ParameterFactMetaData.xml

<?xml version="1.0" ?>
<parameters>
    <group name="Battery Calibration">
        <parameter name="BAT_V_EMPTY" type="FLOAT">
            <short_desc>Empty cell voltage</short_desc>
            <long_desc>Defines the voltage where a single cell of the battery is considered empty.</long_desc>
            <default>3.4</default>
        </parameter>
        <parameter name="BAT_V_CHARGED" type="FLOAT">
            <short_desc>Full cell voltage</short_desc>
            <long_desc>Defines the voltage where a single cell of the battery is considered full.</long_desc>
            <default>4.2</default>
        </parameter>
        <parameter name="BAT_V_LOAD_DROP" type="FLOAT">
            <short_desc>Voltage drop per cell on 100% load</short_desc>
            <long_desc>This implicitely defines the internal resistance
                to maximum current ratio and assumes linearity.</long_desc>
            <default>0.07</default>
        </parameter>
        <parameter name="BAT_N_CELLS" type="INT32">
            <short_desc>Number of cells</short_desc>
            <long_desc>Defines the number of cells the attached battery consists of.</long_desc>
            <default>3</default>
        </parameter>
        <parameter name="BAT_CAPACITY" type="FLOAT">
            <short_desc>Battery capacity</short_desc>
            <long_desc>Defines the capacity of the attached battery.</long_desc>
            <default>-1.0</default>
        </parameter>
        <parameter name="BAT_V_SCALE_IO" type="INT32">
            <short_desc>Scaling factor for battery voltage sensor on PX4IO</short_desc>
            <default>10000</default>
        </parameter>
        <parameter name="BAT_V_SCALING" type="FLOAT">
            <short_desc>Scaling factor for battery voltage sensor on FMU v2</short_desc>
            <default>0.0082</default>
        </parameter>
        <parameter name="BAT_V_SCALING" type="FLOAT">
            <short_desc>Scaling factor for battery voltage sensor on AeroCore</short_desc>
            <long_desc>For R70 = 133K, R71 = 10K --&gt; scale = 1.8 * 143 / (4096*10) = 0.0063</long_desc>
            <default>0.0063</default>
        </parameter>
        <parameter name="BAT_V_SCALING" type="FLOAT">
            <short_desc>Scaling factor for battery voltage sensor on FMU v1</short_desc>
            <long_desc>FMUv1 standalone: 1/(10 / (47+10)) * (3.3 / 4095) = 0.00459340659
                FMUv1 with PX4IO: 0.00459340659
                FMUv1 with PX4IOAR: (3.3f * 52.0f / 5.0f / 4095.0f) = 0.00838095238</long_desc>
            <default>0.00459340659</default>
        </parameter>
        <parameter name="BAT_C_SCALING" type="FLOAT">
            <short_desc>Scaling factor for battery current sensor</short_desc>
            <default>0.0124</default>
        </parameter>
    </group>
    <group name="Circuit Breaker">
        <parameter name="CBRK_SUPPLY_CHK" type="INT32">
            <short_desc>Circuit breaker for power supply check</short_desc>
            <long_desc>Setting this parameter to 894281 will disable the power valid
                checks in the commander.
                WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
            <default>0</default>
            <min>0</min>
            <max>894281</max>
        </parameter>
        <parameter name="CBRK_RATE_CTRL" type="INT32">
            <short_desc>Circuit breaker for rate controller output</short_desc>
            <long_desc>Setting this parameter to 140253 will disable the rate
                controller uORB publication.
                WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
            <default>0</default>
            <min>0</min>
            <max>140253</max>
        </parameter>
        <parameter name="CBRK_IO_SAFETY" type="INT32">
            <short_desc>Circuit breaker for IO safety</short_desc>
            <long_desc>Setting this parameter to 894281 will disable IO safety.
                WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
            <default>0</default>
            <min>0</min>
            <max>22027</max>
        </parameter>
        <parameter name="CBRK_AIRSPD_CHK" type="INT32">
            <short_desc>Circuit breaker for airspeed sensor</short_desc>
            <long_desc>Setting this parameter to 162128 will disable the check for an airspeed sensor.
                WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
            <default>0</default>
            <min>0</min>
            <max>162128</max>
        </parameter>
        <parameter name="CBRK_FLIGHTTERM" type="INT32">
            <short_desc>Circuit breaker for flight termination</short_desc>
            <long_desc>Setting this parameter to 121212 will disable the flight termination action.
                --&gt; The IO driver will not do flight termination if requested by the FMU
                WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
            <default>121212</default>
            <min>0</min>
            <max>121212</max>
        </parameter>
        <parameter name="CBRK_ENGINEFAIL" type="INT32">
            <short_desc>Circuit breaker for engine failure detection</short_desc>
            <long_desc>Setting this parameter to 284953 will disable the engine failure detection.
                If the aircraft is in engine failure mode the enine failure flag will be
                set to healthy
                WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
            <default>284953</default>
            <min>0</min>
            <max>284953</max>
        </parameter>
        <parameter name="CBRK_GPSFAIL" type="INT32">
            <short_desc>Circuit breaker for gps failure detection</short_desc>
            <long_desc>Setting this parameter to 240024 will disable the gps failure detection.
                If the aircraft is in gps failure mode the gps failure flag will be
                set to healthy
                WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
            <default>240024</default>
            <min>0</min>
            <max>240024</max>
        </parameter>
    </group>
    <group name="DLL">
        <parameter name="NAV_DLL_CH_T" type="FLOAT">
            <short_desc>Comms hold wait time</short_desc>
            <long_desc>The amount of time in seconds the system should wait at the comms hold waypoint</long_desc>
            <default>120.0</default>
            <min>0.0</min>
            <unit>seconds</unit>
        </parameter>
        <parameter name="NAV_DLL_CH_LAT" type="INT32">
            <short_desc>Comms hold Lat</short_desc>
            <long_desc>Latitude of comms hold waypoint</long_desc>
            <default>-266072120</default>
            <min>0</min>
            <unit>degrees * 1e7</unit>
        </parameter>
        <parameter name="NAV_DLL_CH_LON" type="INT32">
            <short_desc>Comms hold Lon</short_desc>
            <long_desc>Longitude of comms hold waypoint</long_desc>
            <default>1518453890</default>
            <min>0</min>
            <unit>degrees * 1e7</unit>
        </parameter>
        <parameter name="NAV_DLL_CH_ALT" type="FLOAT">
            <short_desc>Comms hold alt</short_desc>
            <long_desc>Altitude of comms hold waypoint</long_desc>
            <default>600.0</default>
            <min>0.0</min>
            <unit>m</unit>
        </parameter>
        <parameter name="NAV_DLL_AH_T" type="FLOAT">
            <short_desc>Aifield hole wait time</short_desc>
            <long_desc>The amount of time in seconds the system should wait at the airfield home waypoint</long_desc>
            <default>120.0</default>
            <min>0.0</min>
            <unit>seconds</unit>
        </parameter>
        <parameter name="NAV_DLL_N" type="INT32">
            <short_desc>Number of allowed Datalink timeouts</short_desc>
            <long_desc>After more than this number of data link timeouts the aircraft returns home directly</long_desc>
            <default>2</default>
            <min>0</min>
            <max>1000</max>
        </parameter>
        <parameter name="NAV_DLL_CHSK" type="INT32">
            <short_desc>Skip comms hold wp</short_desc>
            <long_desc>If set to 1 the system will skip the comms hold wp on data link loss and will directly fly to
                airfield home</long_desc>
            <default>0</default>
            <min>0</min>
            <max>1</max>
        </parameter>
        <parameter name="NAV_AH_LAT" type="INT32">
            <short_desc>Airfield home Lat</short_desc>
            <long_desc>Latitude of airfield home waypoint</long_desc>
            <default>-265847810</default>
            <min>0</min>
            <unit>degrees * 1e7</unit>
        </parameter>
        <parameter name="NAV_AH_LON" type="INT32">
            <short_desc>Airfield home Lon</short_desc>
            <long_desc>Longitude of airfield home waypoint</long_desc>
            <default>1518423250</default>
            <min>0</min>
            <unit>degrees * 1e7</unit>
        </parameter>
        <parameter name="NAV_AH_ALT" type="FLOAT">
            <short_desc>Airfield home alt</short_desc>
            <long_desc>Altitude of airfield home waypoint</long_desc>
            <default>600.0</default>
            <min>0.0</min>
            <unit>m</unit>
        </parameter>
    </group>
    <group name="FW Attitude Control">
        <parameter name="FW_ATT_TC" type="FLOAT">
            <short_desc>Attitude Time Constant</short_desc>
            <long_desc>This defines the latency between a step input and the achieved setpoint
                (inverse to a P gain). Half a second is a good start value and fits for
                most average systems. Smaller systems may require smaller values, but as
                this will wear out servos faster, the value should only be decreased as
                needed.</long_desc>
            <default>0.5</default>
            <min>0.4</min>
            <max>1.0</max>
            <unit>seconds</unit>
        </parameter>
        <parameter name="FW_PR_P" type="FLOAT">
            <short_desc>Pitch rate proportional gain</short_desc>
            <long_desc>This defines how much the elevator input will be commanded depending on the
                current body angular rate error.</long_desc>
            <default>0.05</default>
        </parameter>
        <parameter name="FW_PR_I" type="FLOAT">
            <short_desc>Pitch rate integrator gain</short_desc>
            <long_desc>This gain defines how much control response will result out of a steady
                state error. It trims any constant error.</long_desc>
            <default>0.0</default>
            <min>0.0</min>
            <max>50.0</max>
        </parameter>
        <parameter name="FW_P_RMAX_POS" type="FLOAT">
            <short_desc>Maximum positive / up pitch rate</short_desc>
            <long_desc>This limits the maximum pitch up angular rate the controller will output (in
                degrees per second). Setting a value of zero disables the limit.</long_desc>
            <default>0.0</default>
            <min>0.0</min>
            <max>90.0</max>
            <unit>deg/s</unit>
        </parameter>
        <parameter name="FW_P_RMAX_NEG" type="FLOAT">
            <short_desc>Maximum negative / down pitch rate</short_desc>
            <long_desc>This limits the maximum pitch down up angular rate the controller will
                output (in degrees per second). Setting a value of zero disables the limit.</long_desc>
            <default>0.0</default>
            <min>0.0</min>
            <max>90.0</max>
            <unit>deg/s</unit>
        </parameter>
        <parameter name="FW_PR_IMAX" type="FLOAT">
            <short_desc>Pitch rate integrator limit</short_desc>
            <long_desc>The portion of the integrator part in the control surface deflection is
                limited to this value</long_desc>
            <default>0.2</default>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter name="FW_P_ROLLFF" type="FLOAT">
            <short_desc>Roll to Pitch feedforward gain</short_desc>
            <long_desc>This compensates during turns and ensures the nose stays level.</long_desc>
            <default>0.0</default>
            <min>0.0</min>
            <max>2.0</max>
        </parameter>
        <parameter name="FW_RR_P" type="FLOAT">
            <short_desc>Roll rate proportional Gain</short_desc>
            <long_desc>This defines how much the aileron input will be commanded depending on the
                current body angular rate error.</long_desc>
            <default>0.05</default>
        </parameter>
        <parameter name="FW_RR_I" type="FLOAT">
            <short_desc>Roll rate integrator Gain</short_desc>
            <long_desc>This gain defines how much control response will result out of a steady
                state error. It trims any constant error.</long_desc>
            <default>0.0</default>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter name="FW_RR_IMAX" type="FLOAT">
            <short_desc>Roll Integrator Anti-Windup</short_desc>
            <long_desc>The portion of the integrator part in the control surface deflection is limited to this value.</long_desc>
            <default>0.2</default>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter name="FW_R_RMAX" type="FLOAT">
            <short_desc>Maximum Roll Rate</short_desc>
            <long_desc>This limits the maximum roll rate the controller will output (in degrees per
                second). Setting a value of zero disables the limit.</long_desc>
            <default>0.0</default>
            <min>0.0</min>
            <max>90.0</max>
            <unit>deg/s</unit>
        </parameter>
        <parameter name="FW_YR_P" type="FLOAT">
            <short_desc>Yaw rate proportional gain</short_desc>
            <long_desc>This defines how much the rudder input will be commanded depending on the
                current body angular rate error.</long_desc>
            <default>0.05</default>
        </parameter>
        <parameter name="FW_YR_I" type="FLOAT">
            <short_desc>Yaw rate integrator gain</short_desc>
            <long_desc>This gain defines how much control response will result out of a steady
                state error. It trims any constant error.</long_desc>
            <default>0.0</default>
            <min>0.0</min>
            <max>50.0</max>
        </parameter>
        <parameter name="FW_YR_IMAX" type="FLOAT">
            <short_desc>Yaw rate integrator limit</short_desc>
            <long_desc>The portion of the integrator part in the control surface deflection is
                limited to this value</long_desc>
            <default>0.2</default>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter name="FW_Y_RMAX" type="FLOAT">
            <short_desc>Maximum Yaw Rate</short_desc>
            <long_desc>This limits the maximum yaw rate the controller will output (in degrees per
                second). Setting a value of zero disables the limit.</long_desc>
            <default>0.0</default>
            <min>0.0</min>
            <max>90.0</max>
            <unit>deg/s</unit>
        </parameter>
        <parameter name="FW_RR_FF" type="FLOAT">
            <short_desc>Roll rate feed forward</short_desc>
            <long_desc>Direct feed forward from rate setpoint to control surface output</long_desc>
            <default>0.3</default>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter name="FW_PR_FF" type="FLOAT">
            <short_desc>Pitch rate feed forward</short_desc>
            <long_desc>Direct feed forward from rate setpoint to control surface output</long_desc>
            <default>0.4</default>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter name="FW_YR_FF" type="FLOAT">
            <short_desc>Yaw rate feed forward</short_desc>
            <long_desc>Direct feed forward from rate setpoint to control surface output</long_desc>
            <default>0.3</default>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter name="FW_YCO_VMIN" type="FLOAT">
            <short_desc>Minimal speed for yaw coordination</short_desc>
            <long_desc>For airspeeds above this value, the yaw rate is calculated for a coordinated
                turn. Set to a very high value to disable.</long_desc>
            <default>1000.0</default>
            <unit>m/s</unit>
        </parameter>
        <parameter name="FW_AIRSPD_MIN" type="FLOAT">
            <short_desc>Minimum Airspeed</short_desc>
            <long_desc>If the airspeed falls below this value, the TECS controller will try to
                increase airspeed more aggressively.</long_desc>
            <default>13.0</default>
            <min>0.0</min>
            <max>30.0</max>
            <unit>m/s</unit>
        </parameter>
        <parameter name="FW_AIRSPD_TRIM" type="FLOAT">
            <short_desc>Trim Airspeed</short_desc>
            <long_desc>The TECS controller tries to fly at this airspeed.</long_desc>
            <default>20.0</default>
            <min>0.0</min>
            <max>30.0</max>
            <unit>m/s</unit>
        </parameter>
        <parameter name="FW_AIRSPD_MAX" type="FLOAT">
            <short_desc>Maximum Airspeed</short_desc>
            <long_desc>If the airspeed is above this value, the TECS controller will try to decrease
                airspeed more aggressively.</long_desc>
            <default>50.0</default>
            <min>0.0</min>
            <max>30.0</max>
            <unit>m/s</unit>
        </parameter>
        <parameter name="FW_RSP_OFF" type="FLOAT">
            <short_desc>Roll Setpoint Offset</short_desc>
            <long_desc>An airframe specific offset of the roll setpoint in degrees, the value is
                added to the roll setpoint and should correspond to the typical cruise speed
                of the airframe.</long_desc>
            <default>0.0</default>
            <min>-90.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter name="FW_PSP_OFF" type="FLOAT">
            <short_desc>Pitch Setpoint Offset</short_desc>
            <long_desc>An airframe specific offset of the pitch setpoint in degrees, the value is
                added to the pitch setpoint and should correspond to the typical cruise
                speed of the airframe.</long_desc>
            <default>0.0</default>
            <min>-90.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter name="FW_MAN_R_MAX" type="FLOAT">
            <short_desc>Max Manual Roll</short_desc>
            <long_desc>Max roll for manual control in attitude stabilized mode</long_desc>
            <default>45.0</default>
            <min>0.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter name="FW_MAN_P_MAX" type="FLOAT">
            <short_desc>Max Manual Pitch</short_desc>
            <long_desc>Max pitch for manual control in attitude stabilized mode</long_desc>
            <default>45.0</default>
            <min>0.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
    </group>
    <group name="Fixed Wing TECS">
        <parameter name="FW_T_SINK_MIN" type="FLOAT">
            <short_desc>Minimum descent rate</short_desc>
            <long_desc>This is the sink rate of the aircraft with the throttle
                set to THR_MIN and flown at the same airspeed as used
                to measure FW_T_CLMB_MAX.</long_desc>
            <default>2.0</default>
        </parameter>
        <parameter name="FW_T_SINK_MAX" type="FLOAT">
            <short_desc>Maximum descent rate</short_desc>
            <long_desc>This sets the maximum descent rate that the controller will use.
                If this value is too large, the aircraft can over-speed on descent.
                This should be set to a value that can be achieved without
                exceeding the lower pitch angle limit and without over-speeding
                the aircraft.</long_desc>
            <default>5.0</default>
        </parameter>
        <parameter name="FW_T_TIME_CONST" type="FLOAT">
            <short_desc>TECS time constant</short_desc>
            <long_desc>This is the time constant of the TECS control algorithm (in seconds).
                Smaller values make it faster to respond, larger values make it slower
                to respond.</long_desc>
            <default>5.0</default>
        </parameter>
        <parameter name="FW_T_THRO_CONST" type="FLOAT">
            <short_desc>TECS Throttle time constant</short_desc>
            <long_desc>This is the time constant of the TECS throttle control algorithm (in seconds).
                Smaller values make it faster to respond, larger values make it slower
                to respond.</long_desc>
            <default>8.0</default>
        </parameter>
        <parameter name="FW_T_THR_DAMP" type="FLOAT">
            <short_desc>Throttle damping factor</short_desc>
            <long_desc>This is the damping gain for the throttle demand loop.
                Increase to add damping to correct for oscillations in speed and height.</long_desc>
            <default>0.5</default>
        </parameter>
        <parameter name="FW_T_INTEG_GAIN" type="FLOAT">
            <short_desc>Integrator gain</short_desc>
            <long_desc>This is the integrator gain on the control loop.
                Increasing this gain increases the speed at which speed
                and height offsets are trimmed out, but reduces damping and
                increases overshoot.</long_desc>
            <default>0.1</default>
        </parameter>
        <parameter name="FW_T_VERT_ACC" type="FLOAT">
            <short_desc>Maximum vertical acceleration</short_desc>
            <long_desc>This is the maximum vertical acceleration (in metres/second square)
                either up or down that the controller will use to correct speed
                or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g)
                allows for reasonably aggressive pitch changes if required to recover
                from under-speed conditions.</long_desc>
            <default>7.0</default>
        </parameter>
        <parameter name="FW_T_HGT_OMEGA" type="FLOAT">
            <short_desc>Complementary filter &quot;omega&quot; parameter for height</short_desc>
            <long_desc>This is the cross-over frequency (in radians/second) of the complementary
                filter used to fuse vertical acceleration and barometric height to obtain
                an estimate of height rate and height. Increasing this frequency weights
                the solution more towards use of the barometer, whilst reducing it weights
                the solution more towards use of the accelerometer data.</long_desc>
            <default>3.0</default>
        </parameter>
        <parameter name="FW_T_SPD_OMEGA" type="FLOAT">
            <short_desc>Complementary filter &quot;omega&quot; parameter for speed</short_desc>
            <long_desc>This is the cross-over frequency (in radians/second) of the complementary
                filter used to fuse longitudinal acceleration and airspeed to obtain an
                improved airspeed estimate. Increasing this frequency weights the solution
                more towards use of the arispeed sensor, whilst reducing it weights the
                solution more towards use of the accelerometer data.</long_desc>
            <default>2.0</default>
        </parameter>
        <parameter name="FW_T_RLL2THR" type="FLOAT">
            <short_desc>Roll -&gt; Throttle feedforward</short_desc>
            <long_desc>Increasing this gain turn increases the amount of throttle that will
                be used to compensate for the additional drag created by turning.
                Ideally this should be set to  approximately 10 x the extra sink rate
                in m/s created by a 45 degree bank turn. Increase this gain if
                the aircraft initially loses energy in turns and reduce if the
                aircraft initially gains energy in turns. Efficient high aspect-ratio
                aircraft (eg powered sailplanes) can use a lower value, whereas
                inefficient low aspect-ratio models (eg delta wings) can use a higher value.</long_desc>
            <default>10.0</default>
        </parameter>
        <parameter name="FW_T_SPDWEIGHT" type="FLOAT">
            <short_desc>Speed &lt;--&gt; Altitude priority</short_desc>
            <long_desc>This parameter adjusts the amount of weighting that the pitch control
                applies to speed vs height errors. Setting it to 0.0 will cause the
                pitch control to control height and ignore speed errors. This will
                normally improve height accuracy but give larger airspeed errors.
                Setting it to 2.0 will cause the pitch control loop to control speed
                and ignore height errors. This will normally reduce airspeed errors,
                but give larger height errors. The default value of 1.0 allows the pitch
                control to simultaneously control height and speed.
                Note to Glider Pilots - set this parameter to 2.0 (The glider will
                adjust its pitch angle to maintain airspeed, ignoring changes in height).</long_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="FW_T_PTCH_DAMP" type="FLOAT">
            <short_desc>Pitch damping factor</short_desc>
            <long_desc>This is the damping gain for the pitch demand loop. Increase to add
                damping to correct for oscillations in height. The default value of 0.0
                will work well provided the pitch to servo controller has been tuned
                properly.</long_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="FW_T_HRATE_P" type="FLOAT">
            <short_desc>Height rate P factor</short_desc>
            <default>0.05</default>
        </parameter>
        <parameter name="FW_T_HRATE_FF" type="FLOAT">
            <short_desc>Height rate FF factor</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="FW_T_SRATE_P" type="FLOAT">
            <short_desc>Speed rate P factor</short_desc>
            <default>0.05</default>
        </parameter>
    </group>
    <group name="GPSF">
        <parameter name="NAV_GPSF_LT" type="FLOAT">
            <short_desc>Loiter time</short_desc>
            <long_desc>The amount of time in seconds the system should do open loop loiter and wait for gps recovery
                before it goes into flight termination.</long_desc>
            <default>30.0</default>
            <min>0.0</min>
            <unit>seconds</unit>
        </parameter>
        <parameter name="NAV_GPSF_R" type="FLOAT">
            <short_desc>Open loop loiter roll</short_desc>
            <long_desc>Roll in degrees during the open loop loiter</long_desc>
            <default>15.0</default>
            <min>0.0</min>
            <max>30.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter name="NAV_GPSF_P" type="FLOAT">
            <short_desc>Open loop loiter pitch</short_desc>
            <long_desc>Pitch in degrees during the open loop loiter</long_desc>
            <default>0.0</default>
            <min>-30.0</min>
            <max>30.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter name="NAV_GPSF_TR" type="FLOAT">
            <short_desc>Open loop loiter thrust</short_desc>
            <long_desc>Thrust value which is set during the open loop loiter</long_desc>
            <default>0.7</default>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
    </group>
    <group name="Geofence">
        <parameter name="GF_ON" type="INT32">
            <short_desc>Enable geofence</short_desc>
            <long_desc>Set to 1 to enable geofence.
                Defaults to 1 because geofence is only enabled when the geofence.txt file is present.</long_desc>
            <default>1</default>
            <min>0</min>
            <max>1</max>
        </parameter>
        <parameter name="GF_ALTMODE" type="INT32">
            <short_desc>Geofence altitude mode</short_desc>
            <long_desc>Select which altitude reference should be used
                0 = WGS84, 1 = AMSL</long_desc>
            <default>0</default>
            <min>0</min>
            <max>1</max>
        </parameter>
        <parameter name="GF_SOURCE" type="INT32">
            <short_desc>Geofence source</short_desc>
            <long_desc>Select which position source should be used. Selecting GPS instead of global position makes sure that there is
                no dependence on the position estimator
                0 = global position, 1 = GPS</long_desc>
            <default>0</default>
            <min>0</min>
            <max>1</max>
        </parameter>
        <parameter name="GF_COUNT" type="INT32">
            <short_desc>Geofence counter limit</short_desc>
            <long_desc>Set how many subsequent position measurements outside of the fence are needed before geofence violation is triggered</long_desc>
            <default>-1</default>
            <min>-1</min>
            <max>10</max>
        </parameter>
    </group>
    <group name="L1 Control">
        <parameter name="FW_L1_PERIOD" type="FLOAT">
            <short_desc>L1 period</short_desc>
            <long_desc>This is the L1 distance and defines the tracking
                point ahead of the aircraft its following.
                A value of 25 meters works for most aircraft. Shorten
                slowly during tuning until response is sharp without oscillation.</long_desc>
            <default>25.0</default>
            <min>1.0</min>
            <max>100.0</max>
        </parameter>
        <parameter name="FW_L1_DAMPING" type="FLOAT">
            <short_desc>L1 damping</short_desc>
            <long_desc>Damping factor for L1 control.</long_desc>
            <default>0.75</default>
            <min>0.6</min>
            <max>0.9</max>
        </parameter>
        <parameter name="FW_THR_CRUISE" type="FLOAT">
            <short_desc>Cruise throttle</short_desc>
            <long_desc>This is the throttle setting required to achieve the desired cruise speed. Most airframes have a value of 0.5-0.7.</long_desc>
            <default>0.7</default>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter name="FW_THR_SLEW_MAX" type="FLOAT">
            <short_desc>Throttle max slew rate</short_desc>
            <long_desc>Maximum slew rate for the commanded throttle</long_desc>
            <default>0.0</default>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter name="FW_P_LIM_MIN" type="FLOAT">
            <short_desc>Negative pitch limit</short_desc>
            <long_desc>The minimum negative pitch the controller will output.</long_desc>
            <default>-45.0</default>
            <min>-60.0</min>
            <max>0.0</max>
            <unit>degrees</unit>
        </parameter>
        <parameter name="FW_P_LIM_MAX" type="FLOAT">
            <short_desc>Positive pitch limit</short_desc>
            <long_desc>The maximum positive pitch the controller will output.</long_desc>
            <default>45.0</default>
            <min>0.0</min>
            <max>60.0</max>
            <unit>degrees</unit>
        </parameter>
        <parameter name="FW_R_LIM" type="FLOAT">
            <short_desc>Controller roll limit</short_desc>
            <long_desc>The maximum roll the controller will output.</long_desc>
            <default>45.0</default>
            <min>0.0</min>
            <unit>degrees</unit>
        </parameter>
        <parameter name="FW_THR_MAX" type="FLOAT">
            <short_desc>Throttle limit max</short_desc>
            <long_desc>This is the maximum throttle % that can be used by the controller.
                For overpowered aircraft, this should be reduced to a value that
                provides sufficient thrust to climb at the maximum pitch angle PTCH_MAX.</long_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="FW_THR_MIN" type="FLOAT">
            <short_desc>Throttle limit min</short_desc>
            <long_desc>This is the minimum throttle % that can be used by the controller.
                For electric aircraft this will normally be set to zero, but can be set
                to a small non-zero value if a folding prop is fitted to prevent the
                prop from folding and unfolding repeatedly in-flight or to provide
                some aerodynamic drag from a turning prop to improve the descent rate.
                For aircraft with internal combustion engine this parameter should be set
                for desired idle rpm.</long_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="FW_THR_LND_MAX" type="FLOAT">
            <short_desc>Throttle limit value before flare</short_desc>
            <long_desc>This throttle value will be set as throttle limit at FW_LND_TLALT,
                before arcraft will flare.</long_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="FW_CLMBOUT_DIFF" type="FLOAT">
            <short_desc>Climbout Altitude difference</short_desc>
            <long_desc>If the altitude error exceeds this parameter, the system will climb out
                with maximum throttle and minimum airspeed until it is closer than this
                distance to the desired altitude. Mostly used for takeoff waypoints / modes.
                Set to zero to disable climbout mode (not recommended).</long_desc>
            <default>25.0</default>
        </parameter>
        <parameter name="FW_T_CLMB_MAX" type="FLOAT">
            <short_desc>Maximum climb rate</short_desc>
            <long_desc>This is the best climb rate that the aircraft can achieve with
                the throttle set to THR_MAX and the airspeed set to the
                default value. For electric aircraft make sure this number can be
                achieved towards the end of flight when the battery voltage has reduced.
                The setting of this parameter can be checked by commanding a positive
                altitude change of 100m in loiter, RTL or guided mode. If the throttle
                required to climb is close to THR_MAX and the aircraft is maintaining
                airspeed, then this parameter is set correctly. If the airspeed starts
                to reduce, then the parameter is set to high, and if the throttle
                demand required to climb and maintain speed is noticeably less than
                FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or
                FW_THR_MAX reduced.</long_desc>
            <default>5.0</default>
        </parameter>
        <parameter name="FW_LND_ANG" type="FLOAT">
            <short_desc>Landing slope angle</short_desc>
            <default>5.0</default>
        </parameter>
        <parameter name="FW_LND_HVIRT" type="FLOAT">
            <short_desc>FW_LND_HVIRT</short_desc>
            <default>10.0</default>
        </parameter>
        <parameter name="FW_LND_FLALT" type="FLOAT">
            <short_desc>Landing flare altitude (relative to landing altitude)</short_desc>
            <default>8.0</default>
            <unit>meter</unit>
        </parameter>
        <parameter name="FW_LND_TLALT" type="FLOAT">
            <short_desc>Landing throttle limit altitude (relative landing altitude)</short_desc>
            <long_desc>Default of -1.0f lets the system default to applying throttle
                limiting at 2/3 of the flare altitude.</long_desc>
            <default>-1.0</default>
            <unit>meter</unit>
        </parameter>
        <parameter name="FW_LND_HHDIST" type="FLOAT">
            <short_desc>Landing heading hold horizontal distance</short_desc>
            <default>15.0</default>
        </parameter>
        <parameter name="FW_LND_USETER" type="INT32">
            <short_desc>Enable or disable usage of terrain estimate during landing</short_desc>
            <long_desc>0: disabled, 1: enabled</long_desc>
            <default>0</default>
        </parameter>
    </group>
    <group name="Launch detection">
        <parameter name="LAUN_ALL_ON" type="INT32">
            <short_desc>Enable launch detection</short_desc>
            <default>0</default>
            <min>0</min>
            <max>1</max>
        </parameter>
        <parameter name="LAUN_CAT_A" type="FLOAT">
            <short_desc>Catapult accelerometer theshold</short_desc>
            <long_desc>LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection.</long_desc>
            <default>30.0</default>
            <min>0</min>
        </parameter>
        <parameter name="LAUN_CAT_T" type="FLOAT">
            <short_desc>Catapult time theshold</short_desc>
            <long_desc>LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection.</long_desc>
            <default>0.05</default>
            <min>0</min>
        </parameter>
        <parameter name="LAUN_CAT_MDEL" type="FLOAT">
            <short_desc>Motor delay</short_desc>
            <long_desc>Delay between starting attitude control and powering up the throttle (giving throttle control to the controller)
                Before this timespan is up the throttle will be set to LAUN_THR_PRE, set to 0 to deactivate</long_desc>
            <default>0.0</default>
            <min>0</min>
            <unit>seconds</unit>
        </parameter>
        <parameter name="LAUN_CAT_PMAX" type="FLOAT">
            <short_desc>Maximum pitch before the throttle is powered up (during motor delay phase)</short_desc>
            <long_desc>This is an extra limit for the maximum pitch which is imposed in the phase before the throttle turns on.
                This allows to limit the maximum pitch angle during a bungee launch (make the launch less steep).</long_desc>
            <default>30.0</default>
            <min>0</min>
            <max>45</max>
            <unit>deg</unit>
        </parameter>
        <parameter name="LAUN_THR_PRE" type="FLOAT">
            <short_desc>Throttle setting while detecting launch</short_desc>
            <long_desc>The throttle is set to this value while the system is waiting for the take-off.</long_desc>
            <default>0.0</default>
            <min>0</min>
            <max>1</max>
        </parameter>
    </group>
    <group name="MAVLink">
        <parameter name="MAV_SYS_ID" type="INT32">
            <short_desc>MAVLink system ID</short_desc>
            <default>1</default>
        </parameter>
        <parameter name="MAV_COMP_ID" type="INT32">
            <short_desc>MAVLink component ID</short_desc>
            <default>50</default>
        </parameter>
        <parameter name="MAV_TYPE" type="INT32">
            <short_desc>MAVLink type</short_desc>
            <default>MAV_TYPE_FIXED_WING</default>
        </parameter>
        <parameter name="MAV_USEHILGPS" type="INT32">
            <short_desc>Use/Accept HIL GPS message (even if not in HIL mode)
                If set to 1 incomming HIL GPS messages are parsed</short_desc>
            <default>0</default>
        </parameter>
        <parameter name="MAV_FWDEXTSP" type="INT32">
            <short_desc>Forward external setpoint messages
                If set to 1 incomming external setpoint messages will be directly forwarded to the controllers if in offboard
                control mode</short_desc>
            <default>1</default>
        </parameter>
    </group>
    <group name="Mission">
        <parameter name="MIS_TAKEOFF_ALT" type="FLOAT">
            <short_desc>Take-off altitude</short_desc>
            <long_desc>Even if first waypoint has altitude less then MIS_TAKEOFF_ALT above home position, system will climb to
                MIS_TAKEOFF_ALT on takeoff, then go to waypoint.</long_desc>
            <default>10.0</default>
            <unit>meters</unit>
        </parameter>
        <parameter name="MIS_ONBOARD_EN" type="INT32">
            <short_desc>Enable persistent onboard mission storage</short_desc>
            <long_desc>When enabled, missions that have been uploaded by the GCS are stored
                and reloaded after reboot persistently.</long_desc>
            <default>1</default>
            <min>0</min>
            <max>1</max>
        </parameter>
        <parameter name="MIS_DIST_1WP" type="FLOAT">
            <short_desc>Maximal horizontal distance from home to first waypoint</short_desc>
            <long_desc>Failsafe check to prevent running mission stored from previous flight at a new takeoff location.
                Set a value of zero or less to disable. The mission will not be started if the current
                waypoint is more distant than MIS_DIS_1WP from the current position.</long_desc>
            <default>500</default>
            <min>0</min>
            <max>1000</max>
        </parameter>
        <parameter name="MIS_ALTMODE" type="INT32">
            <short_desc>Altitude setpoint mode</short_desc>
            <long_desc>0: the system will follow a zero order hold altitude setpoint
                1: the system will follow a first order hold altitude setpoint
                values follow the definition in enum mission_altitude_mode</long_desc>
            <default>0</default>
            <min>0</min>
            <max>1</max>
        </parameter>
        <parameter name="NAV_LOITER_RAD" type="FLOAT">
            <short_desc>Loiter radius (FW only)</short_desc>
            <long_desc>Default value of loiter radius for missions, loiter, RTL, etc. (fixedwing only).</long_desc>
            <default>50.0</default>
            <min>0.0</min>
            <unit>meters</unit>
        </parameter>
        <parameter name="NAV_ACC_RAD" type="FLOAT">
            <short_desc>Acceptance Radius</short_desc>
            <long_desc>Default acceptance radius, overridden by acceptance radius of waypoint if set.</long_desc>
            <default>25.0</default>
            <min>1.0</min>
            <unit>meters</unit>
        </parameter>
        <parameter name="NAV_DLL_OBC" type="INT32">
            <short_desc>Set OBC mode for data link loss</short_desc>
            <long_desc>If set to 1 the behaviour on data link loss is set to a mode according to the OBC rules</long_desc>
            <default>0</default>
            <min>0</min>
        </parameter>
        <parameter name="NAV_RCL_OBC" type="INT32">
            <short_desc>Set OBC mode for rc loss</short_desc>
            <long_desc>If set to 1 the behaviour on data link loss is set to a mode according to the OBC rules</long_desc>
            <default>0</default>
            <min>0</min>
        </parameter>
    </group>
    <group name="Multicopter Attitude Control">
        <parameter name="MC_ROLL_P" type="FLOAT">
            <short_desc>Roll P gain</short_desc>
            <long_desc>Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc>
            <default>6.0</default>
            <min>0.0</min>
        </parameter>
        <parameter name="MC_ROLLRATE_P" type="FLOAT">
            <short_desc>Roll rate P gain</short_desc>
            <long_desc>Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.</long_desc>
            <default>0.1</default>
            <min>0.0</min>
        </parameter>
        <parameter name="MC_ROLLRATE_I" type="FLOAT">
            <short_desc>Roll rate I gain</short_desc>
            <long_desc>Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</long_desc>
            <default>0.0</default>
            <min>0.0</min>
        </parameter>
        <parameter name="MC_ROLLRATE_D" type="FLOAT">
            <short_desc>Roll rate D gain</short_desc>
            <long_desc>Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc>
            <default>0.002</default>
            <min>0.0</min>
        </parameter>
        <parameter name="MC_PITCH_P" type="FLOAT">
            <short_desc>Pitch P gain</short_desc>
            <long_desc>Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc>
            <default>6.0</default>
            <min>0.0</min>
            <unit>1/s</unit>
        </parameter>
        <parameter name="MC_PITCHRATE_P" type="FLOAT">
            <short_desc>Pitch rate P gain</short_desc>
            <long_desc>Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.</long_desc>
            <default>0.1</default>
            <min>0.0</min>
        </parameter>
        <parameter name="MC_PITCHRATE_I" type="FLOAT">
            <short_desc>Pitch rate I gain</short_desc>
            <long_desc>Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</long_desc>
            <default>0.0</default>
            <min>0.0</min>
        </parameter>
        <parameter name="MC_PITCHRATE_D" type="FLOAT">
            <short_desc>Pitch rate D gain</short_desc>
            <long_desc>Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc>
            <default>0.002</default>
            <min>0.0</min>
        </parameter>
        <parameter name="MC_YAW_P" type="FLOAT">
            <short_desc>Yaw P gain</short_desc>
            <long_desc>Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc>
            <default>2.0</default>
            <min>0.0</min>
            <unit>1/s</unit>
        </parameter>
        <parameter name="MC_YAWRATE_P" type="FLOAT">
            <short_desc>Yaw rate P gain</short_desc>
            <long_desc>Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.</long_desc>
            <default>0.3</default>
            <min>0.0</min>
        </parameter>
        <parameter name="MC_YAWRATE_I" type="FLOAT">
            <short_desc>Yaw rate I gain</short_desc>
            <long_desc>Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</long_desc>
            <default>0.0</default>
            <min>0.0</min>
        </parameter>
        <parameter name="MC_YAWRATE_D" type="FLOAT">
            <short_desc>Yaw rate D gain</short_desc>
            <long_desc>Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc>
            <default>0.0</default>
            <min>0.0</min>
        </parameter>
        <parameter name="MC_YAW_FF" type="FLOAT">
            <short_desc>Yaw feed forward</short_desc>
            <long_desc>Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot.</long_desc>
            <default>0.5</default>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter name="MC_YAWRATE_MAX" type="FLOAT">
            <short_desc>Max yaw rate</short_desc>
            <long_desc>Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation.</long_desc>
            <default>120.0</default>
            <min>0.0</min>
            <max>360.0</max>
            <unit>deg/s</unit>
        </parameter>
        <parameter name="MC_MAN_R_MAX" type="FLOAT">
            <short_desc>Max manual roll</short_desc>
            <default>35.0</default>
            <min>0.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter name="MC_MAN_P_MAX" type="FLOAT">
            <short_desc>Max manual pitch</short_desc>
            <default>35.0</default>
            <min>0.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter name="MC_MAN_Y_MAX" type="FLOAT">
            <short_desc>Max manual yaw rate</short_desc>
            <default>120.0</default>
            <min>0.0</min>
            <unit>deg/s</unit>
        </parameter>
        <parameter name="MC_ACRO_R_MAX" type="FLOAT">
            <short_desc>Max acro roll rate</short_desc>
            <default>90.0</default>
            <min>0.0</min>
            <max>360.0</max>
            <unit>deg/s</unit>
        </parameter>
        <parameter name="MC_ACRO_P_MAX" type="FLOAT">
            <short_desc>Max acro pitch rate</short_desc>
            <default>90.0</default>
            <min>0.0</min>
            <max>360.0</max>
            <unit>deg/s</unit>
        </parameter>
        <parameter name="MC_ACRO_Y_MAX" type="FLOAT">
            <short_desc>Max acro yaw rate</short_desc>
            <default>120.0</default>
            <min>0.0</min>
            <unit>deg/s</unit>
        </parameter>
    </group>
    <group name="Multicopter Position Control">
        <parameter name="MPC_THR_MIN" type="FLOAT">
            <short_desc>Minimum thrust</short_desc>
            <long_desc>Minimum vertical thrust. It's recommended to set it &gt; 0 to avoid free fall with zero thrust.</long_desc>
            <default>0.1</default>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter name="MPC_THR_MAX" type="FLOAT">
            <short_desc>Maximum thrust</short_desc>
            <long_desc>Limit max allowed thrust.</long_desc>
            <default>1.0</default>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter name="MPC_Z_P" type="FLOAT">
            <short_desc>Proportional gain for vertical position error</short_desc>
            <default>1.0</default>
            <min>0.0</min>
        </parameter>
        <parameter name="MPC_Z_VEL_P" type="FLOAT">
            <short_desc>Proportional gain for vertical velocity error</short_desc>
            <default>0.1</default>
            <min>0.0</min>
        </parameter>
        <parameter name="MPC_Z_VEL_I" type="FLOAT">
            <short_desc>Integral gain for vertical velocity error</short_desc>
            <long_desc>Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.</long_desc>
            <default>0.02</default>
            <min>0.0</min>
        </parameter>
        <parameter name="MPC_Z_VEL_D" type="FLOAT">
            <short_desc>Differential gain for vertical velocity error</short_desc>
            <default>0.0</default>
            <min>0.0</min>
        </parameter>
        <parameter name="MPC_Z_VEL_MAX" type="FLOAT">
            <short_desc>Maximum vertical velocity</short_desc>
            <long_desc>Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).</long_desc>
            <default>5.0</default>
            <min>0.0</min>
            <unit>m/s</unit>
        </parameter>
        <parameter name="MPC_Z_FF" type="FLOAT">
            <short_desc>Vertical velocity feed forward</short_desc>
            <long_desc>Feed forward weight for altitude control in stabilized modes (ALTCTRL, POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.</long_desc>
            <default>0.5</default>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter name="MPC_XY_P" type="FLOAT">
            <short_desc>Proportional gain for horizontal position error</short_desc>
            <default>1.0</default>
            <min>0.0</min>
        </parameter>
        <parameter name="MPC_XY_VEL_P" type="FLOAT">
            <short_desc>Proportional gain for horizontal velocity error</short_desc>
            <default>0.1</default>
            <min>0.0</min>
        </parameter>
        <parameter name="MPC_XY_VEL_I" type="FLOAT">
            <short_desc>Integral gain for horizontal velocity error</short_desc>
            <long_desc>Non-zero value allows to resist wind.</long_desc>
            <default>0.02</default>
            <min>0.0</min>
        </parameter>
        <parameter name="MPC_XY_VEL_D" type="FLOAT">
            <short_desc>Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again</short_desc>
            <default>0.01</default>
            <min>0.0</min>
        </parameter>
        <parameter name="MPC_XY_VEL_MAX" type="FLOAT">
            <short_desc>Maximum horizontal velocity</short_desc>
            <long_desc>Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL).</long_desc>
            <default>5.0</default>
            <min>0.0</min>
            <unit>m/s</unit>
        </parameter>
        <parameter name="MPC_XY_FF" type="FLOAT">
            <short_desc>Horizontal velocity feed forward</short_desc>
            <long_desc>Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.</long_desc>
            <default>0.5</default>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter name="MPC_TILTMAX_AIR" type="FLOAT">
            <short_desc>Maximum tilt angle in air</short_desc>
            <long_desc>Limits maximum tilt in AUTO and POSCTRL modes during flight.</long_desc>
            <default>45.0</default>
            <min>0.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter name="MPC_TILTMAX_LND" type="FLOAT">
            <short_desc>Maximum tilt during landing</short_desc>
            <long_desc>Limits maximum tilt angle on landing.</long_desc>
            <default>15.0</default>
            <min>0.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter name="MPC_LAND_SPEED" type="FLOAT">
            <short_desc>Landing descend rate</short_desc>
            <default>1.0</default>
            <min>0.0</min>
            <unit>m/s</unit>
        </parameter>
    </group>
    <group name="Payload drop">
        <parameter name="BD_GPROPERTIES" type="FLOAT">
            <short_desc>Ground drag property</short_desc>
            <long_desc>This parameter encodes the ground drag coefficient and the corresponding
                decrease in wind speed from the plane altitude to ground altitude.</long_desc>
            <default>0.03</default>
            <min>0.001</min>
            <max>0.1</max>
            <unit>unknown</unit>
        </parameter>
        <parameter name="BD_TURNRADIUS" type="FLOAT">
            <short_desc>Plane turn radius</short_desc>
            <long_desc>The planes known minimal turn radius - use a higher value
                to make the plane maneuver more distant from the actual drop
                position. This is to ensure the wings are level during the drop.</long_desc>
            <default>120.0</default>
            <min>30.0</min>
            <max>500.0</max>
            <unit>meter</unit>
        </parameter>
        <parameter name="BD_PRECISION" type="FLOAT">
            <short_desc>Drop precision</short_desc>
            <long_desc>If the system is closer than this distance on passing over the
                drop position, it will release the payload. This is a safeguard
                to prevent a drop out of the required accuracy.</long_desc>
            <default>30.0</default>
            <min>1.0</min>
            <max>80.0</max>
            <unit>meter</unit>
        </parameter>
        <parameter name="BD_OBJ_CD" type="FLOAT">
            <short_desc>Payload drag coefficient of the dropped object</short_desc>
            <long_desc>The drag coefficient (cd) is the typical drag
                constant for air. It is in general object specific,
                but the closest primitive shape to the actual object
                should give good results:
                http://en.wikipedia.org/wiki/Drag_coefficient</long_desc>
            <default>0.1</default>
            <min>0.08</min>
            <max>1.5</max>
            <unit>meter</unit>
        </parameter>
        <parameter name="BD_OBJ_MASS" type="FLOAT">
            <short_desc>Payload mass</short_desc>
            <long_desc>A typical small toy ball:
                0.025 kg
                OBC water bottle:
                0.6 kg</long_desc>
            <default>0.6</default>
            <min>0.001</min>
            <max>5.0</max>
            <unit>kilogram</unit>
        </parameter>
        <parameter name="BD_OBJ_SURFACE" type="FLOAT">
            <short_desc>Payload front surface area</short_desc>
            <long_desc>A typical small toy ball:
                (0.045 * 0.045) / 4.0 * pi = 0.001590 m^2
                OBC water bottle:
                (0.063 * 0.063) / 4.0 * pi = 0.003117 m^2</long_desc>
            <default>0.00311724531</default>
            <min>0.001</min>
            <max>0.5</max>
            <unit>m^2</unit>
        </parameter>
    </group>
    <group name="Position Estimator">
        <parameter name="PE_VEL_DELAY_MS" type="INT32">
            <short_desc>Velocity estimate delay</short_desc>
            <long_desc>The delay in milliseconds of the velocity estimate from GPS.</long_desc>
            <default>230</default>
            <min>0</min>
            <max>1000</max>
        </parameter>
        <parameter name="PE_POS_DELAY_MS" type="INT32">
            <short_desc>Position estimate delay</short_desc>
            <long_desc>The delay in milliseconds of the position estimate from GPS.</long_desc>
            <default>210</default>
            <min>0</min>
            <max>1000</max>
        </parameter>
        <parameter name="PE_HGT_DELAY_MS" type="INT32">
            <short_desc>Height estimate delay</short_desc>
            <long_desc>The delay in milliseconds of the height estimate from the barometer.</long_desc>
            <default>350</default>
            <min>0</min>
            <max>1000</max>
        </parameter>
        <parameter name="PE_MAG_DELAY_MS" type="INT32">
            <short_desc>Mag estimate delay</short_desc>
            <long_desc>The delay in milliseconds of the magnetic field estimate from
                the magnetometer.</long_desc>
            <default>30</default>
            <min>0</min>
            <max>1000</max>
        </parameter>
        <parameter name="PE_TAS_DELAY_MS" type="INT32">
            <short_desc>True airspeeed estimate delay</short_desc>
            <long_desc>The delay in milliseconds of the airspeed estimate.</long_desc>
            <default>210</default>
            <min>0</min>
            <max>1000</max>
        </parameter>
        <parameter name="PE_GPS_ALT_WGT" type="FLOAT">
            <short_desc>GPS vs. barometric altitude update weight</short_desc>
            <long_desc>RE-CHECK this.</long_desc>
            <default>0.9</default>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter name="PE_EAS_NOISE" type="FLOAT">
            <short_desc>Airspeed measurement noise</short_desc>
            <long_desc>Increasing this value will make the filter trust this sensor
                less and trust other sensors more.</long_desc>
            <default>1.4</default>
            <min>0.5</min>
            <max>5.0</max>
        </parameter>
        <parameter name="PE_VELNE_NOISE" type="FLOAT">
            <short_desc>Velocity measurement noise in north-east (horizontal) direction</short_desc>
            <long_desc>Generic default: 0.3, multicopters: 0.5, ground vehicles: 0.5</long_desc>
            <default>0.3</default>
            <min>0.05</min>
            <max>5.0</max>
        </parameter>
        <parameter name="PE_VELD_NOISE" type="FLOAT">
            <short_desc>Velocity noise in down (vertical) direction</short_desc>
            <long_desc>Generic default: 0.5, multicopters: 0.7, ground vehicles: 0.7</long_desc>
            <default>0.5</default>
            <min>0.05</min>
            <max>5.0</max>
        </parameter>
        <parameter name="PE_POSNE_NOISE" type="FLOAT">
            <short_desc>Position noise in north-east (horizontal) direction</short_desc>
            <long_desc>Generic defaults: 0.5, multicopters: 0.5, ground vehicles: 0.5</long_desc>
            <default>0.5</default>
            <min>0.1</min>
            <max>10.0</max>
        </parameter>
        <parameter name="PE_POSD_NOISE" type="FLOAT">
            <short_desc>Position noise in down (vertical) direction</short_desc>
            <long_desc>Generic defaults: 0.5, multicopters: 1.0, ground vehicles: 1.0</long_desc>
            <default>0.5</default>
            <min>0.1</min>
            <max>10.0</max>
        </parameter>
        <parameter name="PE_MAG_NOISE" type="FLOAT">
            <short_desc>Magnetometer measurement noise</short_desc>
            <long_desc>Generic defaults: 0.05, multicopters: 0.05, ground vehicles: 0.05</long_desc>
            <default>0.05</default>
            <min>0.1</min>
            <max>10.0</max>
        </parameter>
        <parameter name="PE_GYRO_PNOISE" type="FLOAT">
            <short_desc>Gyro process noise</short_desc>
            <long_desc>Generic defaults: 0.015, multicopters: 0.015, ground vehicles: 0.015.
                This noise controls how much the filter trusts the gyro measurements.
                Increasing it makes the filter trust the gyro less and other sensors more.</long_desc>
            <default>0.015</default>
            <min>0.001</min>
            <max>0.05</max>
        </parameter>
        <parameter name="PE_ACC_PNOISE" type="FLOAT">
            <short_desc>Accelerometer process noise</short_desc>
            <long_desc>Generic defaults: 0.25, multicopters: 0.25, ground vehicles: 0.25.
                Increasing this value makes the filter trust the accelerometer less
                and other sensors more.</long_desc>
            <default>0.25</default>
            <min>0.05</min>
            <max>1.0</max>
        </parameter>
        <parameter name="PE_GBIAS_PNOISE" type="FLOAT">
            <short_desc>Gyro bias estimate process noise</short_desc>
            <long_desc>Generic defaults: 1e-07f, multicopters: 1e-07f, ground vehicles: 1e-07f.
                Increasing this value will make the gyro bias converge faster but noisier.</long_desc>
            <default>1e-07</default>
            <min>0.0000001</min>
            <max>0.00001</max>
        </parameter>
        <parameter name="PE_ABIAS_PNOISE" type="FLOAT">
            <short_desc>Accelerometer bias estimate process noise</short_desc>
            <long_desc>Generic defaults: 0.0001f, multicopters: 0.0001f, ground vehicles: 0.0001f.
                Increasing this value makes the bias estimation faster and noisier.</long_desc>
            <default>0.00005</default>
            <min>0.00001</min>
            <max>0.001</max>
        </parameter>
        <parameter name="PE_MAGE_PNOISE" type="FLOAT">
            <short_desc>Magnetometer earth frame offsets process noise</short_desc>
            <long_desc>Generic defaults: 0.0001, multicopters: 0.0001, ground vehicles: 0.0001.
                Increasing this value makes the magnetometer earth bias estimate converge
                faster but also noisier.</long_desc>
            <default>0.0003</default>
            <min>0.0001</min>
            <max>0.01</max>
        </parameter>
        <parameter name="PE_MAGB_PNOISE" type="FLOAT">
            <short_desc>Magnetometer body frame offsets process noise</short_desc>
            <long_desc>Generic defaults: 0.0003, multicopters: 0.0003, ground vehicles: 0.0003.
                Increasing this value makes the magnetometer body bias estimate converge faster
                but also noisier.</long_desc>
            <default>0.0003</default>
            <min>0.0001</min>
            <max>0.01</max>
        </parameter>
        <parameter name="PE_POSDEV_INIT" type="FLOAT">
            <short_desc>Threshold for filter initialization</short_desc>
            <long_desc>If the standard deviation of the GPS position estimate is below this threshold
                in meters, the filter will initialize.</long_desc>
            <default>5.0</default>
            <min>0.3</min>
            <max>10.0</max>
        </parameter>
    </group>
    <group name="Position Estimator INAV">
        <parameter name="INAV_W_Z_BARO" type="FLOAT">
            <short_desc>Z axis weight for barometer</short_desc>
            <long_desc>Weight (cutoff frequency) for barometer altitude measurements.</long_desc>
            <default>0.5</default>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter name="INAV_W_Z_GPS_P" type="FLOAT">
            <short_desc>Z axis weight for GPS</short_desc>
            <long_desc>Weight (cutoff frequency) for GPS altitude measurements. GPS altitude data is very noisy and should be used only as slow correction for baro offset.</long_desc>
            <default>0.005</default>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter name="INAV_W_Z_VIS_P" type="FLOAT">
            <short_desc>Z axis weight for vision</short_desc>
            <long_desc>Weight (cutoff frequency) for vision altitude measurements. vision altitude data is very noisy and should be used only as slow correction for baro offset.</long_desc>
            <default>0.5</default>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter name="INAV_W_Z_SONAR" type="FLOAT">
            <short_desc>Z axis weight for sonar</short_desc>
            <long_desc>Weight (cutoff frequency) for sonar measurements.</long_desc>
            <default>3.0</default>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter name="INAV_W_XY_GPS_P" type="FLOAT">
            <short_desc>XY axis weight for GPS position</short_desc>
            <long_desc>Weight (cutoff frequency) for GPS position measurements.</long_desc>
            <default>1.0</default>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter name="INAV_W_XY_GPS_V" type="FLOAT">
            <short_desc>XY axis weight for GPS velocity</short_desc>
            <long_desc>Weight (cutoff frequency) for GPS velocity measurements.</long_desc>
            <default>2.0</default>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter name="INAV_W_XY_VIS_P" type="FLOAT">
            <short_desc>XY axis weight for vision position</short_desc>
            <long_desc>Weight (cutoff frequency) for vision position measurements.</long_desc>
            <default>5.0</default>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter name="INAV_W_XY_VIS_V" type="FLOAT">
            <short_desc>XY axis weight for vision velocity</short_desc>
            <long_desc>Weight (cutoff frequency) for vision velocity measurements.</long_desc>
            <default>0.0</default>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter name="INAV_W_XY_FLOW" type="FLOAT">
            <short_desc>XY axis weight for optical flow</short_desc>
            <long_desc>Weight (cutoff frequency) for optical flow (velocity) measurements.</long_desc>
            <default>5.0</default>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter name="INAV_W_XY_RES_V" type="FLOAT">
            <short_desc>XY axis weight for resetting velocity</short_desc>
            <long_desc>When velocity sources lost slowly decrease estimated horizontal velocity with this weight.</long_desc>
            <default>0.5</default>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter name="INAV_W_GPS_FLOW" type="FLOAT">
            <short_desc>XY axis weight factor for GPS when optical flow available</short_desc>
            <long_desc>When optical flow data available, multiply GPS weights (for position and velocity) by this factor.</long_desc>
            <default>0.1</default>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter name="INAV_W_ACC_BIAS" type="FLOAT">
            <short_desc>Accelerometer bias estimation weight</short_desc>
            <long_desc>Weight (cutoff frequency) for accelerometer bias estimation. 0 to disable.</long_desc>
            <default>0.05</default>
            <min>0.0</min>
            <max>0.1</max>
        </parameter>
        <parameter name="INAV_FLOW_K" type="FLOAT">
            <short_desc>Optical flow scale factor</short_desc>
            <long_desc>Factor to convert raw optical flow (in pixels) to radians [rad/px].</long_desc>
            <default>0.15</default>
            <min>0.0</min>
            <max>1.0</max>
            <unit>rad/px</unit>
        </parameter>
        <parameter name="INAV_FLOW_Q_MIN" type="FLOAT">
            <short_desc>Minimal acceptable optical flow quality</short_desc>
            <long_desc>0 - lowest quality, 1 - best quality.</long_desc>
            <default>0.5</default>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter name="INAV_SONAR_FILT" type="FLOAT">
            <short_desc>Weight for sonar filter</short_desc>
            <long_desc>Sonar filter detects spikes on sonar measurements and used to detect new surface level.</long_desc>
            <default>0.05</default>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter name="INAV_SONAR_ERR" type="FLOAT">
            <short_desc>Sonar maximal error for new surface</short_desc>
            <long_desc>If sonar measurement error is larger than this value it skiped (spike) or accepted as new surface level (if offset is stable).</long_desc>
            <default>0.5</default>
            <min>0.0</min>
            <max>1.0</max>
            <unit>m</unit>
        </parameter>
        <parameter name="INAV_LAND_T" type="FLOAT">
            <short_desc>Land detector time</short_desc>
            <long_desc>Vehicle assumed landed if no altitude changes happened during this time on low throttle.</long_desc>
            <default>3.0</default>
            <min>0.0</min>
            <max>10.0</max>
            <unit>s</unit>
        </parameter>
        <parameter name="INAV_LAND_DISP" type="FLOAT">
            <short_desc>Land detector altitude dispersion threshold</short_desc>
            <long_desc>Dispersion threshold for triggering land detector.</long_desc>
            <default>0.7</default>
            <min>0.0</min>
            <max>10.0</max>
            <unit>m</unit>
        </parameter>
        <parameter name="INAV_LAND_THR" type="FLOAT">
            <short_desc>Land detector throttle threshold</short_desc>
            <long_desc>Value should be lower than minimal hovering thrust. Half of it is good choice.</long_desc>
            <default>0.2</default>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter name="INAV_DELAY_GPS" type="FLOAT">
            <short_desc>GPS delay</short_desc>
            <long_desc>GPS delay compensation</long_desc>
            <default>0.2</default>
            <min>0.0</min>
            <max>1.0</max>
            <unit>s</unit>
        </parameter>
        <parameter name="CBRK_NO_VISION" type="INT32">
            <short_desc>Disable vision input</short_desc>
            <long_desc>Set to the appropriate key (328754) to disable vision input.</long_desc>
            <default>0</default>
            <min>0</min>
            <max>1</max>
        </parameter>
    </group>
    <group name="RCL">
        <parameter name="NAV_RCL_LT" type="FLOAT">
            <short_desc>Loiter Time</short_desc>
            <long_desc>The amount of time in seconds the system should loiter at current position before termination
                Set to -1 to make the system skip loitering</long_desc>
            <default>120.0</default>
            <min>-1.0</min>
            <unit>seconds</unit>
        </parameter>
    </group>
    <group name="RTL">
        <parameter name="RTL_LOITER_RAD" type="FLOAT">
            <short_desc>Loiter radius after RTL (FW only)</short_desc>
            <long_desc>Default value of loiter radius after RTL (fixedwing only).</long_desc>
            <default>50.0</default>
            <min>0.0</min>
            <unit>meters</unit>
        </parameter>
        <parameter name="RTL_RETURN_ALT" type="FLOAT">
            <short_desc>RTL altitude</short_desc>
            <long_desc>Altitude to fly back in RTL in meters</long_desc>
            <default>100</default>
            <min>0</min>
            <max>1</max>
            <unit>meters</unit>
        </parameter>
        <parameter name="RTL_DESCEND_ALT" type="FLOAT">
            <short_desc>RTL loiter altitude</short_desc>
            <long_desc>Stay at this altitude above home position after RTL descending.
                Land (i.e. slowly descend) from this altitude if autolanding allowed.</long_desc>
            <default>20</default>
            <min>0</min>
            <max>100</max>
            <unit>meters</unit>
        </parameter>
        <parameter name="RTL_LAND_DELAY" type="FLOAT">
            <short_desc>RTL delay</short_desc>
            <long_desc>Delay after descend before landing in RTL mode.
                If set to -1 the system will not land but loiter at NAV_LAND_ALT.</long_desc>
            <default>-1.0</default>
            <min>-1.0</min>
            <unit>seconds</unit>
        </parameter>
    </group>
    <group name="Radio Calibration">
        <parameter name="RC1_MIN" type="FLOAT">
            <short_desc>RC Channel 1 Minimum</short_desc>
            <long_desc>Minimum value for RC channel 1</long_desc>
            <default>1000.0</default>
            <min>800.0</min>
            <max>1500.0</max>
        </parameter>
        <parameter name="RC1_TRIM" type="FLOAT">
            <short_desc>RC Channel 1 Trim</short_desc>
            <long_desc>Mid point value (same as min for throttle)</long_desc>
            <default>1500.0</default>
            <min>800.0</min>
            <max>2200.0</max>
        </parameter>
        <parameter name="RC1_MAX" type="FLOAT">
            <short_desc>RC Channel 1 Maximum</short_desc>
            <long_desc>Maximum value for RC channel 1</long_desc>
            <default>2000.0</default>
            <min>1500.0</min>
            <max>2200.0</max>
        </parameter>
        <parameter name="RC1_REV" type="FLOAT">
            <short_desc>RC Channel 1 Reverse</short_desc>
            <long_desc>Set to -1 to reverse channel.</long_desc>
            <default>1.0</default>
            <min>-1.0</min>
            <max>1.0</max>
        </parameter>
        <parameter name="RC1_DZ" type="FLOAT">
            <short_desc>RC Channel 1 dead zone</short_desc>
            <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
            <default>10.0</default>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter name="RC2_MIN" type="FLOAT">
            <short_desc>RC Channel 2 Minimum</short_desc>
            <long_desc>Minimum value for RC channel 2</long_desc>
            <default>1000.0</default>
            <min>800.0</min>
            <max>1500.0</max>
        </parameter>
        <parameter name="RC2_TRIM" type="FLOAT">
            <short_desc>RC Channel 2 Trim</short_desc>
            <long_desc>Mid point value (same as min for throttle)</long_desc>
            <default>1500.0</default>
            <min>800.0</min>
            <max>2200.0</max>
        </parameter>
        <parameter name="RC2_MAX" type="FLOAT">
            <short_desc>RC Channel 2 Maximum</short_desc>
            <long_desc>Maximum value for RC channel 2</long_desc>
            <default>2000.0</default>
            <min>1500.0</min>
            <max>2200.0</max>
        </parameter>
        <parameter name="RC2_REV" type="FLOAT">
            <short_desc>RC Channel 2 Reverse</short_desc>
            <long_desc>Set to -1 to reverse channel.</long_desc>
            <default>1.0</default>
            <min>-1.0</min>
            <max>1.0</max>
        </parameter>
        <parameter name="RC2_DZ" type="FLOAT">
            <short_desc>RC Channel 2 dead zone</short_desc>
            <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
            <default>10.0</default>
            <min>0.0</min>
            <max>100.0</max>
        </parameter>
        <parameter name="RC_DSM_BIND" type="INT32">
            <short_desc>DSM binding trigger</short_desc>
            <long_desc>-1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind</long_desc>
            <default>-1</default>
        </parameter>
        <parameter name="RC_MAP_ROLL" type="INT32">
            <short_desc>Roll control channel mapping</short_desc>
            <long_desc>The channel index (starting from 1 for channel 1) indicates
                which channel should be used for reading roll inputs from.
                A value of zero indicates the switch is not assigned.</long_desc>
            <default>1</default>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter name="RC_MAP_PITCH" type="INT32">
            <short_desc>Pitch control channel mapping</short_desc>
            <long_desc>The channel index (starting from 1 for channel 1) indicates
                which channel should be used for reading pitch inputs from.
                A value of zero indicates the switch is not assigned.</long_desc>
            <default>2</default>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter name="RC_MAP_THROTTLE" type="INT32">
            <short_desc>Throttle control channel mapping</short_desc>
            <long_desc>The channel index (starting from 1 for channel 1) indicates
                which channel should be used for reading throttle inputs from.
                A value of zero indicates the switch is not assigned.</long_desc>
            <default>3</default>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter name="RC_MAP_YAW" type="INT32">
            <short_desc>Yaw control channel mapping</short_desc>
            <long_desc>The channel index (starting from 1 for channel 1) indicates
                which channel should be used for reading yaw inputs from.
                A value of zero indicates the switch is not assigned.</long_desc>
            <default>4</default>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter name="RC_MAP_MODE_SW" type="INT32">
            <short_desc>Mode switch channel mapping</short_desc>
            <long_desc>This is the main flight mode selector.
                The channel index (starting from 1 for channel 1) indicates
                which channel should be used for deciding about the main mode.
                A value of zero indicates the switch is not assigned.</long_desc>
            <default>0</default>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter name="RC_MAP_RETURN_SW" type="INT32">
            <short_desc>Return switch channel mapping</short_desc>
            <default>0</default>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter name="RC_MAP_POSCTL_SW" type="INT32">
            <short_desc>Posctl switch channel mapping</short_desc>
            <default>0</default>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter name="RC_MAP_LOITER_SW" type="INT32">
            <short_desc>Loiter switch channel mapping</short_desc>
            <default>0</default>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter name="RC_MAP_ACRO_SW" type="INT32">
            <short_desc>Acro switch channel mapping</short_desc>
            <default>0</default>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter name="RC_MAP_OFFB_SW" type="INT32">
            <short_desc>Offboard switch channel mapping</short_desc>
            <default>0</default>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter name="RC_MAP_FLAPS" type="INT32">
            <short_desc>Flaps channel mapping</short_desc>
            <default>0</default>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter name="RC_MAP_AUX1" type="INT32">
            <short_desc>Auxiliary switch 1 channel mapping</short_desc>
            <long_desc>Default function: Camera pitch</long_desc>
            <default>0</default>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter name="RC_MAP_AUX2" type="INT32">
            <short_desc>Auxiliary switch 2 channel mapping</short_desc>
            <long_desc>Default function: Camera roll</long_desc>
            <default>0</default>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter name="RC_MAP_AUX3" type="INT32">
            <short_desc>Auxiliary switch 3 channel mapping</short_desc>
            <long_desc>Default function: Camera azimuth / yaw</long_desc>
            <default>0</default>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter name="RC_FAILS_THR" type="INT32">
            <short_desc>Failsafe channel PWM threshold</short_desc>
            <default>0</default>
            <min>800</min>
            <max>2200</max>
        </parameter>
    </group>
    <group name="SD Logging">
        <parameter name="SDLOG_RATE" type="INT32">
            <short_desc>Logging rate</short_desc>
            <long_desc>A value of -1 indicates the commandline argument
                should be obeyed. A value of 0 sets the minimum rate,
                any other value is interpreted as rate in Hertz. This
                parameter is only read out before logging starts (which
                commonly is before arming).</long_desc>
            <default>-1</default>
            <min>-1</min>
            <max>1</max>
        </parameter>
        <parameter name="SDLOG_EXT" type="INT32">
            <short_desc>Enable extended logging mode</short_desc>
            <long_desc>A value of -1 indicates the commandline argument
                should be obeyed. A value of 0 disables extended
                logging mode, a value of 1 enables it. This
                parameter is only read out before logging starts
                (which commonly is before arming).</long_desc>
            <default>-1</default>
            <min>-1</min>
            <max>1</max>
        </parameter>
    </group>
    <group name="Sensor Calibration">
        <parameter name="SENS_GYRO_XOFF" type="FLOAT">
            <short_desc>Gyro X-axis offset</short_desc>
            <default>0.0</default>
            <min>-10.0</min>
            <max>10.0</max>
        </parameter>
        <parameter name="SENS_GYRO_YOFF" type="FLOAT">
            <short_desc>Gyro Y-axis offset</short_desc>
            <default>0.0</default>
            <min>-10.0</min>
            <max>10.0</max>
        </parameter>
        <parameter name="SENS_GYRO_ZOFF" type="FLOAT">
            <short_desc>Gyro Z-axis offset</short_desc>
            <default>0.0</default>
            <min>-5.0</min>
            <max>5.0</max>
        </parameter>
        <parameter name="SENS_GYRO_XSCALE" type="FLOAT">
            <short_desc>Gyro X-axis scaling factor</short_desc>
            <default>1.0</default>
            <min>-1.5</min>
            <max>1.5</max>
        </parameter>
        <parameter name="SENS_GYRO_YSCALE" type="FLOAT">
            <short_desc>Gyro Y-axis scaling factor</short_desc>
            <default>1.0</default>
            <min>-1.5</min>
            <max>1.5</max>
        </parameter>
        <parameter name="SENS_GYRO_ZSCALE" type="FLOAT">
            <short_desc>Gyro Z-axis scaling factor</short_desc>
            <default>1.0</default>
            <min>-1.5</min>
            <max>1.5</max>
        </parameter>
        <parameter name="SENS_MAG_XOFF" type="FLOAT">
            <short_desc>Magnetometer X-axis offset</short_desc>
            <default>0.0</default>
            <min>-500.0</min>
            <max>500.0</max>
        </parameter>
        <parameter name="SENS_MAG_YOFF" type="FLOAT">
            <short_desc>Magnetometer Y-axis offset</short_desc>
            <default>0.0</default>
            <min>-500.0</min>
            <max>500.0</max>
        </parameter>
        <parameter name="SENS_MAG_ZOFF" type="FLOAT">
            <short_desc>Magnetometer Z-axis offset</short_desc>
            <default>0.0</default>
            <min>-500.0</min>
            <max>500.0</max>
        </parameter>
        <parameter name="SENS_MAG_XSCALE" type="FLOAT">
            <short_desc>Magnetometer X-axis scaling factor</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="SENS_MAG_YSCALE" type="FLOAT">
            <short_desc>Magnetometer Y-axis scaling factor</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="SENS_MAG_ZSCALE" type="FLOAT">
            <short_desc>Magnetometer Z-axis scaling factor</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="SENS_ACC_XOFF" type="FLOAT">
            <short_desc>Accelerometer X-axis offset</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="SENS_ACC_YOFF" type="FLOAT">
            <short_desc>Accelerometer Y-axis offset</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="SENS_ACC_ZOFF" type="FLOAT">
            <short_desc>Accelerometer Z-axis offset</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="SENS_ACC_XSCALE" type="FLOAT">
            <short_desc>Accelerometer X-axis scaling factor</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="SENS_ACC_YSCALE" type="FLOAT">
            <short_desc>Accelerometer Y-axis scaling factor</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="SENS_ACC_ZSCALE" type="FLOAT">
            <short_desc>Accelerometer Z-axis scaling factor</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="SENS_DPRES_OFF" type="FLOAT">
            <short_desc>Differential pressure sensor offset</short_desc>
            <long_desc>The offset (zero-reading) in Pascal</long_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="SENS_DPRES_ANSC" type="FLOAT">
            <short_desc>Differential pressure sensor analog scaling</short_desc>
            <long_desc>Pick the appropriate scaling from the datasheet.
                this number defines the (linear) conversion from voltage
                to Pascal (pa). For the MPXV7002DP this is 1000.
                NOTE: If the sensor always registers zero, try switching
                the static and dynamic tubes.</long_desc>
            <default>0</default>
        </parameter>
        <parameter name="SENS_BARO_QNH" type="FLOAT">
            <short_desc>QNH for barometer</short_desc>
            <default>1013.25</default>
            <min>500</min>
            <max>1500</max>
            <unit>hPa</unit>
        </parameter>
        <parameter name="SENS_BOARD_ROT" type="INT32">
            <short_desc>Board rotation</short_desc>
            <long_desc>This parameter defines the rotation of the FMU board relative to the platform.
                Possible values are:
                0 = No rotation
                1 = Yaw 45°
                2 = Yaw 90°
                3 = Yaw 135°
                4 = Yaw 180°
                5 = Yaw 225°
                6 = Yaw 270°
                7 = Yaw 315°
                8 = Roll 180°
                9 = Roll 180°, Yaw 45°
                10 = Roll 180°, Yaw 90°
                11 = Roll 180°, Yaw 135°
                12 = Pitch 180°
                13 = Roll 180°, Yaw 225°
                14 = Roll 180°, Yaw 270°
                15 = Roll 180°, Yaw 315°
                16 = Roll 90°
                17 = Roll 90°, Yaw 45°
                18 = Roll 90°, Yaw 90°
                19 = Roll 90°, Yaw 135°
                20 = Roll 270°
                21 = Roll 270°, Yaw 45°
                22 = Roll 270°, Yaw 90°
                23 = Roll 270°, Yaw 135°
                24 = Pitch 90°
                25 = Pitch 270°</long_desc>
            <default>0</default>
        </parameter>
        <parameter name="SENS_BOARD_Y_OFF" type="FLOAT">
            <short_desc>Board rotation Y (Pitch) offset</short_desc>
            <long_desc>This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user
                to fine tune the board offset in the event of misalignment.</long_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="SENS_BOARD_X_OFF" type="FLOAT">
            <short_desc>Board rotation X (Roll) offset</short_desc>
            <long_desc>This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user
                to fine tune the board offset in the event of misalignment.</long_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="SENS_BOARD_Z_OFF" type="FLOAT">
            <short_desc>Board rotation Z (YAW) offset</short_desc>
            <long_desc>This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user
                to fine tune the board offset in the event of misalignment.</long_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="SENS_EXT_MAG_ROT" type="INT32">
            <short_desc>External magnetometer rotation</short_desc>
            <long_desc>This parameter defines the rotation of the external magnetometer relative
                to the platform (not relative to the FMU).
                See SENS_BOARD_ROT for possible values.</long_desc>
            <default>0</default>
        </parameter>
        <parameter name="SENS_EXT_MAG" type="INT32">
            <short_desc>Set usage of external magnetometer</short_desc>
            <long_desc>* Set to 0 (default) to auto-detect (will try to get the external as primary)
                * Set to 1 to force the external magnetometer as primary
                * Set to 2 to force the internal magnetometer as primary</long_desc>
            <default>0</default>
            <min>0</min>
            <max>2</max>
        </parameter>
    </group>
    <group name="System">
        <parameter name="SYS_AUTOSTART" type="INT32">
            <short_desc>Auto-start script index</short_desc>
            <long_desc>Defines the auto-start script used to bootstrap the system.</long_desc>
            <default>0</default>
        </parameter>
        <parameter name="SYS_AUTOCONFIG" type="INT32">
            <short_desc>Automatically configure default values</short_desc>
            <long_desc>Set to 1 to set platform-specific parameters to their default
                values on next system startup.</long_desc>
            <default>0</default>
            <min>0</min>
            <max>1</max>
        </parameter>
        <parameter name="SYS_USE_IO" type="INT32">
            <short_desc>Set usage of IO board</short_desc>
            <long_desc>Can be used to use a standard startup script but with a FMU only set-up. Set to 0 to force the FMU only set-up.</long_desc>
            <default>1</default>
            <min>0</min>
            <max>1</max>
        </parameter>
        <parameter name="SYS_RESTART_TYPE" type="INT32">
            <short_desc>Set restart type</short_desc>
            <long_desc>Set by px4io to indicate type of restart</long_desc>
            <default>2</default>
            <min>0</min>
            <max>2</max>
        </parameter>
    </group>
    <group name="UAVCAN">
        <parameter name="UAVCAN_ENABLE" type="INT32">
            <short_desc>Enable UAVCAN</short_desc>
            <long_desc>Enables support for UAVCAN-interfaced actuators and sensors.</long_desc>
            <default>0</default>
            <min>0</min>
            <max>1</max>
        </parameter>
        <parameter name="UAVCAN_NODE_ID" type="INT32">
            <short_desc>UAVCAN Node ID</short_desc>
            <long_desc>Read the specs at http://uavcan.org to learn more about Node ID.</long_desc>
            <default>1</default>
            <min>1</min>
            <max>125</max>
        </parameter>
        <parameter name="UAVCAN_BITRATE" type="INT32">
            <short_desc>UAVCAN CAN bus bitrate</short_desc>
            <default>1000000</default>
            <min>20000</min>
            <max>1000000</max>
        </parameter>
    </group>
    <group name="attitude_ekf">
        <parameter name="EKF_ATT_V3_Q0" type="FLOAT">
            <short_desc>Body angular rate process noise</short_desc>
            <default>1e-4</default>
        </parameter>
        <parameter name="EKF_ATT_V3_Q1" type="FLOAT">
            <short_desc>Body angular acceleration process noise</short_desc>
            <default>0.08</default>
        </parameter>
        <parameter name="EKF_ATT_V3_Q2" type="FLOAT">
            <short_desc>Acceleration process noise</short_desc>
            <default>0.009</default>
        </parameter>
        <parameter name="EKF_ATT_V3_Q3" type="FLOAT">
            <short_desc>Magnet field vector process noise</short_desc>
            <default>0.005</default>
        </parameter>
        <parameter name="EKF_ATT_V4_R0" type="FLOAT">
            <short_desc>Gyro measurement noise</short_desc>
            <default>0.0008</default>
        </parameter>
        <parameter name="EKF_ATT_V4_R1" type="FLOAT">
            <short_desc>Accel measurement noise</short_desc>
            <default>10000.0</default>
        </parameter>
        <parameter name="EKF_ATT_V4_R2" type="FLOAT">
            <short_desc>Mag measurement noise</short_desc>
            <default>100.0</default>
        </parameter>
        <parameter name="ATT_J11" type="FLOAT">
            <short_desc>Moment of inertia matrix diagonal entry (1, 1)</short_desc>
            <default>0.0018</default>
            <unit>kg*m^2</unit>
        </parameter>
        <parameter name="ATT_J22" type="FLOAT">
            <short_desc>Moment of inertia matrix diagonal entry (2, 2)</short_desc>
            <default>0.0018</default>
            <unit>kg*m^2</unit>
        </parameter>
        <parameter name="ATT_J33" type="FLOAT">
            <short_desc>Moment of inertia matrix diagonal entry (3, 3)</short_desc>
            <default>0.0037</default>
            <unit>kg*m^2</unit>
        </parameter>
        <parameter name="ATT_J_EN" type="INT32">
            <short_desc>Moment of inertia enabled in estimator</short_desc>
            <long_desc>If set to != 0 the moment of inertia will be used in the estimator</long_desc>
            <default>0</default>
            <min>0</min>
            <max>1</max>
        </parameter>
    </group>
    <group name="commander">
        <parameter name="COM_DL_LOSS_EN" type="INT32">
            <short_desc>Datalink loss mode enabled</short_desc>
            <long_desc>Set to 1 to enable actions triggered when the datalink is lost.</long_desc>
            <default>0</default>
            <min>0</min>
            <max>1</max>
        </parameter>
        <parameter name="COM_DL_LOSS_T" type="INT32">
            <short_desc>After this amount of seconds without datalink the data link lost mode triggers</short_desc>
            <default>10</default>
            <min>0</min>
            <max>30</max>
            <unit>second</unit>
        </parameter>
        <parameter name="COM_DL_REG_T" type="INT32">
            <short_desc>After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss'
                flag is set back to false</short_desc>
            <default>0</default>
            <min>0</min>
            <max>30</max>
            <unit>second</unit>
        </parameter>
        <parameter name="COM_EF_THROT" type="FLOAT">
            <short_desc>Engine failure triggers only above this throttle value</short_desc>
            <default>0.5</default>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter name="COM_EF_C2T" type="FLOAT">
            <short_desc>Engine failure triggers only below this current/throttle value</short_desc>
            <default>5.0</default>
            <min>0.0</min>
            <max>7.0</max>
        </parameter>
        <parameter name="COM_EF_TIME" type="FLOAT">
            <short_desc>Engine failure triggers only if the throttle threshold and the
                current to throttle threshold are violated for this time</short_desc>
            <default>10.0</default>
            <min>0.0</min>
            <max>7.0</max>
            <unit>second</unit>
        </parameter>
        <parameter name="COM_RC_LOSS_T" type="FLOAT">
            <short_desc>After this amount of seconds without RC connection the rc lost flag is set to true</short_desc>
            <default>0.5</default>
            <min>0</min>
            <max>35</max>
            <unit>second</unit>
        </parameter>
    </group>
    <group name="mTECS">
        <parameter name="MT_ENABLED" type="INT32">
            <short_desc>mTECS enabled</short_desc>
            <long_desc>Set to 1 to enable mTECS</long_desc>
            <default>0</default>
            <min>0</min>
            <max>1</max>
        </parameter>
        <parameter name="MT_THR_FF" type="FLOAT">
            <short_desc>Total Energy Rate Control Feedforward
                Maps the total energy rate setpoint to the throttle setpoint</short_desc>
            <default>0.7</default>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter name="MT_THR_P" type="FLOAT">
            <short_desc>Total Energy Rate Control P
                Maps the total energy rate error to the throttle setpoint</short_desc>
            <default>0.1</default>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter name="MT_THR_I" type="FLOAT">
            <short_desc>Total Energy Rate Control I
                Maps the integrated total energy rate to the throttle setpoint</short_desc>
            <default>0.25</default>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter name="MT_THR_OFF" type="FLOAT">
            <short_desc>Total Energy Rate Control Offset (Cruise throttle sp)</short_desc>
            <default>0.7</default>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter name="MT_PIT_FF" type="FLOAT">
            <short_desc>Energy Distribution Rate Control Feedforward
                Maps the energy distribution rate setpoint to the pitch setpoint</short_desc>
            <default>0.4</default>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter name="MT_PIT_P" type="FLOAT">
            <short_desc>Energy Distribution Rate Control P
                Maps the energy distribution rate error to the pitch setpoint</short_desc>
            <default>0.03</default>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter name="MT_PIT_I" type="FLOAT">
            <short_desc>Energy Distribution Rate Control I
                Maps the integrated energy distribution rate error to the pitch setpoint</short_desc>
            <default>0.03</default>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter name="MT_PIT_OFF" type="FLOAT">
            <short_desc>Total Energy Distribution Offset (Cruise pitch sp)</short_desc>
            <default>0.0</default>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter name="MT_THR_MIN" type="FLOAT">
            <short_desc>Minimal Throttle Setpoint</short_desc>
            <default>0.0</default>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter name="MT_THR_MAX" type="FLOAT">
            <short_desc>Maximal Throttle Setpoint</short_desc>
            <default>1.0</default>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter name="MT_PIT_MIN" type="FLOAT">
            <short_desc>Minimal Pitch Setpoint in Degrees</short_desc>
            <default>-45.0</default>
            <min>-90.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter name="MT_PIT_MAX" type="FLOAT">
            <short_desc>Maximal Pitch Setpoint in Degrees</short_desc>
            <default>20.0</default>
            <min>-90.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter name="MT_ALT_LP" type="FLOAT">
            <short_desc>Lowpass (cutoff freq.) for altitude</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="MT_FPA_LP" type="FLOAT">
            <short_desc>Lowpass (cutoff freq.) for the flight path angle</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="MT_FPA_P" type="FLOAT">
            <short_desc>P gain for the altitude control
                Maps the altitude error to the flight path angle setpoint</short_desc>
            <default>0.3</default>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter name="MT_FPA_D" type="FLOAT">
            <short_desc>D gain for the altitude control
                Maps the change of altitude error to the flight path angle setpoint</short_desc>
            <default>0.0</default>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter name="MT_FPA_D_LP" type="FLOAT">
            <short_desc>Lowpass for FPA error derivative calculation (see MT_FPA_D)</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="MT_FPA_MIN" type="FLOAT">
            <short_desc>Minimal flight path angle setpoint</short_desc>
            <default>-20.0</default>
            <min>-90.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter name="MT_FPA_MAX" type="FLOAT">
            <short_desc>Maximal flight path angle setpoint</short_desc>
            <default>30.0</default>
            <min>-90.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter name="MT_A_LP" type="FLOAT">
            <short_desc>Lowpass (cutoff freq.) for airspeed</short_desc>
            <default>0.5</default>
        </parameter>
        <parameter name="MT_AD_LP" type="FLOAT">
            <short_desc>Airspeed derivative calculation lowpass</short_desc>
            <default>0.5</default>
        </parameter>
        <parameter name="MT_ACC_P" type="FLOAT">
            <short_desc>P gain for the airspeed control
                Maps the airspeed error to the acceleration setpoint</short_desc>
            <default>0.3</default>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter name="MT_ACC_D" type="FLOAT">
            <short_desc>D gain for the airspeed control
                Maps the change of airspeed error to the acceleration setpoint</short_desc>
            <default>0.0</default>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter name="MT_ACC_D_LP" type="FLOAT">
            <short_desc>Lowpass for ACC error derivative calculation (see MT_ACC_D)</short_desc>
            <default>0.5</default>
        </parameter>
        <parameter name="MT_ACC_MIN" type="FLOAT">
            <short_desc>Minimal acceleration (air)</short_desc>
            <default>-40.0</default>
            <unit>m/s^2</unit>
        </parameter>
        <parameter name="MT_ACC_MAX" type="FLOAT">
            <short_desc>Maximal acceleration (air)</short_desc>
            <default>40.0</default>
            <unit>m/s^2</unit>
        </parameter>
        <parameter name="MT_TKF_THR_MIN" type="FLOAT">
            <short_desc>Minimal throttle during takeoff</short_desc>
            <default>1.0</default>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter name="MT_TKF_THR_MAX" type="FLOAT">
            <short_desc>Maximal throttle during takeoff</short_desc>
            <default>1.0</default>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter name="MT_TKF_PIT_MIN" type="FLOAT">
            <short_desc>Minimal pitch during takeoff</short_desc>
            <default>0.0</default>
            <min>-90.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter name="MT_TKF_PIT_MAX" type="FLOAT">
            <short_desc>Maximal pitch during takeoff</short_desc>
            <default>45.0</default>
            <min>-90.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter name="MT_USP_THR_MIN" type="FLOAT">
            <short_desc>Minimal throttle in underspeed mode</short_desc>
            <default>1.0</default>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter name="MT_USP_THR_MAX" type="FLOAT">
            <short_desc>Maximal throttle in underspeed mode</short_desc>
            <default>1.0</default>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter name="MT_USP_PIT_MIN" type="FLOAT">
            <short_desc>Minimal pitch in underspeed mode</short_desc>
            <default>-45.0</default>
            <min>-90.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter name="MT_USP_PIT_MAX" type="FLOAT">
            <short_desc>Maximal pitch in underspeed mode</short_desc>
            <default>0.0</default>
            <min>-90.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter name="MT_LND_THR_MIN" type="FLOAT">
            <short_desc>Minimal throttle in landing mode (only last phase of landing)</short_desc>
            <default>0.0</default>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter name="MT_LND_THR_MAX" type="FLOAT">
            <short_desc>Maximal throttle in landing mode (only last phase of landing)</short_desc>
            <default>0.0</default>
            <min>0.0</min>
            <max>1.0</max>
        </parameter>
        <parameter name="MT_LND_PIT_MIN" type="FLOAT">
            <short_desc>Minimal pitch in landing mode</short_desc>
            <default>-5.0</default>
            <min>-90.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter name="MT_LND_PIT_MAX" type="FLOAT">
            <short_desc>Maximal pitch in landing mode</short_desc>
            <default>15.0</default>
            <min>-90.0</min>
            <max>90.0</max>
            <unit>deg</unit>
        </parameter>
        <parameter name="MT_THR_I_MAX" type="FLOAT">
            <short_desc>Integrator Limit for Total Energy Rate Control</short_desc>
            <default>10.0</default>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
        <parameter name="MT_PIT_I_MAX" type="FLOAT">
            <short_desc>Integrator Limit for Energy Distribution Rate Control</short_desc>
            <default>10.0</default>
            <min>0.0</min>
            <max>10.0</max>
        </parameter>
    </group>
    <group name="Miscellaneous">
        <parameter name="EXFW_HDNG_P" type="FLOAT">
            <short_desc>EXFW_HDNG_P</short_desc>
            <default>0.1</default>
        </parameter>
        <parameter name="EXFW_ROLL_P" type="FLOAT">
            <short_desc>EXFW_ROLL_P</short_desc>
            <default>0.2</default>
        </parameter>
        <parameter name="EXFW_PITCH_P" type="FLOAT">
            <short_desc>EXFW_PITCH_P</short_desc>
            <default>0.2</default>
        </parameter>
        <parameter name="FPE_LO_THRUST" type="FLOAT">
            <short_desc>FPE_LO_THRUST</short_desc>
            <default>0.4</default>
        </parameter>
        <parameter name="FPE_SONAR_LP_U" type="FLOAT">
            <short_desc>FPE_SONAR_LP_U</short_desc>
            <default>0.5</default>
        </parameter>
        <parameter name="FPE_SONAR_LP_L" type="FLOAT">
            <short_desc>FPE_SONAR_LP_L</short_desc>
            <default>0.2</default>
        </parameter>
        <parameter name="FPE_DEBUG" type="INT32">
            <short_desc>FPE_DEBUG</short_desc>
            <default>0</default>
        </parameter>
        <parameter name="FSC_S_P" type="FLOAT">
            <short_desc>FSC_S_P</short_desc>
            <default>0.1</default>
        </parameter>
        <parameter name="FSC_L_PITCH" type="FLOAT">
            <short_desc>FSC_L_PITCH</short_desc>
            <default>0.4</default>
        </parameter>
        <parameter name="FSC_L_ROLL" type="FLOAT">
            <short_desc>FSC_L_ROLL</short_desc>
            <default>0.4</default>
        </parameter>
        <parameter name="ATT_MAG_DECL" type="FLOAT">
            <short_desc>ATT_MAG_DECL</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="ATT_ACC_COMP" type="INT32">
            <short_desc>ATT_ACC_COMP</short_desc>
            <default>2</default>
        </parameter>
        <parameter name="SO3_COMP_KP" type="FLOAT">
            <short_desc>SO3_COMP_KP</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="SO3_COMP_KI" type="FLOAT">
            <short_desc>SO3_COMP_KI</short_desc>
            <default>0.05</default>
        </parameter>
        <parameter name="SO3_ROLL_OFFS" type="FLOAT">
            <short_desc>SO3_ROLL_OFFS</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="SO3_PITCH_OFFS" type="FLOAT">
            <short_desc>SO3_PITCH_OFFS</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="SO3_YAW_OFFS" type="FLOAT">
            <short_desc>SO3_YAW_OFFS</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="TRIM_ROLL" type="FLOAT">
            <short_desc>TRIM_ROLL</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="TRIM_PITCH" type="FLOAT">
            <short_desc>TRIM_PITCH</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="TRIM_YAW" type="FLOAT">
            <short_desc>TRIM_YAW</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="TEST_MIN" type="FLOAT">
            <short_desc>TEST_MIN</short_desc>
            <default>-1.0</default>
        </parameter>
        <parameter name="TEST_MAX" type="FLOAT">
            <short_desc>TEST_MAX</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="TEST_TRIM" type="FLOAT">
            <short_desc>TEST_TRIM</short_desc>
            <default>0.5</default>
        </parameter>
        <parameter name="TEST_HP" type="FLOAT">
            <short_desc>TEST_HP</short_desc>
            <default>10.0</default>
        </parameter>
        <parameter name="TEST_LP" type="FLOAT">
            <short_desc>TEST_LP</short_desc>
            <default>10.0</default>
        </parameter>
        <parameter name="TEST_P" type="FLOAT">
            <short_desc>TEST_P</short_desc>
            <default>0.2</default>
        </parameter>
        <parameter name="TEST_I" type="FLOAT">
            <short_desc>TEST_I</short_desc>
            <default>0.1</default>
        </parameter>
        <parameter name="TEST_I_MAX" type="FLOAT">
            <short_desc>TEST_I_MAX</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="TEST_D" type="FLOAT">
            <short_desc>TEST_D</short_desc>
            <default>0.01</default>
        </parameter>
        <parameter name="TEST_D_LP" type="FLOAT">
            <short_desc>TEST_D_LP</short_desc>
            <default>10.0</default>
        </parameter>
        <parameter name="TEST_MEAN" type="FLOAT">
            <short_desc>TEST_MEAN</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="TEST_DEV" type="FLOAT">
            <short_desc>TEST_DEV</short_desc>
            <default>2.0</default>
        </parameter>
        <parameter name="FWB_P_LP" type="FLOAT">
            <short_desc>FWB_P_LP</short_desc>
            <default>300.0</default>
        </parameter>
        <parameter name="FWB_Q_LP" type="FLOAT">
            <short_desc>FWB_Q_LP</short_desc>
            <default>300.0</default>
        </parameter>
        <parameter name="FWB_R_LP" type="FLOAT">
            <short_desc>FWB_R_LP</short_desc>
            <default>300.0</default>
        </parameter>
        <parameter name="FWB_R_HP" type="FLOAT">
            <short_desc>FWB_R_HP</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="FWB_P2AIL" type="FLOAT">
            <short_desc>FWB_P2AIL</short_desc>
            <default>0.3</default>
        </parameter>
        <parameter name="FWB_Q2ELV" type="FLOAT">
            <short_desc>FWB_Q2ELV</short_desc>
            <default>0.1</default>
        </parameter>
        <parameter name="FWB_R2RDR" type="FLOAT">
            <short_desc>FWB_R2RDR</short_desc>
            <default>0.1</default>
        </parameter>
        <parameter name="FWB_PSI2PHI" type="FLOAT">
            <short_desc>FWB_PSI2PHI</short_desc>
            <default>0.5</default>
        </parameter>
        <parameter name="FWB_PHI2P" type="FLOAT">
            <short_desc>FWB_PHI2P</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="FWB_PHI_LIM_MAX" type="FLOAT">
            <short_desc>FWB_PHI_LIM_MAX</short_desc>
            <default>0.3</default>
        </parameter>
        <parameter name="FWB_V2THE_P" type="FLOAT">
            <short_desc>FWB_V2THE_P</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="FWB_V2THE_I" type="FLOAT">
            <short_desc>FWB_V2THE_I</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="FWB_V2THE_D" type="FLOAT">
            <short_desc>FWB_V2THE_D</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="FWB_V2THE_D_LP" type="FLOAT">
            <short_desc>FWB_V2THE_D_LP</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="FWB_V2THE_I_MAX" type="FLOAT">
            <short_desc>FWB_V2THE_I_MAX</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="FWB_THE_MIN" type="FLOAT">
            <short_desc>FWB_THE_MIN</short_desc>
            <default>-0.5</default>
        </parameter>
        <parameter name="FWB_THE_MAX" type="FLOAT">
            <short_desc>FWB_THE_MAX</short_desc>
            <default>0.5</default>
        </parameter>
        <parameter name="FWB_THE2Q_P" type="FLOAT">
            <short_desc>FWB_THE2Q_P</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="FWB_THE2Q_I" type="FLOAT">
            <short_desc>FWB_THE2Q_I</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="FWB_THE2Q_D" type="FLOAT">
            <short_desc>FWB_THE2Q_D</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="FWB_THE2Q_D_LP" type="FLOAT">
            <short_desc>FWB_THE2Q_D_LP</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="FWB_THE2Q_I_MAX" type="FLOAT">
            <short_desc>FWB_THE2Q_I_MAX</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="FWB_H2THR_P" type="FLOAT">
            <short_desc>FWB_H2THR_P</short_desc>
            <default>0.01</default>
        </parameter>
        <parameter name="FWB_H2THR_I" type="FLOAT">
            <short_desc>FWB_H2THR_I</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="FWB_H2THR_D" type="FLOAT">
            <short_desc>FWB_H2THR_D</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="FWB_H2THR_D_LP" type="FLOAT">
            <short_desc>FWB_H2THR_D_LP</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="FWB_H2THR_I_MAX" type="FLOAT">
            <short_desc>FWB_H2THR_I_MAX</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="FWB_XT2YAW_MAX" type="FLOAT">
            <short_desc>FWB_XT2YAW_MAX</short_desc>
            <default>1.57</default>
        </parameter>
        <parameter name="FWB_XT2YAW" type="FLOAT">
            <short_desc>FWB_XT2YAW</short_desc>
            <default>0.005</default>
        </parameter>
        <parameter name="FWB_V_MIN" type="FLOAT">
            <short_desc>FWB_V_MIN</short_desc>
            <default>10.0</default>
        </parameter>
        <parameter name="FWB_V_CMD" type="FLOAT">
            <short_desc>FWB_V_CMD</short_desc>
            <default>12.0</default>
        </parameter>
        <parameter name="FWB_V_MAX" type="FLOAT">
            <short_desc>FWB_V_MAX</short_desc>
            <default>16.0</default>
        </parameter>
        <parameter name="FWB_CR_MAX" type="FLOAT">
            <short_desc>FWB_CR_MAX</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="FWB_CR2THR_P" type="FLOAT">
            <short_desc>FWB_CR2THR_P</short_desc>
            <default>0.01</default>
        </parameter>
        <parameter name="FWB_CR2THR_I" type="FLOAT">
            <short_desc>FWB_CR2THR_I</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="FWB_CR2THR_D" type="FLOAT">
            <short_desc>FWB_CR2THR_D</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="FWB_CR2THR_D_LP" type="FLOAT">
            <short_desc>FWB_CR2THR_D_LP</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="FWB_CR2THR_I_MAX" type="FLOAT">
            <short_desc>FWB_CR2THR_I_MAX</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="FWB_TRIM_THR" type="FLOAT">
            <short_desc>FWB_TRIM_THR</short_desc>
            <default>0.8</default>
        </parameter>
        <parameter name="FWB_TRIM_V" type="FLOAT">
            <short_desc>FWB_TRIM_V</short_desc>
            <default>12.0</default>
        </parameter>
        <parameter name="FW_FLARE_PMIN" type="FLOAT">
            <short_desc>Flare, minimum pitch</short_desc>
            <long_desc>Minimum pitch during flare, a positive sign means nose up
                Applied once FW_LND_TLALT is reached</long_desc>
            <default>2.5</default>
        </parameter>
        <parameter name="FW_FLARE_PMAX" type="FLOAT">
            <short_desc>Flare, maximum pitch</short_desc>
            <long_desc>Maximum pitch during flare, a positive sign means nose up
                Applied once FW_LND_TLALT is reached</long_desc>
            <default>15.0</default>
        </parameter>
        <parameter name="SEG_TH2V_P" type="FLOAT">
            <short_desc>SEG_TH2V_P</short_desc>
            <default>10.0</default>
        </parameter>
        <parameter name="SEG_TH2V_I" type="FLOAT">
            <short_desc>SEG_TH2V_I</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="SEG_TH2V_I_MAX" type="FLOAT">
            <short_desc>SEG_TH2V_I_MAX</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="SEG_Q2V" type="FLOAT">
            <short_desc>SEG_Q2V</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="RC3_MIN" type="FLOAT">
            <short_desc>RC3_MIN</short_desc>
            <default>1000</default>
        </parameter>
        <parameter name="RC3_TRIM" type="FLOAT">
            <short_desc>RC3_TRIM</short_desc>
            <default>1500</default>
        </parameter>
        <parameter name="RC3_MAX" type="FLOAT">
            <short_desc>RC3_MAX</short_desc>
            <default>2000</default>
        </parameter>
        <parameter name="RC3_REV" type="FLOAT">
            <short_desc>RC3_REV</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="RC3_DZ" type="FLOAT">
            <short_desc>RC3_DZ</short_desc>
            <default>10.0</default>
        </parameter>
        <parameter name="RC4_MIN" type="FLOAT">
            <short_desc>RC4_MIN</short_desc>
            <default>1000</default>
        </parameter>
        <parameter name="RC4_TRIM" type="FLOAT">
            <short_desc>RC4_TRIM</short_desc>
            <default>1500</default>
        </parameter>
        <parameter name="RC4_MAX" type="FLOAT">
            <short_desc>RC4_MAX</short_desc>
            <default>2000</default>
        </parameter>
        <parameter name="RC4_REV" type="FLOAT">
            <short_desc>RC4_REV</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="RC4_DZ" type="FLOAT">
            <short_desc>RC4_DZ</short_desc>
            <default>10.0</default>
        </parameter>
        <parameter name="RC5_MIN" type="FLOAT">
            <short_desc>RC5_MIN</short_desc>
            <default>1000</default>
        </parameter>
        <parameter name="RC5_TRIM" type="FLOAT">
            <short_desc>RC5_TRIM</short_desc>
            <default>1500</default>
        </parameter>
        <parameter name="RC5_MAX" type="FLOAT">
            <short_desc>RC5_MAX</short_desc>
            <default>2000</default>
        </parameter>
        <parameter name="RC5_REV" type="FLOAT">
            <short_desc>RC5_REV</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="RC5_DZ" type="FLOAT">
            <short_desc>RC5_DZ</short_desc>
            <default>10.0</default>
        </parameter>
        <parameter name="RC6_MIN" type="FLOAT">
            <short_desc>RC6_MIN</short_desc>
            <default>1000</default>
        </parameter>
        <parameter name="RC6_TRIM" type="FLOAT">
            <short_desc>RC6_TRIM</short_desc>
            <default>1500</default>
        </parameter>
        <parameter name="RC6_MAX" type="FLOAT">
            <short_desc>RC6_MAX</short_desc>
            <default>2000</default>
        </parameter>
        <parameter name="RC6_REV" type="FLOAT">
            <short_desc>RC6_REV</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="RC6_DZ" type="FLOAT">
            <short_desc>RC6_DZ</short_desc>
            <default>10.0</default>
        </parameter>
        <parameter name="RC7_MIN" type="FLOAT">
            <short_desc>RC7_MIN</short_desc>
            <default>1000</default>
        </parameter>
        <parameter name="RC7_TRIM" type="FLOAT">
            <short_desc>RC7_TRIM</short_desc>
            <default>1500</default>
        </parameter>
        <parameter name="RC7_MAX" type="FLOAT">
            <short_desc>RC7_MAX</short_desc>
            <default>2000</default>
        </parameter>
        <parameter name="RC7_REV" type="FLOAT">
            <short_desc>RC7_REV</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="RC7_DZ" type="FLOAT">
            <short_desc>RC7_DZ</short_desc>
            <default>10.0</default>
        </parameter>
        <parameter name="RC8_MIN" type="FLOAT">
            <short_desc>RC8_MIN</short_desc>
            <default>1000</default>
        </parameter>
        <parameter name="RC8_TRIM" type="FLOAT">
            <short_desc>RC8_TRIM</short_desc>
            <default>1500</default>
        </parameter>
        <parameter name="RC8_MAX" type="FLOAT">
            <short_desc>RC8_MAX</short_desc>
            <default>2000</default>
        </parameter>
        <parameter name="RC8_REV" type="FLOAT">
            <short_desc>RC8_REV</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="RC8_DZ" type="FLOAT">
            <short_desc>RC8_DZ</short_desc>
            <default>10.0</default>
        </parameter>
        <parameter name="RC9_MIN" type="FLOAT">
            <short_desc>RC9_MIN</short_desc>
            <default>1000</default>
        </parameter>
        <parameter name="RC9_TRIM" type="FLOAT">
            <short_desc>RC9_TRIM</short_desc>
            <default>1500</default>
        </parameter>
        <parameter name="RC9_MAX" type="FLOAT">
            <short_desc>RC9_MAX</short_desc>
            <default>2000</default>
        </parameter>
        <parameter name="RC9_REV" type="FLOAT">
            <short_desc>RC9_REV</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="RC9_DZ" type="FLOAT">
            <short_desc>RC9_DZ</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="RC10_MIN" type="FLOAT">
            <short_desc>RC10_MIN</short_desc>
            <default>1000</default>
        </parameter>
        <parameter name="RC10_TRIM" type="FLOAT">
            <short_desc>RC10_TRIM</short_desc>
            <default>1500</default>
        </parameter>
        <parameter name="RC10_MAX" type="FLOAT">
            <short_desc>RC10_MAX</short_desc>
            <default>2000</default>
        </parameter>
        <parameter name="RC10_REV" type="FLOAT">
            <short_desc>RC10_REV</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="RC10_DZ" type="FLOAT">
            <short_desc>RC10_DZ</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="RC11_MIN" type="FLOAT">
            <short_desc>RC11_MIN</short_desc>
            <default>1000</default>
        </parameter>
        <parameter name="RC11_TRIM" type="FLOAT">
            <short_desc>RC11_TRIM</short_desc>
            <default>1500</default>
        </parameter>
        <parameter name="RC11_MAX" type="FLOAT">
            <short_desc>RC11_MAX</short_desc>
            <default>2000</default>
        </parameter>
        <parameter name="RC11_REV" type="FLOAT">
            <short_desc>RC11_REV</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="RC11_DZ" type="FLOAT">
            <short_desc>RC11_DZ</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="RC12_MIN" type="FLOAT">
            <short_desc>RC12_MIN</short_desc>
            <default>1000</default>
        </parameter>
        <parameter name="RC12_TRIM" type="FLOAT">
            <short_desc>RC12_TRIM</short_desc>
            <default>1500</default>
        </parameter>
        <parameter name="RC12_MAX" type="FLOAT">
            <short_desc>RC12_MAX</short_desc>
            <default>2000</default>
        </parameter>
        <parameter name="RC12_REV" type="FLOAT">
            <short_desc>RC12_REV</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="RC12_DZ" type="FLOAT">
            <short_desc>RC12_DZ</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="RC13_MIN" type="FLOAT">
            <short_desc>RC13_MIN</short_desc>
            <default>1000</default>
        </parameter>
        <parameter name="RC13_TRIM" type="FLOAT">
            <short_desc>RC13_TRIM</short_desc>
            <default>1500</default>
        </parameter>
        <parameter name="RC13_MAX" type="FLOAT">
            <short_desc>RC13_MAX</short_desc>
            <default>2000</default>
        </parameter>
        <parameter name="RC13_REV" type="FLOAT">
            <short_desc>RC13_REV</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="RC13_DZ" type="FLOAT">
            <short_desc>RC13_DZ</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="RC14_MIN" type="FLOAT">
            <short_desc>RC14_MIN</short_desc>
            <default>1000</default>
        </parameter>
        <parameter name="RC14_TRIM" type="FLOAT">
            <short_desc>RC14_TRIM</short_desc>
            <default>1500</default>
        </parameter>
        <parameter name="RC14_MAX" type="FLOAT">
            <short_desc>RC14_MAX</short_desc>
            <default>2000</default>
        </parameter>
        <parameter name="RC14_REV" type="FLOAT">
            <short_desc>RC14_REV</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="RC14_DZ" type="FLOAT">
            <short_desc>RC14_DZ</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="RC15_MIN" type="FLOAT">
            <short_desc>RC15_MIN</short_desc>
            <default>1000</default>
        </parameter>
        <parameter name="RC15_TRIM" type="FLOAT">
            <short_desc>RC15_TRIM</short_desc>
            <default>1500</default>
        </parameter>
        <parameter name="RC15_MAX" type="FLOAT">
            <short_desc>RC15_MAX</short_desc>
            <default>2000</default>
        </parameter>
        <parameter name="RC15_REV" type="FLOAT">
            <short_desc>RC15_REV</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="RC15_DZ" type="FLOAT">
            <short_desc>RC15_DZ</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="RC16_MIN" type="FLOAT">
            <short_desc>RC16_MIN</short_desc>
            <default>1000</default>
        </parameter>
        <parameter name="RC16_TRIM" type="FLOAT">
            <short_desc>RC16_TRIM</short_desc>
            <default>1500</default>
        </parameter>
        <parameter name="RC16_MAX" type="FLOAT">
            <short_desc>RC16_MAX</short_desc>
            <default>2000</default>
        </parameter>
        <parameter name="RC16_REV" type="FLOAT">
            <short_desc>RC16_REV</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="RC16_DZ" type="FLOAT">
            <short_desc>RC16_DZ</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="RC17_MIN" type="FLOAT">
            <short_desc>RC17_MIN</short_desc>
            <default>1000</default>
        </parameter>
        <parameter name="RC17_TRIM" type="FLOAT">
            <short_desc>RC17_TRIM</short_desc>
            <default>1500</default>
        </parameter>
        <parameter name="RC17_MAX" type="FLOAT">
            <short_desc>RC17_MAX</short_desc>
            <default>2000</default>
        </parameter>
        <parameter name="RC17_REV" type="FLOAT">
            <short_desc>RC17_REV</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="RC17_DZ" type="FLOAT">
            <short_desc>RC17_DZ</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="RC18_MIN" type="FLOAT">
            <short_desc>RC18_MIN</short_desc>
            <default>1000</default>
        </parameter>
        <parameter name="RC18_TRIM" type="FLOAT">
            <short_desc>RC18_TRIM</short_desc>
            <default>1500</default>
        </parameter>
        <parameter name="RC18_MAX" type="FLOAT">
            <short_desc>RC18_MAX</short_desc>
            <default>2000</default>
        </parameter>
        <parameter name="RC18_REV" type="FLOAT">
            <short_desc>RC18_REV</short_desc>
            <default>1.0</default>
        </parameter>
        <parameter name="RC18_DZ" type="FLOAT">
            <short_desc>RC18_DZ</short_desc>
            <default>0.0</default>
        </parameter>
        <parameter name="RC_RL1_DSM_VCC" type="INT32">
            <short_desc>RC_RL1_DSM_VCC</short_desc>
            <default>0</default>
        </parameter>
        <parameter name="RC_MAP_FAILSAFE" type="INT32">
            <short_desc>Failsafe channel mapping</short_desc>
            <long_desc>The RC mapping index indicates which channel is used for failsafe
                If 0, whichever channel is mapped to throttle is used
                otherwise the value indicates the specific rc channel to use</long_desc>
            <default>0</default>
            <min>0</min>
            <max>18</max>
        </parameter>
        <parameter name="RC_ASSIST_TH" type="FLOAT">
            <short_desc>Threshold for selecting assist mode</short_desc>
            <long_desc>min:-1
                max:+1
                0-1 indicate where in the full channel range the threshold sits
                0 : min
                1 : max
                sign indicates polarity of comparison
                positive : true when channel&gt;th
                negative : true when channel&lt;th</long_desc>
            <default>0.25</default>
        </parameter>
        <parameter name="RC_AUTO_TH" type="FLOAT">
            <short_desc>Threshold for selecting auto mode</short_desc>
            <long_desc>min:-1
                max:+1
                0-1 indicate where in the full channel range the threshold sits
                0 : min
                1 : max
                sign indicates polarity of comparison
                positive : true when channel&gt;th
                negative : true when channel&lt;th</long_desc>
            <default>0.75</default>
        </parameter>
        <parameter name="RC_POSCTL_TH" type="FLOAT">
            <short_desc>Threshold for selecting posctl mode</short_desc>
            <long_desc>min:-1
                max:+1
                0-1 indicate where in the full channel range the threshold sits
                0 : min
                1 : max
                sign indicates polarity of comparison
                positive : true when channel&gt;th
                negative : true when channel&lt;th</long_desc>
            <default>0.5</default>
        </parameter>
        <parameter name="RC_RETURN_TH" type="FLOAT">
            <short_desc>Threshold for selecting return to launch mode</short_desc>
            <long_desc>min:-1
                max:+1
                0-1 indicate where in the full channel range the threshold sits
                0 : min
                1 : max
                sign indicates polarity of comparison
                positive : true when channel&gt;th
                negative : true when channel&lt;th</long_desc>
            <default>0.5</default>
        </parameter>
        <parameter name="RC_LOITER_TH" type="FLOAT">
            <short_desc>Threshold for selecting loiter mode</short_desc>
            <long_desc>min:-1
                max:+1
                0-1 indicate where in the full channel range the threshold sits
                0 : min
                1 : max
                sign indicates polarity of comparison
                positive : true when channel&gt;th
                negative : true when channel&lt;th</long_desc>
            <default>0.5</default>
        </parameter>
        <parameter name="RC_ACRO_TH" type="FLOAT">
            <short_desc>Threshold for selecting acro mode</short_desc>
            <long_desc>min:-1
                max:+1
                0-1 indicate where in the full channel range the threshold sits
                0 : min
                1 : max
                sign indicates polarity of comparison
                positive : true when channel&gt;th
                negative : true when channel&lt;th</long_desc>
            <default>0.5</default>
        </parameter>
        <parameter name="RC_OFFB_TH" type="FLOAT">
            <short_desc>Threshold for selecting offboard mode</short_desc>
            <long_desc>min:-1
                max:+1
                0-1 indicate where in the full channel range the threshold sits
                0 : min
                1 : max
                sign indicates polarity of comparison
                positive : true when channel&gt;th
                negative : true when channel&lt;th</long_desc>
            <default>0.5</default>
        </parameter>
    </group>
</parameters>