<field name="Range">0 360</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore width 1" name="PRX_IGN_WID1" documentation="Proximity sensor ignore width 1" user="Standard">
<field name="Range">0 45</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore angle 2" name="PRX_IGN_ANG2" documentation="Proximity sensor ignore angle 2" user="Standard">
<field name="Range">0 360</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore width 2" name="PRX_IGN_WID2" documentation="Proximity sensor ignore width 2" user="Standard">
<field name="Range">0 45</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore angle 3" name="PRX_IGN_ANG3" documentation="Proximity sensor ignore angle 3" user="Standard">
<field name="Range">0 360</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore width 3" name="PRX_IGN_WID3" documentation="Proximity sensor ignore width 3" user="Standard">
<field name="Range">0 45</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore angle 4" name="PRX_IGN_ANG4" documentation="Proximity sensor ignore angle 4" user="Standard">
<field name="Range">0 360</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore width 4" name="PRX_IGN_WID4" documentation="Proximity sensor ignore width 4" user="Standard">
<field name="Range">0 45</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore angle 5" name="PRX_IGN_ANG5" documentation="Proximity sensor ignore angle 5" user="Standard">
<field name="Range">0 360</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore width 5" name="PRX_IGN_WID5" documentation="Proximity sensor ignore width 5" user="Standard">
<field name="Range">0 45</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore angle 6" name="PRX_IGN_ANG6" documentation="Proximity sensor ignore angle 6" user="Standard">
<field name="Range">0 360</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore width 6" name="PRX_IGN_WID6" documentation="Proximity sensor ignore width 6" user="Standard">
<field name="Range">0 45</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Second Proximity type" name="PRX2_TYPE" documentation="What type of proximity sensor is connected" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">LightWareSF40C</value>
<value code="2">MAVLink</value>
<value code="3">TeraRangerTower</value>
<value code="4">RangeFinder</value>
<value code="5">RPLidarA2</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Second Proximity sensor orientation" name="PRX2_ORIENT" documentation="Second Proximity sensor orientation" user="Standard">
<values>
<value code="0">Default</value>
<value code="1">Upside Down</value>
</values>
</param>
<param humanName="Second Proximity sensor yaw correction" name="PRX2_YAW_CORR" documentation="Second Proximity sensor yaw correction" user="Standard">
<field name="Range">-180 180</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
</parameters>
<parameters name="PSC">
<param humanName="XY Acceleration filter cutoff frequency" name="PSC_ACC_XY_FILT" documentation="Lower values will slow the response of the navigation controller and reduce twitchiness" user="Advanced">
<field name="Range">0.5 5</field>
<field name="Increment">0.1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Position (vertical) controller P gain" name="PSC_POSZ_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="Velocity (vertical) controller P gain" name="PSC_VELZ_P" documentation="Velocity (vertical) controller 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="Acceleration (vertical) controller P gain" name="PSC_ACCZ_P" documentation="Acceleration (vertical) 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="Acceleration (vertical) controller I gain" name="PSC_ACCZ_I" documentation="Acceleration (vertical) 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="Acceleration (vertical) controller I gain maximum" name="PSC_ACCZ_IMAX" documentation="Acceleration (vertical) 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">d%</field>
<field name="UnitText">decipercent</field>
</param>
<param humanName="Acceleration (vertical) controller D gain" name="PSC_ACCZ_D" documentation="Acceleration (vertical) 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="Acceleration (vertical) controller filter" name="PSC_ACCZ_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>
<field name="UnitText">hertz</field>
</param>
<param humanName="Position (horizonal) controller P gain" name="PSC_POSXY_P" documentation="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="Velocity (horizontal) P gain" name="PSC_VELXY_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="PSC_VELXY_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) D gain" name="PSC_VELXY_D" documentation="Velocity (horizontal) D gain.  Corrects short-term changes in velocity" user="Advanced">
<field name="Range">0.00 1.00</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Velocity (horizontal) integrator maximum" name="PSC_VELXY_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>
<field name="UnitText">centimeters per square second</field>
</param>
<param humanName="Velocity (horizontal) input filter" name="PSC_VELXY_FILT" documentation="Velocity (horizontal) input filter.  This filter (in hz) is applied to the input for P and I terms" user="Advanced">
<field name="Range">0 100</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Velocity (horizontal) input filter" name="PSC_VELXY_D_FILT" documentation="Velocity (horizontal) input filter.  This filter (in hz) is applied to the input for P and I terms" user="Advanced">
<field name="Range">0 100</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Position Control Angle Max" name="PSC_ANGLE_MAX" documentation="Maximum lean angle autopilot can request.  Set to zero to use ANGLE_MAX parameter value" user="Advanced">
<field name="Range">0 45</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
</parameters>
<parameters name="RALLY_">
<param humanName="Rally Total" name="RALLY_TOTAL" documentation="Number of rally points currently loaded" user="Advanced">
</param>
<param humanName="Rally Limit" name="RALLY_LIMIT_KM" documentation="Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used." user="Advanced">
<field name="Increment">0.1</field>
<field name="Units">km</field>
<field name="UnitText">kilometers</field>
</param>
<param humanName="Rally Include Home" name="RALLY_INCL_HOME" documentation="Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL" user="Standard">
<values>
<value code="0">DoNotIncludeHome</value>
<value code="1">IncludeHome</value>
</values>
</param>
</parameters>
<parameters name="RC10_">
<param humanName="RC min PWM" name="RC10_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC10_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC10_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC10_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC10_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="RC11_">
<param humanName="RC min PWM" name="RC11_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC11_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC11_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC11_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC11_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="RC12_">
<param humanName="RC min PWM" name="RC12_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC12_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC12_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC12_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC12_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="RC13_">
<param humanName="RC min PWM" name="RC13_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC13_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC13_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC13_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC13_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="RC14_">
<param humanName="RC min PWM" name="RC14_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC14_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC14_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC14_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC14_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="RC15_">
<param humanName="RC min PWM" name="RC15_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC15_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC15_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC15_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC15_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="RC16_">
<param humanName="RC min PWM" name="RC16_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC16_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC16_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC16_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC16_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="RC1_">
<param humanName="RC min PWM" name="RC1_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC1_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC1_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC1_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC1_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="RC2_">
<param humanName="RC min PWM" name="RC2_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC2_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC2_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC2_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC2_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="RC3_">
<param humanName="RC min PWM" name="RC3_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC3_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC3_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC3_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC3_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="RC4_">
<param humanName="RC min PWM" name="RC4_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC4_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC4_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC4_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC4_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="RC5_">
<param humanName="RC min PWM" name="RC5_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC5_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC5_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC5_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC5_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="RC6_">
<param humanName="RC min PWM" name="RC6_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC6_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC6_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC6_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC6_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="RC7_">
<param humanName="RC min PWM" name="RC7_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC7_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC7_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC7_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC7_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="RC8_">
<param humanName="RC min PWM" name="RC8_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC8_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC8_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC8_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC8_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="RC9_">
<param humanName="RC min PWM" name="RC9_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC9_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC9_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC9_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC9_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="RCMAP_">
<param humanName="Roll channel" name="RCMAP_ROLL" documentation="Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect." user="Advanced">
<field name="Range">1 8</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Pitch channel" name="RCMAP_PITCH" documentation="Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect." user="Advanced">
<field name="Range">1 8</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Throttle channel" name="RCMAP_THROTTLE" documentation="Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Warning APM 2.X: Changing the throttle channel could produce unexpected fail-safe results if connection between receiver and on-board PPM Encoder is lost. Disabling on-board PPM Encoder is recommended.  Reboot is required for changes to take effect." user="Advanced">
<field name="Range">1 8</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Yaw channel" name="RCMAP_YAW" documentation="Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect." user="Advanced">
<field name="Range">1 8</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Forward channel" name="RCMAP_FORWARD" documentation="Forward channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Forward is normally on channel 5, but you can move it to any channel with this parameter. Reboot is required for changes to take effect." user="Advanced">
<field name="Range">1 8</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Lateral channel" name="RCMAP_LATERAL" documentation="Lateral channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Lateral is normally on channel 6, but you can move it to any channel with this parameter. Reboot is required for changes to take effect." user="Advanced">
<field name="Range">1 8</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="RELAY_">
<param humanName="First Relay Pin" name="RELAY_PIN" documentation="Digital pin number for first relay control. This is the pin used for camera control." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="13">APM2 A9 pin</value>
<value code="47">APM1 relay</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1/BB Blue GP0 pin 6</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2/BB Blue GP0 pin 5</value>
</values>
</param>
<param humanName="Second Relay Pin" name="RELAY_PIN2" documentation="Digital pin number for 2nd relay control." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="13">APM2 A9 pin</value>
<value code="47">APM1 relay</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1/BB Blue GP0 pin 6</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2/BB Blue GP0 pin 5</value>
</values>
</param>
<param humanName="Third Relay Pin" name="RELAY_PIN3" documentation="Digital pin number for 3rd relay control." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="13">APM2 A9 pin</value>
<value code="47">APM1 relay</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1/BB Blue GP0 pin 6</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2/BB Blue GP0 pin 5</value>
</values>
</param>
<param humanName="Fourth Relay Pin" name="RELAY_PIN4" documentation="Digital pin number for 4th relay control." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="13">APM2 A9 pin</value>
<value code="47">APM1 relay</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1/BB Blue GP0 pin 6</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2/BB Blue GP0 pin 5</value>
</values>
</param>
<param humanName="Default relay state" name="RELAY_DEFAULT" documentation="The state of the relay on boot." user="Standard">
<values>
<value code="0">Off</value>
<value code="1">On</value>
<value code="2">NoChange</value>
</values>
</param>
</parameters>
<parameters name="RNGFND">
<param humanName="Rangefinder type" name="RNGFND_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Analog</value>
<value code="2">MaxbotixI2C</value>
<value code="3">LidarLiteV2-I2C</value>
<value code="5">PX4-PWM</value>
<value code="6">BBB-PRU</value>
<value code="7">LightWareI2C</value>
<value code="8">LightWareSerial</value>
<value code="9">Bebop</value>
<value code="10">MAVLink</value>
<value code="11">uLanding</value>
<value code="12">LeddarOne</value>
<value code="13">MaxbotixSerial</value>
<value code="14">TeraRangerI2C</value>
<value code="15">LidarLiteV3-I2C</value>
<value code="16">VL53L0X</value>
<value code="17">NMEA</value>
</values>
</param>
<param humanName="Rangefinder pin" name="RNGFND_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code=" 0">APM2-A0</value>
<value code=" 1">APM2-A1</value>
<value code=" 2">APM2-A2</value>
<value code=" 3">APM2-A3</value>
<value code=" 4">APM2-A4</value>
<value code=" 5">APM2-A5</value>
<value code=" 6">APM2-A6</value>
<value code=" 7">APM2-A7</value>
<value code=" 8">APM2-A8</value>
<value code=" 9">APM2-A9</value>
<value code=" 11">PX4-airspeed port</value>
<value code=" 15">Pixhawk-airspeed port</value>
<value code=" 64">APM1-airspeed port</value>
</values>
</param>
<param humanName="Rangefinder scaling" name="RNGFND_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
<field name="Increment">0.001</field>
<field name="Units">m/V</field>
<field name="UnitText">meters per volt</field>
</param>
<param humanName="rangefinder offset" name="RNGFND_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
<field name="Increment">0.001</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Rangefinder function" name="RNGFND_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
<values>
<value code="0">Linear</value>
<value code="1">Inverted</value>
<value code="2">Hyperbolic</value>
</values>
</param>
<param humanName="Rangefinder minimum distance" name="RNGFND_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder maximum distance" name="RNGFND_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder stop pin" name="RNGFND_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2</value>
</values>
</param>
<param humanName="Rangefinder settle time" name="RNGFND_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Standard">
<field name="Increment">1</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
</param>
<param humanName="Ratiometric" name="RNGFND_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
<values>
<value code="0">No</value>
<value code="1">Yes</value>
</values>
</param>
<param humanName="Powersave range" name="RNGFND_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
<field name="Range">0 32767</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
<field name="Range">5 127</field>
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Bus address of sensor" name="RNGFND_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
<field name="Range">0 127</field>
<field name="Increment">1</field>
</param>
<param humanName=" X position offset" name="RNGFND_POS_X" documentation="X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Y position offset" name="RNGFND_POS_Y" documentation="Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Z position offset" name="RNGFND_POS_Z" documentation="Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Rangefinder orientation" name="RNGFND_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
<values>
<value code="0">Forward</value>
<value code=" 1">Forward-Right</value>
<value code=" 2">Right</value>
<value code=" 3">Back-Right</value>
<value code=" 4">Back</value>
<value code=" 5">Back-Left</value>
<value code=" 6">Left</value>
<value code=" 7">Forward-Left</value>
<value code=" 24">Up</value>
<value code=" 25">Down</value>
</values>
</param>
<param humanName="Second Rangefinder type" name="RNGFND2_TYPE" documentation="What type of rangefinder device that is connected" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Analog</value>
<value code="2">MaxbotixI2C</value>
<value code="3">LidarLiteV2-I2C</value>
<value code="5">PX4-PWM</value>
<value code="6">BBB-PRU</value>
<value code="7">LightWareI2C</value>
<value code="8">LightWareSerial</value>
<value code="9">Bebop</value>
<value code="10">MAVLink</value>
<value code="11">uLanding</value>
<value code="12">LeddarOne</value>
<value code="13">MaxbotixSerial</value>
<value code="14">TeraRangerI2C</value>
<value code="15">LidarLiteV3-I2C</value>
<value code="16">VL53L0X</value>
<value code="17">NMEA</value>
</values>
</param>
<param humanName="Rangefinder pin" name="RNGFND2_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Advanced">
<values>
<value code="-1">Not Used</value>
<value code=" 0">APM2-A0</value>
<value code=" 1">APM2-A1</value>
<value code=" 2">APM2-A2</value>
<value code=" 3">APM2-A3</value>
<value code=" 4">APM2-A4</value>
<value code=" 5">APM2-A5</value>
<value code=" 6">APM2-A6</value>
<value code=" 7">APM2-A7</value>
<value code=" 8">APM2-A8</value>
<value code=" 9">APM2-A9</value>
<value code=" 11">PX4-airspeed port</value>
<value code=" 15">Pixhawk-airspeed port</value>
<value code=" 64">APM1-airspeed port</value>
</values>
</param>
<param humanName="Rangefinder scaling" name="RNGFND2_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Advanced">
<field name="Increment">0.001</field>
<field name="Units">m/V</field>
<field name="UnitText">meters per volt</field>
</param>
<param humanName="rangefinder offset" name="RNGFND2_OFFSET" documentation="Offset in volts for zero distance" user="Advanced">
<field name="Increment">0.001</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Rangefinder function" name="RNGFND2_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Advanced">
<values>
<value code="0">Linear</value>
<value code="1">Inverted</value>
<value code="2">Hyperbolic</value>
</values>
</param>
<param humanName="Rangefinder minimum distance" name="RNGFND2_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Advanced">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder maximum distance" name="RNGFND2_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Advanced">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder stop pin" name="RNGFND2_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Advanced">
<values>
<value code="-1">Not Used</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2</value>
</values>
</param>
<param humanName="Sonar settle time" name="RNGFND2_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Advanced">
<field name="Increment">1</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
</param>
<param humanName="Ratiometric" name="RNGFND2_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Advanced">
<values>
<value code="0">No</value>
<value code="1">Yes</value>
</values>
</param>
<param humanName="Distance (in cm) from the second range finder to the ground" name="RNGFND2_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the second range finder should return when the vehicle is on the ground." user="Advanced">
<field name="Range">0 127</field>
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Bus address of second rangefinder" name="RNGFND2_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Advanced">
<field name="Range">0 127</field>
<field name="Increment">1</field>
</param>
<param humanName=" X position offset" name="RNGFND2_POS_X" documentation="X position of the second rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Y position offset" name="RNGFND2_POS_Y" documentation="Y position of the second rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Z position offset" name="RNGFND2_POS_Z" documentation="Z position of the second rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Rangefinder 2 orientation" name="RNGFND2_ORIENT" documentation="Orientation of 2nd rangefinder" user="Advanced">
<values>
<value code="0">Forward</value>
<value code=" 1">Forward-Right</value>
<value code=" 2">Right</value>
<value code=" 3">Back-Right</value>
<value code=" 4">Back</value>
<value code=" 5">Back-Left</value>
<value code=" 6">Left</value>
<value code=" 7">Forward-Left</value>
<value code=" 24">Up</value>
<value code=" 25">Down</value>
</values>
</param>
<param humanName="Third Rangefinder type" name="RNGFND3_TYPE" documentation="What type of rangefinder device that is connected" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Analog</value>
<value code="2">MaxbotixI2C</value>
<value code="3">LidarLiteV2-I2C</value>
<value code="5">PX4-PWM</value>
<value code="6">BBB-PRU</value>
<value code="7">LightWareI2C</value>
<value code="8">LightWareSerial</value>
<value code="9">Bebop</value>
<value code="10">MAVLink</value>
<value code="11">uLanding</value>
<value code="12">LeddarOne</value>
<value code="13">MaxbotixSerial</value>
<value code="14">TeraRangerI2C</value>
<value code="15">LidarLiteV3-I2C</value>
<value code="16">VL53L0X</value>
<value code="17">NMEA</value>
</values>
</param>
<param humanName="Rangefinder pin" name="RNGFND3_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Advanced">
<values>
<value code="-1">Not Used</value>
<value code=" 0">APM2-A0</value>
<value code=" 1">APM2-A1</value>
<value code=" 2">APM2-A2</value>
<value code=" 3">APM2-A3</value>
<value code=" 4">APM2-A4</value>
<value code=" 5">APM2-A5</value>
<value code=" 6">APM2-A6</value>
<value code=" 7">APM2-A7</value>
<value code=" 8">APM2-A8</value>
<value code=" 9">APM2-A9</value>
<value code=" 11">PX4-airspeed port</value>
<value code=" 15">Pixhawk-airspeed port</value>
<value code=" 64">APM1-airspeed port</value>
</values>
</param>
<param humanName="Rangefinder scaling" name="RNGFND3_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Advanced">
<field name="Increment">0.001</field>
<field name="Units">m/V</field>
<field name="UnitText">meters per volt</field>
</param>
<param humanName="rangefinder offset" name="RNGFND3_OFFSET" documentation="Offset in volts for zero distance" user="Advanced">
<field name="Increment">0.001</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Rangefinder function" name="RNGFND3_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Advanced">
<values>
<value code="0">Linear</value>
<value code="1">Inverted</value>
<value code="2">Hyperbolic</value>
</values>
</param>
<param humanName="Rangefinder minimum distance" name="RNGFND3_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Advanced">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder maximum distance" name="RNGFND3_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Advanced">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder stop pin" name="RNGFND3_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Advanced">
<values>
<value code="-1">Not Used</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2</value>
</values>
</param>
<param humanName="Sonar settle time" name="RNGFND3_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Advanced">
<field name="Increment">1</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
</param>
<param humanName="Ratiometric" name="RNGFND3_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Advanced">
<values>
<value code="0">No</value>
<value code="1">Yes</value>
</values>
</param>
<param humanName="Distance (in cm) from the third range finder to the ground" name="RNGFND3_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the third range finder should return when the vehicle is on the ground." user="Advanced">
<field name="Range">0 127</field>
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Bus address of third rangefinder" name="RNGFND3_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Advanced">
<field name="Range">0 127</field>
<field name="Increment">1</field>
</param>
<param humanName=" X position offset" name="RNGFND3_POS_X" documentation="X position of the third rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Y position offset" name="RNGFND3_POS_Y" documentation="Y position of the third rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Z position offset" name="RNGFND3_POS_Z" documentation="Z position of the third rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Rangefinder 3 orientation" name="RNGFND3_ORIENT" documentation="Orientation of 3rd rangefinder" user="Advanced">
<values>
<value code="0">Forward</value>
<value code=" 1">Forward-Right</value>
<value code=" 2">Right</value>
<value code=" 3">Back-Right</value>
<value code=" 4">Back</value>
<value code=" 5">Back-Left</value>
<value code=" 6">Left</value>
<value code=" 7">Forward-Left</value>
<value code=" 24">Up</value>
<value code=" 25">Down</value>
</values>
</param>
<param humanName="Fourth Rangefinder type" name="RNGFND4_TYPE" documentation="What type of rangefinder device that is connected" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Analog</value>
<value code="2">MaxbotixI2C</value>
<value code="3">LidarLiteV2-I2C</value>
<value code="5">PX4-PWM</value>
<value code="6">BBB-PRU</value>
<value code="7">LightWareI2C</value>
<value code="8">LightWareSerial</value>
<value code="9">Bebop</value>
<value code="10">MAVLink</value>
<value code="11">uLanding</value>
<value code="12">LeddarOne</value>
<value code="13">MaxbotixSerial</value>
<value code="14">TeraRangerI2C</value>
<value code="15">LidarLiteV3-I2C</value>
<value code="16">VL53L0X</value>
<value code="17">NMEA</value>
</values>
</param>
<param humanName="Rangefinder pin" name="RNGFND4_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Advanced">
<values>
<value code="-1">Not Used</value>
<value code=" 0">APM2-A0</value>
<value code=" 1">APM2-A1</value>
<value code=" 2">APM2-A2</value>
<value code=" 3">APM2-A3</value>
<value code=" 4">APM2-A4</value>
<value code=" 5">APM2-A5</value>
<value code=" 6">APM2-A6</value>
<value code=" 7">APM2-A7</value>
<value code=" 8">APM2-A8</value>
<value code=" 9">APM2-A9</value>
<value code=" 11">PX4-airspeed port</value>
<value code=" 15">Pixhawk-airspeed port</value>
<value code=" 64">APM1-airspeed port</value>
</values>
</param>
<param humanName="Rangefinder scaling" name="RNGFND4_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Advanced">
<field name="Increment">0.001</field>
<field name="Units">m/V</field>
<field name="UnitText">meters per volt</field>
</param>
<param humanName="rangefinder offset" name="RNGFND4_OFFSET" documentation="Offset in volts for zero distance" user="Advanced">
<field name="Increment">0.001</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Rangefinder function" name="RNGFND4_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Advanced">
<values>
<value code="0">Linear</value>
<value code="1">Inverted</value>
<value code="2">Hyperbolic</value>
</values>
</param>
<param humanName="Rangefinder minimum distance" name="RNGFND4_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Advanced">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder maximum distance" name="RNGFND4_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Advanced">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder stop pin" name="RNGFND4_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Advanced">
<values>
<value code="-1">Not Used</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2</value>
</values>
</param>
<param humanName="Sonar settle time" name="RNGFND4_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Advanced">
<field name="Increment">1</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
</param>
<param humanName="Ratiometric" name="RNGFND4_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Advanced">
<values>
<value code="0">No</value>
<value code="1">Yes</value>
</values>
</param>
<param humanName="Distance (in cm) from the fourth range finder to the ground" name="RNGFND4_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the fourth range finder should return when the vehicle is on the ground." user="Advanced">
<field name="Range">0 127</field>
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Bus address of fourth rangefinder" name="RNGFND4_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Advanced">
<field name="Range">0 127</field>
<field name="Increment">1</field>
</param>
<param humanName=" X position offset" name="RNGFND4_POS_X" documentation="X position of the fourth rangefinder in body frame. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Y position offset" name="RNGFND4_POS_Y" documentation="Y position of the fourth rangefinder in body frame. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Z position offset" name="RNGFND4_POS_Z" documentation="Z position of the fourth rangefinder in body frame. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Rangefinder 4 orientation" name="RNGFND4_ORIENT" documentation="Orientation of 4th range finder" user="Advanced">
<values>
<value code="0">Forward</value>
<value code=" 1">Forward-Right</value>
<value code=" 2">Right</value>
<value code=" 3">Back-Right</value>
<value code=" 4">Back</value>
<value code=" 5">Back-Left</value>
<value code=" 6">Left</value>
<value code=" 7">Forward-Left</value>
<value code=" 24">Up</value>
<value code=" 25">Down</value>
</values>
</param>
</parameters>
<parameters name="RPM">
<param humanName="RPM type" name="RPM_TYPE" documentation="What type of RPM sensor is connected" user="Standard">
<values>
<value code="0">None</value>
<value code="1">PX4-PWM</value>
<value code="2">AUXPIN</value>
</values>
</param>
<param humanName="RPM scaling" name="RPM_SCALING" documentation="Scaling factor between sensor reading and RPM." user="Standard">
<field name="Increment">0.001</field>
</param>
<param humanName="Maximum RPM" name="RPM_MAX" documentation="Maximum RPM to report" user="Standard">
<field name="Increment">1</field>
</param>
<param humanName="Minimum RPM" name="RPM_MIN" documentation="Minimum RPM to report" user="Standard">
<field name="Increment">1</field>
</param>
<param humanName="Minimum Quality" name="RPM_MIN_QUAL" documentation="Minimum data quality to be used" user="Advanced">
<field name="Increment">0.1</field>
</param>
<param humanName="Input pin number" name="RPM_PIN" documentation="Which pin to use" user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">PixhawkAUX1</value>
<value code="51">PixhawkAUX2</value>
<value code="52">PixhawkAUX3</value>
<value code="53">PixhawkAUX4</value>
<value code="54">PixhawkAUX5</value>
<value code="55">PixhawkAUX6</value>
</values>
</param>
<param humanName="Second RPM type" name="RPM2_TYPE" documentation="What type of RPM sensor is connected" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">PX4-PWM</value>
<value code="2">AUXPIN</value>
</values>
</param>
<param humanName="RPM scaling" name="RPM2_SCALING" documentation="Scaling factor between sensor reading and RPM." user="Advanced">
<field name="Increment">0.001</field>
</param>
<param humanName="RPM2 input pin number" name="RPM2_PIN" documentation="Which pin to use" user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">PixhawkAUX1</value>
<value code="51">PixhawkAUX2</value>
<value code="52">PixhawkAUX3</value>
<value code="53">PixhawkAUX4</value>
<value code="54">PixhawkAUX5</value>
<value code="55">PixhawkAUX6</value>
</values>
</param>
</parameters>
<parameters name="RSSI_">
<param humanName="RSSI Type" name="RSSI_TYPE" documentation="Radio Receiver RSSI type. If your radio receiver supports RSSI of some kind, set it here, then set its associated RSSI_XXXXX parameters, if any." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">AnalogPin</value>
<value code="2">RCChannelPwmValue</value>
<value code="3">ReceiverProtocol</value>
</values>
</param>
<param humanName="Receiver RSSI analog sensing pin" name="RSSI_ANA_PIN" documentation="This selects an analog pin where the receiver RSSI voltage will be read." user="Standard">
<values>
<value code="0">APM2 A0</value>
<value code="1">APM2 A1</value>
<value code="13">APM2 A13</value>
<value code="11">Pixracer</value>
<value code="13">Pixhawk ADC4</value>
<value code="14">Pixhawk ADC3</value>
<value code="15">Pixhawk ADC6</value>
<value code="103">Pixhawk SBUS</value>
<value code="15">Pixhawk2 ADC</value>
</values>
</param>
<param humanName="Receiver RSSI voltage low" name="RSSI_PIN_LOW" documentation="This is the voltage value that the radio receiver will put on the RSSI_ANA_PIN when the signal strength is the weakest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn't necessarily a lower value than RSSI_PIN_HIGH. " user="Standard">
<field name="Range">0 5.0</field>
<field name="Increment">0.01</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Receiver RSSI voltage high" name="RSSI_PIN_HIGH" documentation="This is the voltage value that the radio receiver will put on the RSSI_ANA_PIN when the signal strength is the strongest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn't necessarily a higher value than RSSI_PIN_LOW. " user="Standard">
<field name="Range">0 5.0</field>
<field name="Increment">0.01</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Receiver RSSI channel number" name="RSSI_CHANNEL" documentation="The channel number where RSSI will be output by the radio receiver (5 and above)." user="Standard">
</param>
<param humanName="Receiver RSSI PWM low value" name="RSSI_CHAN_LOW" documentation="This is the PWM value in microseconds that the radio receiver will put on the RSSI_CHANNEL when the signal strength is the weakest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn't necessarily a lower value than RSSI_CHAN_HIGH." user="Standard">
<field name="Range">0 2000</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Receiver RSSI PWM high value" name="RSSI_CHAN_HIGH" documentation="This is the PWM value in microseconds that the radio receiver will put on the RSSI_CHANNEL when the signal strength is the strongest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn't necessarily a higher value than RSSI_CHAN_LOW." user="Standard">
<field name="Range">0 2000</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="SCHED_">
<param humanName="Scheduler debug level" name="SCHED_DEBUG" documentation='Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.' user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="2">ShowSlips</value>
<value code="3">ShowOverruns</value>
</values>
</param>
<param humanName="Scheduling main loop rate" name="SCHED_LOOP_RATE" documentation="This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart. Values over 400 are considered highly experimental." user="Advanced">
<values>
<value code="50">50Hz</value>
<value code="100">100Hz</value>
<value code="200">200Hz</value>
<value code="250">250Hz</value>
<value code="300">300Hz</value>
<value code="400">400Hz</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="SERIAL">
<param humanName="Serial0 baud rate" name="SERIAL0_BAUD" documentation="The baud rate used on the USB console. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
<values>
<value code="1">1200</value>
<value code="2">2400</value>
<value code="4">4800</value>
<value code="9">9600</value>
<value code="19">19200</value>
<value code="38">38400</value>
<value code="57">57600</value>
<value code="111">111100</value>
<value code="115">115200</value>
<value code="460">460800</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
</values>
</param>
<param humanName="Console protocol selection" name="SERIAL0_PROTOCOL" documentation="Control what protocol to use on the console. " user="Standard">
<values>
<value code="1">MAVlink1</value>
<value code=" 2">MAVLink2</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Telem1 protocol selection" name="SERIAL1_PROTOCOL" documentation="Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
<values>
<value code="-1">None</value>
<value code=" 1">MAVLink1</value>
<value code=" 2">MAVLink2</value>
<value code=" 3">Frsky D</value>
<value code=" 4">Frsky SPort</value>
<value code=" 5">GPS</value>
<value code=" 7">Alexmos Gimbal Serial</value>
<value code=" 8">SToRM32 Gimbal Serial</value>
<value code=" 9">Rangefinder</value>
<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
<value code=" 11">Lidar360</value>
<value code=" 13">Beacon</value>
<value code=" 14">Volz servo out</value>
<value code=" 15">SBus servo out</value>
<value code=" 16">ESC Telemetry</value>
<value code=" 17">Devo Telemetry</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Telem1 Baud Rate" name="SERIAL1_BAUD" documentation="The baud rate used on the Telem1 port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
<values>
<value code="1">1200</value>
<value code="2">2400</value>
<value code="4">4800</value>
<value code="9">9600</value>
<value code="19">19200</value>
<value code="38">38400</value>
<value code="57">57600</value>
<value code="111">111100</value>
<value code="115">115200</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
</values>
</param>
<param humanName="Telemetry 2 protocol selection" name="SERIAL2_PROTOCOL" documentation="Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
<values>
<value code="-1">None</value>
<value code=" 1">MAVLink1</value>
<value code=" 2">MAVLink2</value>
<value code=" 3">Frsky D</value>
<value code=" 4">Frsky SPort</value>
<value code=" 5">GPS</value>
<value code=" 7">Alexmos Gimbal Serial</value>
<value code=" 8">SToRM32 Gimbal Serial</value>
<value code=" 9">Rangefinder</value>
<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
<value code=" 11">Lidar360</value>
<value code=" 13">Beacon</value>
<value code=" 14">Volz servo out</value>
<value code=" 15">SBus servo out</value>
<value code=" 16">ESC Telemetry</value>
<value code=" 17">Devo Telemetry</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Telemetry 2 Baud Rate" name="SERIAL2_BAUD" documentation="The baud rate of the Telem2 port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
<values>
<value code="1">1200</value>
<value code="2">2400</value>
<value code="4">4800</value>
<value code="9">9600</value>
<value code="19">19200</value>
<value code="38">38400</value>
<value code="57">57600</value>
<value code="111">111100</value>
<value code="115">115200</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
</values>
</param>
<param humanName="Serial 3 (GPS) protocol selection" name="SERIAL3_PROTOCOL" documentation="Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
<values>
<value code="-1">None</value>
<value code=" 1">MAVLink1</value>
<value code=" 2">MAVLink2</value>
<value code=" 3">Frsky D</value>
<value code=" 4">Frsky SPort</value>
<value code=" 5">GPS</value>
<value code=" 7">Alexmos Gimbal Serial</value>
<value code=" 8">SToRM32 Gimbal Serial</value>
<value code=" 9">Rangefinder</value>
<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
<value code=" 11">Lidar360</value>
<value code=" 13">Beacon</value>
<value code=" 14">Volz servo out</value>
<value code=" 15">SBus servo out</value>
<value code=" 16">ESC Telemetry</value>
<value code=" 17">Devo Telemetry</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial 3 (GPS) Baud Rate" name="SERIAL3_BAUD" documentation="The baud rate used for the Serial 3 (GPS). The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
<values>
<value code="1">1200</value>
<value code="2">2400</value>
<value code="4">4800</value>
<value code="9">9600</value>
<value code="19">19200</value>
<value code="38">38400</value>
<value code="57">57600</value>
<value code="111">111100</value>
<value code="115">115200</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
</values>
</param>
<param humanName="Serial4 protocol selection" name="SERIAL4_PROTOCOL" documentation="Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
<values>
<value code="-1">None</value>
<value code=" 1">MAVLink1</value>
<value code=" 2">MAVLink2</value>
<value code=" 3">Frsky D</value>
<value code=" 4">Frsky SPort</value>
<value code=" 5">GPS</value>
<value code=" 7">Alexmos Gimbal Serial</value>
<value code=" 8">SToRM32 Gimbal Serial</value>
<value code=" 9">Rangefinder</value>
<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
<value code=" 11">Lidar360</value>
<value code=" 13">Beacon</value>
<value code=" 14">Volz servo out</value>
<value code=" 15">SBus servo out</value>
<value code=" 16">ESC Telemetry</value>
<value code=" 17">Devo Telemetry</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial 4 Baud Rate" name="SERIAL4_BAUD" documentation="The baud rate used for Serial4. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
<values>
<value code="1">1200</value>
<value code="2">2400</value>
<value code="4">4800</value>
<value code="9">9600</value>
<value code="19">19200</value>
<value code="38">38400</value>
<value code="57">57600</value>
<value code="111">111100</value>
<value code="115">115200</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
</values>
</param>
<param humanName="Serial5 protocol selection" name="SERIAL5_PROTOCOL" documentation="Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
<values>
<value code="-1">None</value>
<value code=" 1">MAVLink1</value>
<value code=" 2">MAVLink2</value>
<value code=" 3">Frsky D</value>
<value code=" 4">Frsky SPort</value>
<value code=" 5">GPS</value>
<value code=" 7">Alexmos Gimbal Serial</value>
<value code=" 8">SToRM32 Gimbal Serial</value>
<value code=" 9">Rangefinder</value>
<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
<value code=" 11">Lidar360</value>
<value code=" 13">Beacon</value>
<value code=" 14">Volz servo out</value>
<value code=" 15">SBus servo out</value>
<value code=" 16">ESC Telemetry</value>
<value code=" 17">Devo Telemetry</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial 5 Baud Rate" name="SERIAL5_BAUD" documentation="The baud rate used for Serial5. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
<values>
<value code="1">1200</value>
<value code="2">2400</value>
<value code="4">4800</value>
<value code="9">9600</value>
<value code="19">19200</value>
<value code="38">38400</value>
<value code="57">57600</value>
<value code="111">111100</value>
<value code="115">115200</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
</values>
</param>
</parameters>
<parameters name="SERVO">
<param humanName="Automatic servo trim" name="SERVO_AUTO_TRIM" documentation="This enables automatic servo trim in flight. Servos will be trimed in stabilized flight modes when the aircraft is close to level. Changes to servo trim will be saved every 10 seconds and will persist between flights." user="Advanced">
<values>
<value code="0">Disable</value>
<value code="1">Enable</value>
</values>
</param>
<param humanName="Servo default output rate" name="SERVO_RATE" documentation="This sets the default output rate in Hz for all outputs." user="Advanced">
<field name="Range">25 400</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
<parameters name="SERVO10_">
<param humanName="Minimum PWM" name="SERVO10_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO10_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO10_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO10_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO10_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="88">Winch</value>
</values>
</param>
</parameters>
<parameters name="SERVO11_">
<param humanName="Minimum PWM" name="SERVO11_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO11_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO11_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO11_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO11_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="88">Winch</value>
</values>
</param>
</parameters>
<parameters name="SERVO12_">
<param humanName="Minimum PWM" name="SERVO12_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO12_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO12_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO12_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO12_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="88">Winch</value>
</values>
</param>
</parameters>
<parameters name="SERVO13_">
<param humanName="Minimum PWM" name="SERVO13_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO13_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO13_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO13_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO13_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="88">Winch</value>
</values>
</param>
</parameters>
<parameters name="SERVO14_">
<param humanName="Minimum PWM" name="SERVO14_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO14_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO14_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO14_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO14_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="88">Winch</value>
</values>
</param>
</parameters>
<parameters name="SERVO15_">
<param humanName="Minimum PWM" name="SERVO15_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO15_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO15_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO15_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO15_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="88">Winch</value>
</values>
</param>
</parameters>
<parameters name="SERVO16_">
<param humanName="Minimum PWM" name="SERVO16_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO16_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO16_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO16_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO16_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="88">Winch</value>
</values>
</param>
</parameters>
<parameters name="SERVO1_">
<param humanName="Minimum PWM" name="SERVO1_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO1_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO1_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO1_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO1_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="88">Winch</value>
</values>
</param>
</parameters>
<parameters name="SERVO2_">
<param humanName="Minimum PWM" name="SERVO2_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO2_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO2_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO2_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO2_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="88">Winch</value>
</values>
</param>
</parameters>
<parameters name="SERVO3_">
<param humanName="Minimum PWM" name="SERVO3_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO3_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO3_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO3_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO3_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="88">Winch</value>
</values>
</param>
</parameters>
<parameters name="SERVO4_">
<param humanName="Minimum PWM" name="SERVO4_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO4_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO4_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO4_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO4_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="88">Winch</value>
</values>
</param>
</parameters>
<parameters name="SERVO5_">
<param humanName="Minimum PWM" name="SERVO5_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO5_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO5_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO5_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO5_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="88">Winch</value>
</values>
</param>
</parameters>
<parameters name="SERVO6_">
<param humanName="Minimum PWM" name="SERVO6_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO6_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO6_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO6_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO6_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="88">Winch</value>
</values>
</param>
</parameters>
<parameters name="SERVO7_">
<param humanName="Minimum PWM" name="SERVO7_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO7_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO7_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO7_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO7_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="88">Winch</value>
</values>
</param>
</parameters>
<parameters name="SERVO8_">
<param humanName="Minimum PWM" name="SERVO8_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO8_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO8_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO8_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO8_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="88">Winch</value>
</values>
</param>
</parameters>
<parameters name="SERVO9_">
<param humanName="Minimum PWM" name="SERVO9_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO9_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO9_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO9_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO9_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="88">Winch</value>
</values>
</param>
</parameters>
<parameters name="SERVO_BLH_">
<param humanName="Channel Bitmask" name="SERVO_BLH_MASK" documentation="Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any)" user="Advanced">
<field name="Bitmask">0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16</field>
</param>
<param humanName="auto-enable for multicopter motors" name="SERVO_BLH_AUTO" documentation="If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="internal test of BLHeli interface" name="SERVO_BLH_TEST" documentation="Setting SERVO_BLH_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC. The debug output is displayed on the USB console." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">TestMotor1</value>
<value code="2">TestMotor2</value>
<value code="3">TestMotor3</value>
<value code="4">TestMotor4</value>
<value code="5">TestMotor5</value>
<value code="6">TestMotor6</value>
<value code="7">TestMotor7</value>
<value code="8">TestMotor8</value>
</values>
</param>
<param humanName="BLHeli protocol timeout" name="SERVO_BLH_TMOUT" documentation="This sets the inactivity timeout for the BLHeli protocol in seconds. If no packets are received in this time normal MAVLink operations are resumed. A value of 0 means no timeout" user="Standard">
<field name="Range">0 300</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="BLHeli telemetry rate" name="SERVO_BLH_TRATE" documentation="This sets the rate in Hz for requesting telemetry from ESCs. It is the rate per ESC. Setting to zero disables telemetry requests" user="Standard">
<field name="Range">0 500</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="BLHeli debug level" name="SERVO_BLH_DEBUG" documentation="When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Output type override" name="SERVO_BLH_OTYPE" documentation="When set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group." user="Advanced">
<values>
<value code="0">None</value>
<value code="1">OneShot</value>
<value code="2">OneShot125</value>
<value code="3">Brushed</value>
<value code="4">DShot150</value>
<value code="5">DShot300</value>
<value code="6">DShot600</value>
<value code="7">DShot1200</value>
</values>
</param>
</parameters>
<parameters name="SERVO_SBUS_">
<param humanName="SBUS default output rate" name="SERVO_SBUS_RATE" documentation="This sets the SBUS output frame rate in Hz." user="Advanced">
<field name="Range">25 250</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
<parameters name="SERVO_VOLZ_">
<param humanName="Channel Bitmask" name="SERVO_VOLZ_MASK" documentation="Enable of volz servo protocol to specific channels" user="Standard">
<field name="Bitmask">0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16</field>
</param>
</parameters>
<parameters name="SPRAY_">
<param humanName="Sprayer enable/disable" name="SPRAY_ENABLE" documentation="Allows you to enable (1) or disable (0) the sprayer" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Pump speed" name="SPRAY_PUMP_RATE" documentation="Desired pump speed when traveling 1m/s expressed as a percentage" user="Standard">
<field name="Range">0 100</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="Spinner rotation speed" name="SPRAY_SPINNER" documentation="Spinner's rotation speed in PWM (a higher rate will disperse the spray over a wider area horizontally)" user="Standard">
<field name="Range">1000 2000</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
</param>
<param humanName="Speed minimum" name="SPRAY_SPEED_MIN" documentation="Speed minimum at which we will begin spraying" user="Standard">
<field name="Range">0 1000</field>
<field name="Units">cm/s</field>
<field name="UnitText">centimeters per second</field>
</param>
<param humanName="Pump speed minimum" name="SPRAY_PUMP_MIN" documentation="Minimum pump speed expressed as a percentage" user="Standard">
<field name="Range">0 100</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
</parameters>
<parameters name="SR0_">
<param humanName="Raw sensor stream rate" name="SR0_RAW_SENS" documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extended status stream rate to ground station" name="SR0_EXT_STAT" documentation="Stream rate of SYS_STATUS, POWER_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="RC Channel stream rate to ground station" name="SR0_RC_CHAN" documentation="Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Raw Control stream rate to ground station" name="SR0_RAW_CTRL" documentation="Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Position stream rate to ground station" name="SR0_POSITION" documentation="Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 1 stream rate to ground station" name="SR0_EXTRA1" documentation="Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 2 stream rate to ground station" name="SR0_EXTRA2" documentation="Stream rate of VFR_HUD to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 3 stream rate to ground station" name="SR0_EXTRA3" documentation="Stream rate of AHRS, HWSTATUS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, MOUNT_STATUS, OPTICAL_FLOW, GIMBAL_REPORT, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Parameter stream rate to ground station" name="SR0_PARAMS" documentation="Stream rate of PARAM_VALUE to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="ADSB stream rate to ground station" name="SR0_ADSB" documentation="ADSB stream rate to ground station" user="Advanced">
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
<parameters name="SR1_">
<param humanName="Raw sensor stream rate" name="SR1_RAW_SENS" documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extended status stream rate to ground station" name="SR1_EXT_STAT" documentation="Stream rate of SYS_STATUS, POWER_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="RC Channel stream rate to ground station" name="SR1_RC_CHAN" documentation="Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Raw Control stream rate to ground station" name="SR1_RAW_CTRL" documentation="Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Position stream rate to ground station" name="SR1_POSITION" documentation="Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 1 stream rate to ground station" name="SR1_EXTRA1" documentation="Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 2 stream rate to ground station" name="SR1_EXTRA2" documentation="Stream rate of VFR_HUD to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 3 stream rate to ground station" name="SR1_EXTRA3" documentation="Stream rate of AHRS, HWSTATUS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, MOUNT_STATUS, OPTICAL_FLOW, GIMBAL_REPORT, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Parameter stream rate to ground station" name="SR1_PARAMS" documentation="Stream rate of PARAM_VALUE to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="ADSB stream rate to ground station" name="SR1_ADSB" documentation="ADSB stream rate to ground station" user="Advanced">
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
<parameters name="SR2_">
<param humanName="Raw sensor stream rate" name="SR2_RAW_SENS" documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extended status stream rate to ground station" name="SR2_EXT_STAT" documentation="Stream rate of SYS_STATUS, POWER_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="RC Channel stream rate to ground station" name="SR2_RC_CHAN" documentation="Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Raw Control stream rate to ground station" name="SR2_RAW_CTRL" documentation="Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Position stream rate to ground station" name="SR2_POSITION" documentation="Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 1 stream rate to ground station" name="SR2_EXTRA1" documentation="Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 2 stream rate to ground station" name="SR2_EXTRA2" documentation="Stream rate of VFR_HUD to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 3 stream rate to ground station" name="SR2_EXTRA3" documentation="Stream rate of AHRS, HWSTATUS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, MOUNT_STATUS, OPTICAL_FLOW, GIMBAL_REPORT, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Parameter stream rate to ground station" name="SR2_PARAMS" documentation="Stream rate of PARAM_VALUE to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="ADSB stream rate to ground station" name="SR2_ADSB" documentation="ADSB stream rate to ground station" user="Advanced">
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
<parameters name="SR3_">
<param humanName="Raw sensor stream rate" name="SR3_RAW_SENS" documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extended status stream rate to ground station" name="SR3_EXT_STAT" documentation="Stream rate of SYS_STATUS, POWER_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="RC Channel stream rate to ground station" name="SR3_RC_CHAN" documentation="Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Raw Control stream rate to ground station" name="SR3_RAW_CTRL" documentation="Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Position stream rate to ground station" name="SR3_POSITION" documentation="Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 1 stream rate to ground station" name="SR3_EXTRA1" documentation="Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 2 stream rate to ground station" name="SR3_EXTRA2" documentation="Stream rate of VFR_HUD to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 3 stream rate to ground station" name="SR3_EXTRA3" documentation="Stream rate of AHRS, HWSTATUS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, MOUNT_STATUS, OPTICAL_FLOW, GIMBAL_REPORT, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Parameter stream rate to ground station" name="SR3_PARAMS" documentation="Stream rate of PARAM_VALUE to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="ADSB stream rate to ground station" name="SR3_ADSB" documentation="ADSB stream rate to ground station" user="Advanced">
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
<parameters name="SRTL_">
<param humanName="SmartRTL accuracy" name="SRTL_ACCURACY" documentation="SmartRTL accuracy. The minimum distance between points." user="Advanced">
<field name="Range">0 10</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="SmartRTL maximum number of points on path" name="SRTL_POINTS" documentation="SmartRTL maximum number of points on path. Set to 0 to disable SmartRTL.  100 points consumes about 3k of memory." user="Advanced">
<field name="Range">0 500</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="STAT">
<param humanName="Boot Count" name="STAT_BOOTCNT" documentation="Number of times board has been booted" user="Standard">
<field name="ReadOnly">True</field>
</param>
<param humanName="Total FlightTime" name="STAT_FLTTIME" documentation="Total FlightTime (seconds)" user="Standard">
<field name="ReadOnly">True</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Total RunTime" name="STAT_RUNTIME" documentation="Total time autopilot has run" user="Standard">
<field name="ReadOnly">True</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Reset time" name="STAT_RESET" documentation="Seconds since January 1st 2016 (Unix epoch+1451606400) since reset (set to 0 to reset statistics)" user="Standard">
<field name="ReadOnly">True</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
</parameters>
<parameters name="TCAL">
<param humanName="Temperature calibration enable" name="TCALENABLED" documentation="Enable temperature calibration. Set to 0 to disable. Set to 1 to use learned values. Set to 2 to learn new values and use the values" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
<value code="2">EnableAndLearn</value>
</values>
</param>
<param humanName="Min learned temperature" name="TCALTEMP_MIN" documentation="Minimum learned temperature. This is automatically set by the learning process" user="Advanced">
<field name="ReadOnly">True</field>
<field name="Volatile">True</field>
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
</param>
<param humanName="Min learned temperature" name="TCALTEMP_MIN" documentation="Minimum learned temperature. This is automatically set by the learning process" user="Advanced">
<field name="ReadOnly">True</field>
<field name="Volatile">True</field>
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
</param>
<param humanName="Max learned temperature" name="TCALTEMP_MAX" documentation="Maximum learned temperature. This is automatically set by the learning process" user="Advanced">
<field name="ReadOnly">True</field>
<field name="Volatile">True</field>
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
</param>
<param humanName="Barometer exponent" name="TCALBARO_EXP" documentation="Learned exponent for barometer temperature correction" user="Advanced">
<field name="ReadOnly">True</field>
<field name="Volatile">True</field>
</param>
</parameters>
<parameters name="TERRAIN_">
<param humanName="Terrain data enable" name="TERRAIN_ENABLE" documentation="enable terrain data. This enables the vehicle storing a database of terrain data on the SD card. The terrain data is requested from the ground station as needed, and stored for later use on the SD card. To be useful the ground station must support TERRAIN_REQUEST messages and have access to a terrain database, such as the SRTM database." user="Advanced">
<values>
<value code="0">Disable</value>
<value code="1">Enable</value>
</values>
</param>
<param humanName="Terrain grid spacing" name="TERRAIN_SPACING" documentation="Distance between terrain grid points in meters. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station. If your GCS is using the worldwide SRTM database then a resolution of 100 meters is appropriate. Some parts of the world may have higher resolution data available, such as 30 meter data available in the SRTM database in the USA. The grid spacing also controls how much data is kept in memory during flight. A larger grid spacing will allow for a larger amount of data in memory. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2.7 kilometers by 3.2 kilometers. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be demand loaded as needed." user="Advanced">
<field name="Increment">1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
</parameters>
<parameters name="TMODE">
<param humanName="tmode enable " name="TMODE_ENABLE" documentation='tmode (or "toy" mode) gives a simplified user interface designed for mass market drones. Version1 is for the SkyViper V2450GPS. Version2 is for the F412 based boards' user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">EnableVersion1</value>
<value code="2">EnableVersion2</value>
</values>
</param>
<param humanName="Tmode first mode" name="TMODE_MODE1" documentation="This is the initial mode when the vehicle is first turned on. This mode is assumed to not require GPS" user="Standard">
<values>
<value code="0">Stabilize</value>
<value code="1">Acro</value>
<value code="2">AltHold</value>
<value code="3">Auto</value>
<value code="4">Guided</value>
<value code="5">Loiter</value>
<value code="6">RTL</value>
<value code="7">Circle</value>
<value code="9">Land</value>
<value code="11">Drift</value>
<value code="13">Sport</value>
<value code="14">Flip</value>
<value code="15">AutoTune</value>
<value code="16">PosHold</value>
<value code="17">Brake</value>
<value code="18">Throw</value>
<value code="19">Avoid_ADSB</value>
<value code="20">Guided_NoGPS</value>
<value code="21">FlowHold</value>
</values>
</param>
<param humanName="Tmode second mode" name="TMODE_MODE2" documentation="This is the secondary mode. This mode is assumed to require GPS" user="Standard">
<values>
<value code="0">Stabilize</value>
<value code="1">Acro</value>
<value code="2">AltHold</value>
<value code="3">Auto</value>
<value code="4">Guided</value>
<value code="5">Loiter</value>
<value code="6">RTL</value>
<value code="7">Circle</value>
<value code="9">Land</value>
<value code="11">Drift</value>
<value code="13">Sport</value>
<value code="14">Flip</value>
<value code="15">AutoTune</value>
<value code="16">PosHold</value>
<value code="17">Brake</value>
<value code="18">Throw</value>
<value code="19">Avoid_ADSB</value>
<value code="20">Guided_NoGPS</value>
<value code="21">FlowHold</value>
</values>
</param>
<param humanName="Tmode action 1" name="TMODE_ACTION1" documentation="This is the action taken for the left action button" user="Standard">
<values>
<value code="0">None</value>
<value code="1">TakePhoto</value>
<value code="2">ToggleVideo</value>
<value code="3">ModeAcro</value>
<value code="4">ModeAltHold</value>
<value code="5">ModeAuto</value>
<value code="6">ModeLoiter</value>
<value code="7">ModeRTL</value>
<value code="8">ModeCircle</value>
<value code="9">ModeLand</value>
<value code="10">ModeDrift</value>
<value code="11">ModeSport</value>
<value code="12">ModeAutoTune</value>
<value code="13">ModePosHold</value>
<value code="14">ModeBrake</value>
<value code="15">ModeThrow</value>
<value code="16">Flip</value>
<value code="17">ModeStabilize</value>
<value code="18">Disarm</value>
<value code="19">ToggleMode</value>
<value code="20">Arm-Land-RTL</value>
<value code="21">ToggleSimpleMode</value>
<value code="22">ToggleSuperSimpleMode</value>
<value code="23">MotorLoadTest</value>
<value code="24">ModeFlowHold</value>
</values>
</param>
<param humanName="Tmode action 2" name="TMODE_ACTION2" documentation="This is the action taken for the right action button" user="Standard">
<values>
<value code="0">None</value>
<value code="1">TakePhoto</value>
<value code="2">ToggleVideo</value>
<value code="3">ModeAcro</value>
<value code="4">ModeAltHold</value>
<value code="5">ModeAuto</value>
<value code="6">ModeLoiter</value>
<value code="7">ModeRTL</value>
<value code="8">ModeCircle</value>
<value code="9">ModeLand</value>
<value code="10">ModeDrift</value>
<value code="11">ModeSport</value>
<value code="12">ModeAutoTune</value>
<value code="13">ModePosHold</value>
<value code="14">ModeBrake</value>
<value code="15">ModeThrow</value>
<value code="16">Flip</value>
<value code="17">ModeStabilize</value>
<value code="18">Disarm</value>
<value code="19">ToggleMode</value>
<value code="20">Arm-Land-RTL</value>
<value code="21">ToggleSimpleMode</value>
<value code="22">ToggleSuperSimpleMode</value>
<value code="23">MotorLoadTest</value>
<value code="24">ModeFlowHold</value>
</values>
</param>
<param humanName="Tmode action 3" name="TMODE_ACTION3" documentation="This is the action taken for the power button" user="Standard">
<values>
<value code="0">None</value>
<value code="1">TakePhoto</value>
<value code="2">ToggleVideo</value>
<value code="3">ModeAcro</value>
<value code="4">ModeAltHold</value>
<value code="5">ModeAuto</value>
<value code="6">ModeLoiter</value>
<value code="7">ModeRTL</value>
<value code="8">ModeCircle</value>
<value code="9">ModeLand</value>
<value code="10">ModeDrift</value>
<value code="11">ModeSport</value>
<value code="12">ModeAutoTune</value>
<value code="13">ModePosHold</value>
<value code="14">ModeBrake</value>
<value code="15">ModeThrow</value>
<value code="16">Flip</value>
<value code="17">ModeStabilize</value>
<value code="18">Disarm</value>
<value code="19">ToggleMode</value>
<value code="20">Arm-Land-RTL</value>
<value code="21">ToggleSimpleMode</value>
<value code="22">ToggleSuperSimpleMode</value>
<value code="23">MotorLoadTest</value>
<value code="24">ModeFlowHold</value>
</values>
</param>
<param humanName="Tmode action 4" name="TMODE_ACTION4" documentation="This is the action taken for the left action button while the mode button is pressed" user="Standard">
<values>
<value code="0">None</value>
<value code="1">TakePhoto</value>
<value code="2">ToggleVideo</value>
<value code="3">ModeAcro</value>
<value code="4">ModeAltHold</value>
<value code="5">ModeAuto</value>
<value code="6">ModeLoiter</value>
<value code="7">ModeRTL</value>
<value code="8">ModeCircle</value>
<value code="9">ModeLand</value>
<value code="10">ModeDrift</value>
<value code="11">ModeSport</value>
<value code="12">ModeAutoTune</value>
<value code="13">ModePosHold</value>
<value code="14">ModeBrake</value>
<value code="15">ModeThrow</value>
<value code="16">Flip</value>
<value code="17">ModeStabilize</value>
<value code="18">Disarm</value>
<value code="19">ToggleMode</value>
<value code="20">Arm-Land-RTL</value>
<value code="21">ToggleSimpleMode</value>
<value code="22">ToggleSuperSimpleMode</value>
<value code="23">MotorLoadTest</value>
<value code="24">ModeFlowHold</value>
</values>
</param>
<param humanName="Tmode action 5" name="TMODE_ACTION5" documentation="This is the action taken for the right action button while the mode button is pressed" user="Standard">
<values>
<value code="0">None</value>
<value code="1">TakePhoto</value>
<value code="2">ToggleVideo</value>
<value code="3">ModeAcro</value>
<value code="4">ModeAltHold</value>
<value code="5">ModeAuto</value>
<value code="6">ModeLoiter</value>
<value code="7">ModeRTL</value>
<value code="8">ModeCircle</value>
<value code="9">ModeLand</value>
<value code="10">ModeDrift</value>
<value code="11">ModeSport</value>
<value code="12">ModeAutoTune</value>
<value code="13">ModePosHold</value>
<value code="14">ModeBrake</value>
<value code="15">ModeThrow</value>
<value code="16">Flip</value>
<value code="17">ModeStabilize</value>
<value code="18">Disarm</value>
<value code="19">ToggleMode</value>
<value code="20">Arm-Land-RTL</value>
<value code="21">ToggleSimpleMode</value>
<value code="22">ToggleSuperSimpleMode</value>
<value code="23">MotorLoadTest</value>
<value code="24">ModeFlowHold</value>
</values>
</param>
<param humanName="Tmode action 6" name="TMODE_ACTION6" documentation="This is the action taken for the power button while the mode button is pressed" user="Standard">
<values>
<value code="0">None</value>
<value code="1">TakePhoto</value>
<value code="2">ToggleVideo</value>
<value code="3">ModeAcro</value>
<value code="4">ModeAltHold</value>
<value code="5">ModeAuto</value>
<value code="6">ModeLoiter</value>
<value code="7">ModeRTL</value>
<value code="8">ModeCircle</value>
<value code="9">ModeLand</value>
<value code="10">ModeDrift</value>
<value code="11">ModeSport</value>
<value code="12">ModeAutoTune</value>
<value code="13">ModePosHold</value>
<value code="14">ModeBrake</value>
<value code="15">ModeThrow</value>
<value code="16">Flip</value>
<value code="17">ModeStabilize</value>
<value code="18">Disarm</value>
<value code="19">ToggleMode</value>
<value code="20">Arm-Land-RTL</value>
<value code="21">ToggleSimpleMode</value>
<value code="22">ToggleSuperSimpleMode</value>
<value code="23">MotorLoadTest</value>
<value code="24">ModeFlowHold</value>
</values>
</param>
<param humanName="Tmode left action" name="TMODE_LEFT" documentation="This is the action taken for the left button (mode button) being pressed" user="Standard">
<values>
<value code="0">None</value>
<value code="1">TakePhoto</value>
<value code="2">ToggleVideo</value>
<value code="3">ModeAcro</value>
<value code="4">ModeAltHold</value>
<value code="5">ModeAuto</value>
<value code="6">ModeLoiter</value>
<value code="7">ModeRTL</value>
<value code="8">ModeCircle</value>
<value code="9">ModeLand</value>
<value code="10">ModeDrift</value>
<value code="11">ModeSport</value>
<value code="12">ModeAutoTune</value>
<value code="13">ModePosHold</value>
<value code="14">ModeBrake</value>
<value code="15">ModeThrow</value>
<value code="16">Flip</value>
<value code="17">ModeStabilize</value>
<value code="18">Disarm</value>
<value code="19">ToggleMode</value>
<value code="20">Arm-Land-RTL</value>
<value code="21">ToggleSimpleMode</value>
<value code="22">ToggleSuperSimpleMode</value>
<value code="23">MotorLoadTest</value>
<value code="24">ModeFlowHold</value>
</values>
</param>
<param humanName="Tmode left long action" name="TMODE_LEFT_LONG" documentation="This is the action taken for a long press of the left button (home button)" user="Standard">
<values>
<value code="0">None</value>
<value code="1">TakePhoto</value>
<value code="2">ToggleVideo</value>
<value code="3">ModeAcro</value>
<value code="4">ModeAltHold</value>
<value code="5">ModeAuto</value>
<value code="6">ModeLoiter</value>
<value code="7">ModeRTL</value>
<value code="8">ModeCircle</value>
<value code="9">ModeLand</value>
<value code="10">ModeDrift</value>
<value code="11">ModeSport</value>
<value code="12">ModeAutoTune</value>
<value code="13">ModePosHold</value>
<value code="14">ModeBrake</value>
<value code="15">ModeThrow</value>
<value code="16">Flip</value>
<value code="17">ModeStabilize</value>
<value code="18">Disarm</value>
<value code="19">ToggleMode</value>
<value code="20">Arm-Land-RTL</value>
<value code="21">ToggleSimpleMode</value>
<value code="22">ToggleSuperSimpleMode</value>
<value code="23">MotorLoadTest</value>
<value code="24">ModeFlowHold</value>
</values>
</param>
<param humanName="Stick auto trim limit" name="TMODE_TRIM_AUTO" documentation="This is the amount of automatic stick trim that can be applied when disarmed with sticks not moving. It is a PWM limit value away from 1500" user="Standard">
<field name="Range">0 100</field>
</param>
<param humanName="Tmode right action" name="TMODE_RIGHT" documentation="This is the action taken for the right button (RTL) being pressed" user="Standard">
<values>
<value code="0">None</value>
<value code="1">TakePhoto</value>
<value code="2">ToggleVideo</value>
<value code="3">ModeAcro</value>
<value code="4">ModeAltHold</value>
<value code="5">ModeAuto</value>
<value code="6">ModeLoiter</value>
<value code="7">ModeRTL</value>
<value code="8">ModeCircle</value>
<value code="9">ModeLand</value>
<value code="10">ModeDrift</value>
<value code="11">ModeSport</value>
<value code="12">ModeAutoTune</value>
<value code="13">ModePosHold</value>
<value code="14">ModeBrake</value>
<value code="15">ModeThrow</value>
<value code="16">Flip</value>
<value code="17">ModeStabilize</value>
<value code="18">Disarm</value>
<value code="19">ToggleMode</value>
<value code="20">Arm-Land-RTL</value>
<value code="21">ToggleSimpleMode</value>
<value code="22">ToggleSuperSimpleMode</value>
<value code="23">MotorLoadTest</value>
</values>
</param>
<param humanName="Tmode flags" name="TMODE_FLAGS" documentation="Bitmask of flags to change the behaviour of tmode. DisarmOnLowThrottle means to disarm if throttle is held down for 1 second when landed. ArmOnHighThrottle means to arm if throttle is above 80% for 1 second. UpgradeToLoiter means to allow takeoff in LOITER mode by switching to ALT_HOLD, then auto-upgrading to LOITER once GPS is available. RTLStickCancel means that on large stick inputs in RTL mode that LOITER mode is engaged" user="Standard">
<field name="Bitmask">0:DisarmOnLowThrottle,1:ArmOnHighThrottle,2:UpgradeToLoiter,3:RTLStickCancel</field>
</param>
<param humanName="Min voltage for output limiting" name="TMODE_VMIN" documentation="This is the battery voltage below which no output limiting is done" user="Advanced">
<field name="Range">0 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Max voltage for output limiting" name="TMODE_VMAX" documentation="This is the battery voltage above which thrust min is used" user="Advanced">
<field name="Range">0 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Min thrust multiplier" name="TMODE_TMIN" documentation="This sets the thrust multiplier when voltage is high" user="Advanced">
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Max thrust multiplier" name="TMODE_TMAX" documentation="This sets the thrust multiplier when voltage is low" user="Advanced">
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Load test multiplier" name="TMODE_LOAD_MUL" documentation="This scales the load test output, as a value between 0 and 1" user="Advanced">
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Load test filter" name="TMODE_LOAD_FILT" documentation="This filters the load test output. A value of 1 means no filter. 2 means values are repeated once. 3 means values are repeated 3 times, etc" user="Advanced">
<field name="Range">0 100</field>
</param>
<param humanName="Load test type" name="TMODE_LOAD_TYPE" documentation="This sets the type of load test" user="Advanced">
<values>
<value code="0">ConstantThrust</value>
<value code="1">LogReplay1</value>
<value code="2">LogReplay2</value>
</values>
</param>
</parameters>
<parameters name="VISO">
<param humanName="Visual odometry camera connection type" name="VISO_TYPE" documentation="Visual odometry camera connection type" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">MAV</value>
</values>
</param>
<param humanName="Visual odometry camera X position offset" name="VISO_POS_X" documentation="X position of the camera in body frame. Positive X is forward of the origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Visual odometry camera Y position offset" name="VISO_POS_Y" documentation="Y position of the camera in body frame. Positive Y is to the right of the origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Visual odometry camera Z position offset" name="VISO_POS_Z" documentation="Z position of the camera in body frame. Positive Z is down from the origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Visual odometery camera orientation" name="VISO_ORIENT" documentation="Visual odometery camera orientation" user="Advanced">
<values>
<value code="0">Forward</value>
<value code=" 2">Right</value>
<value code=" 4">Back</value>
<value code=" 6">Left</value>
<value code=" 24">Up</value>
<value code=" 25">Down</value>
</values>
</param>
</parameters>
<parameters name="WENC">
<param humanName="WheelEncoder type" name="WENC_TYPE" documentation="What type of WheelEncoder is connected" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Quadrature</value>
</values>
</param>
<param humanName="WheelEncoder counts per revolution" name="WENC_CPR" documentation="WheelEncoder counts per full revolution of the wheel" user="Standard">
<field name="Increment">1</field>
</param>
<param humanName="Wheel radius in meters" name="WENC_RADIUS" documentation="Wheel radius in meters" user="Standard">
<field name="Increment">0.001</field>
</param>
<param humanName="Wheel's X position offset" name="WENC_POS_X" documentation="X position of the center of the wheel in body frame. Positive X is forward of the origin." user="Advanced">
<field name="Increment">0.01</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Wheel's Y position offset" name="WENC_POS_Y" documentation="Y position of the center of the wheel in body frame. Positive Y is to the right of the origin." user="Advanced">
<field name="Increment">0.01</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Wheel's Z position offset" name="WENC_POS_Z" documentation="Z position of the center of the wheel in body frame. Positive Z is down from the origin." user="Advanced">
<field name="Increment">0.01</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Input Pin A" name="WENC_PINA" documentation="Input Pin A" user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">PixhawkAUX1</value>
<value code="51">PixhawkAUX2</value>
<value code="52">PixhawkAUX3</value>
<value code="53">PixhawkAUX4</value>
<value code="54">PixhawkAUX5</value>
<value code="55">PixhawkAUX6</value>
</values>
</param>
<param humanName="Input Pin B" name="WENC_PINB" documentation="Input Pin B" user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">PixhawkAUX1</value>
<value code="51">PixhawkAUX2</value>
<value code="52">PixhawkAUX3</value>
<value code="53">PixhawkAUX4</value>
<value code="54">PixhawkAUX5</value>
<value code="55">PixhawkAUX6</value>
</values>
</param>
<param humanName="Second WheelEncoder type" name="WENC2_TYPE" documentation="What type of WheelEncoder sensor is connected" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Quadrature</value>
</values>
</param>
<param humanName="WheelEncoder 2 counts per revolution" name="WENC2_CPR" documentation="WheelEncoder 2 counts per full revolution of the wheel" user="Standard">
<field name="Increment">1</field>
</param>
<param humanName="Wheel2's radius in meters" name="WENC2_RADIUS" documentation="Wheel2's radius in meters" user="Standard">
<field name="Increment">0.001</field>
</param>
<param humanName="Wheel2's X position offset" name="WENC2_POS_X" documentation="X position of the center of the second wheel in body frame. Positive X is forward of the origin." user="Advanced">
<field name="Increment">0.01</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Wheel2's Y position offset" name="WENC2_POS_Y" documentation="Y position of the center of the second wheel in body frame. Positive Y is to the right of the origin." user="Advanced">
<field name="Increment">0.01</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Wheel2's Z position offset" name="WENC2_POS_Z" documentation="Z position of the center of the second wheel in body frame. Positive Z is down from the origin." user="Advanced">
<field name="Increment">0.01</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Second Encoder Input Pin A" name="WENC2_PINA" documentation="Second Encoder Input Pin A" user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">PixhawkAUX1</value>
<value code="51">PixhawkAUX2</value>
<value code="52">PixhawkAUX3</value>
<value code="53">PixhawkAUX4</value>
<value code="54">PixhawkAUX5</value>
<value code="55">PixhawkAUX6</value>
</values>
</param>
<param humanName="Second Encoder Input Pin B" name="WENC2_PINB" documentation="Second Encoder Input Pin B" user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">PixhawkAUX1</value>
<value code="51">PixhawkAUX2</value>
<value code="52">PixhawkAUX3</value>
<value code="53">PixhawkAUX4</value>
<value code="54">PixhawkAUX5</value>
<value code="55">PixhawkAUX6</value>
</values>
</param>
</parameters>
<parameters name="WINCH_">
<param humanName="Winch enable/disable" name="WINCH_ENABLE" documentation="Winch enable/disable" user="Standard">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
</values>
</param>
<param humanName="Winch Type" name="WINCH_TYPE" documentation="Winch Type" user="Standard">
<values>
<value code="1">Servo with encoder</value>
</values>
</param>
<param humanName="Winch deploy or retract rate maximum" name="WINCH__RATE_MAX" documentation="Winch deploy or retract rate maximum.  Set to maximum rate with no load." user="Standard">
<field name="Range">0 10</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="Winch control position error P gain" name="WINCH__POS_P" documentation="Winch control position error P gain" user="Standard">
<field name="Range">0.01 10.0</field>
</param>
<param humanName="Winch control rate P gain" name="WINCH__RATE_P" documentation="Winch control rate P gain.  Converts rate error (in radians/sec) to pwm output (in the range -1 to +1)" user="Standard">
<field name="Range">0.100 2.000</field>
</param>
<param humanName="Winch control I gain" name="WINCH__RATE_I" documentation="Winch control I gain.  Corrects long term error between the desired rate (in rad/s) and actual" user="Standard">
<field name="Range">0.000 2.000</field>
</param>
<param humanName="Winch control I gain maximum" name="WINCH__RATE_IMAX" documentation="Winch control I gain maximum.  Constrains the output (range -1 to +1) that the I term will generate" user="Standard">
<field name="Range">0.000 1.000</field>
</param>
<param humanName="Winch control D gain" name="WINCH__RATE_D" documentation="Winch control D gain.  Compensates for short-term change in desired rate vs actual" user="Standard">
<field name="Range">0.000 0.400</field>
</param>
<param humanName="Winch control filter frequency" name="WINCH__RATE_FILT" documentation="Winch control input filter.  Lower values reduce noise but add delay." user="Standard">
<field name="Range">1.000 100.000</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
<parameters name="WPNAV_">
<param humanName="Waypoint Horizontal Speed Target" name="WPNAV_SPEED" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission" user="Standard">
<field name="Range">20 2000</field>
<field name="Increment">50</field>
<field name="Units">cm/s</field>
<field name="UnitText">centimeters per second</field>
</param>
<param humanName="Waypoint Radius" name="WPNAV_RADIUS" documentation="Defines the distance from a waypoint, that when crossed indicates the wp has been hit." user="Standard">
<field name="Range">10 1000</field>
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Waypoint Climb Speed Target" name="WPNAV_SPEED_UP" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission" user="Standard">
<field name="Range">10 1000</field>
<field name="Increment">50</field>
<field name="Units">cm/s</field>
<field name="UnitText">centimeters per second</field>
</param>
<param humanName="Waypoint Descent Speed Target" name="WPNAV_SPEED_DN" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission" user="Standard">
<field name="Range">10 500</field>
<field name="Increment">10</field>
<field name="Units">cm/s</field>
<field name="UnitText">centimeters per second</field>
</param>
<param humanName="Waypoint Acceleration " name="WPNAV_ACCEL" documentation="Defines the horizontal acceleration in cm/s/s used during missions" user="Standard">
<field name="Range">50 500</field>
<field name="Increment">10</field>
<field name="Units">cm/s/s</field>
<field name="UnitText">centimeters per square second</field>
</param>
<param humanName="Waypoint Vertical Acceleration" name="WPNAV_ACCEL_Z" documentation="Defines the vertical acceleration in cm/s/s used during missions" user="Standard">
<field name="Range">50 500</field>
<field name="Increment">10</field>
<field name="Units">cm/s/s</field>
<field name="UnitText">centimeters per square second</field>
</param>
<param humanName="Waypoint missions use rangefinder for terrain following" name="WPNAV_RFND_USE" documentation="This controls if waypoint missions use rangefinder for terrain following" user="Advanced">
<values>
<value code="0">Disable</value>
<value code="1">Enable</value>
</values>
</param>
</parameters>
</libraries></paramfile>