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APMParameterFactMetaData.Copter.3.6.xml 504 KB
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Adjust to new parameters in Copter 3.6
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<?xml version="1.0" encoding="utf-8"?>
        <!-- Dynamically generated list of documented parameters (generated by param_parse.py) -->    
        <paramfile>
        <vehicles>
        <parameters name="ArduCopter">
<param humanName="Eeprom format version number" name="ArduCopter:SYSID_SW_MREV" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Software Type" name="ArduCopter:SYSID_SW_TYPE" documentation="This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)" user="Advanced">
<field name="ReadOnly">True</field>
<values>
<value code="0">ArduPlane</value>
<value code="4">AntennaTracker</value>
<value code="10">Copter</value>
<value code="20">Rover</value>
<value code="40">ArduSub</value>
</values>
</param>
<param humanName="MAVLink system ID of this vehicle" name="ArduCopter:SYSID_THISMAV" documentation="Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network" user="Advanced">
<field name="Range">1 255</field>
</param>
<param humanName="My ground station number" name="ArduCopter:SYSID_MYGCS" documentation="Allows restricting radio overrides to only come from my ground station" user="Advanced">
<values>
<value code="255">Mission Planner and DroidPlanner</value>
<value code=" 252"> AP Planner 2</value>
</values>
</param>
<param humanName="Throttle filter cutoff" name="ArduCopter:PILOT_THR_FILT" documentation="Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">.5</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Pilot takeoff altitude" name="ArduCopter:PILOT_TKOFF_ALT" documentation="Altitude that altitude control modes will climb to when a takeoff is triggered with the throttle stick." user="Standard">
<field name="Range">0.0 1000.0</field>
<field name="Increment">10</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Takeoff trigger deadzone" name="ArduCopter:PILOT_TKOFF_DZ" documentation="Offset from mid stick at which takeoff is triggered" user="Standard">
<field name="Range">0 500</field>
<field name="Increment">10</field>
</param>
<param humanName="Throttle stick behavior" name="ArduCopter:PILOT_THR_BHV" documentation="Bitmask containing various throttle stick options. Add up the values for options that you want." user="Standard">
<field name="Bitmask">0:Feedback from mid stick,1:High throttle cancels landing,2:Disarm on land detection</field>
<values>
<value code="0">None</value>
<value code="1">Feedback from mid stick</value>
<value code="2">High throttle cancels landing</value>
<value code="4">Disarm on land detection</value>
</values>
</param>
<param humanName="Telemetry startup delay" name="ArduCopter:TELEM_DELAY" documentation="The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up" user="Advanced">
<field name="Range">0 30</field>
<field name="Increment">1</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="GCS PID tuning mask" name="ArduCopter:GCS_PID_MASK" documentation="bitmask of PIDs to send MAVLink PID_TUNING messages for" user="Advanced">
<field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
<values>
<value code="0">None</value>
<value code="1">Roll</value>
<value code="2">Pitch</value>
<value code="4">Yaw</value>
</values>
</param>
<param humanName="RTL Altitude" name="ArduCopter:RTL_ALT" documentation="The minimum relative altitude the model will move to before Returning to Launch.  Set to zero to return at current altitude." user="Standard">
<field name="Range">0 8000</field>
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="RTL cone slope" name="ArduCopter:RTL_CONE_SLOPE" documentation="Defines a cone above home which determines maximum climb" user="Standard">
<field name="Range">0.5 10.0</field>
<values>
<value code="0">Disabled</value>
<value code="1">Shallow</value>
<value code="3">Steep</value>
</values>
<field name="Increment">.1</field>
</param>
<param humanName="RTL speed" name="ArduCopter:RTL_SPEED" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain horizontally while flying home. If this is set to zero, WPNAV_SPEED will be used instead." user="Standard">
<field name="Range">0 2000</field>
<field name="Increment">50</field>
<field name="Units">cm/s</field>
<field name="UnitText">centimeters per second</field>
</param>
<param humanName="RTL Final Altitude" name="ArduCopter:RTL_ALT_FINAL" documentation="This is the altitude the vehicle will move to as the final stage of Returning to Launch or after completing a mission.  Set to zero to land." user="Standard">
<field name="Range">-1 1000</field>
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="RTL minimum climb" name="ArduCopter:RTL_CLIMB_MIN" documentation="The vehicle will climb this many cm during the initial climb portion of the RTL" user="Standard">
<field name="Range">0 3000</field>
<field name="Increment">10</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="RTL loiter time" name="ArduCopter:RTL_LOIT_TIME" documentation="Time (in milliseconds) to loiter above home before beginning final descent" user="Standard">
<field name="Range">0 60000</field>
<field name="Increment">1000</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
</param>
<param humanName="Rangefinder gain" name="ArduCopter:RNGFND_GAIN" documentation="Used to adjust the speed with which the target altitude is changed when objects are sensed below the copter" user="Standard">
<field name="Range">0.01 2.0</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Ground Station Failsafe Enable" name="ArduCopter:FS_GCS_ENABLE" documentation="Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. NB. The GCS Failsafe is only active when RC_OVERRIDE is being used to control the vehicle." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled always RTL</value>
<value code="2">Enabled Continue with Mission in Auto Mode</value>
<value code="3">Enabled always SmartRTL or RTL</value>
<value code="4">Enabled always SmartRTL or Land</value>
</values>
</param>
<param humanName="GPS Hdop Good" name="ArduCopter:GPS_HDOP_GOOD" documentation="GPS Hdop value at or below this value represent a good position.  Used for pre-arm checks" user="Advanced">
<field name="Range">100 900</field>
</param>
<param humanName="Compass enable/disable" name="ArduCopter:MAG_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Super Simple Mode" name="ArduCopter:SUPER_SIMPLE" documentation="Bitmask to enable Super Simple mode for some flight modes. Setting this to Disabled(0) will disable Super Simple Mode" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Mode1</value>
<value code="2">Mode2</value>
<value code="3">Mode1+2</value>
<value code="4">Mode3</value>
<value code="5">Mode1+3</value>
<value code="6">Mode2+3</value>
<value code="7">Mode1+2+3</value>
<value code="8">Mode4</value>
<value code="9">Mode1+4</value>
<value code="10">Mode2+4</value>
<value code="11">Mode1+2+4</value>
<value code="12">Mode3+4</value>
<value code="13">Mode1+3+4</value>
<value code="14">Mode2+3+4</value>
<value code="15">Mode1+2+3+4</value>
<value code="16">Mode5</value>
<value code="17">Mode1+5</value>
<value code="18">Mode2+5</value>
<value code="19">Mode1+2+5</value>
<value code="20">Mode3+5</value>
<value code="21">Mode1+3+5</value>
<value code="22">Mode2+3+5</value>
<value code="23">Mode1+2+3+5</value>
<value code="24">Mode4+5</value>
<value code="25">Mode1+4+5</value>
<value code="26">Mode2+4+5</value>
<value code="27">Mode1+2+4+5</value>
<value code="28">Mode3+4+5</value>
<value code="29">Mode1+3+4+5</value>
<value code="30">Mode2+3+4+5</value>
<value code="31">Mode1+2+3+4+5</value>
<value code="32">Mode6</value>
<value code="33">Mode1+6</value>
<value code="34">Mode2+6</value>
<value code="35">Mode1+2+6</value>
<value code="36">Mode3+6</value>
<value code="37">Mode1+3+6</value>
<value code="38">Mode2+3+6</value>
<value code="39">Mode1+2+3+6</value>
<value code="40">Mode4+6</value>
<value code="41">Mode1+4+6</value>
<value code="42">Mode2+4+6</value>
<value code="43">Mode1+2+4+6</value>
<value code="44">Mode3+4+6</value>
<value code="45">Mode1+3+4+6</value>
<value code="46">Mode2+3+4+6</value>
<value code="47">Mode1+2+3+4+6</value>
<value code="48">Mode5+6</value>
<value code="49">Mode1+5+6</value>
<value code="50">Mode2+5+6</value>
<value code="51">Mode1+2+5+6</value>
<value code="52">Mode3+5+6</value>
<value code="53">Mode1+3+5+6</value>
<value code="54">Mode2+3+5+6</value>
<value code="55">Mode1+2+3+5+6</value>
<value code="56">Mode4+5+6</value>
<value code="57">Mode1+4+5+6</value>
<value code="58">Mode2+4+5+6</value>
<value code="59">Mode1+2+4+5+6</value>
<value code="60">Mode3+4+5+6</value>
<value code="61">Mode1+3+4+5+6</value>
<value code="62">Mode2+3+4+5+6</value>
<value code="63">Mode1+2+3+4+5+6</value>
</values>
</param>
<param humanName="Yaw behaviour during missions" name="ArduCopter:WP_YAW_BEHAVIOR" documentation="Determines how the autopilot controls the yaw during missions and RTL" user="Standard">
<values>
<value code="0">Never change yaw</value>
<value code=" 1">Face next waypoint</value>
<value code=" 2">Face next waypoint except RTL</value>
<value code=" 3">Face along GPS course</value>
</values>
</param>
<param humanName="Land speed" name="ArduCopter:LAND_SPEED" documentation="The descent speed for the final stage of landing in cm/s" user="Standard">
<field name="Range">30 200</field>
<field name="Increment">10</field>
<field name="Units">cm/s</field>
<field name="UnitText">centimeters per second</field>
</param>
<param humanName="Land speed high" name="ArduCopter:LAND_SPEED_HIGH" documentation="The descent speed for the first stage of landing in cm/s. If this is zero then WPNAV_SPEED_DN is used" user="Standard">
<field name="Range">0 500</field>
<field name="Increment">10</field>
<field name="Units">cm/s</field>
<field name="UnitText">centimeters per second</field>
</param>
<param humanName="Pilot maximum vertical speed ascending" name="ArduCopter:PILOT_SPEED_UP" documentation="The maximum vertical ascending velocity the pilot may request in cm/s" user="Standard">
<field name="Range">50 500</field>
<field name="Increment">10</field>
<field name="Units">cm/s</field>
<field name="UnitText">centimeters per second</field>
</param>
<param humanName="Pilot vertical acceleration" name="ArduCopter:PILOT_ACCEL_Z" documentation="The vertical acceleration used when pilot is controlling the altitude" user="Standard">
<field name="Range">50 500</field>
<field name="Increment">10</field>
<field name="Units">cm/s/s</field>
<field name="UnitText">centimeters per square second</field>
</param>
<param humanName="Throttle Failsafe Enable" name="ArduCopter:FS_THR_ENABLE" documentation="The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled always RTL</value>
<value code="2">Enabled Continue with Mission in Auto Mode</value>
<value code="3">Enabled always Land</value>
<value code="4">Enabled always SmartRTL or RTL</value>
<value code="5">Enabled always SmartRTL or Land</value>
</values>
</param>
<param humanName="Throttle Failsafe Value" name="ArduCopter:FS_THR_VALUE" documentation="The PWM level in microseconds on channel 3 below which throttle failsafe triggers" user="Standard">
<field name="Range">925 1100</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Throttle deadzone" name="ArduCopter:THR_DZ" documentation="The deadzone above and below mid throttle in PWM microseconds. Used in AltHold, Loiter, PosHold flight modes" user="Standard">
<field name="Range">0 300</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Flight Mode 1" name="ArduCopter:FLTMODE1" documentation="Flight mode when Channel 5 pwm is &lt;= 1230" user="Standard">
<values>
<value code="0">Stabilize</value>
<value code="1">Acro</value>
<value code="2">AltHold</value>
<value code="3">Auto</value>
<value code="4">Guided</value>
<value code="5">Loiter</value>
<value code="6">RTL</value>
<value code="7">Circle</value>
<value code="9">Land</value>
<value code="11">Drift</value>
<value code="13">Sport</value>
<value code="14">Flip</value>
<value code="15">AutoTune</value>
<value code="16">PosHold</value>
<value code="17">Brake</value>
<value code="18">Throw</value>
<value code="19">Avoid_ADSB</value>
<value code="20">Guided_NoGPS</value>
<value code="21">Smart_RTL</value>
<value code="22">FlowHold</value>
<value code="23">Follow</value>
</values>
</param>
<param humanName="Flight Mode 2" name="ArduCopter:FLTMODE2" documentation="Flight mode when Channel 5 pwm is &gt;1230, &lt;= 1360" user="Standard">
<values>
<value code="0">Stabilize</value>
<value code="1">Acro</value>
<value code="2">AltHold</value>
<value code="3">Auto</value>
<value code="4">Guided</value>
<value code="5">Loiter</value>
<value code="6">RTL</value>
<value code="7">Circle</value>
<value code="9">Land</value>
<value code="11">Drift</value>
<value code="13">Sport</value>
<value code="14">Flip</value>
<value code="15">AutoTune</value>
<value code="16">PosHold</value>
<value code="17">Brake</value>
<value code="18">Throw</value>
<value code="19">Avoid_ADSB</value>
<value code="20">Guided_NoGPS</value>
<value code="21">Smart_RTL</value>
<value code="22">FlowHold</value>
<value code="23">Follow</value>
</values>
</param>
<param humanName="Flight Mode 3" name="ArduCopter:FLTMODE3" documentation="Flight mode when Channel 5 pwm is &gt;1360, &lt;= 1490" user="Standard">
<values>
<value code="0">Stabilize</value>
<value code="1">Acro</value>
<value code="2">AltHold</value>
<value code="3">Auto</value>
<value code="4">Guided</value>
<value code="5">Loiter</value>
<value code="6">RTL</value>
<value code="7">Circle</value>
<value code="9">Land</value>
<value code="11">Drift</value>
<value code="13">Sport</value>
<value code="14">Flip</value>
<value code="15">AutoTune</value>
<value code="16">PosHold</value>
<value code="17">Brake</value>
<value code="18">Throw</value>
<value code="19">Avoid_ADSB</value>
<value code="20">Guided_NoGPS</value>
<value code="21">Smart_RTL</value>
<value code="22">FlowHold</value>
<value code="23">Follow</value>
</values>
</param>
<param humanName="Flight Mode 4" name="ArduCopter:FLTMODE4" documentation="Flight mode when Channel 5 pwm is &gt;1490, &lt;= 1620" user="Standard">
<values>
<value code="0">Stabilize</value>
<value code="1">Acro</value>
<value code="2">AltHold</value>
<value code="3">Auto</value>
<value code="4">Guided</value>
<value code="5">Loiter</value>
<value code="6">RTL</value>
<value code="7">Circle</value>
<value code="9">Land</value>
<value code="11">Drift</value>
<value code="13">Sport</value>
<value code="14">Flip</value>
<value code="15">AutoTune</value>
<value code="16">PosHold</value>
<value code="17">Brake</value>
<value code="18">Throw</value>
<value code="19">Avoid_ADSB</value>
<value code="20">Guided_NoGPS</value>
<value code="21">Smart_RTL</value>
<value code="22">FlowHold</value>
<value code="23">Follow</value>
</values>
</param>
<param humanName="Flight Mode 5" name="ArduCopter:FLTMODE5" documentation="Flight mode when Channel 5 pwm is &gt;1620, &lt;= 1749" user="Standard">
<values>
<value code="0">Stabilize</value>
<value code="1">Acro</value>
<value code="2">AltHold</value>
<value code="3">Auto</value>
<value code="4">Guided</value>
<value code="5">Loiter</value>
<value code="6">RTL</value>
<value code="7">Circle</value>
<value code="9">Land</value>
<value code="11">Drift</value>
<value code="13">Sport</value>
<value code="14">Flip</value>
<value code="15">AutoTune</value>
<value code="16">PosHold</value>
<value code="17">Brake</value>
<value code="18">Throw</value>
<value code="19">Avoid_ADSB</value>
<value code="20">Guided_NoGPS</value>
<value code="21">Smart_RTL</value>
<value code="22">FlowHold</value>
<value code="23">Follow</value>
</values>
</param>
<param humanName="Flight Mode 6" name="ArduCopter:FLTMODE6" documentation="Flight mode when Channel 5 pwm is &gt;=1750" user="Standard">
<values>
<value code="0">Stabilize</value>
<value code="1">Acro</value>
<value code="2">AltHold</value>
<value code="3">Auto</value>
<value code="4">Guided</value>
<value code="5">Loiter</value>
<value code="6">RTL</value>
<value code="7">Circle</value>
<value code="9">Land</value>
<value code="11">Drift</value>
<value code="13">Sport</value>
<value code="14">Flip</value>
<value code="15">AutoTune</value>
<value code="16">PosHold</value>
<value code="17">Brake</value>
<value code="18">Throw</value>
<value code="19">Avoid_ADSB</value>
<value code="20">Guided_NoGPS</value>
<value code="21">Smart_RTL</value>
<value code="22">FlowHold</value>
<value code="23">Follow</value>
</values>
</param>
<param humanName="Flightmode channel" name="ArduCopter:FLTMODE_CH" documentation="RC Channel to use for flight mode control" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="5">Channel5</value>
<value code="6">Channel6</value>
<value code="7">Channel7</value>
<value code="8">Channel8</value>
</values>
</param>
<param humanName="Simple mode bitmask" name="ArduCopter:SIMPLE" documentation="Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode)" user="Advanced">
</param>
<param humanName="Log bitmask" name="ArduCopter:LOG_BITMASK" documentation="4 byte bitmap of log types to enable" user="Standard">
<field name="Bitmask">0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,17:MOTBATT,18:IMU_FAST,19:IMU_RAW</field>
<values>
<value code="830">Default</value>
<value code="894">Default+RCIN</value>
<value code="958">Default+IMU</value>
<value code="1854">Default+Motors</value>
<value code="-6146">NearlyAll-AC315</value>
<value code="45054">NearlyAll</value>
<value code="131071">All+FastATT</value>
<value code="262142">All+MotBatt</value>
<value code="393214">All+FastIMU</value>
<value code="397310">All+FastIMU+PID</value>
<value code="655358">All+FullIMU</value>
<value code="0">Disabled</value>
</values>
</param>
<param humanName="ESC Calibration" name="ArduCopter:ESC_CALIBRATION" documentation="Controls whether ArduCopter will enter ESC calibration on the next restart.  Do not adjust this parameter manually." user="Advanced">
<values>
<value code="0">Normal Start-up</value>
<value code=" 1">Start-up in ESC Calibration mode if throttle high</value>
<value code=" 2">Start-up in ESC Calibration mode regardless of throttle</value>
<value code=" 3">Start-up and automatically calibrate ESCs</value>
<value code=" 9">Disabled</value>
</values>
</param>
<param humanName="Channel 6 Tuning" name="ArduCopter:TUNE" documentation="Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Stab Roll/Pitch kP</value>
<value code="4">Rate Roll/Pitch kP</value>
<value code="5">Rate Roll/Pitch kI</value>
<value code="21">Rate Roll/Pitch kD</value>
<value code="3">Stab Yaw kP</value>
<value code="6">Rate Yaw kP</value>
<value code="26">Rate Yaw kD</value>
<value code="56">Rate Yaw Filter</value>
<value code="55">Motor Yaw Headroom</value>
<value code="14">AltHold kP</value>
<value code="7">Throttle Rate kP</value>
<value code="34">Throttle Accel kP</value>
<value code="35">Throttle Accel kI</value>
<value code="36">Throttle Accel kD</value>
<value code="12">Loiter Pos kP</value>
<value code="22">Velocity XY kP</value>
<value code="28">Velocity XY kI</value>
<value code="10">WP Speed</value>
<value code="25">Acro RollPitch kP</value>
<value code="40">Acro Yaw kP</value>
<value code="45">RC Feel</value>
<value code="13">Heli Ext Gyro</value>
<value code="38">Declination</value>
<value code="39">Circle Rate</value>
<value code="41">RangeFinder Gain</value>
<value code="46">Rate Pitch kP</value>
<value code="47">Rate Pitch kI</value>
<value code="48">Rate Pitch kD</value>
<value code="49">Rate Roll kP</value>
<value code="50">Rate Roll kI</value>
<value code="51">Rate Roll kD</value>
<value code="52">Rate Pitch FF</value>
<value code="53">Rate Roll FF</value>
<value code="54">Rate Yaw FF</value>
<value code="57">Winch</value>
</values>
</param>
<param humanName="Tuning minimum" name="ArduCopter:TUNE_LOW" documentation="The minimum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob" user="Standard">
<field name="Range">0 32767</field>
</param>
<param humanName="Tuning maximum" name="ArduCopter:TUNE_HIGH" documentation="The maximum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob" user="Standard">
<field name="Range">0 32767</field>
</param>
<param humanName="Frame Type (+, X, V, etc)" name="ArduCopter:FRAME_TYPE" documentation="Controls motor mixing for multicopters.  Not used for Tri or Traditional Helicopters." user="Standard">
<values>
<value code="0">Plus</value>
<value code=" 1">X</value>
<value code=" 2">V</value>
<value code=" 3">H</value>
<value code=" 4">V-Tail</value>
<value code=" 5">A-Tail</value>
<value code=" 10">Y6B</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Channel 7 option" name="ArduCopter:CH7_OPT" documentation="Select which function is performed when CH7 is above 1800 pwm" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 2">Flip</value>
<value code=" 3">Simple Mode</value>
<value code=" 4">RTL</value>
<value code=" 5">Save Trim</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 10">RangeFinder</value>
<value code=" 11">Fence</value>
<value code=" 13">Super Simple Mode</value>
<value code=" 14">Acro Trainer</value>
<value code=" 15">Sprayer</value>
<value code=" 16">Auto</value>
<value code=" 17">AutoTune</value>
<value code=" 18">Land</value>
<value code=" 19">Gripper</value>
<value code=" 21">Parachute Enable</value>
<value code=" 22">Parachute Release</value>
<value code=" 23">Parachute 3pos</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 25">AttCon Feed Forward</value>
<value code=" 26">AttCon Accel Limits</value>
<value code=" 27">Retract Mount</value>
<value code=" 28">Relay On/Off</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 29">Landing Gear</value>
<value code=" 30">Lost Copter Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 32">Motor Interlock</value>
<value code=" 33">Brake</value>
<value code=" 37">Throw</value>
<value code=" 38">ADSB-Avoidance</value>
<value code=" 39">PrecLoiter</value>
<value code=" 40">Object Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 43">InvertedFlight</value>
<value code=" 44">Winch Enable</value>
<value code=" 45">WinchControl</value>
</values>
</param>
<param humanName="Channel 8 option" name="ArduCopter:CH8_OPT" documentation="Select which function is performed when CH8 is above 1800 pwm" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 2">Flip</value>
<value code=" 3">Simple Mode</value>
<value code=" 4">RTL</value>
<value code=" 5">Save Trim</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 10">RangeFinder</value>
<value code=" 11">Fence</value>
<value code=" 13">Super Simple Mode</value>
<value code=" 14">Acro Trainer</value>
<value code=" 15">Sprayer</value>
<value code=" 16">Auto</value>
<value code=" 17">AutoTune</value>
<value code=" 18">Land</value>
<value code=" 19">Gripper</value>
<value code=" 21">Parachute Enable</value>
<value code=" 22">Parachute Release</value>
<value code=" 23">Parachute 3pos</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 25">AttCon Feed Forward</value>
<value code=" 26">AttCon Accel Limits</value>
<value code=" 27">Retract Mount</value>
<value code=" 28">Relay On/Off</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 29">Landing Gear</value>
<value code=" 30">Lost Copter Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 32">Motor Interlock</value>
<value code=" 33">Brake</value>
<value code=" 37">Throw</value>
<value code=" 38">ADSB-Avoidance</value>
<value code=" 39">PrecLoiter</value>
<value code=" 40">Object Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 43">InvertedFlight</value>
<value code=" 44">Winch Enable</value>
<value code=" 45">WinchControl</value>
</values>
</param>
<param humanName="Channel 9 option" name="ArduCopter:CH9_OPT" documentation="Select which function is performed when CH9 is above 1800 pwm" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 2">Flip</value>
<value code=" 3">Simple Mode</value>
<value code=" 4">RTL</value>
<value code=" 5">Save Trim</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 10">RangeFinder</value>
<value code=" 11">Fence</value>
<value code=" 13">Super Simple Mode</value>
<value code=" 14">Acro Trainer</value>
<value code=" 15">Sprayer</value>
<value code=" 16">Auto</value>
<value code=" 17">AutoTune</value>
<value code=" 18">Land</value>
<value code=" 19">Gripper</value>
<value code=" 21">Parachute Enable</value>
<value code=" 22">Parachute Release</value>
<value code=" 23">Parachute 3pos</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 25">AttCon Feed Forward</value>
<value code=" 26">AttCon Accel Limits</value>
<value code=" 27">Retract Mount</value>
<value code=" 28">Relay On/Off</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 29">Landing Gear</value>
<value code=" 30">Lost Copter Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 32">Motor Interlock</value>
<value code=" 33">Brake</value>
<value code=" 37">Throw</value>
<value code=" 38">ADSB-Avoidance</value>
<value code=" 39">PrecLoiter</value>
<value code=" 40">Object Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 43">InvertedFlight</value>
<value code=" 44">Winch Enable</value>
<value code=" 45">WinchControl</value>
</values>
</param>
<param humanName="Channel 10 option" name="ArduCopter:CH10_OPT" documentation="Select which function is performed when CH10 is above 1800 pwm" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 2">Flip</value>
<value code=" 3">Simple Mode</value>
<value code=" 4">RTL</value>
<value code=" 5">Save Trim</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 10">RangeFinder</value>
<value code=" 11">Fence</value>
<value code=" 13">Super Simple Mode</value>
<value code=" 14">Acro Trainer</value>
<value code=" 15">Sprayer</value>
<value code=" 16">Auto</value>
<value code=" 17">AutoTune</value>
<value code=" 18">Land</value>
<value code=" 19">Gripper</value>
<value code=" 21">Parachute Enable</value>
<value code=" 22">Parachute Release</value>
<value code=" 23">Parachute 3pos</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 25">AttCon Feed Forward</value>
<value code=" 26">AttCon Accel Limits</value>
<value code=" 27">Retract Mount</value>
<value code=" 28">Relay On/Off</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 29">Landing Gear</value>
<value code=" 30">Lost Copter Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 32">Motor Interlock</value>
<value code=" 33">Brake</value>
<value code=" 37">Throw</value>
<value code=" 38">ADSB-Avoidance</value>
<value code=" 39">PrecLoiter</value>
<value code=" 40">Object Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 43">InvertedFlight</value>
<value code=" 44">Winch Enable</value>
<value code=" 45">WinchControl</value>
</values>
</param>
<param humanName="Channel 11 option" name="ArduCopter:CH11_OPT" documentation="Select which function is performed when CH11 is above 1800 pwm" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 2">Flip</value>
<value code=" 3">Simple Mode</value>
<value code=" 4">RTL</value>
<value code=" 5">Save Trim</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 10">RangeFinder</value>
<value code=" 11">Fence</value>
<value code=" 13">Super Simple Mode</value>
<value code=" 14">Acro Trainer</value>
<value code=" 15">Sprayer</value>
<value code=" 16">Auto</value>
<value code=" 17">AutoTune</value>
<value code=" 18">Land</value>
<value code=" 19">Gripper</value>
<value code=" 21">Parachute Enable</value>
<value code=" 22">Parachute Release</value>
<value code=" 23">Parachute 3pos</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 25">AttCon Feed Forward</value>
<value code=" 26">AttCon Accel Limits</value>
<value code=" 27">Retract Mount</value>
<value code=" 28">Relay On/Off</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 29">Landing Gear</value>
<value code=" 30">Lost Copter Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 32">Motor Interlock</value>
<value code=" 33">Brake</value>
<value code=" 37">Throw</value>
<value code=" 38">ADSB-Avoidance</value>
<value code=" 39">PrecLoiter</value>
<value code=" 40">Object Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 43">InvertedFlight</value>
<value code=" 44">Winch Enable</value>
<value code=" 45">WinchControl</value>
</values>
</param>
<param humanName="Channel 12 option" name="ArduCopter:CH12_OPT" documentation="Select which function is performed when CH12 is above 1800 pwm" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code=" 2">Flip</value>
<value code=" 3">Simple Mode</value>
<value code=" 4">RTL</value>
<value code=" 5">Save Trim</value>
<value code=" 7">Save WP</value>
<value code=" 9">Camera Trigger</value>
<value code=" 10">RangeFinder</value>
<value code=" 11">Fence</value>
<value code=" 13">Super Simple Mode</value>
<value code=" 14">Acro Trainer</value>
<value code=" 15">Sprayer</value>
<value code=" 16">Auto</value>
<value code=" 17">AutoTune</value>
<value code=" 18">Land</value>
<value code=" 19">Gripper</value>
<value code=" 21">Parachute Enable</value>
<value code=" 22">Parachute Release</value>
<value code=" 23">Parachute 3pos</value>
<value code=" 24">Auto Mission Reset</value>
<value code=" 25">AttCon Feed Forward</value>
<value code=" 26">AttCon Accel Limits</value>
<value code=" 27">Retract Mount</value>
<value code=" 28">Relay On/Off</value>
<value code=" 34">Relay2 On/Off</value>
<value code=" 35">Relay3 On/Off</value>
<value code=" 36">Relay4 On/Off</value>
<value code=" 29">Landing Gear</value>
<value code=" 30">Lost Copter Sound</value>
<value code=" 31">Motor Emergency Stop</value>
<value code=" 32">Motor Interlock</value>
<value code=" 33">Brake</value>
<value code=" 37">Throw</value>
<value code=" 38">ADSB-Avoidance</value>
<value code=" 39">PrecLoiter</value>
<value code=" 40">Object Avoidance</value>
<value code=" 41">ArmDisarm</value>
<value code=" 42">SmartRTL</value>
<value code=" 43">InvertedFlight</value>
<value code=" 44">Winch Enable</value>
<value code=" 45">WinchControl</value>
</values>
</param>
<param humanName="Disarm delay" name="ArduCopter:DISARM_DELAY" documentation="Delay before automatic disarm in seconds. A value of zero disables auto disarm." user="Advanced">
<field name="Range">0 127</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Angle Max" name="ArduCopter:ANGLE_MAX" documentation="Maximum lean angle in all flight modes" user="Advanced">
<field name="Range">1000 8000</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="PosHold braking rate" name="ArduCopter:PHLD_BRAKE_RATE" documentation="PosHold flight mode's rotation rate during braking in deg/sec" user="Advanced">
<field name="Range">4 12</field>
<field name="Units">deg/s</field>
<field name="UnitText">degrees per second</field>
</param>
<param humanName="PosHold braking angle max" name="ArduCopter:PHLD_BRAKE_ANGLE" documentation="PosHold flight mode's max lean angle during braking in centi-degrees" user="Advanced">
<field name="Range">2000 4500</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Land repositioning" name="ArduCopter:LAND_REPOSITION" documentation="Enables user input during LAND mode, the landing phase of RTL, and auto mode landings." user="Advanced">
<values>
<value code="0">No repositioning</value>
<value code=" 1">Repositioning</value>
</values>
</param>
<param humanName="EKF Failsafe Action" name="ArduCopter:FS_EKF_ACTION" documentation="Controls the action that will be taken when an EKF failsafe is invoked" user="Advanced">
<values>
<value code="1">Land</value>
<value code=" 2">AltHold</value>
<value code=" 3">Land even in Stabilize</value>
</values>
</param>
<param humanName="EKF failsafe variance threshold" name="ArduCopter:FS_EKF_THRESH" documentation="Allows setting the maximum acceptable compass and velocity variance" user="Advanced">
<field name="Values">0.6:Strict, 0.8:Default, 1.0:Relaxed</field>
</param>
<param humanName="Crash check enable" name="ArduCopter:FS_CRASH_CHECK" documentation="This enables automatic crash checking. When enabled the motors will disarm if a crash is detected." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
</values>
</param>
<param humanName="ESC Update Speed" name="ArduCopter:RC_SPEED" documentation="This is the speed in Hertz that your ESCs will receive updates" user="Advanced">
<field name="Range">50 490</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Acro Roll and Pitch P gain" name="ArduCopter:ACRO_RP_P" documentation="Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode.  Higher values mean faster rate of rotation." user="Standard">
<field name="Range">1 10</field>
</param>
<param humanName="Acro Yaw P gain" name="ArduCopter:ACRO_YAW_P" documentation="Converts pilot yaw input into a desired rate of rotation in ACRO, Stabilize and SPORT modes.  Higher values mean faster rate of rotation." user="Standard">
<field name="Range">1 10</field>
</param>
<param humanName="Acro Balance Roll" name="ArduCopter:ACRO_BAL_ROLL" documentation="rate at which roll angle returns to level in acro and sport mode.  A higher value causes the vehicle to return to level faster." user="Advanced">
<field name="Range">0 3</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Acro Balance Pitch" name="ArduCopter:ACRO_BAL_PITCH" documentation="rate at which pitch angle returns to level in acro and sport mode.  A higher value causes the vehicle to return to level faster." user="Advanced">
<field name="Range">0 3</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Acro Trainer" name="ArduCopter:ACRO_TRAINER" documentation="Type of trainer used in acro mode" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Leveling</value>
<value code="2">Leveling and Limited</value>
</values>
</param>
<param humanName="Acro Roll/Pitch Expo" name="ArduCopter:ACRO_RP_EXPO" documentation="Acro roll/pitch Expo to allow faster rotation when stick at edges" user="Advanced">
<field name="Range">-0.5 1.0</field>
<values>
<value code="0">Disabled</value>
<value code="0.1">Very Low</value>
<value code="0.2">Low</value>
<value code="0.3">Medium</value>
<value code="0.4">High</value>
<value code="0.5">Very High</value>
</values>
</param>
<param humanName="Autotune axis bitmask" name="ArduCopter:AUTOTUNE_AXES" documentation="1-byte bitmap of axes to autotune" user="Standard">
<field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
<values>
<value code="7">All</value>
<value code="1">Roll Only</value>
<value code="2">Pitch Only</value>
<value code="4">Yaw Only</value>
<value code="3">Roll and Pitch</value>
<value code="5">Roll and Yaw</value>
<value code="6">Pitch and Yaw</value>
</values>
</param>
<param humanName="Autotune aggressiveness" name="ArduCopter:AUTOTUNE_AGGR" documentation="Autotune aggressiveness. Defines the bounce back used to detect size of the D term." user="Standard">
<field name="Range">0.05 0.10</field>
</param>
<param humanName="AutoTune minimum D" name="ArduCopter:AUTOTUNE_MIN_D" documentation="Defines the minimum D gain" user="Standard">
<field name="Range">0.001 0.006</field>
</param>
<param humanName="Start motors before throwing is detected" name="ArduCopter:THROW_MOT_START" documentation="Used by THROW mode. Controls whether motors will run at the speed set by THR_MIN or will be stopped when armed and waiting for the throw." user="Standard">
<values>
<value code="0">Stopped</value>
<value code="1">Running</value>
</values>
</param>
<param humanName="Terrain Following use control" name="ArduCopter:TERRAIN_FOLLOW" documentation="This enables terrain following for RTL and LAND flight modes. To use this option TERRAIN_ENABLE must be 1 and the GCS must  support sending terrain data to the aircraft.  In RTL the RTL_ALT will be considered a height above the terrain.  In LAND mode the vehicle will slow to LAND_SPEED 10m above terrain (instead of 10m above home).  This parameter does not affect AUTO and Guided which use a per-command flag to determine if the height is above-home, absolute or above-terrain." user="Standard">
<values>
<value code="0">Do Not Use in RTL and Land</value>
<value code="1">Use in RTL and Land</value>
</values>
</param>
<param humanName="Minimum navigation altitude" name="ArduCopter:WP_NAVALT_MIN" documentation="This is the altitude in meters above which for navigation can begin. This applies in auto takeoff and auto landing." user="Standard">
<field name="Range">0 5</field>
</param>
<param humanName="Throw mode's follow up mode" name="ArduCopter:THROW_NEXTMODE" documentation="Vehicle will switch to this mode after the throw is successfully completed.  Default is to stay in throw mode (18)" user="Standard">
<values>
<value code="3">Auto</value>
<value code="4">Guided</value>
<value code="5">LOITER</value>
<value code="6">RTL</value>
<value code="9">Land</value>
<value code="17">Brake</value>
<value code="18">Throw</value>
</values>
</param>
<param humanName="Type of Type" name="ArduCopter:THROW_TYPE" documentation="Used by THROW mode. Specifies whether Copter is thrown upward or dropped." user="Standard">
<values>
<value code="0">Upward Throw</value>
<value code="1">Drop</value>
</values>
</param>
<param humanName="Ground Effect Compensation Enable/Disable" name="ArduCopter:GND_EFFECT_COMP" documentation="Ground Effect Compensation Enable/Disable" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Development options" name="ArduCopter:DEV_OPTIONS" documentation="Bitmask of developer options. The meanings of the bit fields in this parameter may vary at any time. Developers should check the source code for current meaning" user="Advanced">
<field name="Bitmask">0:ADSBMavlinkProcessing</field>
</param>
<param humanName="Acro Yaw Expo" name="ArduCopter:ACRO_Y_EXPO" documentation="Acro yaw expo to allow faster rotation when stick at edges" user="Advanced">
<field name="Range">-0.5 1.0</field>
<values>
<value code="0">Disabled</value>
<value code="0.1">Very Low</value>
<value code="0.2">Low</value>
<value code="0.3">Medium</value>
<value code="0.4">High</value>
<value code="0.5">Very High</value>
</values>
</param>
<param humanName="Acro Thr Mid" name="ArduCopter:ACRO_THR_MID" documentation="Acro Throttle Mid" user="Advanced">
<field name="Range">0 1</field>
</param>
<param humanName="GCS sysid enforcement" name="ArduCopter:SYSID_ENFORCE" documentation="This controls whether packets from other than the expected GCS system ID will be accepted" user="Advanced">
<values>
<value code="0">NotEnforced</value>
<value code="1">Enforced</value>
</values>
</param>
<param humanName="Frame Class" name="ArduCopter:FRAME_CLASS" documentation="Controls major frame class for multicopter component" user="Standard">
<values>
<value code="0">Undefined</value>
<value code=" 1">Quad</value>
<value code=" 2">Hexa</value>
<value code=" 3">Octa</value>
<value code=" 4">OctaQuad</value>
<value code=" 5">Y6</value>
<value code=" 6">Heli</value>
<value code=" 7">Tri</value>
<value code=" 8">SingleCopter</value>
<value code=" 9">CoaxCopter</value>
<value code=" 11">Heli_Dual</value>
<value code=" 12">DodecaHexa</value>
<value code=" 13">HeliQuad</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Pilot maximum vertical speed descending" name="ArduCopter:PILOT_SPEED_DN" documentation="The maximum vertical descending velocity the pilot may request in cm/s" user="Standard">
<field name="Range">50 500</field>
<field name="Increment">10</field>
<field name="Units">cm/s</field>
<field name="UnitText">centimeters per second</field>
</param>
<param humanName="Land alt low" name="ArduCopter:LAND_ALT_LOW" documentation="Altitude during Landing at which vehicle slows to LAND_SPEED" user="Advanced">
<field name="Range">100 10000</field>
<field name="Increment">10</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
</parameters>
</vehicles><libraries><parameters name="ADSB_">
<param humanName="Enable ADSB" name="ADSB_ENABLE" documentation="Enable ADS-B" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ADSB vehicle list size" name="ADSB_LIST_MAX" documentation="ADSB list size of nearest vehicles. Longer lists take longer to refresh with lower SRx_ADSB values." user="Advanced">
<field name="Range">1 100</field>
</param>
<param humanName="ADSB vehicle list radius filter" name="ADSB_LIST_RADIUS" documentation="ADSB vehicle list radius filter. Vehicles detected outside this radius will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations." user="Advanced">
<field name="Range">1 100000</field>
</param>
<param humanName="ICAO_ID vehicle identification number" name="ADSB_ICAO_ID" documentation="ICAO_ID unique vehicle identification number of this aircraft. This is a integer limited to 24bits. If set to 0 then one will be randomly generated. If set to -1 then static information is not sent, transceiver is assumed pre-programmed." user="Advanced">
<field name="Range">-1 16777215</field>
</param>
<param humanName="Emitter type" name="ADSB_EMIT_TYPE" documentation="ADSB classification for the type of vehicle emitting the transponder signal. Default value is 14 (UAV)." user="Advanced">
<values>
<value code="0">NoInfo</value>
<value code="1">Light</value>
<value code="2">Small</value>
<value code="3">Large</value>
<value code="4">HighVortexlarge</value>
<value code="5">Heavy</value>
<value code="6">HighlyManuv</value>
<value code="7">Rotocraft</value>
<value code="8">RESERVED</value>
<value code="9">Glider</value>
<value code="10">LightAir</value>
<value code="11">Parachute</value>
<value code="12">UltraLight</value>
<value code="13">RESERVED</value>
<value code="14">UAV</value>
<value code="15">Space</value>
<value code="16">RESERVED</value>
<value code="17">EmergencySurface</value>
<value code="18">ServiceSurface</value>
<value code="19">PointObstacle</value>
</values>
</param>
<param humanName="Aircraft length and width" name="ADSB_LEN_WIDTH" documentation="Aircraft length and width dimension options in Length and Width in meters. In most cases, use a value of 1 for smallest size." user="Advanced">
<values>
<value code="0">NO_DATA</value>
<value code="1">L15W23</value>
<value code="2">L25W28P5</value>
<value code="3">L25W34</value>
<value code="4">L35W33</value>
<value code="5">L35W38</value>
<value code="6">L45W39P5</value>
<value code="7">L45W45</value>
<value code="8">L55W45</value>
<value code="9">L55W52</value>
<value code="10">L65W59P5</value>
<value code="11">L65W67</value>
<value code="12">L75W72P5</value>
<value code="13">L75W80</value>
<value code="14">L85W80</value>
<value code="15">L85W90</value>
</values>
</param>
<param humanName="GPS antenna lateral offset" name="ADSB_OFFSET_LAT" documentation="GPS antenna lateral offset. This describes the physical location offest from center of the GPS antenna on the aircraft." user="Advanced">
<values>
<value code="0">NoData</value>
<value code="1">Left2m</value>
<value code="2">Left4m</value>
<value code="3">Left6m</value>
<value code="4">Center</value>
<value code="5">Right2m</value>
<value code="6">Right4m</value>
<value code="7">Right6m</value>
</values>
</param>
<param humanName="GPS antenna longitudinal offset" name="ADSB_OFFSET_LON" documentation="GPS antenna longitudinal offset. This is usually set to 1, Applied By Sensor" user="Advanced">
<values>
<value code="0">NO_DATA</value>
<value code="1">AppliedBySensor</value>
</values>
</param>
<param humanName="Transceiver RF selection" name="ADSB_RF_SELECT" documentation="Transceiver RF selection for Rx enable and/or Tx enable. This only effects devices that can Tx and Rx. Rx-only devices override this to always be Rx-only." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Rx-Only</value>
<value code="2">Tx-Only</value>
<value code="3">Rx and Tx Enabled</value>
</values>
</param>
<param humanName="Squawk code" name="ADSB_SQUAWK" documentation="VFR squawk (Mode 3/A) code is a pre-programmed default code when the pilot is flying VFR and not in contact with ATC. In the USA, the VFR squawk code is octal 1200 (hex 0x280, decimal 640) and in most parts of Europe the VFR squawk code is octal 7000. If an invalid octal number is set then it will be reset to 1200." user="Advanced">
<field name="Units">octal</field>
<field name="UnitText">octal</field>
</param>
<param humanName="RF capabilities" name="ADSB_RF_CAPABLE" documentation="Describes your hardware RF In/Out capabilities." user="Advanced">
<field name="Bitmask">0:UAT_in,1:1090ES_in,2:UAT_out,3:1090ES_out</field>
<values>
<value code="0">Unknown</value>
<value code="1">Rx UAT only</value>
<value code="3">Rx UAT and 1090ES</value>
<value code="7">Rx&amp;Tx UAT and 1090ES</value>
</values>
</param>
</parameters>
<parameters name="AFS_">
<param humanName="Enable Advanced Failsafe" name="AFS_ENABLE" documentation="This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect" user="Advanced">
</param>
<param humanName="Manual Pin" name="AFS_MAN_PIN" documentation="This sets a digital output pin to set high when in manual mode" user="Advanced">
</param>
<param humanName="Heartbeat Pin" name="AFS_HB_PIN" documentation="This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination." user="Advanced">
</param>
<param humanName="Comms Waypoint" name="AFS_WP_COMMS" documentation="Waypoint number to navigate to on comms loss" user="Advanced">
</param>
<param humanName="GPS Loss Waypoint" name="AFS_GPS_LOSS" documentation="Waypoint number to navigate to on GPS lock loss" user="Advanced">
</param>
<param humanName="Force Terminate" name="AFS_TERMINATE" documentation="Can be set in flight to force termination of the heartbeat signal" user="Advanced">
</param>
<param humanName="Terminate action" name="AFS_TERM_ACTION" documentation="This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup APM to handle it here. Please consult the wiki for more information on the possible values of the parameter" user="Advanced">
</param>
<param humanName="Terminate Pin" name="AFS_TERM_PIN" documentation="This sets a digital output pin to set high on flight termination" user="Advanced">
</param>
<param humanName="AMSL limit" name="AFS_AMSL_LIMIT" documentation="This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Error margin for GPS based AMSL limit" name="AFS_AMSL_ERR_GPS" documentation="This sets margin for error in GPS derived altitude limit. This error margin is only used if the barometer has failed. If the barometer fails then the GPS will be used to enforce the AMSL_LIMIT, but this margin will be subtracted from the AMSL_LIMIT first, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached. OBC users should set this to comply with their D2 safety case. A value of -1 will mean that barometer failure will lead to immediate termination." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="QNH pressure" name="AFS_QNH_PRESSURE" documentation="This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit. A value of zero disables the altitude limit." user="Advanced">
<field name="Units">mbar</field>
<field name="UnitText">millibar</field>
</param>
<param humanName="Maximum number of GPS loss events" name="AFS_MAX_GPS_LOSS" documentation="Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events." user="Advanced">
</param>
<param humanName="Maximum number of comms loss events" name="AFS_MAX_COM_LOSS" documentation="Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events." user="Advanced">
</param>
<param humanName="Enable geofence Advanced Failsafe" name="AFS_GEOFENCE" documentation="This enables the geofence part of the AFS. Will only be in effect if AFS_ENABLE is also 1" user="Advanced">
</param>
<param humanName="Enable RC Advanced Failsafe" name="AFS_RC" documentation="This enables the RC part of the AFS. Will only be in effect if AFS_ENABLE is also 1" user="Advanced">
</param>
<param humanName="Enable RC Termination only in manual control modes" name="AFS_RC_MAN_ONLY" documentation="If this parameter is set to 1, then an RC loss will only cause the plane to terminate in manual control modes. If it is 0, then the plane will terminate in any flight mode." user="Advanced">
</param>
<param humanName="Enable dual loss terminate due to failure of both GCS and GPS simultaneously" name="AFS_DUAL_LOSS" documentation='This enables the dual loss termination part of the AFS system. If this parameter is 1 and both GPS and the ground control station fail simultaneously, this will be considered a "dual loss" and cause termination.' user="Advanced">
</param>
<param humanName="RC failure time" name="AFS_RC_FAIL_TIME" documentation="This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be (1.5). Use 0 to disable." user="Advanced">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
</parameters>
<parameters name="AHRS_">
<param humanName="AHRS GPS gain" name="AHRS_GPS_GAIN" documentation="This controls how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0." user="Advanced">
<field name="Range">0.0 1.0</field>
<field name="Increment">.01</field>
</param>
<param humanName="AHRS use GPS for navigation" name="AHRS_GPS_USE" documentation="This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight. Currently this affects only the DCM-based AHRS: the EKF uses GPS whenever it is available." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Yaw P" name="AHRS_YAW_P" documentation="This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly." user="Advanced">
<field name="Range">0.1 0.4</field>
<field name="Increment">.01</field>
</param>
<param humanName="AHRS RP_P" name="AHRS_RP_P" documentation="This controls how fast the accelerometers correct the attitude" user="Advanced">
<field name="Range">0.1 0.4</field>
<field name="Increment">.01</field>
</param>
<param humanName="Maximum wind" name="AHRS_WIND_MAX" documentation="This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is." user="Advanced">
<field name="Range">0 127</field>
<field name="Increment">1</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="AHRS Trim Roll" name="AHRS_TRIM_X" documentation="Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right." user="Standard">
<field name="Range">-0.1745 +0.1745</field>
<field name="Increment">0.01</field>
<field name="Units">rad</field>
<field name="UnitText">radians</field>
</param>
<param humanName="AHRS Trim Pitch" name="AHRS_TRIM_Y" documentation="Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back." user="Standard">
<field name="Range">-0.1745 +0.1745</field>
<field name="Increment">0.01</field>
<field name="Units">rad</field>
<field name="UnitText">radians</field>
</param>
<param humanName="AHRS Trim Yaw" name="AHRS_TRIM_Z" documentation="Not Used" user="Advanced">
<field name="Range">-0.1745 +0.1745</field>
<field name="Increment">0.01</field>
<field name="Units">rad</field>
<field name="UnitText">radians</field>
</param>
<param humanName="Board Orientation" name="AHRS_ORIENTATION" documentation="Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle." user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Yaw45</value>
<value code="2">Yaw90</value>
<value code="3">Yaw135</value>
<value code="4">Yaw180</value>
<value code="5">Yaw225</value>
<value code="6">Yaw270</value>
<value code="7">Yaw315</value>
<value code="8">Roll180</value>
<value code="9">Roll180Yaw45</value>
<value code="10">Roll180Yaw90</value>
<value code="11">Roll180Yaw135</value>
<value code="12">Pitch180</value>
<value code="13">Roll180Yaw225</value>
<value code="14">Roll180Yaw270</value>
<value code="15">Roll180Yaw315</value>
<value code="16">Roll90</value>
<value code="17">Roll90Yaw45</value>
<value code="18">Roll90Yaw90</value>
<value code="19">Roll90Yaw135</value>
<value code="20">Roll270</value>
<value code="21">Roll270Yaw45</value>
<value code="22">Roll270Yaw90</value>
<value code="23">Roll270Yaw135</value>
<value code="24">Pitch90</value>
<value code="25">Pitch270</value>
<value code="26">Pitch180Yaw90</value>
<value code="27">Pitch180Yaw270</value>
<value code="28">Roll90Pitch90</value>
<value code="29">Roll180Pitch90</value>
<value code="30">Roll270Pitch90</value>
<value code="31">Roll90Pitch180</value>
<value code="32">Roll270Pitch180</value>
<value code="33">Roll90Pitch270</value>
<value code="34">Roll180Pitch270</value>
<value code="35">Roll270Pitch270</value>
<value code="36">Roll90Pitch180Yaw90</value>
<value code="37">Roll90Yaw270</value>
<value code="38">Yaw293Pitch68Roll180</value>
<value code="39">Pitch315</value>
<value code="40">Roll90Pitch315</value>
<value code="100">Custom</value>
</values>
</param>
<param humanName="AHRS Velocity Complementary Filter Beta Coefficient" name="AHRS_COMP_BETA" documentation="This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less." user="Advanced">
<field name="Range">0.001 0.5</field>
<field name="Increment">.01</field>
</param>
<param humanName="AHRS GPS Minimum satellites" name="AHRS_GPS_MINSATS" documentation="Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers." user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
</param>
<param humanName="Use NavEKF Kalman filter for attitude and position estimation" name="AHRS_EKF_TYPE" documentation="This controls which NavEKF Kalman filter version is used for attitude and position estimation" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="2">Enable EKF2</value>
<value code="3">Enable EKF3</value>
</values>
</param>
<param humanName="Board orientation roll offset" name="AHRS_CUSTOM_ROLL" documentation="Autopilot mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
<field name="Range">-180 180</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Board orientation pitch offset" name="AHRS_CUSTOM_PIT" documentation="Autopilot mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
<field name="Range">-180 180</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Board orientation yaw offset" name="AHRS_CUSTOM_YAW" documentation="Autopilot mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM." user="Advanced">
<field name="Range">-180 180</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
</parameters>
<parameters name="ARMING_">
<param humanName="Require Arming Motors " name="ARMING_REQUIRE" documentation="Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately).  If 1, require rudder stick or GCS arming before arming motors and sends the minimum throttle PWM value to the throttle channel when disarmed.  If 2, require rudder stick or GCS arming and send 0 PWM to throttle channel when disarmed. See the ARMING_CHECK_* parameters to see what checks are done before arming. Note, if setting this parameter to 0 a reboot is required to arm the plane.  Also note, even with this parameter at 0, if ARMING_CHECK parameter is not also zero the plane may fail to arm throttle at boot due to a pre-arm check failure." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">THR_MIN PWM when disarmed</value>
<value code="2">0 PWM when disarmed</value>
</values>
</param>
<param humanName="Arm Checks to Peform (bitmask)" name="ARMING_CHECK" documentation="Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. The default is no checks, allowing arming at any time. You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72. For most users it is recommended that you set this to 1 to enable all checks." user="Standard">
<field name="Bitmask">0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC Channels,7:Board voltage,8:Battery Level,10:Logging Available,11:Hardware safety switch,12:GPS Configuration</field>
<values>
<value code="0">None</value>
<value code="1">All</value>
<value code="2">Barometer</value>
<value code="4">Compass</value>
<value code="8">GPS Lock</value>
<value code="16">INS(INertial Sensors - accels &amp; gyros)</value>
<value code="32">Parameters(unused)</value>
<value code="64">RC Channels</value>
<value code="128">Board voltage</value>
<value code="256">Battery Level</value>
<value code="1024">LoggingAvailable</value>
<value code="2048">Hardware safety switch</value>
<value code="4096">GPS configuration</value>
</values>
</param>
<param humanName="Accelerometer error threshold" name="ARMING_ACCTHRESH" documentation="Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal." user="Advanced">
<field name="Range">0.25 3.0</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Arming voltage minimum on the first battery" name="ARMING_VOLT_MIN" documentation="The minimum voltage of the first battery required to arm, 0 disables the check" user="Standard">
<field name="Increment">0.1 </field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Arming voltage minimum on the second battery" name="ARMING_VOLT2_MIN" documentation="The minimum voltage of the second battery required to arm, 0 disables the check" user="Standard">
<field name="Increment">0.1 </field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
</parameters>
<parameters name="ATC_">
<param humanName="Yaw target slew rate" name="ATC_SLEW_YAW" documentation="Maximum rate the yaw target can be updated in Loiter, RTL, Auto flight modes" user="Advanced">
<field name="Range">500 18000</field>
<field name="Increment">100</field>
<field name="Units">cdeg/s</field>
<field name="UnitText">centidegrees per second</field>
</param>
<param humanName="Acceleration Max for Yaw" name="ATC_ACCEL_Y_MAX" documentation="Maximum acceleration in yaw axis" user="Advanced">
<field name="Range">0 72000</field>
<values>
<value code="0">Disabled</value>
<value code=" 9000">VerySlow</value>
<value code=" 18000">Slow</value>
<value code=" 36000">Medium</value>
<value code=" 54000">Fast</value>
</values>
<field name="Increment">1000</field>
<field name="Units">cdeg/s/s</field>
<field name="UnitText">centidegrees per square second</field>
</param>
<param humanName="Rate Feedforward Enable" name="ATC_RATE_FF_ENAB" documentation="Controls whether body-frame rate feedfoward is enabled or disabled" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
</values>
</param>
<param humanName="Acceleration Max for Roll" name="ATC_ACCEL_R_MAX" documentation="Maximum acceleration in roll axis" user="Advanced">
<field name="Range">0 180000</field>
<values>
<value code="0">Disabled</value>
<value code=" 30000">VerySlow</value>
<value code=" 72000">Slow</value>
<value code=" 108000">Medium</value>
<value code=" 162000">Fast</value>
</values>
<field name="Increment">1000</field>
<field name="Units">cdeg/s/s</field>
<field name="UnitText">centidegrees per square second</field>
</param>
<param humanName="Acceleration Max for Pitch" name="ATC_ACCEL_P_MAX" documentation="Maximum acceleration in pitch axis" user="Advanced">
<field name="Range">0 180000</field>
<values>
<value code="0">Disabled</value>
<value code=" 30000">VerySlow</value>
<value code=" 72000">Slow</value>
<value code=" 108000">Medium</value>
<value code=" 162000">Fast</value>
</values>
<field name="Increment">1000</field>
<field name="Units">cdeg/s/s</field>
<field name="UnitText">centidegrees per square second</field>
</param>
<param humanName="Angle Boost" name="ATC_ANGLE_BOOST" documentation="Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
</values>
</param>
<param humanName="Roll axis angle controller P gain" name="ATC_ANG_RLL_P" documentation="Roll axis angle controller P gain.  Converts the error between the desired roll angle and actual angle to a desired roll rate" user="Standard">
<field name="Range">3.000 12.000</field>
</param>
<param humanName="Pitch axis angle controller P gain" name="ATC_ANG_PIT_P" documentation="Pitch axis angle controller P gain.  Converts the error between the desired pitch angle and actual angle to a desired pitch rate" user="Standard">
<field name="Range">3.000 12.000</field>
</param>
<param humanName="Yaw axis angle controller P gain" name="ATC_ANG_YAW_P" documentation="Yaw axis angle controller P gain.  Converts the error between the desired yaw angle and actual angle to a desired yaw rate" user="Standard">
<field name="Range">3.000 6.000</field>
</param>
<param humanName="Angle Limit (to maintain altitude) Time Constant" name="ATC_ANG_LIM_TC" documentation="Angle Limit (to maintain altitude) Time Constant" user="Advanced">
<field name="Range">0.5 10.0</field>
</param>
<param humanName="Angular Velocity Max for Roll" name="ATC_RATE_R_MAX" documentation="Maximum angular velocity in roll axis" user="Advanced">
<field name="Range">0 1080</field>
<values>
<value code="0">Disabled</value>
<value code=" 360">Slow</value>
<value code=" 720">Medium</value>
<value code=" 1080">Fast</value>
</values>
<field name="Increment">1</field>
<field name="Units">deg/s</field>
<field name="UnitText">degrees per second</field>
</param>
<param humanName="Angular Velocity Max for Pitch" name="ATC_RATE_P_MAX" documentation="Maximum angular velocity in pitch axis" user="Advanced">
<field name="Range">0 1080</field>
<values>
<value code="0">Disabled</value>
<value code=" 360">Slow</value>
<value code=" 720">Medium</value>
<value code=" 1080">Fast</value>
</values>
<field name="Increment">1</field>
<field name="Units">deg/s</field>
<field name="UnitText">degrees per second</field>
</param>
<param humanName="Angular Velocity Max for Pitch" name="ATC_RATE_Y_MAX" documentation="Maximum angular velocity in pitch axis" user="Advanced">
<field name="Range">0 1080</field>
<values>
<value code="0">Disabled</value>
<value code=" 360">Slow</value>
<value code=" 720">Medium</value>
<value code=" 1080">Fast</value>
</values>
<field name="Increment">1</field>
<field name="Units">deg/s</field>
<field name="UnitText">degrees per second</field>
</param>
<param humanName="Attitude control input time constant (aka smoothing)" name="ATC_INPUT_TC" documentation="Attitude control input time constant.  Low numbers lead to sharper response, higher numbers to softer response" user="Standard">
<field name="Range">0 1</field>
<field name="Values">0.5:Very Soft, 0.2:Soft, 0.15:Medium, 0.1:Crisp, 0.05:Very Crisp</field>
<field name="Increment">0.01</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Roll axis rate controller P gain" name="ATC_RAT_RLL_P" documentation="Roll axis rate controller P gain.  Converts the difference between desired roll rate and actual roll rate into a motor speed output" user="Standard">
<field name="Range">0.05 0.5</field>
<field name="Increment">0.005</field>
</param>
<param humanName="Roll axis rate controller I gain" name="ATC_RAT_RLL_I" documentation="Roll axis rate controller I gain.  Corrects long-term difference in desired roll rate vs actual roll rate" user="Standard">
<field name="Range">0.01 2.0</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Roll axis rate controller I gain maximum" name="ATC_RAT_RLL_IMAX" documentation="Roll axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="Roll axis rate controller D gain" name="ATC_RAT_RLL_D" documentation="Roll axis rate controller D gain.  Compensates for short-term change in desired roll rate vs actual roll rate" user="Standard">
<field name="Range">0.0 0.02</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Roll axis rate controller feed forward" name="ATC_RAT_RLL_FF" documentation="Roll axis rate controller feed forward" user="Standard">
<field name="Range">0 0.5</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Roll axis rate controller input frequency in Hz" name="ATC_RAT_RLL_FILT" documentation="Roll axis rate controller input frequency in Hz" user="Standard">
<field name="Range">1 100</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Pitch axis rate controller P gain" name="ATC_RAT_PIT_P" documentation="Pitch axis rate controller P gain.  Converts the difference between desired pitch rate and actual pitch rate into a motor speed output" user="Standard">
<field name="Range">0.05 0.50</field>
<field name="Increment">0.005</field>
</param>
<param humanName="Pitch axis rate controller I gain" name="ATC_RAT_PIT_I" documentation="Pitch axis rate controller I gain.  Corrects long-term difference in desired pitch rate vs actual pitch rate" user="Standard">
<field name="Range">0.01 2.0</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Pitch axis rate controller I gain maximum" name="ATC_RAT_PIT_IMAX" documentation="Pitch axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="Pitch axis rate controller D gain" name="ATC_RAT_PIT_D" documentation="Pitch axis rate controller D gain.  Compensates for short-term change in desired pitch rate vs actual pitch rate" user="Standard">
<field name="Range">0.0 0.02</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Pitch axis rate controller feed forward" name="ATC_RAT_PIT_FF" documentation="Pitch axis rate controller feed forward" user="Standard">
<field name="Range">0 0.5</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Pitch axis rate controller input frequency in Hz" name="ATC_RAT_PIT_FILT" documentation="Pitch axis rate controller input frequency in Hz" user="Standard">
<field name="Range">1 100</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Yaw axis rate controller P gain" name="ATC_RAT_YAW_P" documentation="Yaw axis rate controller P gain.  Converts the difference between desired yaw rate and actual yaw rate into a motor speed output" user="Standard">
<field name="Range">0.10 2.50</field>
<field name="Increment">0.005</field>
</param>
<param humanName="Yaw axis rate controller I gain" name="ATC_RAT_YAW_I" documentation="Yaw axis rate controller I gain.  Corrects long-term difference in desired yaw rate vs actual yaw rate" user="Standard">
<field name="Range">0.010 1.0</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Yaw axis rate controller I gain maximum" name="ATC_RAT_YAW_IMAX" documentation="Yaw axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="Yaw axis rate controller D gain" name="ATC_RAT_YAW_D" documentation="Yaw axis rate controller D gain.  Compensates for short-term change in desired yaw rate vs actual yaw rate" user="Standard">
<field name="Range">0.000 0.02</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Yaw axis rate controller feed forward" name="ATC_RAT_YAW_FF" documentation="Yaw axis rate controller feed forward" user="Standard">
<field name="Range">0 0.5</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Yaw axis rate controller input frequency in Hz" name="ATC_RAT_YAW_FILT" documentation="Yaw axis rate controller input frequency in Hz" user="Standard">
<field name="Range">1 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Throttle Mix Minimum" name="ATC_THR_MIX_MIN" documentation="Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)" user="Advanced">
<field name="Range">0.1 0.25</field>
</param>
<param humanName="Throttle Mix Maximum" name="ATC_THR_MIX_MAX" documentation="Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)" user="Advanced">
<field name="Range">0.5 0.9</field>
</param>
<param humanName="Throttle Mix Manual" name="ATC_THR_MIX_MAN" documentation="Throttle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle)" user="Advanced">
<field name="Range">0.1 0.9</field>
</param>
<param humanName="Hover Roll Trim" name="ATC_HOVR_ROL_TRM" documentation="Trim the hover roll angle to counter tail rotor thrust in a hover" user="Advanced">
<field name="Range">0 1000</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Roll axis rate controller P gain" name="ATC_RAT_RLL_P" documentation="Roll axis rate controller P gain.  Converts the difference between desired roll rate and actual roll rate into a motor speed output" user="Standard">
<field name="Range">0.08 0.35</field>
<field name="Increment">0.005</field>
</param>
<param humanName="Roll axis rate controller I gain" name="ATC_RAT_RLL_I" documentation="Roll axis rate controller I gain.  Corrects long-term difference in desired roll rate vs actual roll rate" user="Standard">
<field name="Range">0.01 0.6</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Roll axis rate controller I gain maximum" name="ATC_RAT_RLL_IMAX" documentation="Roll axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Roll axis rate controller D gain" name="ATC_RAT_RLL_D" documentation="Roll axis rate controller D gain.  Compensates for short-term change in desired roll rate vs actual roll rate" user="Standard">
<field name="Range">0.001 0.03</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Roll axis rate controller feed forward" name="ATC_RAT_RLL_FF" documentation="Roll axis rate controller feed forward" user="Standard">
<field name="Range">0 0.5</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Roll axis rate controller input frequency in Hz" name="ATC_RAT_RLL_FILT" documentation="Roll axis rate controller input frequency in Hz">
<field name="Range">1 20</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Pitch axis rate controller P gain" name="ATC_RAT_PIT_P" documentation="Pitch axis rate controller P gain.  Converts the difference between desired pitch rate and actual pitch rate into a motor speed output" user="Standard">
<field name="Range">0.08 0.35</field>
<field name="Increment">0.005</field>
</param>
<param humanName="Pitch axis rate controller I gain" name="ATC_RAT_PIT_I" documentation="Pitch axis rate controller I gain.  Corrects long-term difference in desired pitch rate vs actual pitch rate" user="Standard">
<field name="Range">0.01 0.6</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Pitch axis rate controller I gain maximum" name="ATC_RAT_PIT_IMAX" documentation="Pitch axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Pitch axis rate controller D gain" name="ATC_RAT_PIT_D" documentation="Pitch axis rate controller D gain.  Compensates for short-term change in desired pitch rate vs actual pitch rate" user="Standard">
<field name="Range">0.001 0.03</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Pitch axis rate controller feed forward" name="ATC_RAT_PIT_FF" documentation="Pitch axis rate controller feed forward" user="Standard">
<field name="Range">0 0.5</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Pitch axis rate controller input frequency in Hz" name="ATC_RAT_PIT_FILT" documentation="Pitch axis rate controller input frequency in Hz">
<field name="Range">1 20</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Yaw axis rate controller P gain" name="ATC_RAT_YAW_P" documentation="Yaw axis rate controller P gain.  Converts the difference between desired yaw rate and actual yaw rate into a motor speed output" user="Standard">
<field name="Range">0.180 0.60</field>
<field name="Increment">0.005</field>
</param>
<param humanName="Yaw axis rate controller I gain" name="ATC_RAT_YAW_I" documentation="Yaw axis rate controller I gain.  Corrects long-term difference in desired yaw rate vs actual yaw rate" user="Standard">
<field name="Range">0.01 0.06</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Yaw axis rate controller I gain maximum" name="ATC_RAT_YAW_IMAX" documentation="Yaw axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output" user="Standard">
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Yaw axis rate controller D gain" name="ATC_RAT_YAW_D" documentation="Yaw axis rate controller D gain.  Compensates for short-term change in desired yaw rate vs actual yaw rate" user="Standard">
<field name="Range">0.000 0.02</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Yaw axis rate controller feed forward" name="ATC_RAT_YAW_FF" documentation="Yaw axis rate controller feed forward" user="Standard">
<field name="Range">0 0.5</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Yaw axis rate controller input frequency in Hz" name="ATC_RAT_YAW_FILT" documentation="Yaw axis rate controller input frequency in Hz">
<field name="Range">1 20</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Piro Comp Enable" name="ATC_PIRO_COMP" documentation="Pirouette compensation enabled" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
</parameters>
<parameters name="AVD_">
<param humanName="Enable Avoidance using ADSB" name="AVD_ENABLE" documentation="Enable Avoidance using ADSB" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Recovery behaviour after a fail event" name="AVD_F_RCVRY" documentation="Determines what the aircraft will do after a fail event is resolved" user="Advanced">
<values>
<value code="0">Remain in AVOID_ADSB</value>
<value code="1">Resume previous flight mode</value>
<value code="2">RTL</value>
<value code="3">Resume if AUTO else Loiter</value>
</values>
</param>
<param humanName="Maximum number of obstacles to track" name="AVD_OBS_MAX" documentation="Maximum number of obstacles to track" user="Advanced">
</param>
<param humanName="Time Horizon Warn" name="AVD_W_TIME" documentation="Aircraft velocity vectors are multiplied by this time to determine closest approach.  If this results in an approach closer than W_DIST_XY or W_DIST_Z then W_ACTION is undertaken (assuming F_ACTION is not undertaken)" user="Advanced">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Time Horizon Fail" name="AVD_F_TIME" documentation="Aircraft velocity vectors are multiplied by this time to determine closest approach.  If this results in an approach closer than F_DIST_XY or F_DIST_Z then F_ACTION is undertaken" user="Advanced">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Distance Warn XY" name="AVD_W_DIST_XY" documentation="Closest allowed projected distance before W_ACTION is undertaken" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Distance Fail XY" name="AVD_F_DIST_XY" documentation="Closest allowed projected distance before F_ACTION is undertaken" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Distance Warn Z" name="AVD_W_DIST_Z" documentation="Closest allowed projected distance before BEHAVIOUR_W is undertaken" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Distance Fail Z" name="AVD_F_DIST_Z" documentation="Closest allowed projected distance before BEHAVIOUR_F is undertaken" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="ADS-B avoidance minimum altitude" name="AVD_F_ALT_MIN" documentation="Minimum altitude for ADS-B avoidance. If the vehicle is below this altitude, no avoidance action will take place. Useful to prevent ADS-B avoidance from activating while below the tree line or around structures. Default of 0 is no minimum." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
</parameters>
<parameters name="AVOID_">
<param humanName="Avoidance control enable/disable" name="AVOID_ENABLE" documentation="Enabled/disable stopping at fence" user="Standard">
<field name="Bitmask">0:StopAtFence,1:UseProximitySensor,2:StopAtBeaconFence</field>
<values>
<value code="0">None</value>
<value code="1">StopAtFence</value>
<value code="2">UseProximitySensor</value>
<value code="3">StopAtFence and UseProximitySensor</value>
<value code="4">StopAtBeaconFence</value>
<value code="7">All</value>
</values>
</param>
<param humanName="Avoidance max lean angle in non-GPS flight modes" name="AVOID_ANGLE_MAX" documentation="Max lean angle used to avoid obstacles while in non-GPS modes" user="Standard">
<field name="Range">0 4500</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Avoidance distance maximum in non-GPS flight modes" name="AVOID_DIST_MAX" documentation="Distance from object at which obstacle avoidance will begin in non-GPS modes" user="Standard">
<field name="Range">1 30</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Avoidance distance margin in GPS modes" name="AVOID_MARGIN" documentation="Vehicle will attempt to stay at least this distance (in meters) from objects while in GPS modes" user="Standard">
<field name="Range">1 10</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Avoidance behaviour" name="AVOID_BEHAVE" documentation="Avoidance behaviour (slide or stop)" user="Standard">
<values>
<value code="0">Slide</value>
<value code="1">Stop</value>
</values>
</param>
</parameters>
<parameters name="BATT2_">
<param humanName="Battery monitoring" name="BATT2_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="3">Analog Voltage Only</value>
<value code="4">Analog Voltage and Current</value>
<value code="5">Solo</value>
<value code="6">Bebop</value>
<value code="7">SMBus-Maxell</value>
<value code="8">UAVCAN-BatteryInfo</value>
</values>
</param>
<param humanName="Battery Voltage sensing pin" name="BATT2_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. On the PX4-v1 it should be set to 100. On the Pixhawk, Pixracer and NAVIO boards it should be set to 2, Pixhawk2 Power2 is 13." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 0">A0</value>
<value code=" 1">A1</value>
<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code=" 13">Pixhawk2_PM2</value>
<value code=" 100">PX4-v1</value>
</values>
</param>
<param humanName="Battery Current sensing pin" name="BATT2_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. On the PX4-v1 it should be set to 101. On the Pixhawk, Pixracer and NAVIO boards it should be set to 3, Pixhawk2 Power2 is 14." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 1">A1</value>
<value code=" 2">A2</value>
<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code=" 14">Pixhawk2_PM2</value>
<value code=" 101">PX4-v1</value>
</values>
</param>
<param humanName="Voltage Multiplier" name="BATT2_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
</param>
<param humanName="Amps per volt" name="BATT2_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
<field name="Units">A/V</field>
<field name="UnitText">ampere per volt</field>
</param>
<param humanName="AMP offset" name="BATT2_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery capacity" name="BATT2_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
<field name="Increment">50</field>
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<field name="Units">mAh</field>
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<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Maximum allowed power (Watts)" name="BATT2_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
<field name="Increment">1</field>
<field name="Units">W</field>
<field name="UnitText">watt</field>
</param>
<param humanName="Battery serial number" name="BATT2_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
</param>
<param humanName="Low voltage timeout" name="BATT2_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
<field name="Range">0 120</field>
<field name="Increment">1</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Failsafe voltage source" name="BATT2_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
<values>
<value code="0">Raw Voltage</value>
<value code=" 1">Sag Compensated Voltage</value>
</values>
</param>
<param humanName="Low battery voltage" name="BATT2_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter." user="Standard">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Low battery capacity" name="BATT2_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter." user="Standard">
<field name="Increment">50</field>
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<field name="Units">mAh</field>
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<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Critical battery voltage" name="BATT2_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter." user="Standard">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery critical capacity" name="BATT2_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2__FS_CRT_ACT parameter." user="Standard">
<field name="Increment">50</field>
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<field name="Units">mAh</field>
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<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Low battery failsafe action" name="BATT2_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
<values>
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<value code="0">None</value>
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<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
</values>
</param>
<param humanName="Critical battery failsafe action" name="BATT2_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
<values>
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<value code="0">None</value>
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1742 1743 1744 1745 1746 1747 1748 1749 1750 1751 1752 1753 1754 1755 1756 1757 1758 1759 1760 1761 1762 1763 1764 1765 1766 1767 1768 1769 1770 1771 1772 1773 1774 1775 1776 1777 1778 1779 1780 1781 1782 1783 1784 1785 1786 1787 1788 1789 1790 1791 1792 1793 
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
</values>
</param>
</parameters>
<parameters name="BATT_">
<param humanName="Battery monitoring" name="BATT_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="3">Analog Voltage Only</value>
<value code="4">Analog Voltage and Current</value>
<value code="5">Solo</value>
<value code="6">Bebop</value>
<value code="7">SMBus-Maxell</value>
<value code="8">UAVCAN-BatteryInfo</value>
</values>
</param>
<param humanName="Battery Voltage sensing pin" name="BATT_VOLT_PIN" documentation="Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. On the PX4-v1 it should be set to 100. On the Pixhawk, Pixracer and NAVIO boards it should be set to 2, Pixhawk2 Power2 is 13." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 0">A0</value>
<value code=" 1">A1</value>
<value code=" 2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code=" 13">Pixhawk2_PM2</value>
<value code=" 100">PX4-v1</value>
</values>
</param>
<param humanName="Battery Current sensing pin" name="BATT_CURR_PIN" documentation="Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. On the PX4-v1 it should be set to 101. On the Pixhawk, Pixracer and NAVIO boards it should be set to 3, Pixhawk2 Power2 is 14." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code=" 1">A1</value>
<value code=" 2">A2</value>
<value code=" 3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code=" 14">Pixhawk2_PM2</value>
<value code=" 101">PX4-v1</value>
</values>
</param>
<param humanName="Voltage Multiplier" name="BATT_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1." user="Advanced">
</param>
<param humanName="Amps per volt" name="BATT_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17." user="Standard">
<field name="Units">A/V</field>
<field name="UnitText">ampere per volt</field>
</param>
<param humanName="AMP offset" name="BATT_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor" user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery capacity" name="BATT_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
<field name="Increment">50</field>
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<field name="Units">mAh</field>
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<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Maximum allowed power (Watts)" name="BATT_WATT_MAX" documentation="If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable." user="Advanced">
<field name="Increment">1</field>
<field name="Units">W</field>
<field name="UnitText">watt</field>
</param>
<param humanName="Battery serial number" name="BATT_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id." user="Advanced">
</param>
<param humanName="Low voltage timeout" name="BATT_LOW_TIMER" documentation="This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors." user="Advanced">
<field name="Range">0 120</field>
<field name="Increment">1</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Failsafe voltage source" name="BATT_FS_VOLTSRC" documentation="Voltage type used for detection of low voltage event" user="Advanced">
<values>
<value code="0">Raw Voltage</value>
<value code=" 1">Sag Compensated Voltage</value>
</values>
</param>
<param humanName="Low battery voltage" name="BATT_LOW_VOLT" documentation="Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter." user="Standard">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Low battery capacity" name="BATT_LOW_MAH" documentation="Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter." user="Standard">
<field name="Increment">50</field>
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<field name="Units">mAh</field>
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<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Critical battery voltage" name="BATT_CRT_VOLT" documentation="Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter." user="Standard">
<field name="Increment">0.1</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery critical capacity" name="BATT_CRT_MAH" documentation="Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT__FS_CRT_ACT parameter." user="Standard">
<field name="Increment">50</field>
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<field name="Units">mAh</field>
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<field name="UnitText">milliampere hour</field>
</param>
<param humanName="Low battery failsafe action" name="BATT_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
<values>
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<value code="0">None</value>
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<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
</values>
</param>
<param humanName="Critical battery failsafe action" name="BATT_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
<values>
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<value code="0">None</value>
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3449 3450 3451 3452 3453 3454 3455 3456 3457 3458 3459 3460 3461 3462 3463 3464 3465 3466 3467 3468 3469 3470 3471 3472 3473 3474 3475 3476 3477 3478 3479 3480 3481 3482 3483 3484 3485 3486 3487 3488 3489 3490 3491 3492 3493 3494 3495 3496 3497 3498 3499 3500 3501 3502 3503 3504 3505 3506 3507 3508 3509 3510 3511 3512 3513 3514 3515 3516 3517 3518 3519 3520 3521 3522 3523 3524 3525 3526 3527 3528 3529 3530 3531 3532 3533 3534 3535 3536 3537 3538 3539 3540 3541 3542 3543 3544 3545 3546 3547 3548 3549 3550 3551 3552 3553 3554 3555 3556 3557 3558 3559 3560 3561 3562 3563 3564 3565 3566 3567 3568 3569 3570 3571 3572 3573 3574 3575 3576 3577 3578 3579 3580 3581 3582 3583 3584 3585 3586 3587 3588 3589 3590 3591 3592 3593 3594 3595 3596 3597 3598 3599 3600 3601 3602 3603 3604 3605 3606 3607 3608 3609 3610 3611 3612 3613 3614 3615 3616 3617 3618 3619 3620 3621 3622 3623 3624 3625 3626 3627 3628 3629 3630 3631 3632 3633 3634 3635 3636 3637 3638 3639 3640 3641 3642 3643 3644 3645 3646 3647 3648 3649 3650 3651 3652 3653 3654 3655 3656 3657 3658 3659 3660 3661 3662 3663 3664 3665 3666 3667 3668 3669 3670 3671 3672 3673 3674 3675 3676 3677 3678 3679 3680 3681 3682 3683 3684 3685 3686 3687 3688 3689 3690 3691 3692 3693 3694 3695 3696 3697 3698 3699 3700 3701 3702 3703 3704 3705 3706 3707 3708 3709 3710 3711 3712 3713 3714 3715 3716 3717 3718 3719 3720 3721 3722 3723 3724 3725 3726 3727 3728 3729 3730 3731 3732 3733 3734 3735 3736 3737 3738 3739 3740 3741 3742 3743 3744 3745 3746 3747 3748 3749 3750 3751 3752 3753 3754 3755 3756 3757 3758 3759 3760 3761 3762 3763 3764 3765 3766 3767 3768 3769 3770 3771 3772 3773 3774 3775 3776 3777 3778 3779 3780 3781 3782 3783 3784 3785 3786 3787 3788 3789 3790 3791 3792 3793 3794 3795 3796 3797 3798 3799 3800 3801 3802 3803 3804 3805 3806 3807 3808 3809 3810 3811 3812 3813 3814 3815 3816 3817 3818 3819 3820 3821 3822 3823 3824 3825 3826 3827 3828 3829 3830 3831 3832 3833 3834 3835 3836 3837 3838 3839 3840 3841 3842 3843 3844 3845 3846 3847 3848 3849 3850 3851 3852 3853 3854 3855 3856 3857 3858 3859 3860 3861 3862 3863 3864 3865 3866 3867 3868 3869 3870 3871 3872 3873 3874 3875 3876 3877 3878 3879 3880 3881 3882 3883 3884 3885 3886 3887 3888 3889 3890 3891 3892 3893 3894 3895 3896 3897 3898 3899 3900 3901 3902 3903 3904 3905 3906 3907 3908 3909 3910 3911 3912 3913 3914 3915 3916 3917 3918 3919 3920 3921 
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
</values>
</param>
</parameters>
<parameters name="BCN">
<param humanName="Beacon based position estimation device type" name="BCN_TYPE" documentation="What type of beacon based position estimation device is connected" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Pozyx</value>
<value code="2">Marvelmind</value>
</values>
</param>
<param humanName="Beacon origin's latitude" name="BCN_LATITUDE" documentation="Beacon origin's latitude" user="Advanced">
<field name="Range">-90 90</field>
<field name="Increment">0.000001</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Beacon origin's longitude" name="BCN_LONGITUDE" documentation="Beacon origin's longitude" user="Advanced">
<field name="Range">-180 180</field>
<field name="Increment">0.000001</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Beacon origin's altitude above sealevel in meters" name="BCN_ALT" documentation="Beacon origin's altitude above sealevel in meters" user="Advanced">
<field name="Range">0 10000</field>
<field name="Increment">1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Beacon systems rotation from north in degrees" name="BCN_ORIENT_YAW" documentation="Beacon systems rotation from north in degrees" user="Advanced">
<field name="Range">-180 +180</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
</parameters>
<parameters name="BRD_">
<param humanName="Auxiliary pin config" name="BRD_PWM_COUNT" documentation="Control assigning of FMU pins to PWM output, timer capture and GPIO. All unassigned pins can be used for GPIO" user="Advanced">
<values>
<value code="0">No PWMs</value>
<value code="2">Two PWMs</value>
<value code="4">Four PWMs</value>
<value code="6">Six PWMs</value>
<value code="7">Three PWMs and One Capture</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial 1 flow control" name="BRD_SER1_RTSCTS" documentation="Enable flow control on serial 1 (telemetry 1) on Pixhawk. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
<value code="2">Auto</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial 2 flow control" name="BRD_SER2_RTSCTS" documentation="Enable flow control on serial 2 (telemetry 2) on Pixhawk and STATE. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
<value code="2">Auto</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Enable use of safety arming switch" name="BRD_SAFETYENABLE" documentation="This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName=" SBUS output rate" name="BRD_SBUS_OUT" documentation="This sets the SBUS output frame rate in Hz" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">50Hz</value>
<value code="2">75Hz</value>
<value code="3">100Hz</value>
<value code="4">150Hz</value>
<value code="5">200Hz</value>
<value code="6">250Hz</value>
<value code="7">300Hz</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="User-defined serial number" name="BRD_SERIAL_NUM" documentation="User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot" user="Standard">
<field name="Range">-32768 32767</field>
</param>
<param humanName="Channels to which ignore the safety switch state" name="BRD_SAFETY_MASK" documentation="A bitmask which controls what channels can move while the safety switch has not been pressed" user="Advanced">
<field name="Bitmask">0:Ch1,1:Ch2,2:Ch3,3:Ch4,4:Ch5,5:Ch6,6:Ch7,7:Ch8,8:Ch9,9:Ch10,10:Ch11,11:Ch12,12:Ch13,13:Ch14</field>
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Target IMU temperature" name="BRD_IMU_TARGTEMP" documentation="This sets the target IMU temperature for boards with controllable IMU heating units. DO NOT SET -1 on The Cube. A value of -1 sets PH1 behaviour " user="Advanced">
<field name="Range">-1 80</field>
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
</param>
<param humanName="Board type" name="BRD_TYPE" documentation="This allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4)" user="Advanced">
<values>
<value code="0">AUTO</value>
<value code="1">PX4V1</value>
<value code="2">Pixhawk</value>
<value code="3">Cube/Pixhawk2</value>
<value code="4">Pixracer</value>
<value code="5">PixhawkMini</value>
<value code="6">Pixhawk2Slim</value>
<value code="7">VRBrain 5.1</value>
<value code="8">VRBrain 5.2</value>
<value code="9">VR Micro Brain 5.1</value>
<value code="10">VR Micro Brain 5.2</value>
<value code="11">VRBrain Core 1.0</value>
<value code="12">VRBrain 5.4</value>
<value code="13">Intel Aero FC</value>
<value code="20">AUAV2.1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Enable IO co-processor" name="BRD_IO_ENABLE" documentation="This allows for the IO co-processor on FMUv1 and FMUv2 to be disabled" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Options for safety button behavior" name="BRD_SAFETYOPTION" documentation="This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed" user="Standard">
<field name="Bitmask">0:ActiveForSafetyEnable,1:ActiveForSafetyDisable,2:ActiveWhenArmed</field>
</param>
</parameters>
<parameters name="BRD_RADIO">
<param humanName="Set type of direct attached radio" name="BRD_RADIO_TYPE" documentation="This enables support for direct attached radio receivers" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">CYRF6936</value>
</values>
</param>
<param humanName="protocol" name="BRD_RADIO_PROT" documentation="Select air protocol" user="Advanced">
<values>
<value code="0">Auto</value>
<value code="1">DSM2</value>
<value code="2">DSMX</value>
</values>
</param>
<param humanName="debug level" name="BRD_RADIO_DEBUG" documentation="radio debug level" user="Advanced">
<field name="Range">0 4</field>
</param>
<param humanName="disable receive CRC" name="BRD_RADIO_DISCRC" documentation="disable receive CRC (for debug)" user="Advanced">
<values>
<value code="0">NotDisabled</value>
<value code="1">Disabled</value>
</values>
</param>
<param humanName="RSSI signal strength" name="BRD_RADIO_SIGCH" documentation="Channel to show receive RSSI signal strength, or zero for disabled" user="Advanced">
<field name="Range">0 16</field>
</param>
<param humanName="Packet rate channel" name="BRD_RADIO_PPSCH" documentation="Channel to show received packet-per-second rate, or zero for disabled" user="Advanced">
<field name="Range">0 16</field>
</param>
<param humanName="Enable telemetry" name="BRD_RADIO_TELEM" documentation="If this is non-zero then telemetry packets will be sent over DSM" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Telemetry Transmit power" name="BRD_RADIO_TXPOW" documentation="Set telemetry transmit power. This is the power level (from 1 to 8) for telemetry packets sent from the RX to the TX" user="Advanced">
<field name="Range">1 8</field>
</param>
<param humanName="Put radio into FCC test mode" name="BRD_RADIO_FCCTST" documentation="If this is enabled then the radio will continuously transmit as required for FCC testing. The transmit channel is set by the value of the parameter. The radio will not work for RC input while this is enabled" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">MinChannel</value>
<value code="2">MidChannel</value>
<value code="3">MaxChannel</value>
<value code="4">MinChannelCW</value>
<value code="5">MidChannelCW</value>
<value code="6">MaxChannelCW</value>
</values>
</param>
<param humanName="Stick input mode" name="BRD_RADIO_STKMD" documentation="This selects between different stick input modes. The default is mode2, which has throttle on the left stick and pitch on the right stick. You can instead set mode1, which has throttle on the right stick and pitch on the left stick." user="Advanced">
<values>
<value code="1">Mode1</value>
<value code="2">Mode2</value>
</values>
</param>
<param humanName="Set radio to factory test channel" name="BRD_RADIO_TESTCH" documentation="This sets the radio to a fixed test channel for factory testing. Using a fixed channel avoids the need for binding in factory testing." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">TestChan1</value>
<value code="2">TestChan2</value>
<value code="3">TestChan3</value>
<value code="4">TestChan4</value>
<value code="5">TestChan5</value>
<value code="6">TestChan6</value>
<value code="7">TestChan7</value>
<value code="8">TestChan8</value>
</values>
</param>
<param humanName="RSSI value channel for telemetry data on transmitter" name="BRD_RADIO_TSIGCH" documentation="Channel to show telemetry RSSI value as received by TX" user="Advanced">
<field name="Range">0 16</field>
</param>
<param humanName="Telemetry PPS channel" name="BRD_RADIO_TPPSCH" documentation="Channel to show telemetry packets-per-second value, as received at TX" user="Advanced">
<field name="Range">0 16</field>
</param>
<param humanName="Transmitter transmit power" name="BRD_RADIO_TXMAX" documentation="Set transmitter maximum transmit power (from 1 to 8)" user="Advanced">
<field name="Range">1 8</field>
</param>
<param humanName="Transmitter buzzer adjustment" name="BRD_RADIO_BZOFS" documentation="Set transmitter buzzer note adjustment (adjust frequency up)" user="Advanced">
<field name="Range">0 40</field>
</param>
<param humanName="Auto-bind time" name="BRD_RADIO_ABTIME" documentation="When non-zero this sets the time with no transmitter packets before we start looking for auto-bind packets." user="Advanced">
<field name="Range">0 120</field>
</param>
<param humanName="Auto-bind level" name="BRD_RADIO_ABLVL" documentation="This sets the minimum RSSI of an auto-bind packet for it to be accepted. This should be set so that auto-bind will only happen at short range to minimise the change of an auto-bind happening accidentially" user="Advanced">
<field name="Range">0 31</field>
</param>
</parameters>
<parameters name="BTN_">
<param humanName="Enable button reporting" name="BTN_ENABLE" documentation="This enables the button checking module. When this is disabled the parameters for setting button inputs are not visible" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
</values>
</param>
<param humanName="First button Pin" name="BTN_PIN1" documentation="Digital pin number for first button input. " user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2</value>
</values>
</param>
<param humanName="Second button Pin" name="BTN_PIN2" documentation="Digital pin number for second button input. " user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2</value>
</values>
</param>
<param humanName="Third button Pin" name="BTN_PIN3" documentation="Digital pin number for third button input. " user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2</value>
</values>
</param>
<param humanName="Fourth button Pin" name="BTN_PIN4" documentation="Digital pin number for fourth button input. " user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2</value>
</values>
</param>
<param humanName="Report send time" name="BTN_REPORT_SEND" documentation="The duration in seconds that a BUTTON_CHANGE report is repeatedly sent to the GCS regarding a button changing state. Note that the BUTTON_CHANGE message is MAVLink2 only." user="Standard">
<field name="Range">0 3600</field>
</param>
</parameters>
<parameters name="CAM_">
<param humanName="Camera shutter (trigger) type" name="CAM_TRIGG_TYPE" documentation="how to trigger the camera to take a picture" user="Standard">
<values>
<value code="0">Servo</value>
<value code="1">Relay</value>
</values>
</param>
<param humanName="Duration that shutter is held open" name="CAM_DURATION" documentation="How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)" user="Standard">
<field name="Range">0 50</field>
<field name="Units">ds</field>
<field name="UnitText">deciseconds</field>
</param>
<param humanName="Servo ON PWM value" name="CAM_SERVO_ON" documentation="PWM value in microseconds to move servo to when shutter is activated" user="Standard">
<field name="Range">1000 2000</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo OFF PWM value" name="CAM_SERVO_OFF" documentation="PWM value in microseconds to move servo to when shutter is deactivated" user="Standard">
<field name="Range">1000 2000</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Camera trigger distance" name="CAM_TRIGG_DIST" documentation="Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the GPS position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight." user="Standard">
<field name="Range">0 1000</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Relay ON value" name="CAM_RELAY_ON" documentation="This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera" user="Standard">
<values>
<value code="0">Low</value>
<value code="1">High</value>
</values>
</param>
<param humanName="Minimum time between photos" name="CAM_MIN_INTERVAL" documentation="Postpone shooting if previous picture was taken less than preset time(ms) ago." user="Standard">
<field name="Range">0 10000</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
</param>
<param humanName="Maximum photo roll angle." name="CAM_MAX_ROLL" documentation="Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll)." user="Standard">
<field name="Range">0 180</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Camera feedback pin" name="CAM_FEEDBACK_PIN" documentation="pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. See also the CAM_FEEDBACK_POL option. If using AUX4 pin on a Pixhawk then a fast capture method is used that allows for the trigger time to be as short as one microsecond." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">PX4 AUX1</value>
<value code="51">PX4 AUX2</value>
<value code="52">PX4 AUX3</value>
<value code="53">PX4 AUX4(fast capture)</value>
<value code="54">PX4 AUX5</value>
<value code="55">PX4 AUX6</value>
</values>
</param>
<param humanName="Camera feedback pin polarity" name="CAM_FEEDBACK_POL" documentation="Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low" user="Standard">
<values>
<value code="0">TriggerLow</value>
<value code="1">TriggerHigh</value>
</values>
</param>
<param humanName="Distance-trigging in AUTO mode only" name="CAM_AUTO_ONLY" documentation="When enabled, trigging by distance is done in AUTO mode only." user="Standard">
<values>
<value code="0">Always</value>
<value code="1">Only when in AUTO</value>
</values>
</param>
</parameters>
<parameters name="CAN_D1_">
<param humanName="Enable use of specific protocol over virtual driver" name="CAN_D1_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">UAVCAN</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="CAN_D1_UC_">
<param humanName="UAVCAN node that is used for this network" name="CAN_D1_UC_NODE" documentation="UAVCAN node should be set implicitly" user="Advanced">
<field name="Range">1 250</field>
</param>
<param humanName="RC Out channels to be transmitted as servo over UAVCAN" name="CAN_D1_UC_SRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over UAVCAN" user="Advanced">
<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</field>
</param>
<param humanName="RC Out channels to be transmitted as ESC over UAVCAN" name="CAN_D1_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN" user="Advanced">
<field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
</param>
<param humanName="Servo output rate" name="CAN_D1_UC_SRV_RT" documentation="Maximum transmit rate for servo outputs" user="Advanced">
<field name="Range">1 200</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
<parameters name="CAN_D2_">
<param humanName="Enable use of specific protocol over virtual driver" name="CAN_D2_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">UAVCAN</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="CAN_D2_UC_">
<param humanName="UAVCAN node that is used for this network" name="CAN_D2_UC_NODE" documentation="UAVCAN node should be set implicitly" user="Advanced">
<field name="Range">1 250</field>
</param>
<param humanName="RC Out channels to be transmitted as servo over UAVCAN" name="CAN_D2_UC_SRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over UAVCAN" user="Advanced">
<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</field>
</param>
<param humanName="RC Out channels to be transmitted as ESC over UAVCAN" name="CAN_D2_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN" user="Advanced">
<field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
</param>
<param humanName="Servo output rate" name="CAN_D2_UC_SRV_RT" documentation="Maximum transmit rate for servo outputs" user="Advanced">
<field name="Range">1 200</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
<parameters name="CAN_D3_">
<param humanName="Enable use of specific protocol over virtual driver" name="CAN_D3_PROTOCOL" documentation="Enabling this option starts selected protocol that will use this virtual driver" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">UAVCAN</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="CAN_D3_UC_">
<param humanName="UAVCAN node that is used for this network" name="CAN_D3_UC_NODE" documentation="UAVCAN node should be set implicitly" user="Advanced">
<field name="Range">1 250</field>
</param>
<param humanName="RC Out channels to be transmitted as servo over UAVCAN" name="CAN_D3_UC_SRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over UAVCAN" user="Advanced">
<field name="Bitmask">0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15</field>
</param>
<param humanName="RC Out channels to be transmitted as ESC over UAVCAN" name="CAN_D3_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN" user="Advanced">
<field name="Bitmask">0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16</field>
</param>
<param humanName="Servo output rate" name="CAN_D3_UC_SRV_RT" documentation="Maximum transmit rate for servo outputs" user="Advanced">
<field name="Range">1 200</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
<parameters name="CAN_P1_">
<param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P1_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">First driver</value>
<value code="2">Second driver</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Bitrate of CAN interface" name="CAN_P1_BITRATE" documentation="Bit rate can be set up to from 10000 to 1000000" user="Advanced">
<field name="Range">10000 1000000</field>
</param>
<param humanName="Level of debug for CAN devices" name="CAN_P1_DEBUG" documentation="Enabling this option will provide debug messages" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Major messages</value>
<value code="2">All messages</value>
</values>
</param>
</parameters>
<parameters name="CAN_P2_">
<param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P2_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">First driver</value>
<value code="2">Second driver</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Bitrate of CAN interface" name="CAN_P2_BITRATE" documentation="Bit rate can be set up to from 10000 to 1000000" user="Advanced">
<field name="Range">10000 1000000</field>
</param>
<param humanName="Level of debug for CAN devices" name="CAN_P2_DEBUG" documentation="Enabling this option will provide debug messages" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Major messages</value>
<value code="2">All messages</value>
</values>
</param>
</parameters>
<parameters name="CAN_P3_">
<param humanName="Index of virtual driver to be used with physical CAN interface" name="CAN_P3_DRIVER" documentation="Enabling this option enables use of CAN buses." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">First driver</value>
<value code="2">Second driver</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Bitrate of CAN interface" name="CAN_P3_BITRATE" documentation="Bit rate can be set up to from 10000 to 1000000" user="Advanced">
<field name="Range">10000 1000000</field>
</param>
<param humanName="Level of debug for CAN devices" name="CAN_P3_DEBUG" documentation="Enabling this option will provide debug messages" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Major messages</value>
<value code="2">All messages</value>
</values>
</param>
</parameters>
<parameters name="CHUTE_">
<param humanName="Parachute release enabled or disabled" name="CHUTE_ENABLED" documentation="Parachute release enabled or disabled" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Parachute release mechanism type (relay or servo)" name="CHUTE_TYPE" documentation="Parachute release mechanism type (relay or servo)" user="Standard">
<values>
<value code="0">First Relay</value>
<value code="1">Second Relay</value>
<value code="2">Third Relay</value>
<value code="3">Fourth Relay</value>
<value code="10">Servo</value>
</values>
</param>
<param humanName="Parachute Servo ON PWM value" name="CHUTE_SERVO_ON" documentation="Parachute Servo PWM value in microseconds when parachute is released" user="Standard">
<field name="Range">1000 2000</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo OFF PWM value" name="CHUTE_SERVO_OFF" documentation="Parachute Servo PWM value in microseconds when parachute is not released" user="Standard">
<field name="Range">1000 2000</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Parachute min altitude in meters above home" name="CHUTE_ALT_MIN" documentation="Parachute min altitude above home.  Parachute will not be released below this altitude.  0 to disable alt check." user="Standard">
<field name="Range">0 32000</field>
<field name="Increment">1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Parachute release delay" name="CHUTE_DELAY_MS" documentation="Delay in millseconds between motor stop and chute release" user="Standard">
<field name="Range">0 5000</field>
<field name="Increment">1</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
</param>
</parameters>
<parameters name="CIRCLE_">
<param humanName="Circle Radius" name="CIRCLE_RADIUS" documentation="Defines the radius of the circle the vehicle will fly when in Circle flight mode" user="Standard">
<field name="Range">0 10000</field>
<field name="Increment">100</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Circle rate" name="CIRCLE_RATE" documentation="Circle mode's turn rate in deg/sec.  Positive to turn clockwise, negative for counter clockwise" user="Standard">
<field name="Range">-90 90</field>
<field name="Increment">1</field>
<field name="Units">deg/s</field>
<field name="UnitText">degrees per second</field>
</param>
</parameters>
<parameters name="COMPASS_">
<param humanName="Compass offsets in milligauss on the X axis" name="COMPASS_OFS_X" documentation="Offset to be added to the compass x-axis values to compensate for metal in the frame" user="Advanced">
<field name="Range">-400 400</field>
<field name="Increment">1</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
</param>
<param humanName="Compass offsets in milligauss on the Y axis" name="COMPASS_OFS_Y" documentation="Offset to be added to the compass y-axis values to compensate for metal in the frame" user="Advanced">
<field name="Range">-400 400</field>
<field name="Increment">1</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
</param>
<param humanName="Compass offsets in milligauss on the Z axis" name="COMPASS_OFS_Z" documentation="Offset to be added to the compass z-axis values to compensate for metal in the frame" user="Advanced">
<field name="Range">-400 400</field>
<field name="Increment">1</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
</param>
<param humanName="Compass declination" name="COMPASS_DEC" documentation="An angle to compensate between the true north and magnetic north" user="Standard">
<field name="Range">-3.142 3.142</field>
<field name="Increment">0.01</field>
<field name="Units">rad</field>
<field name="UnitText">radians</field>
</param>
<param humanName="Learn compass offsets automatically" name="COMPASS_LEARN" documentation="Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Internal-Learning</value>
<value code="2">EKF-Learning</value>
</values>
</param>
<param humanName="Use compass for yaw" name="COMPASS_USE" documentation="Enable or disable the use of the compass (instead of the GPS) for determining heading" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Auto Declination" name="COMPASS_AUTODEC" documentation="Enable or disable the automatic calculation of the declination based on gps location" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Motor interference compensation type" name="COMPASS_MOTCT" documentation="Set motor interference compensation type to disabled, throttle or current.  Do not change manually." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Use Throttle</value>
<value code="2">Use Current</value>
</values>
</param>
<param humanName="Motor interference compensation for body frame X axis" name="COMPASS_MOT_X" documentation="Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
</param>
<param humanName="Motor interference compensation for body frame Y axis" name="COMPASS_MOT_Y" documentation="Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
</param>
<param humanName="Motor interference compensation for body frame Z axis" name="COMPASS_MOT_Z" documentation="Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
</param>
<param humanName="Compass orientation" name="COMPASS_ORIENT" documentation="The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used." user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Yaw45</value>
<value code="2">Yaw90</value>
<value code="3">Yaw135</value>
<value code="4">Yaw180</value>
<value code="5">Yaw225</value>
<value code="6">Yaw270</value>
<value code="7">Yaw315</value>
<value code="8">Roll180</value>
<value code="9">Roll180Yaw45</value>
<value code="10">Roll180Yaw90</value>
<value code="11">Roll180Yaw135</value>
<value code="12">Pitch180</value>
<value code="13">Roll180Yaw225</value>
<value code="14">Roll180Yaw270</value>
<value code="15">Roll180Yaw315</value>
<value code="16">Roll90</value>
<value code="17">Roll90Yaw45</value>
<value code="18">Roll90Yaw90</value>
<value code="19">Roll90Yaw135</value>
<value code="20">Roll270</value>
<value code="21">Roll270Yaw45</value>
<value code="22">Roll270Yaw90</value>
<value code="23">Roll270Yaw135</value>
<value code="24">Pitch90</value>
<value code="25">Pitch270</value>
<value code="26">Pitch180Yaw90</value>
<value code="27">Pitch180Yaw270</value>
<value code="28">Roll90Pitch90</value>
<value code="29">Roll180Pitch90</value>
<value code="30">Roll270Pitch90</value>
<value code="31">Roll90Pitch180</value>
<value code="32">Roll270Pitch180</value>
<value code="33">Roll90Pitch270</value>
<value code="34">Roll180Pitch270</value>
<value code="35">Roll270Pitch270</value>
<value code="36">Roll90Pitch180Yaw90</value>
<value code="37">Roll90Yaw270</value>
<value code="38">Yaw293Pitch68Roll180</value>
<value code="39">Pitch315</value>
<value code="40">Roll90Pitch315</value>
</values>
</param>
<param humanName="Compass is attached via an external cable" name="COMPASS_EXTERNAL" documentation="Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
<values>
<value code="0">Internal</value>
<value code="1">External</value>
<value code="2">ForcedExternal</value>
</values>
</param>
<param humanName="Compass2 offsets in milligauss on the X axis" name="COMPASS_OFS2_X" documentation="Offset to be added to compass2's x-axis values to compensate for metal in the frame" user="Advanced">
<field name="Range">-400 400</field>
<field name="Increment">1</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
</param>
<param humanName="Compass2 offsets in milligauss on the Y axis" name="COMPASS_OFS2_Y" documentation="Offset to be added to compass2's y-axis values to compensate for metal in the frame" user="Advanced">
<field name="Range">-400 400</field>
<field name="Increment">1</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
</param>
<param humanName="Compass2 offsets in milligauss on the Z axis" name="COMPASS_OFS2_Z" documentation="Offset to be added to compass2's z-axis values to compensate for metal in the frame" user="Advanced">
<field name="Range">-400 400</field>
<field name="Increment">1</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
</param>
<param humanName="Motor interference compensation to compass2 for body frame X axis" name="COMPASS_MOT2_X" documentation="Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
</param>
<param humanName="Motor interference compensation to compass2 for body frame Y axis" name="COMPASS_MOT2_Y" documentation="Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
</param>
<param humanName="Motor interference compensation to compass2 for body frame Z axis" name="COMPASS_MOT2_Z" documentation="Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
</param>
<param humanName="Choose primary compass" name="COMPASS_PRIMARY" documentation="If more than one compass is available, this selects which compass is the primary. When external compasses are connected, they will be ordered first. NOTE: If no external compass is attached, this parameter is ignored." user="Advanced">
<values>
<value code="0">FirstCompass</value>
<value code="1">SecondCompass</value>
<value code="2">ThirdCompass</value>
</values>
</param>
<param humanName="Compass3 offsets in milligauss on the X axis" name="COMPASS_OFS3_X" documentation="Offset to be added to compass3's x-axis values to compensate for metal in the frame" user="Advanced">
<field name="Range">-400 400</field>
<field name="Increment">1</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
</param>
<param humanName="Compass3 offsets in milligauss on the Y axis" name="COMPASS_OFS3_Y" documentation="Offset to be added to compass3's y-axis values to compensate for metal in the frame" user="Advanced">
<field name="Range">-400 400</field>
<field name="Increment">1</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
</param>
<param humanName="Compass3 offsets in milligauss on the Z axis" name="COMPASS_OFS3_Z" documentation="Offset to be added to compass3's z-axis values to compensate for metal in the frame" user="Advanced">
<field name="Range">-400 400</field>
<field name="Increment">1</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
</param>
<param humanName="Motor interference compensation to compass3 for body frame X axis" name="COMPASS_MOT3_X" documentation="Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
</param>
<param humanName="Motor interference compensation to compass3 for body frame Y axis" name="COMPASS_MOT3_Y" documentation="Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
</param>
<param humanName="Motor interference compensation to compass3 for body frame Z axis" name="COMPASS_MOT3_Z" documentation="Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)" user="Advanced">
<field name="Range">-1000 1000</field>
<field name="Increment">1</field>
<field name="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
</param>
<param humanName="Compass device id" name="COMPASS_DEV_ID" documentation="Compass device id.  Automatically detected, do not set manually" user="Advanced">
</param>
<param humanName="Compass2 device id" name="COMPASS_DEV_ID2" documentation="Second compass's device id.  Automatically detected, do not set manually" user="Advanced">
</param>
<param humanName="Compass3 device id" name="COMPASS_DEV_ID3" documentation="Third compass's device id.  Automatically detected, do not set manually" user="Advanced">
</param>
<param humanName="Compass2 used for yaw" name="COMPASS_USE2" documentation="Enable or disable the second compass for determining heading." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Compass2 orientation" name="COMPASS_ORIENT2" documentation="The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used." user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Yaw45</value>
<value code="2">Yaw90</value>
<value code="3">Yaw135</value>
<value code="4">Yaw180</value>
<value code="5">Yaw225</value>
<value code="6">Yaw270</value>
<value code="7">Yaw315</value>
<value code="8">Roll180</value>
<value code="9">Roll180Yaw45</value>
<value code="10">Roll180Yaw90</value>
<value code="11">Roll180Yaw135</value>
<value code="12">Pitch180</value>
<value code="13">Roll180Yaw225</value>
<value code="14">Roll180Yaw270</value>
<value code="15">Roll180Yaw315</value>
<value code="16">Roll90</value>
<value code="17">Roll90Yaw45</value>
<value code="18">Roll90Yaw90</value>
<value code="19">Roll90Yaw135</value>
<value code="20">Roll270</value>
<value code="21">Roll270Yaw45</value>
<value code="22">Roll270Yaw90</value>
<value code="23">Roll270Yaw135</value>
<value code="24">Pitch90</value>
<value code="25">Pitch270</value>
<value code="26">Pitch180Yaw90</value>
<value code="27">Pitch180Yaw270</value>
<value code="28">Roll90Pitch90</value>
<value code="29">Roll180Pitch90</value>
<value code="30">Roll270Pitch90</value>
<value code="31">Roll90Pitch180</value>
<value code="32">Roll270Pitch180</value>
<value code="33">Roll90Pitch270</value>
<value code="34">Roll180Pitch270</value>
<value code="35">Roll270Pitch270</value>
<value code="36">Roll90Pitch180Yaw90</value>
<value code="37">Roll90Yaw270</value>
<value code="38">Yaw293Pitch68Roll180</value>
<value code="39">Pitch315</value>
<value code="40">Roll90Pitch315</value>
</values>
</param>
<param humanName="Compass2 is attached via an external cable" name="COMPASS_EXTERN2" documentation="Configure second compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
<values>
<value code="0">Internal</value>
<value code="1">External</value>
<value code="2">ForcedExternal</value>
</values>
</param>
<param humanName="Compass3 used for yaw" name="COMPASS_USE3" documentation="Enable or disable the third compass for determining heading." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Compass3 orientation" name="COMPASS_ORIENT3" documentation="The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used." user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Yaw45</value>
<value code="2">Yaw90</value>
<value code="3">Yaw135</value>
<value code="4">Yaw180</value>
<value code="5">Yaw225</value>
<value code="6">Yaw270</value>
<value code="7">Yaw315</value>
<value code="8">Roll180</value>
<value code="9">Roll180Yaw45</value>
<value code="10">Roll180Yaw90</value>
<value code="11">Roll180Yaw135</value>
<value code="12">Pitch180</value>
<value code="13">Roll180Yaw225</value>
<value code="14">Roll180Yaw270</value>
<value code="15">Roll180Yaw315</value>
<value code="16">Roll90</value>
<value code="17">Roll90Yaw45</value>
<value code="18">Roll90Yaw90</value>
<value code="19">Roll90Yaw135</value>
<value code="20">Roll270</value>
<value code="21">Roll270Yaw45</value>
<value code="22">Roll270Yaw90</value>
<value code="23">Roll270Yaw135</value>
<value code="24">Pitch90</value>
<value code="25">Pitch270</value>
<value code="26">Pitch180Yaw90</value>
<value code="27">Pitch180Yaw270</value>
<value code="28">Roll90Pitch90</value>
<value code="29">Roll180Pitch90</value>
<value code="30">Roll270Pitch90</value>
<value code="31">Roll90Pitch180</value>
<value code="32">Roll270Pitch180</value>
<value code="33">Roll90Pitch270</value>
<value code="34">Roll180Pitch270</value>
<value code="35">Roll270Pitch270</value>
<value code="36">Roll90Pitch180Yaw90</value>
<value code="37">Roll90Yaw270</value>
<value code="38">Yaw293Pitch68Roll180</value>
<value code="39">Pitch315</value>
<value code="40">Roll90Pitch315</value>
</values>
</param>
<param humanName="Compass3 is attached via an external cable" name="COMPASS_EXTERN3" documentation="Configure third compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled." user="Advanced">
<values>
<value code="0">Internal</value>
<value code="1">External</value>
<value code="2">ForcedExternal</value>
</values>
</param>
<param humanName="Compass soft-iron diagonal X component" name="COMPASS_DIA_X" documentation="DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass soft-iron diagonal Y component" name="COMPASS_DIA_Y" documentation="DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass soft-iron diagonal Z component" name="COMPASS_DIA_Z" documentation="DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass soft-iron off-diagonal X component" name="COMPASS_ODI_X" documentation="ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass soft-iron off-diagonal Y component" name="COMPASS_ODI_Y" documentation="ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass soft-iron off-diagonal Z component" name="COMPASS_ODI_Z" documentation="ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass2 soft-iron diagonal X component" name="COMPASS_DIA2_X" documentation="DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass2 soft-iron diagonal Y component" name="COMPASS_DIA2_Y" documentation="DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass2 soft-iron diagonal Z component" name="COMPASS_DIA2_Z" documentation="DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass2 soft-iron off-diagonal X component" name="COMPASS_ODI2_X" documentation="ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass2 soft-iron off-diagonal Y component" name="COMPASS_ODI2_Y" documentation="ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass2 soft-iron off-diagonal Z component" name="COMPASS_ODI2_Z" documentation="ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass3 soft-iron diagonal X component" name="COMPASS_DIA3_X" documentation="DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass3 soft-iron diagonal Y component" name="COMPASS_DIA3_Y" documentation="DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass3 soft-iron diagonal Z component" name="COMPASS_DIA3_Z" documentation="DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass3 soft-iron off-diagonal X component" name="COMPASS_ODI3_X" documentation="ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass3 soft-iron off-diagonal Y component" name="COMPASS_ODI3_Y" documentation="ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass3 soft-iron off-diagonal Z component" name="COMPASS_ODI3_Z" documentation="ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]" user="Advanced">
</param>
<param humanName="Compass calibration fitness" name="COMPASS_CAL_FIT" documentation="This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value." user="Advanced">
<field name="Range">4 32</field>
<values>
<value code="4">Very Strict</value>
<value code="8">Strict</value>
<value code="16">Default</value>
<value code="32">Relaxed</value>
</values>
<field name="Increment">0.1</field>
</param>
<param humanName="Compass maximum offset" name="COMPASS_OFFS_MAX" documentation="This sets the maximum allowed compass offset in calibration and arming checks" user="Advanced">
<field name="Range">500 3000</field>
<field name="Increment">1</field>
</param>
<param humanName="Compass disable driver type mask" name="COMPASS_TYPEMASK" documentation="This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup" user="Advanced">
<field name="Bitmask">0:HMC5883,1:LSM303D,2:AK8963,3:BMM150,4:LSM9DS1,5:LIS3MDL,6:AK09916,7:IST8310,8:ICM20948,9:MMC3416,11:UAVCAN,12:QMC5883</field>
</param>
<param humanName="Range in which sample is accepted" name="COMPASS_FLTR_RNG" documentation="This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.">
<field name="Range">0 100</field>
<field name="Increment">1</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
</parameters>
<parameters name="COMPASS_PMOT">
<param humanName="per-motor compass correction enable" name="COMPASS_PMOT_EN" documentation="This enables per-motor compass corrections" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="per-motor exponential correction" name="COMPASS_PMOT_EXP" documentation="This is the exponential correction for the power output of the motor for per-motor compass correction" user="Advanced">
<field name="Range">0 2</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Compass per-motor1 X" name="COMPASS_PMOT1_X" documentation="Compensation for X axis of motor1" user="Advanced">
</param>
<param humanName="Compass per-motor1 Y" name="COMPASS_PMOT1_Y" documentation="Compensation for Y axis of motor1" user="Advanced">
</param>
<param humanName="Compass per-motor1 Z" name="COMPASS_PMOT1_Z" documentation="Compensation for Z axis of motor1" user="Advanced">
</param>
<param humanName="Compass per-motor2 X" name="COMPASS_PMOT2_X" documentation="Compensation for X axis of motor2" user="Advanced">
</param>
<param humanName="Compass per-motor2 Y" name="COMPASS_PMOT2_Y" documentation="Compensation for Y axis of motor2" user="Advanced">
</param>
<param humanName="Compass per-motor2 Z" name="COMPASS_PMOT2_Z" documentation="Compensation for Z axis of motor2" user="Advanced">
</param>
<param humanName="Compass per-motor3 X" name="COMPASS_PMOT3_X" documentation="Compensation for X axis of motor3" user="Advanced">
</param>
<param humanName="Compass per-motor3 Y" name="COMPASS_PMOT3_Y" documentation="Compensation for Y axis of motor3" user="Advanced">
</param>
<param humanName="Compass per-motor3 Z" name="COMPASS_PMOT3_Z" documentation="Compensation for Z axis of motor3" user="Advanced">
</param>
<param humanName="Compass per-motor4 X" name="COMPASS_PMOT4_X" documentation="Compensation for X axis of motor4" user="Advanced">
</param>
<param humanName="Compass per-motor4 Y" name="COMPASS_PMOT4_Y" documentation="Compensation for Y axis of motor4" user="Advanced">
</param>
<param humanName="Compass per-motor4 Z" name="COMPASS_PMOT4_Z" documentation="Compensation for Z axis of motor4" user="Advanced">
</param>
</parameters>
<parameters name="EK2_">
<param humanName="Enable EKF2" name="EK2_ENABLE" documentation="This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="GPS mode control" name="EK2_GPS_TYPE" documentation="This controls use of GPS measurements : 0 = use 3D velocity &amp; 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors." user="Advanced">
<values>
<value code="0">GPS 3D Vel and 2D Pos</value>
<value code=" 1">GPS 2D vel and 2D pos</value>
<value code=" 2">GPS 2D pos</value>
<value code=" 3">No GPS</value>
</values>
</param>
<param humanName="GPS horizontal velocity measurement noise (m/s)" name="EK2_VELNE_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements." user="Advanced">
<field name="Range">0.05 5.0</field>
<field name="Increment">0.05</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="GPS vertical velocity measurement noise (m/s)" name="EK2_VELD_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements." user="Advanced">
<field name="Range">0.05 5.0</field>
<field name="Increment">0.05</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="GPS velocity innovation gate size" name="EK2_VEL_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="GPS horizontal position measurement noise (m)" name="EK2_POSNE_M_NSE" documentation="This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements." user="Advanced">
<field name="Range">0.1 10.0</field>
<field name="Increment">0.1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="GPS position measurement gate size" name="EK2_POS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="GPS glitch radius gate size (m)" name="EK2_GLITCH_RAD" documentation="This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position." user="Advanced">
<field name="Range">10 100</field>
<field name="Increment">5</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="GPS measurement delay (msec)" name="EK2_GPS_DELAY" documentation="This is the number of msec that the GPS measurements lag behind the inertial measurements." user="Advanced">
<field name="Range">0 250</field>
<field name="Increment">10</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Primary altitude sensor source" name="EK2_ALT_SOURCE" documentation="This parameter controls the primary height sensor used by the EKF. If the selected option cannot be used, it will default to Baro as the primary height source. Setting 0 will use the baro altitude at all times. Setting 1 uses the range finder and is only available in combination with optical flow navigation (EK2_GPS_TYPE = 3). Setting 2 uses GPS. Setting 3 uses the range beacon data. NOTE - the EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground." user="Advanced">
<values>
<value code="0">Use Baro</value>
<value code=" 1">Use Range Finder</value>
<value code=" 2">Use GPS</value>
<value code=" 3">Use Range Beacon</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Altitude measurement noise (m)" name="EK2_ALT_M_NSE" documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors." user="Advanced">
<field name="Range">0.1 10.0</field>
<field name="Increment">0.1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Height measurement gate size" name="EK2_HGT_I_GATE" documentation="This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Height measurement delay (msec)" name="EK2_HGT_DELAY" documentation="This is the number of msec that the Height measurements lag behind the inertial measurements." user="Advanced">
<field name="Range">0 250</field>
<field name="Increment">10</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Magnetometer measurement noise (Gauss)" name="EK2_MAG_M_NSE" documentation="This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
<field name="Range">0.01 0.5</field>
<field name="Increment">0.01</field>
<field name="Units">Gauss</field>
<field name="UnitText">gauss</field>
</param>
<param humanName="Magnetometer default fusion mode" name="EK2_MAG_CAL" documentation="This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK2_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK2_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK2_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK2_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter." user="Advanced">
<values>
<value code="0">When flying</value>
<value code="1">When manoeuvring</value>
<value code="2">Never</value>
<value code="3">After first climb yaw reset</value>
<value code="4">Always</value>
</values>
</param>
<param humanName="Magnetometer measurement gate size" name="EK2_MAG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Equivalent airspeed measurement noise (m/s)" name="EK2_EAS_M_NSE" documentation="This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements." user="Advanced">
<field name="Range">0.5 5.0</field>
<field name="Increment">0.1</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="Airspeed measurement gate size" name="EK2_EAS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Range finder measurement noise (m)" name="EK2_RNG_M_NSE" documentation="This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
<field name="Range">0.1 10.0</field>
<field name="Increment">0.1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Range finder measurement gate size" name="EK2_RNG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Maximum valid optical flow rate" name="EK2_MAX_FLOW" documentation="This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter" user="Advanced">
<field name="Range">1.0 4.0</field>
<field name="Increment">0.1</field>
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Optical flow measurement noise (rad/s)" name="EK2_FLOW_M_NSE" documentation="This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
<field name="Range">0.05 1.0</field>
<field name="Increment">0.05</field>
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Optical Flow measurement gate size" name="EK2_FLOW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Optical Flow measurement delay (msec)" name="EK2_FLOW_DELAY" documentation="This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
<field name="Range">0 127</field>
<field name="Increment">10</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Rate gyro noise (rad/s)" name="EK2_GYRO_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more." user="Advanced">
<field name="Range">0.0001 0.1</field>
<field name="Increment">0.0001</field>
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Accelerometer noise (m/s^2)" name="EK2_ACC_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more." user="Advanced">
<field name="Range">0.01 1.0</field>
<field name="Increment">0.01</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Rate gyro bias stability (rad/s/s)" name="EK2_GBIAS_P_NSE" documentation="This state  process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier." user="Advanced">
<field name="Range">0.00001 0.001</field>
<field name="Units">rad/s/s</field>
<field name="UnitText">radians per square second</field>
</param>
<param humanName="Rate gyro scale factor stability (1/s)" name="EK2_GSCL_P_NSE" documentation="This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier." user="Advanced">
<field name="Range">0.000001 0.001</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Accelerometer bias stability (m/s^3)" name="EK2_ABIAS_P_NSE" documentation="This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier." user="Advanced">
<field name="Range">0.00001 0.001</field>
<field name="Units">m/s/s/s</field>
<field name="UnitText">meters per cubic second</field>
</param>
<param humanName="Wind velocity process noise (m/s^2)" name="EK2_WIND_P_NSE" documentation="This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier." user="Advanced">
<field name="Range">0.01 1.0</field>
<field name="Increment">0.1</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Height rate to wind process noise scaler" name="EK2_WIND_PSCALE" documentation="This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser." user="Advanced">
<field name="Range">0.0 1.0</field>
<field name="Increment">0.1</field>
</param>
<param humanName="GPS preflight check" name="EK2_GPS_CHECK" documentation="This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat." user="Advanced">
<field name="Bitmask">0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed</field>
</param>
<param humanName="Bitmask of active IMUs" name="EK2_IMU_MASK" documentation="1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start." user="Advanced">
<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="GPS accuracy check scaler (%)" name="EK2_CHECK_SCALE" documentation="This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error." user="Advanced">
<field name="Range">50 200</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="Non-GPS operation position uncertainty (m)" name="EK2_NOAID_M_NSE" documentation="This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors." user="Advanced">
<field name="Range">0.5 50.0</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="EKF sensor logging IMU mask" name="EK2_LOG_MASK" documentation="This sets the IMU mask of sensors to do full logging for" user="Advanced">
<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Yaw measurement noise (rad)" name="EK2_YAW_M_NSE" documentation="This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements." user="Advanced">
<field name="Range">0.05 1.0</field>
<field name="Increment">0.05</field>
<field name="Units">rad</field>
<field name="UnitText">radians</field>
</param>
<param humanName="Yaw measurement gate size" name="EK2_YAW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Output complementary filter time constant (centi-sec)" name="EK2_TAU_OUTPUT" documentation="Sets the time constant of the output complementary filter/predictor in centi-seconds." user="Advanced">
<field name="Range">10 50</field>
<field name="Increment">5</field>
<field name="Units">cs</field>
<field name="UnitText">centiseconds</field>
</param>
<param humanName="Earth magnetic field process noise (gauss/s)" name="EK2_MAGE_P_NSE" documentation="This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier." user="Advanced">
<field name="Range">0.00001 0.01</field>
<field name="Units">Gauss/s</field>
<field name="UnitText">gauss per second</field>
</param>
<param humanName="Body magnetic field process noise (gauss/s)" name="EK2_MAGB_P_NSE" documentation="This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier." user="Advanced">
<field name="Range">0.00001 0.01</field>
<field name="Units">Gauss/s</field>
<field name="UnitText">gauss per second</field>
</param>
<param humanName="Range finder switch height percentage" name="EK2_RNG_USE_HGT" documentation="The range finder will be used as the primary height source when below a specified percentage of the sensor maximum as set by the RNGFND_MAX_CM parameter. Set to -1 to prevent range finder use." user="Advanced">
<field name="Range">-1 70</field>
<field name="Increment">1</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="Maximum terrain gradient" name="EK2_TERR_GRAD" documentation="Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference" user="Advanced">
<field name="Range">0 0.2</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Range beacon measurement noise (m)" name="EK2_BCN_M_NSE" documentation="This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
<field name="Range">0.1 10.0</field>
<field name="Increment">0.1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Range beacon measurement gate size" name="EK2_BCN_I_GTE" documentation="This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Range beacon measurement delay (msec)" name="EK2_BCN_DELAY" documentation="This is the number of msec that the range beacon measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
<field name="Range">0 127</field>
<field name="Increment">10</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Range finder max ground speed" name="EK2_RNG_USE_SPD" documentation="The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value." user="Advanced">
<field name="Range">2.0 6.0</field>
<field name="Increment">0.5</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="Bitmask of active EKF cores that will always use heading fusion" name="EK2_MAG_MASK" documentation="1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely." user="Advanced">
<field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Bitmask control of EKF reference height correction" name="EK2_OGN_HGT_MASK" documentation="When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default)." user="Advanced">
<field name="Bitmask">0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="EK3_">
<param humanName="Enable EKF3" name="EK3_ENABLE" documentation="This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="GPS mode control" name="EK3_GPS_TYPE" documentation="This controls use of GPS measurements : 0 = use 3D velocity &amp; 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors." user="Advanced">
<values>
<value code="0">GPS 3D Vel and 2D Pos</value>
<value code=" 1">GPS 2D vel and 2D pos</value>
<value code=" 2">GPS 2D pos</value>
<value code=" 3">No GPS</value>
</values>
</param>
<param humanName="GPS horizontal velocity measurement noise (m/s)" name="EK3_VELNE_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements." user="Advanced">
<field name="Range">0.05 5.0</field>
<field name="Increment">0.05</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="GPS vertical velocity measurement noise (m/s)" name="EK3_VELD_M_NSE" documentation="This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements." user="Advanced">
<field name="Range">0.05 5.0</field>
<field name="Increment">0.05</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="GPS velocity innovation gate size" name="EK3_VEL_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="GPS horizontal position measurement noise (m)" name="EK3_POSNE_M_NSE" documentation="This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements." user="Advanced">
<field name="Range">0.1 10.0</field>
<field name="Increment">0.1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="GPS position measurement gate size" name="EK3_POS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="GPS glitch radius gate size (m)" name="EK3_GLITCH_RAD" documentation="This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position." user="Advanced">
<field name="Range">10 100</field>
<field name="Increment">5</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Primary altitude sensor source" name="EK3_ALT_SOURCE" documentation="This parameter controls the primary height sensor used by the EKF. If the selected option cannot be used, it will default to Baro as the primary height source. Setting 0 will use the baro altitude at all times. Setting 1 uses the range finder and is only available in combination with optical flow navigation (EK3_GPS_TYPE = 3). Setting 2 uses GPS. Setting 3 uses the range beacon data. NOTE - the EK3_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground." user="Advanced">
<values>
<value code="0">Use Baro</value>
<value code=" 1">Use Range Finder</value>
<value code=" 2">Use GPS</value>
<value code=" 3">Use Range Beacon</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Altitude measurement noise (m)" name="EK3_ALT_M_NSE" documentation="This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors." user="Advanced">
<field name="Range">0.1 10.0</field>
<field name="Increment">0.1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Height measurement gate size" name="EK3_HGT_I_GATE" documentation="This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Height measurement delay (msec)" name="EK3_HGT_DELAY" documentation="This is the number of msec that the Height measurements lag behind the inertial measurements." user="Advanced">
<field name="Range">0 250</field>
<field name="Increment">10</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Magnetometer measurement noise (Gauss)" name="EK3_MAG_M_NSE" documentation="This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
<field name="Range">0.01 0.5</field>
<field name="Increment">0.01</field>
<field name="Units">Gauss</field>
<field name="UnitText">gauss</field>
</param>
<param humanName="Magnetometer default fusion mode" name="EK3_MAG_CAL" documentation="This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK3_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK3_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK3_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK3_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK3_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter." user="Advanced">
<values>
<value code="0">When flying</value>
<value code="1">When manoeuvring</value>
<value code="2">Never</value>
<value code="3">After first climb yaw reset</value>
<value code="4">Always</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Magnetometer measurement gate size" name="EK3_MAG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Equivalent airspeed measurement noise (m/s)" name="EK3_EAS_M_NSE" documentation="This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements." user="Advanced">
<field name="Range">0.5 5.0</field>
<field name="Increment">0.1</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="Airspeed measurement gate size" name="EK3_EAS_I_GATE" documentation="This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Range finder measurement noise (m)" name="EK3_RNG_M_NSE" documentation="This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
<field name="Range">0.1 10.0</field>
<field name="Increment">0.1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Range finder measurement gate size" name="EK3_RNG_I_GATE" documentation="This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Maximum valid optical flow rate" name="EK3_MAX_FLOW" documentation="This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter" user="Advanced">
<field name="Range">1.0 4.0</field>
<field name="Increment">0.1</field>
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Optical flow measurement noise (rad/s)" name="EK3_FLOW_M_NSE" documentation="This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements." user="Advanced">
<field name="Range">0.05 1.0</field>
<field name="Increment">0.05</field>
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Optical Flow measurement gate size" name="EK3_FLOW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Optical Flow measurement delay (msec)" name="EK3_FLOW_DELAY" documentation="This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor." user="Advanced">
<field name="Range">0 250</field>
<field name="Increment">10</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Rate gyro noise (rad/s)" name="EK3_GYRO_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more." user="Advanced">
<field name="Range">0.0001 0.1</field>
<field name="Increment">0.0001</field>
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Accelerometer noise (m/s^2)" name="EK3_ACC_P_NSE" documentation="This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more." user="Advanced">
<field name="Range">0.01 1.0</field>
<field name="Increment">0.01</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Rate gyro bias stability (rad/s/s)" name="EK3_GBIAS_P_NSE" documentation="This state  process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier." user="Advanced">
<field name="Range">0.00001 0.001</field>
<field name="Units">rad/s/s</field>
<field name="UnitText">radians per square second</field>
</param>
<param humanName="Accelerometer bias stability (m/s^3)" name="EK3_ABIAS_P_NSE" documentation="This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier." user="Advanced">
<field name="Range">0.00001 0.001</field>
<field name="Units">m/s/s/s</field>
<field name="UnitText">meters per cubic second</field>
</param>
<param humanName="Wind velocity process noise (m/s^2)" name="EK3_WIND_P_NSE" documentation="This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier." user="Advanced">
<field name="Range">0.01 1.0</field>
<field name="Increment">0.1</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Height rate to wind process noise scaler" name="EK3_WIND_PSCALE" documentation="This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser." user="Advanced">
<field name="Range">0.0 1.0</field>
<field name="Increment">0.1</field>
</param>
<param humanName="GPS preflight check" name="EK3_GPS_CHECK" documentation="This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat." user="Advanced">
<field name="Bitmask">0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed</field>
</param>
<param humanName="Bitmask of active IMUs" name="EK3_IMU_MASK" documentation="1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start." user="Advanced">
<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="GPS accuracy check scaler (%)" name="EK3_CHECK_SCALE" documentation="This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error." user="Advanced">
<field name="Range">50 200</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="Non-GPS operation position uncertainty (m)" name="EK3_NOAID_M_NSE" documentation="This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors." user="Advanced">
<field name="Range">0.5 50.0</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="EKF sensor logging IMU mask" name="EK3_LOG_MASK" documentation="This sets the IMU mask of sensors to do full logging for" user="Advanced">
<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Yaw measurement noise (rad)" name="EK3_YAW_M_NSE" documentation="This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements." user="Advanced">
<field name="Range">0.05 1.0</field>
<field name="Increment">0.05</field>
<field name="Units">rad</field>
<field name="UnitText">radians</field>
</param>
<param humanName="Yaw measurement gate size" name="EK3_YAW_I_GATE" documentation="This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Output complementary filter time constant (centi-sec)" name="EK3_TAU_OUTPUT" documentation="Sets the time constant of the output complementary filter/predictor in centi-seconds." user="Advanced">
<field name="Range">10 50</field>
<field name="Increment">5</field>
<field name="Units">cs</field>
<field name="UnitText">centiseconds</field>
</param>
<param humanName="Earth magnetic field process noise (gauss/s)" name="EK3_MAGE_P_NSE" documentation="This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier." user="Advanced">
<field name="Range">0.00001 0.01</field>
<field name="Units">Gauss/s</field>
<field name="UnitText">gauss per second</field>
</param>
<param humanName="Body magnetic field process noise (gauss/s)" name="EK3_MAGB_P_NSE" documentation="This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier." user="Advanced">
<field name="Range">0.00001 0.01</field>
<field name="Units">Gauss/s</field>
<field name="UnitText">gauss per second</field>
</param>
<param humanName="Range finder switch height percentage" name="EK3_RNG_USE_HGT" documentation="The range finder will be used as the primary height source when below a specified percentage of the sensor maximum as set by the RNGFND_MAX_CM parameter. Set to -1 to prevent range finder use." user="Advanced">
<field name="Range">-1 70</field>
<field name="Increment">1</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="Maximum terrain gradient" name="EK3_TERR_GRAD" documentation="Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference" user="Advanced">
<field name="Range">0 0.2</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Range beacon measurement noise (m)" name="EK3_BCN_M_NSE" documentation="This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement." user="Advanced">
<field name="Range">0.1 10.0</field>
<field name="Increment">0.1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Range beacon measurement gate size" name="EK3_BCN_I_GTE" documentation="This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted." user="Advanced">
<field name="Range">100 1000</field>
<field name="Increment">25</field>
</param>
<param humanName="Range beacon measurement delay (msec)" name="EK3_BCN_DELAY" documentation="This is the number of msec that the range beacon measurements lag behind the inertial measurements." user="Advanced">
<field name="Range">0 250</field>
<field name="Increment">10</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Range finder max ground speed" name="EK3_RNG_USE_SPD" documentation="The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value." user="Advanced">
<field name="Range">2.0 6.0</field>
<field name="Increment">0.5</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="Accelerometer bias limit" name="EK3_ACC_BIAS_LIM" documentation="The accelerometer bias state will be limited to +- this value" user="Advanced">
<field name="Range">0.5 2.5</field>
<field name="Increment">0.1</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Bitmask of active EKF cores that will always use heading fusion" name="EK3_MAG_MASK" documentation="1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely." user="Advanced">
<field name="Bitmask">0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Bitmask control of EKF reference height correction" name="EK3_OGN_HGT_MASK" documentation="When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default)." user="Advanced">
<field name="Bitmask">0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Visual odometry minimum velocity error" name="EK3_VIS_VERR_MIN" documentation="This is the 1-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX." user="Advanced">
<field name="Range">0.05 0.5</field>
<field name="Increment">0.05</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="Visual odometry maximum velocity error" name="EK3_VIS_VERR_MAX" documentation="This is the 1-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX." user="Advanced">
<field name="Range">0.5 5.0</field>
<field name="Increment">0.1</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="Wheel odometry velocity error" name="EK3_WENC_VERR" documentation="This is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused." user="Advanced">
<field name="Range">0.01 1.0</field>
<field name="Increment">0.1</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
</parameters>
<parameters name="FENCE_">
<param humanName="Fence enable/disable" name="FENCE_ENABLE" documentation="Allows you to enable (1) or disable (0) the fence functionality" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Fence Type" name="FENCE_TYPE" documentation="Enabled fence types held as bitmask" user="Standard">
<field name="Bitmask">0:Altitude,1:Circle,2:Polygon</field>
<values>
<value code="0">None</value>
<value code="1">Altitude</value>
<value code="2">Circle</value>
<value code="3">Altitude and Circle</value>
<value code="4">Polygon</value>
<value code="5">Altitude and Polygon</value>
<value code="6">Circle and Polygon</value>
<value code="7">All</value>
</values>
</param>
<param humanName="Fence Action" name="FENCE_ACTION" documentation="What action should be taken when fence is breached" user="Standard">
<values>
<value code="0">Report Only</value>
<value code="1">RTL or Land</value>
</values>
</param>
<param humanName="Fence Maximum Altitude" name="FENCE_ALT_MAX" documentation="Maximum altitude allowed before geofence triggers" user="Standard">
<field name="Range">10 1000</field>
<field name="Increment">1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Circular Fence Radius" name="FENCE_RADIUS" documentation="Circle fence radius which when breached will cause an RTL" user="Standard">
<field name="Range">30 10000</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Fence Margin" name="FENCE_MARGIN" documentation="Distance that autopilot's should maintain from the fence to avoid a breach" user="Standard">
<field name="Range">1 10</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Fence polygon point total" name="FENCE_TOTAL" documentation="Number of polygon points saved in eeprom (do not update manually)" user="Standard">
<field name="Range">1 20</field>
</param>
<param humanName="Fence Minimum Altitude" name="FENCE_ALT_MIN" documentation="Minimum altitude allowed before geofence triggers" user="Standard">
<field name="Range">-100 100</field>
<field name="Increment">1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
</parameters>
<parameters name="FHLD">
<param humanName="FlowHold P gain" name="FHLD_XY_P" documentation="FlowHold (horizontal) P gain." user="Advanced">
<field name="Range">0.1 6.0</field>
<field name="Increment">0.1</field>
</param>
<param humanName="FlowHold I gain" name="FHLD_XY_I" documentation="FlowHold (horizontal) I gain" user="Advanced">
<field name="Range">0.02 1.00</field>
<field name="Increment">0.01</field>
</param>
<param humanName="FlowHold Integrator Max" name="FHLD_XY_IMAX" documentation="FlowHold (horizontal) integrator maximum" user="Advanced">
<field name="Range">0 4500</field>
<field name="Increment">10</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="FlowHold Flow Rate Max" name="FHLD_FLOW_MAX" documentation="Controls maximum apparent flow rate in flowhold" user="Standard">
<field name="Range">0.1 2.5</field>
</param>
<param humanName="FlowHold Filter Frequency" name="FHLD_FILT_HZ" documentation="Filter frequency for flow data" user="Standard">
<field name="Range">1 100</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="FlowHold Flow quality minimum" name="FHLD_QUAL_MIN" documentation="Minimum flow quality to use flow position hold" user="Standard">
<field name="Range">0 255</field>
</param>
<param humanName="FlowHold Braking rate" name="FHLD_BRAKE_RATE" documentation="Controls deceleration rate on stick release" user="Standard">
<field name="Range">1 30</field>
<field name="Units">deg/s</field>
<field name="UnitText">degrees per second</field>
</param>
</parameters>
<parameters name="FLOW">
<param humanName="Optical flow enable/disable" name="FLOW_ENABLE" documentation="Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow" user="Standard">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
</values>
</param>
<param humanName="X axis optical flow scale factor correction" name="FLOW_FXSCALER" documentation="This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor." user="Standard">
<field name="Range">-200 +200</field>
<field name="Increment">1</field>
</param>
<param humanName="Y axis optical flow scale factor correction" name="FLOW_FYSCALER" documentation="This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor." user="Standard">
<field name="Range">-200 +200</field>
<field name="Increment">1</field>
</param>
<param humanName="Flow sensor yaw alignment" name="FLOW_ORIENT_YAW" documentation="Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle." user="Standard">
<field name="Range">-18000 +18000</field>
<field name="Increment">1</field>
</param>
<param humanName=" X position offset" name="FLOW_POS_X" documentation="X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Y position offset" name="FLOW_POS_Y" documentation="Y position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Z position offset" name="FLOW_POS_Z" documentation="Z position of the optical flow sensor focal point in body frame. Positive Z is down from the origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Address on the bus" name="FLOW_ADDR" documentation="This is used to select between multiple possible I2C addresses for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus." user="Advanced">
<field name="Range">0 127</field>
</param>
</parameters>
<parameters name="FOLL">
<param humanName="Follow enable/disable" name="FOLL_ENABLE" documentation="Enabled/disable following a target" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Follow target's mavlink system id" name="FOLL_SYSID" documentation="Follow target's mavlink system id" user="Standard">
<field name="Range">0 255</field>
</param>
<param humanName="Follow distance maximum" name="FOLL_DIST_MAX" documentation="Follow distance maximum.  targets further than this will be ignored" user="Standard">
<field name="Range">1 1000</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Follow offset type" name="FOLL_OFS_TYPE" documentation="Follow offset type" user="Standard">
<values>
<value code="0">North-East-Down</value>
<value code=" 1">Relative to lead vehicle heading</value>
</values>
</param>
<param humanName="Follow offsets in meters north/forward" name="FOLL_OFS_X" documentation="Follow offsets in meters north/forward.  If positive, this vehicle fly ahead or north of lead vehicle.  Depends on FOLL_OFS_TYPE" user="Standard">
<field name="Range">-100 100</field>
<field name="Increment">1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Follow offsets in meters east/right" name="FOLL_OFS_Y" documentation="Follow offsets in meters east/right.  If positive, this vehicle fly to the right or east of lead vehicle.  Depends on FOLL_OFS_TYPE" user="Standard">
<field name="Range">-100 100</field>
<field name="Increment">1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Follow offsets in meters down" name="FOLL_OFS_Z" documentation="Follow offsets in meters down.  If positive, this vehicle fly below the lead vehicle" user="Standard">
<field name="Range">-100 100</field>
<field name="Increment">1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Follow yaw behaviour" name="FOLL_YAW_BEHAVE" documentation="Follow yaw behaviour" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Face Lead Vehicle</value>
<value code="2">Same as Lead vehicle</value>
<value code="3">Direction of Flight</value>
</values>
</param>
<param humanName="Follow position error P gain" name="FOLL_POS_P" documentation="Follow position error P gain.  Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller" user="Standard">
<field name="Range">0.01 1.00</field>
<field name="Increment">0.01</field>
</param>
</parameters>
<parameters name="GND_">
<param humanName="Absolute Pressure" name="GND_ABS_PRESS" documentation="calibrated ground pressure in Pascals" user="Advanced">
<field name="ReadOnly">True</field>
<field name="Volatile">True</field>
<field name="Increment">1</field>
<field name="Units">Pa</field>
<field name="UnitText">pascal</field>
</param>
<param humanName="ground temperature" name="GND_TEMP" documentation="User provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature." user="Advanced">
<field name="Volatile">True</field>
<field name="Increment">1</field>
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
</param>
<param humanName="altitude offset" name="GND_ALT_OFFSET" documentation="altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed." user="Advanced">
<field name="Increment">0.1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Primary barometer" name="GND_PRIMARY" documentation="This selects which barometer will be the primary if multiple barometers are found" user="Advanced">
<values>
<value code="0">FirstBaro</value>
<value code="1">2ndBaro</value>
<value code="2">3rdBaro</value>
</values>
</param>
<param humanName="External baro bus" name="GND_EXT_BUS" documentation="This selects the bus number for looking for an I2C barometer" user="Advanced">
<values>
<value code="-1">Disabled</value>
<value code="0">Bus0</value>
<value code="1">Bus1</value>
</values>
</param>
<param humanName="Specific Gravity (For water depth measurement)" name="GND_SPEC_GRAV" documentation="This sets the specific gravity of the fluid when flying an underwater ROV.">
<field name="Values">1.0:Freshwater,1.024:Saltwater</field>
</param>
<param humanName="Absolute Pressure" name="GND_ABS_PRESS2" documentation="calibrated ground pressure in Pascals" user="Advanced">
<field name="ReadOnly">True</field>
<field name="Volatile">True</field>
<field name="Increment">1</field>
<field name="Units">Pa</field>
<field name="UnitText">pascal</field>
</param>
<param humanName="Absolute Pressure" name="GND_ABS_PRESS3" documentation="calibrated ground pressure in Pascals" user="Advanced">
<field name="ReadOnly">True</field>
<field name="Volatile">True</field>
<field name="Increment">1</field>
<field name="Units">Pa</field>
<field name="UnitText">pascal</field>
</param>
<param humanName="Range in which sample is accepted" name="GND_FLTR_RNG" documentation="This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.">
<field name="Range">0 100</field>
<field name="Increment">1</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
</parameters>
<parameters name="GPS_">
<param humanName="GPS type" name="GPS_TYPE" documentation="GPS type" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">AUTO</value>
<value code="2">uBlox</value>
<value code="3">MTK</value>
<value code="4">MTK19</value>
<value code="5">NMEA</value>
<value code="6">SiRF</value>
<value code="7">HIL</value>
<value code="8">SwiftNav</value>
<value code="9">UAVCAN</value>
<value code="10">SBF</value>
<value code="11">GSOF</value>
<value code="13">ERB</value>
<value code="14">MAV</value>
<value code="15">NOVA</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="2nd GPS type" name="GPS_TYPE2" documentation="GPS type of 2nd GPS" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">AUTO</value>
<value code="2">uBlox</value>
<value code="3">MTK</value>
<value code="4">MTK19</value>
<value code="5">NMEA</value>
<value code="6">SiRF</value>
<value code="7">HIL</value>
<value code="8">SwiftNav</value>
<value code="9">UAVCAN</value>
<value code="10">SBF</value>
<value code="11">GSOF</value>
<value code="13">ERB</value>
<value code="14">MAV</value>
<value code="15">NOVA</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Navigation filter setting" name="GPS_NAVFILTER" documentation="Navigation filter engine setting" user="Advanced">
<values>
<value code="0">Portable</value>
<value code="2">Stationary</value>
<value code="3">Pedestrian</value>
<value code="4">Automotive</value>
<value code="5">Sea</value>
<value code="6">Airborne1G</value>
<value code="7">Airborne2G</value>
<value code="8">Airborne4G</value>
</values>
</param>
<param humanName="Automatic Switchover Setting" name="GPS_AUTO_SWITCH" documentation="Automatic switchover to GPS reporting best lock" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">UseBest</value>
<value code="2">Blend</value>
</values>
</param>
<param humanName="Minimum Lock Type Accepted for DGPS" name="GPS_MIN_DGPS" documentation="Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode." user="Advanced">
<values>
<value code="0">Any</value>
<value code="50">FloatRTK</value>
<value code="100">IntegerRTK</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="SBAS Mode" name="GPS_SBAS_MODE" documentation="This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
<value code="2">NoChange</value>
</values>
</param>
<param humanName="Minimum elevation" name="GPS_MIN_ELEV" documentation="This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default." user="Advanced">
<field name="Range">-100 90</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Destination for GPS_INJECT_DATA MAVLink packets" name="GPS_INJECT_TO" documentation="The GGS can send raw serial packets to inject data to multiple GPSes." user="Advanced">
<values>
<value code="0">send to first GPS</value>
<value code="1">send to 2nd GPS</value>
<value code="127">send to all</value>
</values>
</param>
<param humanName="Swift Binary Protocol Logging Mask" name="GPS_SBP_LOGMASK" documentation="Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged" user="Advanced">
<values>
<value code="0">None (0x0000)</value>
<value code="-1">All (0xFFFF)</value>
<value code="-256">External only (0xFF00)</value>
</values>
</param>
<param humanName="Raw data logging" name="GPS_RAW_DATA" documentation="Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into dataflash log; on Septentrio this will log on the equipment's SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming" user="Advanced">
<values>
<value code="0">Ignore</value>
<value code="1">Always log</value>
<value code="2">Stop logging when disarmed (SBF only)</value>
<value code="5">Only log every five samples (uBlox only)</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="GNSS system configuration" name="GPS_GNSS_MODE" documentation="Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS</field>
<values>
<value code="0">Leave as currently configured</value>
<value code=" 1">GPS-NoSBAS</value>
<value code=" 3">GPS+SBAS</value>
<value code=" 4">Galileo-NoSBAS</value>
<value code=" 6">Galileo+SBAS</value>
<value code=" 8">Beidou</value>
<value code=" 51">GPS+IMES+QZSS+SBAS (Japan Only)</value>
<value code=" 64">GLONASS</value>
<value code=" 66">GLONASS+SBAS</value>
<value code=" 67">GPS+GLONASS+SBAS</value>
</values>
</param>
<param humanName="Save GPS configuration" name="GPS_SAVE_CFG" documentation="Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above." user="Advanced">
<values>
<value code="0">Do not save config</value>
<value code="1">Save config</value>
<value code="2">Save only when needed</value>
</values>
</param>
<param humanName="GNSS system configuration" name="GPS_GNSS_MODE2" documentation="Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)" user="Advanced">
<field name="Bitmask">0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLOSNASS</field>
<values>
<value code="0">Leave as currently configured</value>
<value code=" 1">GPS-NoSBAS</value>
<value code=" 3">GPS+SBAS</value>
<value code=" 4">Galileo-NoSBAS</value>
<value code=" 6">Galileo+SBAS</value>
<value code=" 8">Beidou</value>
<value code=" 51">GPS+IMES+QZSS+SBAS (Japan Only)</value>
<value code=" 64">GLONASS</value>
<value code=" 66">GLONASS+SBAS</value>
<value code=" 67">GPS+GLONASS+SBAS</value>
</values>
</param>
<param humanName="Automatic GPS configuration" name="GPS_AUTO_CONFIG" documentation="Controls if the autopilot should automatically configure the GPS based on the parameters and default settings" user="Advanced">
<values>
<value code="0">Disables automatic configuration</value>
<value code="1">Enable automatic configuration</value>
</values>
</param>
<param humanName="GPS update rate in milliseconds" name="GPS_RATE_MS" documentation="Controls how often the GPS should provide a position update. Lowering below 5Hz is not allowed" user="Advanced">
<field name="Range">50 200</field>
<values>
<value code="100">10Hz</value>
<value code="125">8Hz</value>
<value code="200">5Hz</value>
</values>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
</param>
<param humanName="GPS 2 update rate in milliseconds" name="GPS_RATE_MS2" documentation="Controls how often the GPS should provide a position update. Lowering below 5Hz is not allowed" user="Advanced">
<field name="Range">50 200</field>
<values>
<value code="100">10Hz</value>
<value code="125">8Hz</value>
<value code="200">5Hz</value>
</values>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
</param>
<param humanName="Antenna X position offset" name="GPS_POS1_X" documentation="X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Antenna Y position offset" name="GPS_POS1_Y" documentation="Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Antenna Z position offset" name="GPS_POS1_Z" documentation="Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Antenna X position offset" name="GPS_POS2_X" documentation="X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Antenna Y position offset" name="GPS_POS2_Y" documentation="Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Antenna Z position offset" name="GPS_POS2_Z" documentation="Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="GPS delay in milliseconds" name="GPS_DELAY_MS" documentation="Controls the amount of GPS  measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type." user="Advanced">
<field name="Range">0 250</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="GPS 2 delay in milliseconds" name="GPS_DELAY_MS2" documentation="Controls the amount of GPS  measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type." user="Advanced">
<field name="Range">0 250</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Multi GPS Blending Mask" name="GPS_BLEND_MASK" documentation="Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2" user="Advanced">
<field name="Bitmask">0:Horiz Pos,1:Vert Pos,2:Speed</field>
</param>
<param humanName="Blending time constant" name="GPS_BLEND_TC" documentation="Controls the slowest time constant applied to the calculation of GPS position and height offsets used to adjust different GPS receivers for steady state position differences." user="Advanced">
<field name="Range">5.0 30.0</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
</parameters>
<parameters name="GRIP_">
<param humanName="Gripper Enable/Disable" name="GRIP_ENABLE" documentation="Gripper enable/disable" user="Standard">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
</values>
</param>
<param humanName="Gripper Type" name="GRIP_TYPE" documentation="Gripper enable/disable" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Servo</value>
<value code="2">EPM</value>
</values>
</param>
<param humanName="Gripper Grab PWM" name="GRIP_GRAB" documentation="PWM value in microseconds sent to Gripper to initiate grabbing the cargo" user="Advanced">
<field name="Range">1000 2000</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Gripper Release PWM" name="GRIP_RELEASE" documentation="PWM value in microseconds sent to Gripper to release the cargo" user="Advanced">
<field name="Range">1000 2000</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Neutral PWM" name="GRIP_NEUTRAL" documentation="PWM value in microseconds sent to grabber when not grabbing or releasing" user="Advanced">
<field name="Range">1000 2000</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Gripper Regrab interval" name="GRIP_REGRAB" documentation="Time in seconds that gripper will regrab the cargo to ensure grip has not weakened; 0 to disable" user="Advanced">
<field name="Range">0 255</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="EPM UAVCAN Hardpoint ID" name="GRIP_UAVCAN_ID" documentation="Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface" user="Standard">
<field name="Range">0 255</field>
</param>
</parameters>
<parameters name="H_">
<param humanName="Servo 1 Position" name="H_SV1_POS" documentation="Angular location of swash servo #1 - only used for H3 swash type" user="Standard">
<field name="Range">-180 180</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Servo 2 Position" name="H_SV2_POS" documentation="Angular location of swash servo #2 - only used for H3 swash type" user="Standard">
<field name="Range">-180 180</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Servo 3 Position" name="H_SV3_POS" documentation="Angular location of swash servo #3 - only used for H3 swash type" user="Standard">
<field name="Range">-180 180</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Tail Type" name="H_TAIL_TYPE" documentation="Tail type selection.  Simpler yaw controller used if external gyro is selected" user="Standard">
<values>
<value code="0">Servo only</value>
<value code="1">Servo with ExtGyro</value>
<value code="2">DirectDrive VarPitch</value>
<value code="3">DirectDrive FixedPitch</value>
</values>
</param>
<param humanName="Swash Type" name="H_SWASH_TYPE" documentation="Swash Type Setting" user="Standard">
<values>
<value code="0">H3 CCPM Adjustable</value>
<value code=" 1">H1 Straight Swash</value>
<value code=" 2">H3_140 CCPM</value>
</values>
</param>
<param humanName="External Gyro Gain" name="H_GYR_GAIN" documentation="PWM in microseconds sent to external gyro on ch7 when tail type is Servo w/ ExtGyro" user="Standard">
<field name="Range">0 1000</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Swashplate Phase Angle Compensation" name="H_PHANG" documentation="Only for H3 swashplate.  If pitching the swash forward induces a roll, this can be correct the problem" user="Advanced">
<field name="Range">-30 30</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Collective-Yaw Mixing" name="H_COLYAW" documentation="Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics." user="Advanced">
<field name="Range">-10 10</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Flybar Mode Selector" name="H_FLYBAR_MODE" documentation="Flybar present or not.  Affects attitude controller used during ACRO flight mode" user="Standard">
<values>
<value code="0">NoFlybar</value>
<value code="1">Flybar</value>
</values>
</param>
<param humanName="Direct Drive VarPitch Tail ESC speed" name="H_TAIL_SPEED" documentation="Direct Drive VarPitch Tail ESC speed in PWM microseconds.  Only used when TailType is DirectDrive VarPitch" user="Standard">
<field name="Range">0 1000</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="External Gyro Gain for ACRO" name="H_GYR_GAIN_ACRO" documentation="PWM in microseconds sent to external gyro on ch7 when tail type is Servo w/ ExtGyro. A value of zero means to use H_GYR_GAIN" user="Standard">
<field name="Range">0 1000</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Collective Control Direction" name="H_COL_CTRL_DIR" documentation="Collective Control Direction - 0 for Normal. 1 for Reversed" user="Standard">
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<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
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Adjust to new parameters in Copter 3.6
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</param>
<param humanName="Servo 1 Position" name="H_SV1_POS" documentation="Angular location of swash servo #1" user="Standard">
<field name="Range">-180 180</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Servo 2 Position" name="H_SV2_POS" documentation="Angular location of swash servo #2" user="Standard">
<field name="Range">-180 180</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Servo 3 Position" name="H_SV3_POS" documentation="Angular location of swash servo #3" user="Standard">
<field name="Range">-180 180</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Servo 4 Position" name="H_SV4_POS" documentation="Angular location of swash servo #4" user="Standard">
<field name="Range">-180 180</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Servo 5 Position" name="H_SV5_POS" documentation="Angular location of swash servo #5" user="Standard">
<field name="Range">-180 180</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Servo 6 Position" name="H_SV6_POS" documentation="Angular location of swash servo #6" user="Standard">
<field name="Range">-180 180</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Swashplate 1 Phase Angle Compensation" name="H_PHANG1" documentation="Phase angle correction for rotor head.  If pitching the swash forward induces a roll, this can be correct the problem" user="Advanced">
<field name="Range">-90 90</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Swashplate 2 Phase Angle Compensation" name="H_PHANG2" documentation="Phase angle correction for rotor head.  If pitching the swash forward induces a roll, this can be correct the problem" user="Advanced">
<field name="Range">-90 90</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Dual Mode" name="H_DUAL_MODE" documentation="Sets the dual mode of the heli, either as tandem or as transverse." user="Standard">
<values>
<value code="0">Longitudinal</value>
<value code=" 1">Transverse</value>
</values>
</param>
<param humanName="Differential-Collective-Pitch Scaler" name="H_DCP_SCALER" documentation="Scaling factor applied to the differential-collective-pitch" user="Standard">
<field name="Range">0 1</field>
</param>
<param humanName="Differential-Collective-Pitch Yaw Mixing" name="H_DCP_YAW" documentation="Feed-forward compensation to automatically add yaw input when differential collective pitch is applied.">
<field name="Range">-10 10</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Scaler for yaw mixing" name="H_YAW_SCALER" documentation="Scaler for mixing yaw into roll or pitch.">
<field name="Range">-10 10</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Collective Pitch Minimum for rear swashplate" name="H_COL2_MIN" documentation="Lowest possible servo position in PWM microseconds for the rear swashplate" user="Standard">
<field name="Range">1000 2000</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Collective Pitch Maximum for rear swashplate" name="H_COL2_MAX" documentation="Highest possible servo position in PWM microseconds for the rear swashplate" user="Standard">
<field name="Range">1000 2000</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Collective Pitch Mid-Point for rear swashplate" name="H_COL2_MID" documentation="Swash servo position in PWM microseconds corresponding to zero collective pitch for the rear swashplate (or zero lift for Asymmetrical blades)" user="Standard">
<field name="Range">1000 2000</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Collective Control Direction" name="H_COL_CTRL_DIR" documentation="Collective Control Direction - 0 for Normal. 1 for Reversed" user="Standard">
<field name="Values">0: Normal, 1: Reversed</field>
</param>
<param humanName="Collective Pitch Minimum" name="H_COL_MIN" documentation="Lowest possible servo position in PWM microseconds for the swashplate" user="Standard">
<field name="Range">1000 2000</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Collective Pitch Maximum" name="H_COL_MAX" documentation="Highest possible servo position in PWM microseconds for the swashplate" user="Standard">
<field name="Range">1000 2000</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Collective Pitch Mid-Point" name="H_COL_MID" documentation="Swash servo position in PWM microseconds corresponding to zero collective pitch (or zero lift for Asymmetrical blades)" user="Standard">
<field name="Range">1000 2000</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Manual Servo Mode" name="H_SV_MAN" documentation="Manual servo override for swash set-up. Do not set this manually!" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Passthrough</value>
<value code="2">Max collective</value>
<value code="3">Mid collective</value>
<value code="4">Min collective</value>
</values>
</param>
<param humanName="External Motor Governor Setpoint" name="H_RSC_SETPOINT" documentation="PWM in microseconds passed to the external motor governor when external governor is enabled" user="Standard">
<field name="Range">0 1000</field>
<field name="Increment">10</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Rotor Speed Control Mode" name="H_RSC_MODE" documentation="Determines the method of rotor speed control" user="Standard">
<values>
<value code="1">Ch8 Input</value>
<value code=" 2">SetPoint</value>
<value code=" 3">Throttle Curve</value>
</values>
</param>
<param humanName="Landing Collective Minimum" name="H_LAND_COL_MIN" documentation="Minimum collective position in PWM microseconds while landed or landing" user="Standard">
<field name="Range">0 500</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RSC Ramp Time" name="H_RSC_RAMP_TIME" documentation="Time in seconds for the output to the main rotor's ESC to reach full speed" user="Standard">
<field name="Range">0 60</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="RSC Runup Time" name="H_RSC_RUNUP_TIME" documentation="Time in seconds for the main rotor to reach full speed.  Must be longer than RSC_RAMP_TIME" user="Standard">
<field name="Range">0 60</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Critical Rotor Speed" name="H_RSC_CRITICAL" documentation="Rotor speed below which flight is not possible" user="Standard">
<field name="Range">0 1000</field>
<field name="Increment">10</field>
</param>
<param humanName="Rotor Speed Output at Idle" name="H_RSC_IDLE" documentation="Rotor speed output while armed but rotor control speed is not engaged" user="Standard">
<field name="Range">0 500</field>
<field name="Increment">10</field>
</param>
<param humanName="Cyclic Pitch Angle Max" name="H_CYC_MAX" documentation="Maximum pitch angle of the swash plate" user="Advanced">
<field name="Range">0 18000</field>
<field name="Increment">100</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Boot-up Servo Test Cycles" name="H_SV_TEST" documentation="Number of cycles to run servo test on boot-up" user="Standard">
<field name="Range">0 10</field>
<field name="Increment">1</field>
</param>
<param humanName="Throttle servo slew rate" name="H_RSC_SLEWRATE" documentation="This controls the maximum rate at which the throttle output can change, as a percentage per second. A value of 100 means the throttle can change over its full range in one second. A value of zero gives unlimited slew rate." user="Standard">
<field name="Range">0 500</field>
<field name="Increment">10</field>
</param>
<param humanName="Throttle Servo Position for 0 percent collective" name="H_RSC_THRCRV_0" documentation="Throttle Servo Position for 0 percent collective. This is on a scale from 0 to 1000, where 1000 is full throttle and 0 is zero throttle. Actual PWM values are controlled by SERVOX_MIN and SERVOX_MAX. The 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX." user="Standard">
<field name="Range">0 1000</field>
<field name="Increment">10</field>
</param>
<param humanName="Throttle Servo Position for 25 percent collective" name="H_RSC_THRCRV_25" documentation="Throttle Servo Position for 25 percent collective. This is on a scale from 0 to 1000, where 1000 is full throttle and 0 is zero throttle. Actual PWM values are controlled by SERVOX_MIN and SERVOX_MAX. The 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX." user="Standard">
<field name="Range">0 1000</field>
<field name="Increment">10</field>
</param>
<param humanName="Throttle Servo Position for 50 percent collective" name="H_RSC_THRCRV_50" documentation="Throttle Servo Position for 50 percent collective. This is on a scale from 0 to 1000, where 1000 is full throttle and 0 is zero throttle. Actual PWM values are controlled by SERVOX_MIN and SERVOX_MAX. The 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX." user="Standard">
<field name="Range">0 1000</field>
<field name="Increment">10</field>
</param>
<param humanName="Throttle Servo Position for 75 percent collective" name="H_RSC_THRCRV_75" documentation="Throttle Servo Position for 75 percent collective. This is on a scale from 0 to 1000, where 1000 is full throttle and 0 is zero throttle. Actual PWM values are controlled by SERVOX_MIN and SERVOX_MAX. The 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX." user="Standard">
<field name="Range">0 1000</field>
<field name="Increment">10</field>
</param>
<param humanName="Throttle Servo Position for 100 percent collective" name="H_RSC_THRCRV_100" documentation="Throttle Servo Position for 100 percent collective. This is on a scale from 0 to 1000, where 1000 is full throttle and 0 is zero throttle. Actual PWM values are controlled by SERVOX_MIN and SERVOX_MAX. The 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX." user="Standard">
<field name="Range">0 1000</field>
<field name="Increment">10</field>
</param>
</parameters>
<parameters name="IM_">
<param humanName="Stabilize Mode Collective Point 1" name="IM_STAB_COL_1" documentation="Helicopter's minimum collective pitch setting at zero throttle input in Stabilize mode" user="Standard">
<field name="Range">0 500</field>
<field name="Increment">1</field>
<field name="Units">d%</field>
<field name="UnitText">decipercent</field>
</param>
<param humanName="Stabilize Mode Collective Point 2" name="IM_STAB_COL_2" documentation="Helicopter's collective pitch setting at mid-low throttle input in Stabilize mode" user="Standard">
<field name="Range">0 500</field>
<field name="Increment">1</field>
<field name="Units">d%</field>
<field name="UnitText">decipercent</field>
</param>
<param humanName="Stabilize Mode Collective Point 3" name="IM_STAB_COL_3" documentation="Helicopter's collective pitch setting at mid-high throttle input in Stabilize mode" user="Standard">
<field name="Range">500 1000</field>
<field name="Increment">1</field>
<field name="Units">d%</field>
<field name="UnitText">decipercent</field>
</param>
<param humanName="Stabilize Mode Collective Point 4" name="IM_STAB_COL_4" documentation="Helicopter's maximum collective pitch setting at full throttle input in Stabilize mode" user="Standard">
<field name="Range">500 1000</field>
<field name="Increment">1</field>
<field name="Units">d%</field>
<field name="UnitText">decipercent</field>
</param>
<param humanName="Acro Mode Collective Expo" name="IM_ACRO_COL_EXP" documentation="Used to soften collective pitch inputs near center point in Acro mode." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="0.1">Very Low</value>
<value code="0.2">Low</value>
<value code="0.3">Medium</value>
<value code="0.4">High</value>
<value code="0.5">Very High</value>
</values>
</param>
</parameters>
<parameters name="INS_">
<param humanName="IMU Product ID" name="INS_PRODUCT_ID" documentation="unused" user="Advanced">
</param>
<param humanName="Gyro offsets of X axis" name="INS_GYROFFS_X" documentation="Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Gyro offsets of Y axis" name="INS_GYROFFS_Y" documentation="Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Gyro offsets of Z axis" name="INS_GYROFFS_Z" documentation="Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Gyro2 offsets of X axis" name="INS_GYR2OFFS_X" documentation="Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Gyro2 offsets of Y axis" name="INS_GYR2OFFS_Y" documentation="Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Gyro2 offsets of Z axis" name="INS_GYR2OFFS_Z" documentation="Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Gyro3 offsets of X axis" name="INS_GYR3OFFS_X" documentation="Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Gyro3 offsets of Y axis" name="INS_GYR3OFFS_Y" documentation="Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Gyro3 offsets of Z axis" name="INS_GYR3OFFS_Z" documentation="Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Accelerometer scaling of X axis" name="INS_ACCSCAL_X" documentation="Accelerometer scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
<field name="Range">0.8 1.2</field>
</param>
<param humanName="Accelerometer scaling of Y axis" name="INS_ACCSCAL_Y" documentation="Accelerometer scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
<field name="Range">0.8 1.2</field>
</param>
<param humanName="Accelerometer scaling of Z axis" name="INS_ACCSCAL_Z" documentation="Accelerometer scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
<field name="Range">0.8 1.2</field>
</param>
<param humanName="Accelerometer offsets of X axis" name="INS_ACCOFFS_X" documentation="Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
<field name="Range">-3.5 3.5</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Accelerometer offsets of Y axis" name="INS_ACCOFFS_Y" documentation="Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
<field name="Range">-3.5 3.5</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Accelerometer offsets of Z axis" name="INS_ACCOFFS_Z" documentation="Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
<field name="Range">-3.5 3.5</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Accelerometer2 scaling of X axis" name="INS_ACC2SCAL_X" documentation="Accelerometer2 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
<field name="Range">0.8 1.2</field>
</param>
<param humanName="Accelerometer2 scaling of Y axis" name="INS_ACC2SCAL_Y" documentation="Accelerometer2 scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
<field name="Range">0.8 1.2</field>
</param>
<param humanName="Accelerometer2 scaling of Z axis" name="INS_ACC2SCAL_Z" documentation="Accelerometer2 scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
<field name="Range">0.8 1.2</field>
</param>
<param humanName="Accelerometer2 offsets of X axis" name="INS_ACC2OFFS_X" documentation="Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
<field name="Range">-3.5 3.5</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Accelerometer2 offsets of Y axis" name="INS_ACC2OFFS_Y" documentation="Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
<field name="Range">-3.5 3.5</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Accelerometer2 offsets of Z axis" name="INS_ACC2OFFS_Z" documentation="Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
<field name="Range">-3.5 3.5</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Accelerometer3 scaling of X axis" name="INS_ACC3SCAL_X" documentation="Accelerometer3 scaling of X axis.  Calculated during acceleration calibration routine" user="Advanced">
<field name="Range">0.8 1.2</field>
</param>
<param humanName="Accelerometer3 scaling of Y axis" name="INS_ACC3SCAL_Y" documentation="Accelerometer3 scaling of Y axis  Calculated during acceleration calibration routine" user="Advanced">
<field name="Range">0.8 1.2</field>
</param>
<param humanName="Accelerometer3 scaling of Z axis" name="INS_ACC3SCAL_Z" documentation="Accelerometer3 scaling of Z axis  Calculated during acceleration calibration routine" user="Advanced">
<field name="Range">0.8 1.2</field>
</param>
<param humanName="Accelerometer3 offsets of X axis" name="INS_ACC3OFFS_X" documentation="Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced">
<field name="Range">-3.5 3.5</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Accelerometer3 offsets of Y axis" name="INS_ACC3OFFS_Y" documentation="Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced">
<field name="Range">-3.5 3.5</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Accelerometer3 offsets of Z axis" name="INS_ACC3OFFS_Z" documentation="Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced">
<field name="Range">-3.5 3.5</field>
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
</param>
<param humanName="Gyro filter cutoff frequency" name="INS_GYRO_FILTER" documentation="Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)" user="Advanced">
<field name="Range">0 127</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Accel filter cutoff frequency" name="INS_ACCEL_FILTER" documentation="Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)" user="Advanced">
<field name="Range">0 127</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Use first IMU for attitude, velocity and position estimates" name="INS_USE" documentation="Use first IMU for attitude, velocity and position estimates" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Use second IMU for attitude, velocity and position estimates" name="INS_USE2" documentation="Use second IMU for attitude, velocity and position estimates" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Use third IMU for attitude, velocity and position estimates" name="INS_USE3" documentation="Use third IMU for attitude, velocity and position estimates" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Stillness threshold for detecting if we are moving" name="INS_STILL_THRESH" documentation="Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5" user="Advanced">
<field name="Range">0.05 50</field>
</param>
<param humanName="Gyro Calibration scheme" name="INS_GYR_CAL" documentation="Conrols when automatic gyro calibration is performed" user="Advanced">
<values>
<value code="0">Never</value>
<value code=" 1">Start-up only</value>
</values>
</param>
<param humanName="Accel cal trim option" name="INS_TRIM_OPTION" documentation="Specifies how the accel cal routine determines the trims" user="Advanced">
<values>
<value code="0">Don't adjust the trims</value>
<value code="1">Assume first orientation was level</value>
<value code="2">Assume ACC_BODYFIX is perfectly aligned to the vehicle</value>
</values>
</param>
<param humanName="Body-fixed accelerometer" name="INS_ACC_BODYFIX" documentation="The body-fixed accelerometer to be used for trim calculation" user="Advanced">
<values>
<value code="1">IMU 1</value>
<value code="2">IMU 2</value>
<value code="3">IMU 3</value>
</values>
</param>
<param humanName="IMU accelerometer X position" name="INS_POS1_X" documentation="X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="IMU accelerometer Y position" name="INS_POS1_Y" documentation="Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="IMU accelerometer Z position" name="INS_POS1_Z" documentation="Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="IMU accelerometer X position" name="INS_POS2_X" documentation="X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="IMU accelerometer Y position" name="INS_POS2_Y" documentation="Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="IMU accelerometer Z position" name="INS_POS2_Z" documentation="Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="IMU accelerometer X position" name="INS_POS3_X" documentation="X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="IMU accelerometer Y position" name="INS_POS3_Y" documentation="Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="IMU accelerometer Z position" name="INS_POS3_Z" documentation="Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Gyro ID" name="INS_GYR_ID" documentation="Gyro sensor ID, taking into account its type, bus and instance" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Gyro2 ID" name="INS_GYR2_ID" documentation="Gyro2 sensor ID, taking into account its type, bus and instance" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Gyro3 ID" name="INS_GYR3_ID" documentation="Gyro3 sensor ID, taking into account its type, bus and instance" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Accelerometer ID" name="INS_ACC_ID" documentation="Accelerometer sensor ID, taking into account its type, bus and instance" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Accelerometer2 ID" name="INS_ACC2_ID" documentation="Accelerometer2 sensor ID, taking into account its type, bus and instance" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Accelerometer3 ID" name="INS_ACC3_ID" documentation="Accelerometer3 sensor ID, taking into account its type, bus and instance" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Fast sampling mask" name="INS_FAST_SAMPLE" documentation="Mask of IMUs to enable fast sampling on, if available" user="Advanced">
<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU</field>
<values>
<value code="1">FirstIMUOnly</value>
<value code="3">FirstAndSecondIMU</value>
</values>
</param>
</parameters>
<parameters name="INS_LOG_">
<param humanName="sample count per batch" name="INS_LOG_BAT_CNT" documentation="Number of samples to take when logging streams of IMU sensor readings.  Will be rounded down to a multiple of 32." user="Advanced">
<field name="Increment">32</field>
</param>
<param humanName="Sensor Bitmask" name="INS_LOG_BAT_MASK" documentation="Bitmap of which IMUs to log batch data for" user="Advanced">
<field name="Bitmask">0:IMU1,1:IMU2,2:IMU3</field>
<values>
<value code="0">None</value>
<value code="1">First IMU</value>
<value code="255">All</value>
</values>
</param>
<param humanName="Batch Logging Options Mask" name="INS_LOG_BAT_OPT" documentation="Options for the BatchSampler" user="Advanced">
<field name="Bitmask">0:Sensor-Rate Logging (sample at full sensor rate seen by AP)</field>
</param>
<param humanName="logging interval" name="INS_LOG_BAT_LGIN" documentation="Interval between pushing samples to the DataFlash log">
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="Increment">10</field>
</param>
<param humanName="logging count" name="INS_LOG_BAT_LGCT" documentation="Number of samples to push to count every INS_LOG_BAT_LGIN">
<field name="Increment">1</field>
</param>
</parameters>
<parameters name="INS_NOTCH_">
<param humanName="Enable" name="INS_NOTCH_ENABLE" documentation="Enable notch filter" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Frequency" name="INS_NOTCH_FREQ" documentation="Notch center frequency in Hz" user="Advanced">
<field name="Range">10 200</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Bandwidth" name="INS_NOTCH_BW" documentation="Notch bandwidth in Hz" user="Advanced">
<field name="Range">5 50</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Attenuation" name="INS_NOTCH_ATT" documentation="Notch attenuation in dB" user="Advanced">
<field name="Range">5 30</field>
<field name="Units">dB</field>
<field name="UnitText">decibel</field>
</param>
</parameters>
<parameters name="LGR_">
<param humanName="Landing Gear Servo Retracted PWM Value" name="LGR_SERVO_RTRACT" documentation="Servo PWM value in microseconds when landing gear is retracted" user="Standard">
<field name="Range">1000 2000</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Landing Gear Servo Deployed PWM Value" name="LGR_SERVO_DEPLOY" documentation="Servo PWM value in microseconds when landing gear is deployed" user="Standard">
<field name="Range">1000 2000</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Landing Gear Startup position" name="LGR_STARTUP" documentation="Landing Gear Startup behaviour control" user="Standard">
<values>
<value code="0">WaitForPilotInput</value>
<value code=" 1">Retract</value>
<value code=" 2">Deploy</value>
</values>
</param>
</parameters>
<parameters name="LOG">
<param humanName="DataFlash Backend Storage type" name="LOG_BACKEND_TYPE" documentation="0 for None, 1 for File, 2 for dataflash mavlink, 3 for both file and dataflash" user="Standard">
<values>
<value code="0">None</value>
<value code="1">File</value>
<value code="2">MAVLink</value>
<value code="3">BothFileAndMAVLink</value>
</values>
</param>
<param humanName="Maximum DataFlash File Backend buffer size (in kilobytes)" name="LOG_FILE_BUFSIZE" documentation='The DataFlash_File backend uses a buffer to store data before writing to the block device.  Raising this value may reduce "gaps" in your SD card logging.  This buffer size may be reduced depending on available memory.  PixHawk requires at least 4 kilobytes.  Maximum value available here is 64 kilobytes.' user="Standard">
</param>
<param humanName="Enable logging while disarmed" name="LOG_DISARMED" documentation="If LOG_DISARMED is set to 1 then logging will be enabled while disarmed. This can make for very large logfiles but can help a lot when tracking down startup issues" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Enable logging of information needed for Replay" name="LOG_REPLAY" documentation="If LOG_REPLAY is set to 1 then the EKF2 state estimator will log detailed information needed for diagnosing problems with the Kalman filter. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Stop logging to current file on disarm" name="LOG_FILE_DSRMROT" documentation="When set, the current log file is closed when the vehicle is disarmed.  If LOG_DISARMED is set then a fresh log will be opened." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Maximum DataFlash MAVLink Backend buffer size" name="LOG_MAV_BUFSIZE" documentation="Maximum amount of memory to allocate to DataFlash-over-mavlink" user="Advanced">
<field name="Units">kB</field>
<field name="UnitText">kilobytes</field>
</param>
</parameters>
<parameters name="LOIT_">
<param humanName="Loiter Angle Max" name="LOIT_ANG_MAX" documentation="Loiter maximum lean angle. Set to zero for 2/3 of PSC_ANGLE_MAX or ANGLE_MAX" user="Advanced">
<field name="Range">0 45</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Loiter Horizontal Maximum Speed" name="LOIT_SPEED" documentation="Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode" user="Standard">
<field name="Range">20 2000</field>
<field name="Increment">50</field>
<field name="Units">cm/s</field>
<field name="UnitText">centimeters per second</field>
</param>
<param humanName="Loiter maximum correction acceleration" name="LOIT_ACC_MAX" documentation="Loiter maximum correction acceleration in cm/s/s.  Higher values cause the copter to correct position errors more aggressively." user="Advanced">
<field name="Range">100 981</field>
<field name="Increment">1</field>
<field name="Units">cm/s/s</field>
<field name="UnitText">centimeters per square second</field>
</param>
<param humanName="Loiter braking acceleration" name="LOIT_BRK_ACCEL" documentation="Loiter braking acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered." user="Advanced">
<field name="Range">25 250</field>
<field name="Increment">1</field>
<field name="Units">cm/s/s</field>
<field name="UnitText">centimeters per square second</field>
</param>
<param humanName="Loiter braking jerk" name="LOIT_BRK_JERK" documentation="Loiter braking jerk in cm/s/s/s. Higher values will remove braking faster if the pilot moves the sticks during a braking manuver." user="Advanced">
<field name="Range">500 5000</field>
<field name="Increment">1</field>
<field name="Units">cm/s/s/s</field>
<field name="UnitText">centimeters per cubic second</field>
</param>
<param humanName="Loiter brake start delay (in seconds)" name="LOIT_BRK_DELAY" documentation="Loiter brake start delay (in seconds)" user="Advanced">
<field name="Range">0 2</field>
<field name="Increment">0.1</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
</parameters>
<parameters name="MIS_">
<param humanName="Total mission commands" name="MIS_TOTAL" documentation="The number of mission mission items that has been loaded by the ground station. Do not change this manually." user="Advanced">
<field name="Range">0 32766</field>
<field name="Increment">1</field>
</param>
<param humanName="Mission Restart when entering Auto mode" name="MIS_RESTART" documentation="Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)" user="Advanced">
<values>
<value code="0">Resume Mission</value>
<value code=" 1">Restart Mission</value>
</values>
</param>
<param humanName="Mission options bitmask" name="MIS_OPTIONS" documentation="Bitmask of what options to use in missions." user="Advanced">
<field name="Bitmask">0:Clear Mission on reboot</field>
</param>
</parameters>
<parameters name="MNT">
<param humanName="Mount default operating mode" name="MNT_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
<values>
<value code="0">Retracted</value>
<value code="1">Neutral</value>
<value code="2">MavLink Targeting</value>
<value code="3">RC Targeting</value>
<value code="4">GPS Point</value>
</values>
</param>
<param humanName="Mount roll angle when in retracted position" name="MNT_RETRACT_X" documentation="Mount roll angle when in retracted position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Mount tilt/pitch angle when in retracted position" name="MNT_RETRACT_Y" documentation="Mount tilt/pitch angle when in retracted position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Mount yaw/pan angle when in retracted position" name="MNT_RETRACT_Z" documentation="Mount yaw/pan angle when in retracted position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Mount roll angle when in neutral position" name="MNT_NEUTRAL_X" documentation="Mount roll angle when in neutral position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Mount tilt/pitch angle when in neutral position" name="MNT_NEUTRAL_Y" documentation="Mount tilt/pitch angle when in neutral position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Mount pan/yaw angle when in neutral position" name="MNT_NEUTRAL_Z" documentation="Mount pan/yaw angle when in neutral position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Stabilize mount's roll angle" name="MNT_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Stabilize mount's pitch/tilt angle" name="MNT_STAB_TILT" documentation="enable tilt/pitch stabilisation relative to Earth" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Stabilize mount pan/yaw angle" name="MNT_STAB_PAN" documentation="enable pan/yaw stabilisation relative to Earth" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="roll RC input channel" name="MNT_RC_IN_ROLL" documentation="0 for none, any other for the RC channel to be used to control roll movements" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="5">RC5</value>
<value code="6">RC6</value>
<value code="7">RC7</value>
<value code="8">RC8</value>
<value code="9">RC9</value>
<value code="10">RC10</value>
<value code="11">RC11</value>
<value code="12">RC12</value>
</values>
</param>
<param humanName="Minimum roll angle" name="MNT_ANGMIN_ROL" documentation="Minimum physical roll angular position of mount." user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Maximum roll angle" name="MNT_ANGMAX_ROL" documentation="Maximum physical roll angular position of the mount" user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="tilt (pitch) RC input channel" name="MNT_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="5">RC5</value>
<value code="6">RC6</value>
<value code="7">RC7</value>
<value code="8">RC8</value>
<value code="9">RC9</value>
<value code="10">RC10</value>
<value code="11">RC11</value>
<value code="12">RC12</value>
</values>
</param>
<param humanName="Minimum tilt angle" name="MNT_ANGMIN_TIL" documentation="Minimum physical tilt (pitch) angular position of mount." user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Maximum tilt angle" name="MNT_ANGMAX_TIL" documentation="Maximum physical tilt (pitch) angular position of the mount" user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="pan (yaw) RC input channel" name="MNT_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="5">RC5</value>
<value code="6">RC6</value>
<value code="7">RC7</value>
<value code="8">RC8</value>
<value code="9">RC9</value>
<value code="10">RC10</value>
<value code="11">RC11</value>
<value code="12">RC12</value>
</values>
</param>
<param humanName="Minimum pan angle" name="MNT_ANGMIN_PAN" documentation="Minimum physical pan (yaw) angular position of mount." user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Maximum pan angle" name="MNT_ANGMAX_PAN" documentation="Maximum physical pan (yaw) angular position of the mount" user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="mount joystick speed" name="MNT_JSTICK_SPD" documentation="0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second." user="Standard">
<field name="Range">0 100</field>
<field name="Increment">1</field>
</param>
<param humanName="Roll stabilization lead time" name="MNT_LEAD_RLL" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
<field name="Range">0.0 0.2</field>
<field name="Increment">.005</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Pitch stabilization lead time" name="MNT_LEAD_PTCH" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
<field name="Range">0.0 0.2</field>
<field name="Increment">.005</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Mount Type" name="MNT_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
<values>
<value code="0">None</value>
<value code=" 1">Servo</value>
<value code=" 2">3DR Solo</value>
<value code=" 3">Alexmos Serial</value>
<value code=" 4">SToRM32 MAVLink</value>
<value code=" 5">SToRM32 Serial</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Mount default operating mode" name="MNT2_DEFLT_MODE" documentation="Mount default operating mode on startup and after control is returned from autopilot" user="Standard">
<values>
<value code="0">Retracted</value>
<value code="1">Neutral</value>
<value code="2">MavLink Targeting</value>
<value code="3">RC Targeting</value>
<value code="4">GPS Point</value>
</values>
</param>
<param humanName="Mount2 roll angle when in retracted position" name="MNT2_RETRACT_X" documentation="Mount2 roll angle when in retracted position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Mount2 tilt/pitch angle when in retracted position" name="MNT2_RETRACT_Y" documentation="Mount2 tilt/pitch angle when in retracted position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Mount2 yaw/pan angle when in retracted position" name="MNT2_RETRACT_Z" documentation="Mount2 yaw/pan angle when in retracted position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Mount2 roll angle when in neutral position" name="MNT2_NEUTRAL_X" documentation="Mount2 roll angle when in neutral position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Mount2 tilt/pitch angle when in neutral position" name="MNT2_NEUTRAL_Y" documentation="Mount2 tilt/pitch angle when in neutral position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Mount2 pan/yaw angle when in neutral position" name="MNT2_NEUTRAL_Z" documentation="Mount2 pan/yaw angle when in neutral position" user="Standard">
<field name="Range">-180.00 179.99</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Stabilize Mount2's roll angle" name="MNT2_STAB_ROLL" documentation="enable roll stabilisation relative to Earth" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Stabilize Mount2's pitch/tilt angle" name="MNT2_STAB_TILT" documentation="enable tilt/pitch stabilisation relative to Earth" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Stabilize mount2 pan/yaw angle" name="MNT2_STAB_PAN" documentation="enable pan/yaw stabilisation relative to Earth" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Mount2's roll RC input channel" name="MNT2_RC_IN_ROLL" documentation="0 for none, any other for the RC channel to be used to control roll movements" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="5">RC5</value>
<value code="6">RC6</value>
<value code="7">RC7</value>
<value code="8">RC8</value>
<value code="9">RC9</value>
<value code="10">RC10</value>
<value code="11">RC11</value>
<value code="12">RC12</value>
</values>
</param>
<param humanName="Mount2's minimum roll angle" name="MNT2_ANGMIN_ROL" documentation="Mount2's minimum physical roll angular position" user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Mount2's maximum roll angle" name="MNT2_ANGMAX_ROL" documentation="Mount2's maximum physical roll angular position" user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Mount2's tilt (pitch) RC input channel" name="MNT2_RC_IN_TILT" documentation="0 for none, any other for the RC channel to be used to control tilt (pitch) movements" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="5">RC5</value>
<value code="6">RC6</value>
<value code="7">RC7</value>
<value code="8">RC8</value>
<value code="9">RC9</value>
<value code="10">RC10</value>
<value code="11">RC11</value>
<value code="12">RC12</value>
</values>
</param>
<param humanName="Mount2's minimum tilt angle" name="MNT2_ANGMIN_TIL" documentation="Mount2's minimum physical tilt (pitch) angular position" user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Mount2's maximum tilt angle" name="MNT2_ANGMAX_TIL" documentation="Mount2's maximum physical tilt (pitch) angular position" user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Mount2's pan (yaw) RC input channel" name="MNT2_RC_IN_PAN" documentation="0 for none, any other for the RC channel to be used to control pan (yaw) movements" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="5">RC5</value>
<value code="6">RC6</value>
<value code="7">RC7</value>
<value code="8">RC8</value>
<value code="9">RC9</value>
<value code="10">RC10</value>
<value code="11">RC11</value>
<value code="12">RC12</value>
</values>
</param>
<param humanName="Mount2's minimum pan angle" name="MNT2_ANGMIN_PAN" documentation="Mount2's minimum physical pan (yaw) angular position" user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Mount2's maximum pan angle" name="MNT2_ANGMAX_PAN" documentation="MOunt2's maximum physical pan (yaw) angular position" user="Standard">
<field name="Range">-18000 17999</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Mount2's Roll stabilization lead time" name="MNT2_LEAD_RLL" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
<field name="Range">0.0 0.2</field>
<field name="Increment">.005</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Mount2's Pitch stabilization lead time" name="MNT2_LEAD_PTCH" documentation="Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled." user="Standard">
<field name="Range">0.0 0.2</field>
<field name="Increment">.005</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Mount2 Type" name="MNT2_TYPE" documentation="Mount Type (None, Servo or MAVLink)" user="Standard">
<values>
<value code="0">None</value>
<value code=" 1">Servo</value>
<value code=" 2">3DR Solo</value>
<value code=" 3">Alexmos Serial</value>
<value code=" 4">SToRM32 MAVLink</value>
<value code=" 5">SToRM32 Serial</value>
</values>
</param>
</parameters>
<parameters name="MOT_">
<param humanName="Matrix Yaw Min" name="MOT_YAW_HEADROOM" documentation="Yaw control is given at least this pwm in microseconds range" user="Advanced">
<field name="Range">0 500</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Thrust Curve Expo" name="MOT_THST_EXPO" documentation="Motor thrust curve exponent (from 0 for linear to 1.0 for second order curve)" user="Advanced">
<field name="Range">0.25 0.8</field>
</param>
<param humanName="Motor Spin maximum" name="MOT_SPIN_MAX" documentation="Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range" user="Advanced">
<field name="Values">0.9:Low, 0.95:Default, 1.0:High</field>
</param>
<param humanName="Battery voltage compensation maximum voltage" name="MOT_BAT_VOLT_MAX" documentation="Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust).  Recommend 4.4 * cell count, 0 = Disabled" user="Advanced">
<field name="Range">6 35</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery voltage compensation minimum voltage" name="MOT_BAT_VOLT_MIN" documentation="Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust).  Recommend 3.5 * cell count, 0 = Disabled" user="Advanced">
<field name="Range">6 35</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Motor Current Max" name="MOT_BAT_CURR_MAX" documentation="Maximum current over which maximum throttle is limited (0 = Disabled)" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">A</field>
<field name="UnitText">ampere</field>
</param>
<param humanName="Output PWM type" name="MOT_PWM_TYPE" documentation="This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output" user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">OneShot</value>
<value code="2">OneShot125</value>
<value code="3">Brushed</value>
<value code="4">DShot150</value>
<value code="5">DShot300</value>
<value code="6">DShot600</value>
<value code="7">DShot1200</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="PWM output miniumum" name="MOT_PWM_MIN" documentation="This sets the min PWM output value in microseconds that will ever be output to the motors, 0 = use input RC3_MIN" user="Advanced">
<field name="Range">0 2000</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="PWM output maximum" name="MOT_PWM_MAX" documentation="This sets the max PWM value in microseconds that will ever be output to the motors, 0 = use input RC3_MAX" user="Advanced">
<field name="Range">0 2000</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Motor Spin minimum" name="MOT_SPIN_MIN" documentation="Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range.  Should be higher than MOT_SPIN_ARM." user="Advanced">
<field name="Values">0.0:Low, 0.15:Default, 0.3:High</field>
</param>
<param humanName="Motor Spin armed" name="MOT_SPIN_ARM" documentation="Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range.  Should be lower than MOT_SPIN_MIN." user="Advanced">
<field name="Values">0.0:Low, 0.1:Default, 0.2:High</field>
</param>
<param humanName="Motor Current Max Time Constant" name="MOT_BAT_CURR_TC" documentation="Time constant used to limit the maximum current" user="Advanced">
<field name="Range">0 10</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Thrust Hover Value" name="MOT_THST_HOVER" documentation="Motor thrust needed to hover expressed as a number from 0 to 1" user="Advanced">
<field name="Range">0.2 0.8</field>
</param>
<param humanName="Hover Value Learning" name="MOT_HOVER_LEARN" documentation="Enable/Disable automatic learning of hover throttle" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code=" 1">Learn</value>
<value code=" 2">LearnAndSave</value>
</values>
</param>
<param humanName="Motor PWM output disabled when disarmed" name="MOT_SAFE_DISARM" documentation="Disables motor PWM output when disarmed" user="Advanced">
<values>
<value code="0">PWM enabled while disarmed</value>
<value code=" 1">PWM disabled while disarmed</value>
</values>
</param>
<param humanName="Yaw Servo Max Lean Angle" name="MOT_YAW_SV_ANGLE" documentation="Yaw servo's maximum lean angle" user="Standard">
<field name="Range">5 80</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Spool up time" name="MOT_SPOOL_TIME" documentation="Time in seconds to spool up the motors from zero to min throttle. " user="Advanced">
<field name="Range">0 2</field>
<field name="Increment">0.1</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Motor boost scale" name="MOT_BOOST_SCALE" documentation="This is a scaling factor for vehicles with a vertical booster motor used for extra lift. It is used with electric multicopters that have an internal combusion booster motor for longer endurance. The output to the BoostThrottle servo function is set to the current motor thottle times this scaling factor. A higher scaling factor will put more of the load on the booster motor. A value of 1 will set the BoostThrottle equal to the main throttle." user="Advanced">
<field name="Range">0 5</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Battery compensation index" name="MOT_BAT_IDX" documentation="Which battery monitor should be used for doing compensation" user="Advanced">
<values>
<value code="0">First battery</value>
<value code=" 1">Second battery</value>
</values>
</param>
</parameters>
<parameters name="NTF_">
<param humanName="LED Brightness" name="NTF_LED_BRIGHT" documentation="Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting." user="Advanced">
<values>
<value code="0">Off</value>
<value code="1">Low</value>
<value code="2">Medium</value>
<value code="3">High</value>
</values>
</param>
<param humanName="Buzzer enable" name="NTF_BUZZ_ENABLE" documentation="Enable or disable the buzzer. Only for Linux and PX4 based boards." user="Advanced">
<values>
<value code="0">Disable</value>
<value code="1">Enable</value>
</values>
</param>
<param humanName="Setup for MAVLink LED override" name="NTF_LED_OVERRIDE" documentation="This sets up the board RGB LED for override by MAVLink. Normal notify LED control is disabled" user="Advanced">
<values>
<value code="0">Disable</value>
<value code="1">Enable</value>
</values>
</param>
<param humanName="Type of on-board I2C display" name="NTF_DISPLAY_TYPE" documentation="This sets up the type of on-board I2C display. Disabled by default." user="Advanced">
<values>
<value code="0">Disable</value>
<value code="1">ssd1306</value>
<value code="2">sh1106</value>
</values>
</param>
<param humanName="OreoLED Theme" name="NTF_OREO_THEME" documentation="Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Aircraft</value>
<value code="2">Rover</value>
</values>
</param>
<param humanName="Buzzer pin" name="NTF_BUZZ_PIN" documentation="Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET!" user="Advanced">
<values>
<value code="0">Disabled</value>
</values>
</param>
</parameters>
<parameters name="PLND_">
<param humanName="Precision Land enabled/disabled and behaviour" name="PLND_ENABLED" documentation="Precision Land enabled/disabled and behaviour" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled Always Land</value>
<value code=" 2">Enabled Strict</value>
</values>
</param>
<param humanName="Precision Land Type" name="PLND_TYPE" documentation="Precision Land Type" user="Advanced">
<values>
<value code="0">None</value>
<value code=" 1">CompanionComputer</value>
<value code=" 2">IRLock</value>
<value code=" 3">SITL_Gazebo</value>
<value code=" 4">SITL</value>
</values>
</param>
<param humanName="Sensor yaw alignment" name="PLND_YAW_ALIGN" documentation="Yaw angle from body x-axis to sensor x-axis." user="Advanced">
<field name="Range">0 360</field>
<field name="Increment">1</field>
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
</param>
<param humanName="Land offset forward" name="PLND_LAND_OFS_X" documentation="Desired landing position of the camera forward of the target in vehicle body frame" user="Advanced">
<field name="Range">-20 20</field>
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Land offset right" name="PLND_LAND_OFS_Y" documentation="desired landing position of the camera right of the target in vehicle body frame" user="Advanced">
<field name="Range">-20 20</field>
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Precision Land Estimator Type" name="PLND_EST_TYPE" documentation="Specifies the estimation method to be used" user="Advanced">
<values>
<value code="0">RawSensor</value>
<value code=" 1">KalmanFilter</value>
</values>
</param>
<param humanName="Kalman Filter Accelerometer Noise" name="PLND_ACC_P_NSE" documentation="Kalman Filter Accelerometer Noise, higher values weight the input from the camera more, accels less" user="Advanceds">
<field name="Range">0.5 5</field>
</param>
<param humanName="Camera X position offset" name="PLND_CAM_POS_X" documentation="X position of the camera in body frame. Positive X is forward of the origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Camera Y position offset" name="PLND_CAM_POS_Y" documentation="Y position of the camera in body frame. Positive Y is to the right of the origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Camera Z position offset" name="PLND_CAM_POS_Z" documentation="Z position of the camera in body frame. Positive Z is down from the origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Sensor Bus" name="PLND_BUS" documentation="Precland sensor bus for I2C sensors." user="Advanced">
<values>
<value code="-1">DefaultBus</value>
<value code="0">InternalI2C</value>
<value code="1">ExternalI2C</value>
</values>
</param>
</parameters>
<parameters name="PRX">
<param humanName="Proximity type" name="PRX_TYPE" documentation="What type of proximity sensor is connected" user="Standard">
<values>
<value code="0">None</value>
<value code="1">LightWareSF40C</value>
<value code="2">MAVLink</value>
<value code="3">TeraRangerTower</value>
<value code="4">RangeFinder</value>
<value code="5">RPLidarA2</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Proximity sensor orientation" name="PRX_ORIENT" documentation="Proximity sensor orientation" user="Standard">
<values>
<value code="0">Default</value>
<value code="1">Upside Down</value>
</values>
</param>
<param humanName="Proximity sensor yaw correction" name="PRX_YAW_CORR" documentation="Proximity sensor yaw correction" user="Standard">
<field name="Range">-180 180</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore angle 1" name="PRX_IGN_ANG1" documentation="Proximity sensor ignore angle 1" user="Standard">
<field name="Range">0 360</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore width 1" name="PRX_IGN_WID1" documentation="Proximity sensor ignore width 1" user="Standard">
<field name="Range">0 45</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore angle 2" name="PRX_IGN_ANG2" documentation="Proximity sensor ignore angle 2" user="Standard">
<field name="Range">0 360</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore width 2" name="PRX_IGN_WID2" documentation="Proximity sensor ignore width 2" user="Standard">
<field name="Range">0 45</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore angle 3" name="PRX_IGN_ANG3" documentation="Proximity sensor ignore angle 3" user="Standard">
<field name="Range">0 360</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore width 3" name="PRX_IGN_WID3" documentation="Proximity sensor ignore width 3" user="Standard">
<field name="Range">0 45</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore angle 4" name="PRX_IGN_ANG4" documentation="Proximity sensor ignore angle 4" user="Standard">
<field name="Range">0 360</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore width 4" name="PRX_IGN_WID4" documentation="Proximity sensor ignore width 4" user="Standard">
<field name="Range">0 45</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore angle 5" name="PRX_IGN_ANG5" documentation="Proximity sensor ignore angle 5" user="Standard">
<field name="Range">0 360</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore width 5" name="PRX_IGN_WID5" documentation="Proximity sensor ignore width 5" user="Standard">
<field name="Range">0 45</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore angle 6" name="PRX_IGN_ANG6" documentation="Proximity sensor ignore angle 6" user="Standard">
<field name="Range">0 360</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Proximity sensor ignore width 6" name="PRX_IGN_WID6" documentation="Proximity sensor ignore width 6" user="Standard">
<field name="Range">0 45</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Second Proximity type" name="PRX2_TYPE" documentation="What type of proximity sensor is connected" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">LightWareSF40C</value>
<value code="2">MAVLink</value>
<value code="3">TeraRangerTower</value>
<value code="4">RangeFinder</value>
<value code="5">RPLidarA2</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Second Proximity sensor orientation" name="PRX2_ORIENT" documentation="Second Proximity sensor orientation" user="Standard">
<values>
<value code="0">Default</value>
<value code="1">Upside Down</value>
</values>
</param>
<param humanName="Second Proximity sensor yaw correction" name="PRX2_YAW_CORR" documentation="Second Proximity sensor yaw correction" user="Standard">
<field name="Range">-180 180</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
</parameters>
<parameters name="PSC">
<param humanName="XY Acceleration filter cutoff frequency" name="PSC_ACC_XY_FILT" documentation="Lower values will slow the response of the navigation controller and reduce twitchiness" user="Advanced">
<field name="Range">0.5 5</field>
<field name="Increment">0.1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Position (vertical) controller P gain" name="PSC_POSZ_P" documentation="Position (vertical) controller P gain.  Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller" user="Standard">
<field name="Range">1.000 3.000</field>
</param>
<param humanName="Velocity (vertical) controller P gain" name="PSC_VELZ_P" documentation="Velocity (vertical) controller P gain.  Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller" user="Standard">
<field name="Range">1.000 8.000</field>
</param>
<param humanName="Acceleration (vertical) controller P gain" name="PSC_ACCZ_P" documentation="Acceleration (vertical) controller P gain.  Converts the difference between desired vertical acceleration and actual acceleration into a motor output" user="Standard">
<field name="Range">0.500 1.500</field>
<field name="Increment">0.05</field>
</param>
<param humanName="Acceleration (vertical) controller I gain" name="PSC_ACCZ_I" documentation="Acceleration (vertical) controller I gain.  Corrects long-term difference in desired vertical acceleration and actual acceleration" user="Standard">
<field name="Range">0.000 3.000</field>
</param>
<param humanName="Acceleration (vertical) controller I gain maximum" name="PSC_ACCZ_IMAX" documentation="Acceleration (vertical) controller I gain maximum.  Constrains the maximum pwm that the I term will generate" user="Standard">
<field name="Range">0 1000</field>
<field name="Units">d%</field>
<field name="UnitText">decipercent</field>
</param>
<param humanName="Acceleration (vertical) controller D gain" name="PSC_ACCZ_D" documentation="Acceleration (vertical) controller D gain.  Compensates for short-term change in desired vertical acceleration vs actual acceleration" user="Standard">
<field name="Range">0.000 0.400</field>
</param>
<param humanName="Acceleration (vertical) controller filter" name="PSC_ACCZ_FILT" documentation="Filter applied to acceleration to reduce noise.  Lower values reduce noise but add delay." user="Standard">
<field name="Range">1.000 100.000</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Position (horizonal) controller P gain" name="PSC_POSXY_P" documentation="Position controller P gain.  Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller" user="Standard">
<field name="Range">0.500 2.000</field>
</param>
<param humanName="Velocity (horizontal) P gain" name="PSC_VELXY_P" documentation="Velocity (horizontal) P gain.  Converts the difference between desired velocity to a target acceleration" user="Advanced">
<field name="Range">0.1 6.0</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Velocity (horizontal) I gain" name="PSC_VELXY_I" documentation="Velocity (horizontal) I gain.  Corrects long-term difference in desired velocity to a target acceleration" user="Advanced">
<field name="Range">0.02 1.00</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Velocity (horizontal) D gain" name="PSC_VELXY_D" documentation="Velocity (horizontal) D gain.  Corrects short-term changes in velocity" user="Advanced">
<field name="Range">0.00 1.00</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Velocity (horizontal) integrator maximum" name="PSC_VELXY_IMAX" documentation="Velocity (horizontal) integrator maximum.  Constrains the target acceleration that the I gain will output" user="Advanced">
<field name="Range">0 4500</field>
<field name="Increment">10</field>
<field name="Units">cm/s/s</field>
<field name="UnitText">centimeters per square second</field>
</param>
<param humanName="Velocity (horizontal) input filter" name="PSC_VELXY_FILT" documentation="Velocity (horizontal) input filter.  This filter (in hz) is applied to the input for P and I terms" user="Advanced">
<field name="Range">0 100</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Velocity (horizontal) input filter" name="PSC_VELXY_D_FILT" documentation="Velocity (horizontal) input filter.  This filter (in hz) is applied to the input for P and I terms" user="Advanced">
<field name="Range">0 100</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Position Control Angle Max" name="PSC_ANGLE_MAX" documentation="Maximum lean angle autopilot can request.  Set to zero to use ANGLE_MAX parameter value" user="Advanced">
<field name="Range">0 45</field>
<field name="Increment">1</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
</parameters>
<parameters name="RALLY_">
<param humanName="Rally Total" name="RALLY_TOTAL" documentation="Number of rally points currently loaded" user="Advanced">
</param>
<param humanName="Rally Limit" name="RALLY_LIMIT_KM" documentation="Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used." user="Advanced">
<field name="Increment">0.1</field>
<field name="Units">km</field>
<field name="UnitText">kilometers</field>
</param>
<param humanName="Rally Include Home" name="RALLY_INCL_HOME" documentation="Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL" user="Standard">
<values>
<value code="0">DoNotIncludeHome</value>
<value code="1">IncludeHome</value>
</values>
</param>
</parameters>
<parameters name="RC10_">
<param humanName="RC min PWM" name="RC10_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC10_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC10_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC10_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC10_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="RC11_">
<param humanName="RC min PWM" name="RC11_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC11_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC11_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC11_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC11_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="RC12_">
<param humanName="RC min PWM" name="RC12_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC12_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC12_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC12_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC12_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="RC13_">
<param humanName="RC min PWM" name="RC13_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC13_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC13_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC13_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC13_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="RC14_">
<param humanName="RC min PWM" name="RC14_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC14_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC14_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC14_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC14_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="RC15_">
<param humanName="RC min PWM" name="RC15_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC15_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC15_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC15_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC15_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="RC16_">
<param humanName="RC min PWM" name="RC16_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC16_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC16_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC16_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC16_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="RC1_">
<param humanName="RC min PWM" name="RC1_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC1_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC1_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC1_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC1_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="RC2_">
<param humanName="RC min PWM" name="RC2_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC2_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC2_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC2_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC2_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="RC3_">
<param humanName="RC min PWM" name="RC3_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC3_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC3_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC3_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC3_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="RC4_">
<param humanName="RC min PWM" name="RC4_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC4_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC4_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC4_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC4_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="RC5_">
<param humanName="RC min PWM" name="RC5_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC5_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC5_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC5_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC5_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="RC6_">
<param humanName="RC min PWM" name="RC6_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC6_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC6_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC6_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC6_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="RC7_">
<param humanName="RC min PWM" name="RC7_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC7_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC7_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC7_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC7_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="RC8_">
<param humanName="RC min PWM" name="RC8_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC8_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC8_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC8_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC8_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="RC9_">
<param humanName="RC min PWM" name="RC9_MIN" documentation="RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC trim PWM" name="RC9_TRIM" documentation="RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC max PWM" name="RC9_MAX" documentation="RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Advanced">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="RC reversed" name="RC9_REVERSED" documentation="Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="RC dead-zone" name="RC9_DZ" documentation="PWM dead zone in microseconds around trim or bottom" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="RCMAP_">
<param humanName="Roll channel" name="RCMAP_ROLL" documentation="Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect." user="Advanced">
<field name="Range">1 8</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Pitch channel" name="RCMAP_PITCH" documentation="Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect." user="Advanced">
<field name="Range">1 8</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Throttle channel" name="RCMAP_THROTTLE" documentation="Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Warning APM 2.X: Changing the throttle channel could produce unexpected fail-safe results if connection between receiver and on-board PPM Encoder is lost. Disabling on-board PPM Encoder is recommended.  Reboot is required for changes to take effect." user="Advanced">
<field name="Range">1 8</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Yaw channel" name="RCMAP_YAW" documentation="Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect." user="Advanced">
<field name="Range">1 8</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Forward channel" name="RCMAP_FORWARD" documentation="Forward channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Forward is normally on channel 5, but you can move it to any channel with this parameter. Reboot is required for changes to take effect." user="Advanced">
<field name="Range">1 8</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Lateral channel" name="RCMAP_LATERAL" documentation="Lateral channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Lateral is normally on channel 6, but you can move it to any channel with this parameter. Reboot is required for changes to take effect." user="Advanced">
<field name="Range">1 8</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="RELAY_">
<param humanName="First Relay Pin" name="RELAY_PIN" documentation="Digital pin number for first relay control. This is the pin used for camera control." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="13">APM2 A9 pin</value>
<value code="47">APM1 relay</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1/BB Blue GP0 pin 6</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2/BB Blue GP0 pin 5</value>
</values>
</param>
<param humanName="Second Relay Pin" name="RELAY_PIN2" documentation="Digital pin number for 2nd relay control." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="13">APM2 A9 pin</value>
<value code="47">APM1 relay</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1/BB Blue GP0 pin 6</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2/BB Blue GP0 pin 5</value>
</values>
</param>
<param humanName="Third Relay Pin" name="RELAY_PIN3" documentation="Digital pin number for 3rd relay control." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="13">APM2 A9 pin</value>
<value code="47">APM1 relay</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1/BB Blue GP0 pin 6</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2/BB Blue GP0 pin 5</value>
</values>
</param>
<param humanName="Fourth Relay Pin" name="RELAY_PIN4" documentation="Digital pin number for 4th relay control." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="13">APM2 A9 pin</value>
<value code="47">APM1 relay</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1/BB Blue GP0 pin 6</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2/BB Blue GP0 pin 5</value>
</values>
</param>
<param humanName="Default relay state" name="RELAY_DEFAULT" documentation="The state of the relay on boot." user="Standard">
<values>
<value code="0">Off</value>
<value code="1">On</value>
<value code="2">NoChange</value>
</values>
</param>
</parameters>
<parameters name="RNGFND">
<param humanName="Rangefinder type" name="RNGFND_TYPE" documentation="What type of rangefinder device that is connected" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Analog</value>
<value code="2">MaxbotixI2C</value>
<value code="3">LidarLiteV2-I2C</value>
<value code="5">PX4-PWM</value>
<value code="6">BBB-PRU</value>
<value code="7">LightWareI2C</value>
<value code="8">LightWareSerial</value>
<value code="9">Bebop</value>
<value code="10">MAVLink</value>
<value code="11">uLanding</value>
<value code="12">LeddarOne</value>
<value code="13">MaxbotixSerial</value>
<value code="14">TeraRangerI2C</value>
<value code="15">LidarLiteV3-I2C</value>
<value code="16">VL53L0X</value>
<value code="17">NMEA</value>
</values>
</param>
<param humanName="Rangefinder pin" name="RNGFND_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code=" 0">APM2-A0</value>
<value code=" 1">APM2-A1</value>
<value code=" 2">APM2-A2</value>
<value code=" 3">APM2-A3</value>
<value code=" 4">APM2-A4</value>
<value code=" 5">APM2-A5</value>
<value code=" 6">APM2-A6</value>
<value code=" 7">APM2-A7</value>
<value code=" 8">APM2-A8</value>
<value code=" 9">APM2-A9</value>
<value code=" 11">PX4-airspeed port</value>
<value code=" 15">Pixhawk-airspeed port</value>
<value code=" 64">APM1-airspeed port</value>
</values>
</param>
<param humanName="Rangefinder scaling" name="RNGFND_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Standard">
<field name="Increment">0.001</field>
<field name="Units">m/V</field>
<field name="UnitText">meters per volt</field>
</param>
<param humanName="rangefinder offset" name="RNGFND_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars" user="Standard">
<field name="Increment">0.001</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Rangefinder function" name="RNGFND_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Standard">
<values>
<value code="0">Linear</value>
<value code="1">Inverted</value>
<value code="2">Hyperbolic</value>
</values>
</param>
<param humanName="Rangefinder minimum distance" name="RNGFND_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder maximum distance" name="RNGFND_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder stop pin" name="RNGFND_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2</value>
</values>
</param>
<param humanName="Rangefinder settle time" name="RNGFND_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Standard">
<field name="Increment">1</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
</param>
<param humanName="Ratiometric" name="RNGFND_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Standard">
<values>
<value code="0">No</value>
<value code="1">Yes</value>
</values>
</param>
<param humanName="Powersave range" name="RNGFND_PWRRNG" documentation="This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled" user="Standard">
<field name="Range">0 32767</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground." user="Standard">
<field name="Range">5 127</field>
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Bus address of sensor" name="RNGFND_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Standard">
<field name="Range">0 127</field>
<field name="Increment">1</field>
</param>
<param humanName=" X position offset" name="RNGFND_POS_X" documentation="X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Y position offset" name="RNGFND_POS_Y" documentation="Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Z position offset" name="RNGFND_POS_Z" documentation="Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Rangefinder orientation" name="RNGFND_ORIENT" documentation="Orientation of rangefinder" user="Advanced">
<values>
<value code="0">Forward</value>
<value code=" 1">Forward-Right</value>
<value code=" 2">Right</value>
<value code=" 3">Back-Right</value>
<value code=" 4">Back</value>
<value code=" 5">Back-Left</value>
<value code=" 6">Left</value>
<value code=" 7">Forward-Left</value>
<value code=" 24">Up</value>
<value code=" 25">Down</value>
</values>
</param>
<param humanName="Second Rangefinder type" name="RNGFND2_TYPE" documentation="What type of rangefinder device that is connected" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Analog</value>
<value code="2">MaxbotixI2C</value>
<value code="3">LidarLiteV2-I2C</value>
<value code="5">PX4-PWM</value>
<value code="6">BBB-PRU</value>
<value code="7">LightWareI2C</value>
<value code="8">LightWareSerial</value>
<value code="9">Bebop</value>
<value code="10">MAVLink</value>
<value code="11">uLanding</value>
<value code="12">LeddarOne</value>
<value code="13">MaxbotixSerial</value>
<value code="14">TeraRangerI2C</value>
<value code="15">LidarLiteV3-I2C</value>
<value code="16">VL53L0X</value>
<value code="17">NMEA</value>
</values>
</param>
<param humanName="Rangefinder pin" name="RNGFND2_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Advanced">
<values>
<value code="-1">Not Used</value>
<value code=" 0">APM2-A0</value>
<value code=" 1">APM2-A1</value>
<value code=" 2">APM2-A2</value>
<value code=" 3">APM2-A3</value>
<value code=" 4">APM2-A4</value>
<value code=" 5">APM2-A5</value>
<value code=" 6">APM2-A6</value>
<value code=" 7">APM2-A7</value>
<value code=" 8">APM2-A8</value>
<value code=" 9">APM2-A9</value>
<value code=" 11">PX4-airspeed port</value>
<value code=" 15">Pixhawk-airspeed port</value>
<value code=" 64">APM1-airspeed port</value>
</values>
</param>
<param humanName="Rangefinder scaling" name="RNGFND2_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Advanced">
<field name="Increment">0.001</field>
<field name="Units">m/V</field>
<field name="UnitText">meters per volt</field>
</param>
<param humanName="rangefinder offset" name="RNGFND2_OFFSET" documentation="Offset in volts for zero distance" user="Advanced">
<field name="Increment">0.001</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Rangefinder function" name="RNGFND2_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Advanced">
<values>
<value code="0">Linear</value>
<value code="1">Inverted</value>
<value code="2">Hyperbolic</value>
</values>
</param>
<param humanName="Rangefinder minimum distance" name="RNGFND2_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Advanced">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder maximum distance" name="RNGFND2_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Advanced">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder stop pin" name="RNGFND2_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Advanced">
<values>
<value code="-1">Not Used</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2</value>
</values>
</param>
<param humanName="Sonar settle time" name="RNGFND2_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Advanced">
<field name="Increment">1</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
</param>
<param humanName="Ratiometric" name="RNGFND2_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Advanced">
<values>
<value code="0">No</value>
<value code="1">Yes</value>
</values>
</param>
<param humanName="Distance (in cm) from the second range finder to the ground" name="RNGFND2_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the second range finder should return when the vehicle is on the ground." user="Advanced">
<field name="Range">0 127</field>
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Bus address of second rangefinder" name="RNGFND2_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Advanced">
<field name="Range">0 127</field>
<field name="Increment">1</field>
</param>
<param humanName=" X position offset" name="RNGFND2_POS_X" documentation="X position of the second rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Y position offset" name="RNGFND2_POS_Y" documentation="Y position of the second rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Z position offset" name="RNGFND2_POS_Z" documentation="Z position of the second rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Rangefinder 2 orientation" name="RNGFND2_ORIENT" documentation="Orientation of 2nd rangefinder" user="Advanced">
<values>
<value code="0">Forward</value>
<value code=" 1">Forward-Right</value>
<value code=" 2">Right</value>
<value code=" 3">Back-Right</value>
<value code=" 4">Back</value>
<value code=" 5">Back-Left</value>
<value code=" 6">Left</value>
<value code=" 7">Forward-Left</value>
<value code=" 24">Up</value>
<value code=" 25">Down</value>
</values>
</param>
<param humanName="Third Rangefinder type" name="RNGFND3_TYPE" documentation="What type of rangefinder device that is connected" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Analog</value>
<value code="2">MaxbotixI2C</value>
<value code="3">LidarLiteV2-I2C</value>
<value code="5">PX4-PWM</value>
<value code="6">BBB-PRU</value>
<value code="7">LightWareI2C</value>
<value code="8">LightWareSerial</value>
<value code="9">Bebop</value>
<value code="10">MAVLink</value>
<value code="11">uLanding</value>
<value code="12">LeddarOne</value>
<value code="13">MaxbotixSerial</value>
<value code="14">TeraRangerI2C</value>
<value code="15">LidarLiteV3-I2C</value>
<value code="16">VL53L0X</value>
<value code="17">NMEA</value>
</values>
</param>
<param humanName="Rangefinder pin" name="RNGFND3_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Advanced">
<values>
<value code="-1">Not Used</value>
<value code=" 0">APM2-A0</value>
<value code=" 1">APM2-A1</value>
<value code=" 2">APM2-A2</value>
<value code=" 3">APM2-A3</value>
<value code=" 4">APM2-A4</value>
<value code=" 5">APM2-A5</value>
<value code=" 6">APM2-A6</value>
<value code=" 7">APM2-A7</value>
<value code=" 8">APM2-A8</value>
<value code=" 9">APM2-A9</value>
<value code=" 11">PX4-airspeed port</value>
<value code=" 15">Pixhawk-airspeed port</value>
<value code=" 64">APM1-airspeed port</value>
</values>
</param>
<param humanName="Rangefinder scaling" name="RNGFND3_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Advanced">
<field name="Increment">0.001</field>
<field name="Units">m/V</field>
<field name="UnitText">meters per volt</field>
</param>
<param humanName="rangefinder offset" name="RNGFND3_OFFSET" documentation="Offset in volts for zero distance" user="Advanced">
<field name="Increment">0.001</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Rangefinder function" name="RNGFND3_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Advanced">
<values>
<value code="0">Linear</value>
<value code="1">Inverted</value>
<value code="2">Hyperbolic</value>
</values>
</param>
<param humanName="Rangefinder minimum distance" name="RNGFND3_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Advanced">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder maximum distance" name="RNGFND3_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Advanced">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder stop pin" name="RNGFND3_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Advanced">
<values>
<value code="-1">Not Used</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2</value>
</values>
</param>
<param humanName="Sonar settle time" name="RNGFND3_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Advanced">
<field name="Increment">1</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
</param>
<param humanName="Ratiometric" name="RNGFND3_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Advanced">
<values>
<value code="0">No</value>
<value code="1">Yes</value>
</values>
</param>
<param humanName="Distance (in cm) from the third range finder to the ground" name="RNGFND3_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the third range finder should return when the vehicle is on the ground." user="Advanced">
<field name="Range">0 127</field>
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Bus address of third rangefinder" name="RNGFND3_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Advanced">
<field name="Range">0 127</field>
<field name="Increment">1</field>
</param>
<param humanName=" X position offset" name="RNGFND3_POS_X" documentation="X position of the third rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Y position offset" name="RNGFND3_POS_Y" documentation="Y position of the third rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Z position offset" name="RNGFND3_POS_Z" documentation="Z position of the third rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Rangefinder 3 orientation" name="RNGFND3_ORIENT" documentation="Orientation of 3rd rangefinder" user="Advanced">
<values>
<value code="0">Forward</value>
<value code=" 1">Forward-Right</value>
<value code=" 2">Right</value>
<value code=" 3">Back-Right</value>
<value code=" 4">Back</value>
<value code=" 5">Back-Left</value>
<value code=" 6">Left</value>
<value code=" 7">Forward-Left</value>
<value code=" 24">Up</value>
<value code=" 25">Down</value>
</values>
</param>
<param humanName="Fourth Rangefinder type" name="RNGFND4_TYPE" documentation="What type of rangefinder device that is connected" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Analog</value>
<value code="2">MaxbotixI2C</value>
<value code="3">LidarLiteV2-I2C</value>
<value code="5">PX4-PWM</value>
<value code="6">BBB-PRU</value>
<value code="7">LightWareI2C</value>
<value code="8">LightWareSerial</value>
<value code="9">Bebop</value>
<value code="10">MAVLink</value>
<value code="11">uLanding</value>
<value code="12">LeddarOne</value>
<value code="13">MaxbotixSerial</value>
<value code="14">TeraRangerI2C</value>
<value code="15">LidarLiteV3-I2C</value>
<value code="16">VL53L0X</value>
<value code="17">NMEA</value>
</values>
</param>
<param humanName="Rangefinder pin" name="RNGFND4_PIN" documentation="Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated 'airspeed' port on the end of the board. Set to 11 on PX4 for the analog 'airspeed' port. Set to 15 on the Pixhawk for the analog 'airspeed' port." user="Advanced">
<values>
<value code="-1">Not Used</value>
<value code=" 0">APM2-A0</value>
<value code=" 1">APM2-A1</value>
<value code=" 2">APM2-A2</value>
<value code=" 3">APM2-A3</value>
<value code=" 4">APM2-A4</value>
<value code=" 5">APM2-A5</value>
<value code=" 6">APM2-A6</value>
<value code=" 7">APM2-A7</value>
<value code=" 8">APM2-A8</value>
<value code=" 9">APM2-A9</value>
<value code=" 11">PX4-airspeed port</value>
<value code=" 15">Pixhawk-airspeed port</value>
<value code=" 64">APM1-airspeed port</value>
</values>
</param>
<param humanName="Rangefinder scaling" name="RNGFND4_SCALING" documentation="Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts." user="Advanced">
<field name="Increment">0.001</field>
<field name="Units">m/V</field>
<field name="UnitText">meters per volt</field>
</param>
<param humanName="rangefinder offset" name="RNGFND4_OFFSET" documentation="Offset in volts for zero distance" user="Advanced">
<field name="Increment">0.001</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Rangefinder function" name="RNGFND4_FUNCTION" documentation="Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters." user="Advanced">
<values>
<value code="0">Linear</value>
<value code="1">Inverted</value>
<value code="2">Hyperbolic</value>
</values>
</param>
<param humanName="Rangefinder minimum distance" name="RNGFND4_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Advanced">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder maximum distance" name="RNGFND4_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Advanced">
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Rangefinder stop pin" name="RNGFND4_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don't interfere with each other." user="Advanced">
<values>
<value code="-1">Not Used</value>
<value code="50">Pixhawk AUXOUT1</value>
<value code="51">Pixhawk AUXOUT2</value>
<value code="52">Pixhawk AUXOUT3</value>
<value code="53">Pixhawk AUXOUT4</value>
<value code="54">Pixhawk AUXOUT5</value>
<value code="55">Pixhawk AUXOUT6</value>
<value code="111">PX4 FMU Relay1</value>
<value code="112">PX4 FMU Relay2</value>
<value code="113">PX4IO Relay1</value>
<value code="114">PX4IO Relay2</value>
<value code="115">PX4IO ACC1</value>
<value code="116">PX4IO ACC2</value>
</values>
</param>
<param humanName="Sonar settle time" name="RNGFND4_SETTLE" documentation="The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again." user="Advanced">
<field name="Increment">1</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
</param>
<param humanName="Ratiometric" name="RNGFND4_RMETRIC" documentation="This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric." user="Advanced">
<values>
<value code="0">No</value>
<value code="1">Yes</value>
</values>
</param>
<param humanName="Distance (in cm) from the fourth range finder to the ground" name="RNGFND4_GNDCLEAR" documentation="This parameter sets the expected range measurement(in cm) that the fourth range finder should return when the vehicle is on the ground." user="Advanced">
<field name="Range">0 127</field>
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Bus address of fourth rangefinder" name="RNGFND4_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor." user="Advanced">
<field name="Range">0 127</field>
<field name="Increment">1</field>
</param>
<param humanName=" X position offset" name="RNGFND4_POS_X" documentation="X position of the fourth rangefinder in body frame. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Y position offset" name="RNGFND4_POS_Y" documentation="Y position of the fourth rangefinder in body frame. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Z position offset" name="RNGFND4_POS_Z" documentation="Z position of the fourth rangefinder in body frame. Use the zero range datum point if supplied." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Rangefinder 4 orientation" name="RNGFND4_ORIENT" documentation="Orientation of 4th range finder" user="Advanced">
<values>
<value code="0">Forward</value>
<value code=" 1">Forward-Right</value>
<value code=" 2">Right</value>
<value code=" 3">Back-Right</value>
<value code=" 4">Back</value>
<value code=" 5">Back-Left</value>
<value code=" 6">Left</value>
<value code=" 7">Forward-Left</value>
<value code=" 24">Up</value>
<value code=" 25">Down</value>
</values>
</param>
</parameters>
<parameters name="RPM">
<param humanName="RPM type" name="RPM_TYPE" documentation="What type of RPM sensor is connected" user="Standard">
<values>
<value code="0">None</value>
<value code="1">PX4-PWM</value>
<value code="2">AUXPIN</value>
</values>
</param>
<param humanName="RPM scaling" name="RPM_SCALING" documentation="Scaling factor between sensor reading and RPM." user="Standard">
<field name="Increment">0.001</field>
</param>
<param humanName="Maximum RPM" name="RPM_MAX" documentation="Maximum RPM to report" user="Standard">
<field name="Increment">1</field>
</param>
<param humanName="Minimum RPM" name="RPM_MIN" documentation="Minimum RPM to report" user="Standard">
<field name="Increment">1</field>
</param>
<param humanName="Minimum Quality" name="RPM_MIN_QUAL" documentation="Minimum data quality to be used" user="Advanced">
<field name="Increment">0.1</field>
</param>
<param humanName="Input pin number" name="RPM_PIN" documentation="Which pin to use" user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">PixhawkAUX1</value>
<value code="51">PixhawkAUX2</value>
<value code="52">PixhawkAUX3</value>
<value code="53">PixhawkAUX4</value>
<value code="54">PixhawkAUX5</value>
<value code="55">PixhawkAUX6</value>
</values>
</param>
<param humanName="Second RPM type" name="RPM2_TYPE" documentation="What type of RPM sensor is connected" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">PX4-PWM</value>
<value code="2">AUXPIN</value>
</values>
</param>
<param humanName="RPM scaling" name="RPM2_SCALING" documentation="Scaling factor between sensor reading and RPM." user="Advanced">
<field name="Increment">0.001</field>
</param>
<param humanName="RPM2 input pin number" name="RPM2_PIN" documentation="Which pin to use" user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">PixhawkAUX1</value>
<value code="51">PixhawkAUX2</value>
<value code="52">PixhawkAUX3</value>
<value code="53">PixhawkAUX4</value>
<value code="54">PixhawkAUX5</value>
<value code="55">PixhawkAUX6</value>
</values>
</param>
</parameters>
<parameters name="RSSI_">
<param humanName="RSSI Type" name="RSSI_TYPE" documentation="Radio Receiver RSSI type. If your radio receiver supports RSSI of some kind, set it here, then set its associated RSSI_XXXXX parameters, if any." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">AnalogPin</value>
<value code="2">RCChannelPwmValue</value>
<value code="3">ReceiverProtocol</value>
</values>
</param>
<param humanName="Receiver RSSI analog sensing pin" name="RSSI_ANA_PIN" documentation="This selects an analog pin where the receiver RSSI voltage will be read." user="Standard">
<values>
<value code="0">APM2 A0</value>
<value code="1">APM2 A1</value>
<value code="13">APM2 A13</value>
<value code="11">Pixracer</value>
<value code="13">Pixhawk ADC4</value>
<value code="14">Pixhawk ADC3</value>
<value code="15">Pixhawk ADC6</value>
<value code="103">Pixhawk SBUS</value>
<value code="15">Pixhawk2 ADC</value>
</values>
</param>
<param humanName="Receiver RSSI voltage low" name="RSSI_PIN_LOW" documentation="This is the voltage value that the radio receiver will put on the RSSI_ANA_PIN when the signal strength is the weakest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn't necessarily a lower value than RSSI_PIN_HIGH. " user="Standard">
<field name="Range">0 5.0</field>
<field name="Increment">0.01</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Receiver RSSI voltage high" name="RSSI_PIN_HIGH" documentation="This is the voltage value that the radio receiver will put on the RSSI_ANA_PIN when the signal strength is the strongest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn't necessarily a higher value than RSSI_PIN_LOW. " user="Standard">
<field name="Range">0 5.0</field>
<field name="Increment">0.01</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Receiver RSSI channel number" name="RSSI_CHANNEL" documentation="The channel number where RSSI will be output by the radio receiver (5 and above)." user="Standard">
</param>
<param humanName="Receiver RSSI PWM low value" name="RSSI_CHAN_LOW" documentation="This is the PWM value in microseconds that the radio receiver will put on the RSSI_CHANNEL when the signal strength is the weakest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn't necessarily a lower value than RSSI_CHAN_HIGH." user="Standard">
<field name="Range">0 2000</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Receiver RSSI PWM high value" name="RSSI_CHAN_HIGH" documentation="This is the PWM value in microseconds that the radio receiver will put on the RSSI_CHANNEL when the signal strength is the strongest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn't necessarily a higher value than RSSI_CHAN_LOW." user="Standard">
<field name="Range">0 2000</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
</parameters>
<parameters name="SCHED_">
<param humanName="Scheduler debug level" name="SCHED_DEBUG" documentation='Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.' user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="2">ShowSlips</value>
<value code="3">ShowOverruns</value>
</values>
</param>
<param humanName="Scheduling main loop rate" name="SCHED_LOOP_RATE" documentation="This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart. Values over 400 are considered highly experimental." user="Advanced">
<values>
<value code="50">50Hz</value>
<value code="100">100Hz</value>
<value code="200">200Hz</value>
<value code="250">250Hz</value>
<value code="300">300Hz</value>
<value code="400">400Hz</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="SERIAL">
<param humanName="Serial0 baud rate" name="SERIAL0_BAUD" documentation="The baud rate used on the USB console. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
<values>
<value code="1">1200</value>
<value code="2">2400</value>
<value code="4">4800</value>
<value code="9">9600</value>
<value code="19">19200</value>
<value code="38">38400</value>
<value code="57">57600</value>
<value code="111">111100</value>
<value code="115">115200</value>
<value code="460">460800</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
</values>
</param>
<param humanName="Console protocol selection" name="SERIAL0_PROTOCOL" documentation="Control what protocol to use on the console. " user="Standard">
<values>
<value code="1">MAVlink1</value>
<value code=" 2">MAVLink2</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Telem1 protocol selection" name="SERIAL1_PROTOCOL" documentation="Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
<values>
<value code="-1">None</value>
<value code=" 1">MAVLink1</value>
<value code=" 2">MAVLink2</value>
<value code=" 3">Frsky D</value>
<value code=" 4">Frsky SPort</value>
<value code=" 5">GPS</value>
<value code=" 7">Alexmos Gimbal Serial</value>
<value code=" 8">SToRM32 Gimbal Serial</value>
<value code=" 9">Rangefinder</value>
<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
<value code=" 11">Lidar360</value>
<value code=" 13">Beacon</value>
<value code=" 14">Volz servo out</value>
<value code=" 15">SBus servo out</value>
<value code=" 16">ESC Telemetry</value>
<value code=" 17">Devo Telemetry</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Telem1 Baud Rate" name="SERIAL1_BAUD" documentation="The baud rate used on the Telem1 port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
<values>
<value code="1">1200</value>
<value code="2">2400</value>
<value code="4">4800</value>
<value code="9">9600</value>
<value code="19">19200</value>
<value code="38">38400</value>
<value code="57">57600</value>
<value code="111">111100</value>
<value code="115">115200</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
</values>
</param>
<param humanName="Telemetry 2 protocol selection" name="SERIAL2_PROTOCOL" documentation="Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
<values>
<value code="-1">None</value>
<value code=" 1">MAVLink1</value>
<value code=" 2">MAVLink2</value>
<value code=" 3">Frsky D</value>
<value code=" 4">Frsky SPort</value>
<value code=" 5">GPS</value>
<value code=" 7">Alexmos Gimbal Serial</value>
<value code=" 8">SToRM32 Gimbal Serial</value>
<value code=" 9">Rangefinder</value>
<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
<value code=" 11">Lidar360</value>
<value code=" 13">Beacon</value>
<value code=" 14">Volz servo out</value>
<value code=" 15">SBus servo out</value>
<value code=" 16">ESC Telemetry</value>
<value code=" 17">Devo Telemetry</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Telemetry 2 Baud Rate" name="SERIAL2_BAUD" documentation="The baud rate of the Telem2 port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
<values>
<value code="1">1200</value>
<value code="2">2400</value>
<value code="4">4800</value>
<value code="9">9600</value>
<value code="19">19200</value>
<value code="38">38400</value>
<value code="57">57600</value>
<value code="111">111100</value>
<value code="115">115200</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
</values>
</param>
<param humanName="Serial 3 (GPS) protocol selection" name="SERIAL3_PROTOCOL" documentation="Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
<values>
<value code="-1">None</value>
<value code=" 1">MAVLink1</value>
<value code=" 2">MAVLink2</value>
<value code=" 3">Frsky D</value>
<value code=" 4">Frsky SPort</value>
<value code=" 5">GPS</value>
<value code=" 7">Alexmos Gimbal Serial</value>
<value code=" 8">SToRM32 Gimbal Serial</value>
<value code=" 9">Rangefinder</value>
<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
<value code=" 11">Lidar360</value>
<value code=" 13">Beacon</value>
<value code=" 14">Volz servo out</value>
<value code=" 15">SBus servo out</value>
<value code=" 16">ESC Telemetry</value>
<value code=" 17">Devo Telemetry</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial 3 (GPS) Baud Rate" name="SERIAL3_BAUD" documentation="The baud rate used for the Serial 3 (GPS). The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
<values>
<value code="1">1200</value>
<value code="2">2400</value>
<value code="4">4800</value>
<value code="9">9600</value>
<value code="19">19200</value>
<value code="38">38400</value>
<value code="57">57600</value>
<value code="111">111100</value>
<value code="115">115200</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
</values>
</param>
<param humanName="Serial4 protocol selection" name="SERIAL4_PROTOCOL" documentation="Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
<values>
<value code="-1">None</value>
<value code=" 1">MAVLink1</value>
<value code=" 2">MAVLink2</value>
<value code=" 3">Frsky D</value>
<value code=" 4">Frsky SPort</value>
<value code=" 5">GPS</value>
<value code=" 7">Alexmos Gimbal Serial</value>
<value code=" 8">SToRM32 Gimbal Serial</value>
<value code=" 9">Rangefinder</value>
<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
<value code=" 11">Lidar360</value>
<value code=" 13">Beacon</value>
<value code=" 14">Volz servo out</value>
<value code=" 15">SBus servo out</value>
<value code=" 16">ESC Telemetry</value>
<value code=" 17">Devo Telemetry</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial 4 Baud Rate" name="SERIAL4_BAUD" documentation="The baud rate used for Serial4. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
<values>
<value code="1">1200</value>
<value code="2">2400</value>
<value code="4">4800</value>
<value code="9">9600</value>
<value code="19">19200</value>
<value code="38">38400</value>
<value code="57">57600</value>
<value code="111">111100</value>
<value code="115">115200</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
</values>
</param>
<param humanName="Serial5 protocol selection" name="SERIAL5_PROTOCOL" documentation="Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
<values>
<value code="-1">None</value>
<value code=" 1">MAVLink1</value>
<value code=" 2">MAVLink2</value>
<value code=" 3">Frsky D</value>
<value code=" 4">Frsky SPort</value>
<value code=" 5">GPS</value>
<value code=" 7">Alexmos Gimbal Serial</value>
<value code=" 8">SToRM32 Gimbal Serial</value>
<value code=" 9">Rangefinder</value>
<value code=" 10">FrSky SPort Passthrough (OpenTX)</value>
<value code=" 11">Lidar360</value>
<value code=" 13">Beacon</value>
<value code=" 14">Volz servo out</value>
<value code=" 15">SBus servo out</value>
<value code=" 16">ESC Telemetry</value>
<value code=" 17">Devo Telemetry</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial 5 Baud Rate" name="SERIAL5_BAUD" documentation="The baud rate used for Serial5. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults." user="Standard">
<values>
<value code="1">1200</value>
<value code="2">2400</value>
<value code="4">4800</value>
<value code="9">9600</value>
<value code="19">19200</value>
<value code="38">38400</value>
<value code="57">57600</value>
<value code="111">111100</value>
<value code="115">115200</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
</values>
</param>
</parameters>
<parameters name="SERVO">
<param humanName="Automatic servo trim" name="SERVO_AUTO_TRIM" documentation="This enables automatic servo trim in flight. Servos will be trimed in stabilized flight modes when the aircraft is close to level. Changes to servo trim will be saved every 10 seconds and will persist between flights." user="Advanced">
<values>
<value code="0">Disable</value>
<value code="1">Enable</value>
</values>
</param>
<param humanName="Servo default output rate" name="SERVO_RATE" documentation="This sets the default output rate in Hz for all outputs." user="Advanced">
<field name="Range">25 400</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
<parameters name="SERVO10_">
<param humanName="Minimum PWM" name="SERVO10_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO10_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO10_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO10_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO10_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="88">Winch</value>
</values>
</param>
</parameters>
<parameters name="SERVO11_">
<param humanName="Minimum PWM" name="SERVO11_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO11_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO11_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO11_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO11_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="88">Winch</value>
</values>
</param>
</parameters>
<parameters name="SERVO12_">
<param humanName="Minimum PWM" name="SERVO12_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO12_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO12_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO12_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO12_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="88">Winch</value>
</values>
</param>
</parameters>
<parameters name="SERVO13_">
<param humanName="Minimum PWM" name="SERVO13_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO13_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO13_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO13_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO13_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="88">Winch</value>
</values>
</param>
</parameters>
<parameters name="SERVO14_">
<param humanName="Minimum PWM" name="SERVO14_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO14_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO14_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO14_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO14_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="88">Winch</value>
</values>
</param>
</parameters>
<parameters name="SERVO15_">
<param humanName="Minimum PWM" name="SERVO15_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO15_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO15_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO15_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO15_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="88">Winch</value>
</values>
</param>
</parameters>
<parameters name="SERVO16_">
<param humanName="Minimum PWM" name="SERVO16_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO16_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO16_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO16_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO16_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="88">Winch</value>
</values>
</param>
</parameters>
<parameters name="SERVO1_">
<param humanName="Minimum PWM" name="SERVO1_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO1_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO1_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO1_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO1_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="88">Winch</value>
</values>
</param>
</parameters>
<parameters name="SERVO2_">
<param humanName="Minimum PWM" name="SERVO2_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO2_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO2_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO2_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO2_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="88">Winch</value>
</values>
</param>
</parameters>
<parameters name="SERVO3_">
<param humanName="Minimum PWM" name="SERVO3_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO3_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO3_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO3_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO3_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="88">Winch</value>
</values>
</param>
</parameters>
<parameters name="SERVO4_">
<param humanName="Minimum PWM" name="SERVO4_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO4_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO4_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO4_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO4_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="88">Winch</value>
</values>
</param>
</parameters>
<parameters name="SERVO5_">
<param humanName="Minimum PWM" name="SERVO5_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO5_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO5_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO5_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO5_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="88">Winch</value>
</values>
</param>
</parameters>
<parameters name="SERVO6_">
<param humanName="Minimum PWM" name="SERVO6_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO6_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO6_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO6_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO6_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="88">Winch</value>
</values>
</param>
</parameters>
<parameters name="SERVO7_">
<param humanName="Minimum PWM" name="SERVO7_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO7_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO7_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO7_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO7_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="88">Winch</value>
</values>
</param>
</parameters>
<parameters name="SERVO8_">
<param humanName="Minimum PWM" name="SERVO8_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO8_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO8_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO8_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO8_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="88">Winch</value>
</values>
</param>
</parameters>
<parameters name="SERVO9_">
<param humanName="Minimum PWM" name="SERVO9_MIN" documentation="minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">500 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Maximum PWM" name="SERVO9_MAX" documentation="maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Trim PWM" name="SERVO9_TRIM" documentation="Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit." user="Standard">
<field name="Range">800 2200</field>
<field name="Increment">1</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
</param>
<param humanName="Servo reverse" name="SERVO9_REVERSED" documentation="Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel." user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Servo output function" name="SERVO9_FUNCTION" documentation="Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="2">Flap</value>
<value code="3">Flap_auto</value>
<value code="4">Aileron</value>
<value code="6">mount_pan</value>
<value code="7">mount_tilt</value>
<value code="8">mount_roll</value>
<value code="9">mount_open</value>
<value code="10">camera_trigger</value>
<value code="11">release</value>
<value code="12">mount2_pan</value>
<value code="13">mount2_tilt</value>
<value code="14">mount2_roll</value>
<value code="15">mount2_open</value>
<value code="16">DifferentialSpoilerLeft1</value>
<value code="17">DifferentialSpoilerRight1</value>
<value code="86">DifferentialSpoilerLeft2</value>
<value code="87">DifferentialSpoilerRight2</value>
<value code="19">Elevator</value>
<value code="21">Rudder</value>
<value code="24">FlaperonLeft</value>
<value code="25">FlaperonRight</value>
<value code="26">GroundSteering</value>
<value code="27">Parachute</value>
<value code="28">EPM</value>
<value code="29">LandingGear</value>
<value code="30">EngineRunEnable</value>
<value code="31">HeliRSC</value>
<value code="32">HeliTailRSC</value>
<value code="33">Motor1</value>
<value code="34">Motor2</value>
<value code="35">Motor3</value>
<value code="36">Motor4</value>
<value code="37">Motor5</value>
<value code="38">Motor6</value>
<value code="39">Motor7</value>
<value code="40">Motor8</value>
<value code="41">MotorTilt</value>
<value code="51">RCIN1</value>
<value code="52">RCIN2</value>
<value code="53">RCIN3</value>
<value code="54">RCIN4</value>
<value code="55">RCIN5</value>
<value code="56">RCIN6</value>
<value code="57">RCIN7</value>
<value code="58">RCIN8</value>
<value code="59">RCIN9</value>
<value code="60">RCIN10</value>
<value code="61">RCIN11</value>
<value code="62">RCIN12</value>
<value code="63">RCIN13</value>
<value code="64">RCIN14</value>
<value code="65">RCIN15</value>
<value code="66">RCIN16</value>
<value code="67">Ignition</value>
<value code="68">Choke</value>
<value code="69">Starter</value>
<value code="70">Throttle</value>
<value code="71">TrackerYaw</value>
<value code="72">TrackerPitch</value>
<value code="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">tiltMotorLeft</value>
<value code="76">tiltMotorRight</value>
<value code="77">ElevonLeft</value>
<value code="78">ElevonRight</value>
<value code="79">VTailLeft</value>
<value code="80">VTailRight</value>
<value code="81">BoostThrottle</value>
<value code="82">Motor9</value>
<value code="83">Motor10</value>
<value code="84">Motor11</value>
<value code="85">Motor12</value>
<value code="88">Winch</value>
</values>
</param>
</parameters>
<parameters name="SERVO_BLH_">
<param humanName="Channel Bitmask" name="SERVO_BLH_MASK" documentation="Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any)" user="Advanced">
<field name="Bitmask">0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16</field>
</param>
<param humanName="auto-enable for multicopter motors" name="SERVO_BLH_AUTO" documentation="If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="internal test of BLHeli interface" name="SERVO_BLH_TEST" documentation="Setting SERVO_BLH_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC. The debug output is displayed on the USB console." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">TestMotor1</value>
<value code="2">TestMotor2</value>
<value code="3">TestMotor3</value>
<value code="4">TestMotor4</value>
<value code="5">TestMotor5</value>
<value code="6">TestMotor6</value>
<value code="7">TestMotor7</value>
<value code="8">TestMotor8</value>
</values>
</param>
<param humanName="BLHeli protocol timeout" name="SERVO_BLH_TMOUT" documentation="This sets the inactivity timeout for the BLHeli protocol in seconds. If no packets are received in this time normal MAVLink operations are resumed. A value of 0 means no timeout" user="Standard">
<field name="Range">0 300</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="BLHeli telemetry rate" name="SERVO_BLH_TRATE" documentation="This sets the rate in Hz for requesting telemetry from ESCs. It is the rate per ESC. Setting to zero disables telemetry requests" user="Standard">
<field name="Range">0 500</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="BLHeli debug level" name="SERVO_BLH_DEBUG" documentation="When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Output type override" name="SERVO_BLH_OTYPE" documentation="When set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group." user="Advanced">
<values>
<value code="0">None</value>
<value code="1">OneShot</value>
<value code="2">OneShot125</value>
<value code="3">Brushed</value>
<value code="4">DShot150</value>
<value code="5">DShot300</value>
<value code="6">DShot600</value>
<value code="7">DShot1200</value>
</values>
</param>
</parameters>
<parameters name="SERVO_SBUS_">
<param humanName="SBUS default output rate" name="SERVO_SBUS_RATE" documentation="This sets the SBUS output frame rate in Hz." user="Advanced">
<field name="Range">25 250</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
<parameters name="SERVO_VOLZ_">
<param humanName="Channel Bitmask" name="SERVO_VOLZ_MASK" documentation="Enable of volz servo protocol to specific channels" user="Standard">
<field name="Bitmask">0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16</field>
</param>
</parameters>
<parameters name="SPRAY_">
<param humanName="Sprayer enable/disable" name="SPRAY_ENABLE" documentation="Allows you to enable (1) or disable (0) the sprayer" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Pump speed" name="SPRAY_PUMP_RATE" documentation="Desired pump speed when traveling 1m/s expressed as a percentage" user="Standard">
<field name="Range">0 100</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="Spinner rotation speed" name="SPRAY_SPINNER" documentation="Spinner's rotation speed in PWM (a higher rate will disperse the spray over a wider area horizontally)" user="Standard">
<field name="Range">1000 2000</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
</param>
<param humanName="Speed minimum" name="SPRAY_SPEED_MIN" documentation="Speed minimum at which we will begin spraying" user="Standard">
<field name="Range">0 1000</field>
<field name="Units">cm/s</field>
<field name="UnitText">centimeters per second</field>
</param>
<param humanName="Pump speed minimum" name="SPRAY_PUMP_MIN" documentation="Minimum pump speed expressed as a percentage" user="Standard">
<field name="Range">0 100</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
</parameters>
<parameters name="SR0_">
<param humanName="Raw sensor stream rate" name="SR0_RAW_SENS" documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extended status stream rate to ground station" name="SR0_EXT_STAT" documentation="Stream rate of SYS_STATUS, POWER_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="RC Channel stream rate to ground station" name="SR0_RC_CHAN" documentation="Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Raw Control stream rate to ground station" name="SR0_RAW_CTRL" documentation="Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Position stream rate to ground station" name="SR0_POSITION" documentation="Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 1 stream rate to ground station" name="SR0_EXTRA1" documentation="Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 2 stream rate to ground station" name="SR0_EXTRA2" documentation="Stream rate of VFR_HUD to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 3 stream rate to ground station" name="SR0_EXTRA3" documentation="Stream rate of AHRS, HWSTATUS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, MOUNT_STATUS, OPTICAL_FLOW, GIMBAL_REPORT, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Parameter stream rate to ground station" name="SR0_PARAMS" documentation="Stream rate of PARAM_VALUE to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="ADSB stream rate to ground station" name="SR0_ADSB" documentation="ADSB stream rate to ground station" user="Advanced">
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
<parameters name="SR1_">
<param humanName="Raw sensor stream rate" name="SR1_RAW_SENS" documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extended status stream rate to ground station" name="SR1_EXT_STAT" documentation="Stream rate of SYS_STATUS, POWER_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="RC Channel stream rate to ground station" name="SR1_RC_CHAN" documentation="Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Raw Control stream rate to ground station" name="SR1_RAW_CTRL" documentation="Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Position stream rate to ground station" name="SR1_POSITION" documentation="Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 1 stream rate to ground station" name="SR1_EXTRA1" documentation="Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 2 stream rate to ground station" name="SR1_EXTRA2" documentation="Stream rate of VFR_HUD to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 3 stream rate to ground station" name="SR1_EXTRA3" documentation="Stream rate of AHRS, HWSTATUS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, MOUNT_STATUS, OPTICAL_FLOW, GIMBAL_REPORT, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Parameter stream rate to ground station" name="SR1_PARAMS" documentation="Stream rate of PARAM_VALUE to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="ADSB stream rate to ground station" name="SR1_ADSB" documentation="ADSB stream rate to ground station" user="Advanced">
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
<parameters name="SR2_">
<param humanName="Raw sensor stream rate" name="SR2_RAW_SENS" documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extended status stream rate to ground station" name="SR2_EXT_STAT" documentation="Stream rate of SYS_STATUS, POWER_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="RC Channel stream rate to ground station" name="SR2_RC_CHAN" documentation="Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Raw Control stream rate to ground station" name="SR2_RAW_CTRL" documentation="Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Position stream rate to ground station" name="SR2_POSITION" documentation="Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 1 stream rate to ground station" name="SR2_EXTRA1" documentation="Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 2 stream rate to ground station" name="SR2_EXTRA2" documentation="Stream rate of VFR_HUD to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 3 stream rate to ground station" name="SR2_EXTRA3" documentation="Stream rate of AHRS, HWSTATUS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, MOUNT_STATUS, OPTICAL_FLOW, GIMBAL_REPORT, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Parameter stream rate to ground station" name="SR2_PARAMS" documentation="Stream rate of PARAM_VALUE to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="ADSB stream rate to ground station" name="SR2_ADSB" documentation="ADSB stream rate to ground station" user="Advanced">
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
<parameters name="SR3_">
<param humanName="Raw sensor stream rate" name="SR3_RAW_SENS" documentation="Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extended status stream rate to ground station" name="SR3_EXT_STAT" documentation="Stream rate of SYS_STATUS, POWER_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="RC Channel stream rate to ground station" name="SR3_RC_CHAN" documentation="Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Raw Control stream rate to ground station" name="SR3_RAW_CTRL" documentation="Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Position stream rate to ground station" name="SR3_POSITION" documentation="Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 1 stream rate to ground station" name="SR3_EXTRA1" documentation="Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 2 stream rate to ground station" name="SR3_EXTRA2" documentation="Stream rate of VFR_HUD to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Extra data type 3 stream rate to ground station" name="SR3_EXTRA3" documentation="Stream rate of AHRS, HWSTATUS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, MOUNT_STATUS, OPTICAL_FLOW, GIMBAL_REPORT, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Parameter stream rate to ground station" name="SR3_PARAMS" documentation="Stream rate of PARAM_VALUE to ground station" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="ADSB stream rate to ground station" name="SR3_ADSB" documentation="ADSB stream rate to ground station" user="Advanced">
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
<parameters name="SRTL_">
<param humanName="SmartRTL accuracy" name="SRTL_ACCURACY" documentation="SmartRTL accuracy. The minimum distance between points." user="Advanced">
<field name="Range">0 10</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="SmartRTL maximum number of points on path" name="SRTL_POINTS" documentation="SmartRTL maximum number of points on path. Set to 0 to disable SmartRTL.  100 points consumes about 3k of memory." user="Advanced">
<field name="Range">0 500</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="STAT">
<param humanName="Boot Count" name="STAT_BOOTCNT" documentation="Number of times board has been booted" user="Standard">
<field name="ReadOnly">True</field>
</param>
<param humanName="Total FlightTime" name="STAT_FLTTIME" documentation="Total FlightTime (seconds)" user="Standard">
<field name="ReadOnly">True</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Total RunTime" name="STAT_RUNTIME" documentation="Total time autopilot has run" user="Standard">
<field name="ReadOnly">True</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Reset time" name="STAT_RESET" documentation="Seconds since January 1st 2016 (Unix epoch+1451606400) since reset (set to 0 to reset statistics)" user="Standard">
<field name="ReadOnly">True</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
</parameters>
<parameters name="TCAL">
<param humanName="Temperature calibration enable" name="TCALENABLED" documentation="Enable temperature calibration. Set to 0 to disable. Set to 1 to use learned values. Set to 2 to learn new values and use the values" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
<value code="2">EnableAndLearn</value>
</values>
</param>
<param humanName="Min learned temperature" name="TCALTEMP_MIN" documentation="Minimum learned temperature. This is automatically set by the learning process" user="Advanced">
<field name="ReadOnly">True</field>
<field name="Volatile">True</field>
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
</param>
<param humanName="Min learned temperature" name="TCALTEMP_MIN" documentation="Minimum learned temperature. This is automatically set by the learning process" user="Advanced">
<field name="ReadOnly">True</field>
<field name="Volatile">True</field>
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
</param>
<param humanName="Max learned temperature" name="TCALTEMP_MAX" documentation="Maximum learned temperature. This is automatically set by the learning process" user="Advanced">
<field name="ReadOnly">True</field>
<field name="Volatile">True</field>
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
</param>
<param humanName="Barometer exponent" name="TCALBARO_EXP" documentation="Learned exponent for barometer temperature correction" user="Advanced">
<field name="ReadOnly">True</field>
<field name="Volatile">True</field>
</param>
</parameters>
<parameters name="TERRAIN_">
<param humanName="Terrain data enable" name="TERRAIN_ENABLE" documentation="enable terrain data. This enables the vehicle storing a database of terrain data on the SD card. The terrain data is requested from the ground station as needed, and stored for later use on the SD card. To be useful the ground station must support TERRAIN_REQUEST messages and have access to a terrain database, such as the SRTM database." user="Advanced">
<values>
<value code="0">Disable</value>
<value code="1">Enable</value>
</values>
</param>
<param humanName="Terrain grid spacing" name="TERRAIN_SPACING" documentation="Distance between terrain grid points in meters. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station. If your GCS is using the worldwide SRTM database then a resolution of 100 meters is appropriate. Some parts of the world may have higher resolution data available, such as 30 meter data available in the SRTM database in the USA. The grid spacing also controls how much data is kept in memory during flight. A larger grid spacing will allow for a larger amount of data in memory. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2.7 kilometers by 3.2 kilometers. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be demand loaded as needed." user="Advanced">
<field name="Increment">1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
</parameters>
<parameters name="TMODE">
<param humanName="tmode enable " name="TMODE_ENABLE" documentation='tmode (or "toy" mode) gives a simplified user interface designed for mass market drones. Version1 is for the SkyViper V2450GPS. Version2 is for the F412 based boards' user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">EnableVersion1</value>
<value code="2">EnableVersion2</value>
</values>
</param>
<param humanName="Tmode first mode" name="TMODE_MODE1" documentation="This is the initial mode when the vehicle is first turned on. This mode is assumed to not require GPS" user="Standard">
<values>
<value code="0">Stabilize</value>
<value code="1">Acro</value>
<value code="2">AltHold</value>
<value code="3">Auto</value>
<value code="4">Guided</value>
<value code="5">Loiter</value>
<value code="6">RTL</value>
<value code="7">Circle</value>
<value code="9">Land</value>
<value code="11">Drift</value>
<value code="13">Sport</value>
<value code="14">Flip</value>
<value code="15">AutoTune</value>
<value code="16">PosHold</value>
<value code="17">Brake</value>
<value code="18">Throw</value>
<value code="19">Avoid_ADSB</value>
<value code="20">Guided_NoGPS</value>
<value code="21">FlowHold</value>
</values>
</param>
<param humanName="Tmode second mode" name="TMODE_MODE2" documentation="This is the secondary mode. This mode is assumed to require GPS" user="Standard">
<values>
<value code="0">Stabilize</value>
<value code="1">Acro</value>
<value code="2">AltHold</value>
<value code="3">Auto</value>
<value code="4">Guided</value>
<value code="5">Loiter</value>
<value code="6">RTL</value>
<value code="7">Circle</value>
<value code="9">Land</value>
<value code="11">Drift</value>
<value code="13">Sport</value>
<value code="14">Flip</value>
<value code="15">AutoTune</value>
<value code="16">PosHold</value>
<value code="17">Brake</value>
<value code="18">Throw</value>
<value code="19">Avoid_ADSB</value>
<value code="20">Guided_NoGPS</value>
<value code="21">FlowHold</value>
</values>
</param>
<param humanName="Tmode action 1" name="TMODE_ACTION1" documentation="This is the action taken for the left action button" user="Standard">
<values>
<value code="0">None</value>
<value code="1">TakePhoto</value>
<value code="2">ToggleVideo</value>
<value code="3">ModeAcro</value>
<value code="4">ModeAltHold</value>
<value code="5">ModeAuto</value>
<value code="6">ModeLoiter</value>
<value code="7">ModeRTL</value>
<value code="8">ModeCircle</value>
<value code="9">ModeLand</value>
<value code="10">ModeDrift</value>
<value code="11">ModeSport</value>
<value code="12">ModeAutoTune</value>
<value code="13">ModePosHold</value>
<value code="14">ModeBrake</value>
<value code="15">ModeThrow</value>
<value code="16">Flip</value>
<value code="17">ModeStabilize</value>
<value code="18">Disarm</value>
<value code="19">ToggleMode</value>
<value code="20">Arm-Land-RTL</value>
<value code="21">ToggleSimpleMode</value>
<value code="22">ToggleSuperSimpleMode</value>
<value code="23">MotorLoadTest</value>
<value code="24">ModeFlowHold</value>
</values>
</param>
<param humanName="Tmode action 2" name="TMODE_ACTION2" documentation="This is the action taken for the right action button" user="Standard">
<values>
<value code="0">None</value>
<value code="1">TakePhoto</value>
<value code="2">ToggleVideo</value>
<value code="3">ModeAcro</value>
<value code="4">ModeAltHold</value>
<value code="5">ModeAuto</value>
<value code="6">ModeLoiter</value>
<value code="7">ModeRTL</value>
<value code="8">ModeCircle</value>
<value code="9">ModeLand</value>
<value code="10">ModeDrift</value>
<value code="11">ModeSport</value>
<value code="12">ModeAutoTune</value>
<value code="13">ModePosHold</value>
<value code="14">ModeBrake</value>
<value code="15">ModeThrow</value>
<value code="16">Flip</value>
<value code="17">ModeStabilize</value>
<value code="18">Disarm</value>
<value code="19">ToggleMode</value>
<value code="20">Arm-Land-RTL</value>
<value code="21">ToggleSimpleMode</value>
<value code="22">ToggleSuperSimpleMode</value>
<value code="23">MotorLoadTest</value>
<value code="24">ModeFlowHold</value>
</values>
</param>
<param humanName="Tmode action 3" name="TMODE_ACTION3" documentation="This is the action taken for the power button" user="Standard">
<values>
<value code="0">None</value>
<value code="1">TakePhoto</value>
<value code="2">ToggleVideo</value>
<value code="3">ModeAcro</value>
<value code="4">ModeAltHold</value>
<value code="5">ModeAuto</value>
<value code="6">ModeLoiter</value>
<value code="7">ModeRTL</value>
<value code="8">ModeCircle</value>
<value code="9">ModeLand</value>
<value code="10">ModeDrift</value>
<value code="11">ModeSport</value>
<value code="12">ModeAutoTune</value>
<value code="13">ModePosHold</value>
<value code="14">ModeBrake</value>
<value code="15">ModeThrow</value>
<value code="16">Flip</value>
<value code="17">ModeStabilize</value>
<value code="18">Disarm</value>
<value code="19">ToggleMode</value>
<value code="20">Arm-Land-RTL</value>
<value code="21">ToggleSimpleMode</value>
<value code="22">ToggleSuperSimpleMode</value>
<value code="23">MotorLoadTest</value>
<value code="24">ModeFlowHold</value>
</values>
</param>
<param humanName="Tmode action 4" name="TMODE_ACTION4" documentation="This is the action taken for the left action button while the mode button is pressed" user="Standard">
<values>
<value code="0">None</value>
<value code="1">TakePhoto</value>
<value code="2">ToggleVideo</value>
<value code="3">ModeAcro</value>
<value code="4">ModeAltHold</value>
<value code="5">ModeAuto</value>
<value code="6">ModeLoiter</value>
<value code="7">ModeRTL</value>
<value code="8">ModeCircle</value>
<value code="9">ModeLand</value>
<value code="10">ModeDrift</value>
<value code="11">ModeSport</value>
<value code="12">ModeAutoTune</value>
<value code="13">ModePosHold</value>
<value code="14">ModeBrake</value>
<value code="15">ModeThrow</value>
<value code="16">Flip</value>
<value code="17">ModeStabilize</value>
<value code="18">Disarm</value>
<value code="19">ToggleMode</value>
<value code="20">Arm-Land-RTL</value>
<value code="21">ToggleSimpleMode</value>
<value code="22">ToggleSuperSimpleMode</value>
<value code="23">MotorLoadTest</value>
<value code="24">ModeFlowHold</value>
</values>
</param>
<param humanName="Tmode action 5" name="TMODE_ACTION5" documentation="This is the action taken for the right action button while the mode button is pressed" user="Standard">
<values>
<value code="0">None</value>
<value code="1">TakePhoto</value>
<value code="2">ToggleVideo</value>
<value code="3">ModeAcro</value>
<value code="4">ModeAltHold</value>
<value code="5">ModeAuto</value>
<value code="6">ModeLoiter</value>
<value code="7">ModeRTL</value>
<value code="8">ModeCircle</value>
<value code="9">ModeLand</value>
<value code="10">ModeDrift</value>
<value code="11">ModeSport</value>
<value code="12">ModeAutoTune</value>
<value code="13">ModePosHold</value>
<value code="14">ModeBrake</value>
<value code="15">ModeThrow</value>
<value code="16">Flip</value>
<value code="17">ModeStabilize</value>
<value code="18">Disarm</value>
<value code="19">ToggleMode</value>
<value code="20">Arm-Land-RTL</value>
<value code="21">ToggleSimpleMode</value>
<value code="22">ToggleSuperSimpleMode</value>
<value code="23">MotorLoadTest</value>
<value code="24">ModeFlowHold</value>
</values>
</param>
<param humanName="Tmode action 6" name="TMODE_ACTION6" documentation="This is the action taken for the power button while the mode button is pressed" user="Standard">
<values>
<value code="0">None</value>
<value code="1">TakePhoto</value>
<value code="2">ToggleVideo</value>
<value code="3">ModeAcro</value>
<value code="4">ModeAltHold</value>
<value code="5">ModeAuto</value>
<value code="6">ModeLoiter</value>
<value code="7">ModeRTL</value>
<value code="8">ModeCircle</value>
<value code="9">ModeLand</value>
<value code="10">ModeDrift</value>
<value code="11">ModeSport</value>
<value code="12">ModeAutoTune</value>
<value code="13">ModePosHold</value>
<value code="14">ModeBrake</value>
<value code="15">ModeThrow</value>
<value code="16">Flip</value>
<value code="17">ModeStabilize</value>
<value code="18">Disarm</value>
<value code="19">ToggleMode</value>
<value code="20">Arm-Land-RTL</value>
<value code="21">ToggleSimpleMode</value>
<value code="22">ToggleSuperSimpleMode</value>
<value code="23">MotorLoadTest</value>
<value code="24">ModeFlowHold</value>
</values>
</param>
<param humanName="Tmode left action" name="TMODE_LEFT" documentation="This is the action taken for the left button (mode button) being pressed" user="Standard">
<values>
<value code="0">None</value>
<value code="1">TakePhoto</value>
<value code="2">ToggleVideo</value>
<value code="3">ModeAcro</value>
<value code="4">ModeAltHold</value>
<value code="5">ModeAuto</value>
<value code="6">ModeLoiter</value>
<value code="7">ModeRTL</value>
<value code="8">ModeCircle</value>
<value code="9">ModeLand</value>
<value code="10">ModeDrift</value>
<value code="11">ModeSport</value>
<value code="12">ModeAutoTune</value>
<value code="13">ModePosHold</value>
<value code="14">ModeBrake</value>
<value code="15">ModeThrow</value>
<value code="16">Flip</value>
<value code="17">ModeStabilize</value>
<value code="18">Disarm</value>
<value code="19">ToggleMode</value>
<value code="20">Arm-Land-RTL</value>
<value code="21">ToggleSimpleMode</value>
<value code="22">ToggleSuperSimpleMode</value>
<value code="23">MotorLoadTest</value>
<value code="24">ModeFlowHold</value>
</values>
</param>
<param humanName="Tmode left long action" name="TMODE_LEFT_LONG" documentation="This is the action taken for a long press of the left button (home button)" user="Standard">
<values>
<value code="0">None</value>
<value code="1">TakePhoto</value>
<value code="2">ToggleVideo</value>
<value code="3">ModeAcro</value>
<value code="4">ModeAltHold</value>
<value code="5">ModeAuto</value>
<value code="6">ModeLoiter</value>
<value code="7">ModeRTL</value>
<value code="8">ModeCircle</value>
<value code="9">ModeLand</value>
<value code="10">ModeDrift</value>
<value code="11">ModeSport</value>
<value code="12">ModeAutoTune</value>
<value code="13">ModePosHold</value>
<value code="14">ModeBrake</value>
<value code="15">ModeThrow</value>
<value code="16">Flip</value>
<value code="17">ModeStabilize</value>
<value code="18">Disarm</value>
<value code="19">ToggleMode</value>
<value code="20">Arm-Land-RTL</value>
<value code="21">ToggleSimpleMode</value>
<value code="22">ToggleSuperSimpleMode</value>
<value code="23">MotorLoadTest</value>
<value code="24">ModeFlowHold</value>
</values>
</param>
<param humanName="Stick auto trim limit" name="TMODE_TRIM_AUTO" documentation="This is the amount of automatic stick trim that can be applied when disarmed with sticks not moving. It is a PWM limit value away from 1500" user="Standard">
<field name="Range">0 100</field>
</param>
<param humanName="Tmode right action" name="TMODE_RIGHT" documentation="This is the action taken for the right button (RTL) being pressed" user="Standard">
<values>
<value code="0">None</value>
<value code="1">TakePhoto</value>
<value code="2">ToggleVideo</value>
<value code="3">ModeAcro</value>
<value code="4">ModeAltHold</value>
<value code="5">ModeAuto</value>
<value code="6">ModeLoiter</value>
<value code="7">ModeRTL</value>
<value code="8">ModeCircle</value>
<value code="9">ModeLand</value>
<value code="10">ModeDrift</value>
<value code="11">ModeSport</value>
<value code="12">ModeAutoTune</value>
<value code="13">ModePosHold</value>
<value code="14">ModeBrake</value>
<value code="15">ModeThrow</value>
<value code="16">Flip</value>
<value code="17">ModeStabilize</value>
<value code="18">Disarm</value>
<value code="19">ToggleMode</value>
<value code="20">Arm-Land-RTL</value>
<value code="21">ToggleSimpleMode</value>
<value code="22">ToggleSuperSimpleMode</value>
<value code="23">MotorLoadTest</value>
</values>
</param>
<param humanName="Tmode flags" name="TMODE_FLAGS" documentation="Bitmask of flags to change the behaviour of tmode. DisarmOnLowThrottle means to disarm if throttle is held down for 1 second when landed. ArmOnHighThrottle means to arm if throttle is above 80% for 1 second. UpgradeToLoiter means to allow takeoff in LOITER mode by switching to ALT_HOLD, then auto-upgrading to LOITER once GPS is available. RTLStickCancel means that on large stick inputs in RTL mode that LOITER mode is engaged" user="Standard">
<field name="Bitmask">0:DisarmOnLowThrottle,1:ArmOnHighThrottle,2:UpgradeToLoiter,3:RTLStickCancel</field>
</param>
<param humanName="Min voltage for output limiting" name="TMODE_VMIN" documentation="This is the battery voltage below which no output limiting is done" user="Advanced">
<field name="Range">0 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Max voltage for output limiting" name="TMODE_VMAX" documentation="This is the battery voltage above which thrust min is used" user="Advanced">
<field name="Range">0 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Min thrust multiplier" name="TMODE_TMIN" documentation="This sets the thrust multiplier when voltage is high" user="Advanced">
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Max thrust multiplier" name="TMODE_TMAX" documentation="This sets the thrust multiplier when voltage is low" user="Advanced">
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Load test multiplier" name="TMODE_LOAD_MUL" documentation="This scales the load test output, as a value between 0 and 1" user="Advanced">
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Load test filter" name="TMODE_LOAD_FILT" documentation="This filters the load test output. A value of 1 means no filter. 2 means values are repeated once. 3 means values are repeated 3 times, etc" user="Advanced">
<field name="Range">0 100</field>
</param>
<param humanName="Load test type" name="TMODE_LOAD_TYPE" documentation="This sets the type of load test" user="Advanced">
<values>
<value code="0">ConstantThrust</value>
<value code="1">LogReplay1</value>
<value code="2">LogReplay2</value>
</values>
</param>
</parameters>
<parameters name="VISO">
<param humanName="Visual odometry camera connection type" name="VISO_TYPE" documentation="Visual odometry camera connection type" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">MAV</value>
</values>
</param>
<param humanName="Visual odometry camera X position offset" name="VISO_POS_X" documentation="X position of the camera in body frame. Positive X is forward of the origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Visual odometry camera Y position offset" name="VISO_POS_Y" documentation="Y position of the camera in body frame. Positive Y is to the right of the origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Visual odometry camera Z position offset" name="VISO_POS_Z" documentation="Z position of the camera in body frame. Positive Z is down from the origin." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Visual odometery camera orientation" name="VISO_ORIENT" documentation="Visual odometery camera orientation" user="Advanced">
<values>
<value code="0">Forward</value>
<value code=" 2">Right</value>
<value code=" 4">Back</value>
<value code=" 6">Left</value>
<value code=" 24">Up</value>
<value code=" 25">Down</value>
</values>
</param>
</parameters>
<parameters name="WENC">
<param humanName="WheelEncoder type" name="WENC_TYPE" documentation="What type of WheelEncoder is connected" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Quadrature</value>
</values>
</param>
<param humanName="WheelEncoder counts per revolution" name="WENC_CPR" documentation="WheelEncoder counts per full revolution of the wheel" user="Standard">
<field name="Increment">1</field>
</param>
<param humanName="Wheel radius in meters" name="WENC_RADIUS" documentation="Wheel radius in meters" user="Standard">
<field name="Increment">0.001</field>
</param>
<param humanName="Wheel's X position offset" name="WENC_POS_X" documentation="X position of the center of the wheel in body frame. Positive X is forward of the origin." user="Advanced">
<field name="Increment">0.01</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Wheel's Y position offset" name="WENC_POS_Y" documentation="Y position of the center of the wheel in body frame. Positive Y is to the right of the origin." user="Advanced">
<field name="Increment">0.01</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Wheel's Z position offset" name="WENC_POS_Z" documentation="Z position of the center of the wheel in body frame. Positive Z is down from the origin." user="Advanced">
<field name="Increment">0.01</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Input Pin A" name="WENC_PINA" documentation="Input Pin A" user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">PixhawkAUX1</value>
<value code="51">PixhawkAUX2</value>
<value code="52">PixhawkAUX3</value>
<value code="53">PixhawkAUX4</value>
<value code="54">PixhawkAUX5</value>
<value code="55">PixhawkAUX6</value>
</values>
</param>
<param humanName="Input Pin B" name="WENC_PINB" documentation="Input Pin B" user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">PixhawkAUX1</value>
<value code="51">PixhawkAUX2</value>
<value code="52">PixhawkAUX3</value>
<value code="53">PixhawkAUX4</value>
<value code="54">PixhawkAUX5</value>
<value code="55">PixhawkAUX6</value>
</values>
</param>
<param humanName="Second WheelEncoder type" name="WENC2_TYPE" documentation="What type of WheelEncoder sensor is connected" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Quadrature</value>
</values>
</param>
<param humanName="WheelEncoder 2 counts per revolution" name="WENC2_CPR" documentation="WheelEncoder 2 counts per full revolution of the wheel" user="Standard">
<field name="Increment">1</field>
</param>
<param humanName="Wheel2's radius in meters" name="WENC2_RADIUS" documentation="Wheel2's radius in meters" user="Standard">
<field name="Increment">0.001</field>
</param>
<param humanName="Wheel2's X position offset" name="WENC2_POS_X" documentation="X position of the center of the second wheel in body frame. Positive X is forward of the origin." user="Advanced">
<field name="Increment">0.01</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Wheel2's Y position offset" name="WENC2_POS_Y" documentation="Y position of the center of the second wheel in body frame. Positive Y is to the right of the origin." user="Advanced">
<field name="Increment">0.01</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Wheel2's Z position offset" name="WENC2_POS_Z" documentation="Z position of the center of the second wheel in body frame. Positive Z is down from the origin." user="Advanced">
<field name="Increment">0.01</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Second Encoder Input Pin A" name="WENC2_PINA" documentation="Second Encoder Input Pin A" user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">PixhawkAUX1</value>
<value code="51">PixhawkAUX2</value>
<value code="52">PixhawkAUX3</value>
<value code="53">PixhawkAUX4</value>
<value code="54">PixhawkAUX5</value>
<value code="55">PixhawkAUX6</value>
</values>
</param>
<param humanName="Second Encoder Input Pin B" name="WENC2_PINB" documentation="Second Encoder Input Pin B" user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">PixhawkAUX1</value>
<value code="51">PixhawkAUX2</value>
<value code="52">PixhawkAUX3</value>
<value code="53">PixhawkAUX4</value>
<value code="54">PixhawkAUX5</value>
<value code="55">PixhawkAUX6</value>
</values>
</param>
</parameters>
<parameters name="WINCH_">
<param humanName="Winch enable/disable" name="WINCH_ENABLE" documentation="Winch enable/disable" user="Standard">
<values>
<value code="0">Disabled</value>
<value code=" 1">Enabled</value>
</values>
</param>
<param humanName="Winch Type" name="WINCH_TYPE" documentation="Winch Type" user="Standard">
<values>
<value code="1">Servo with encoder</value>
</values>
</param>
<param humanName="Winch deploy or retract rate maximum" name="WINCH__RATE_MAX" documentation="Winch deploy or retract rate maximum.  Set to maximum rate with no load." user="Standard">
<field name="Range">0 10</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="Winch control position error P gain" name="WINCH__POS_P" documentation="Winch control position error P gain" user="Standard">
<field name="Range">0.01 10.0</field>
</param>
<param humanName="Winch control rate P gain" name="WINCH__RATE_P" documentation="Winch control rate P gain.  Converts rate error (in radians/sec) to pwm output (in the range -1 to +1)" user="Standard">
<field name="Range">0.100 2.000</field>
</param>
<param humanName="Winch control I gain" name="WINCH__RATE_I" documentation="Winch control I gain.  Corrects long term error between the desired rate (in rad/s) and actual" user="Standard">
<field name="Range">0.000 2.000</field>
</param>
<param humanName="Winch control I gain maximum" name="WINCH__RATE_IMAX" documentation="Winch control I gain maximum.  Constrains the output (range -1 to +1) that the I term will generate" user="Standard">
<field name="Range">0.000 1.000</field>
</param>
<param humanName="Winch control D gain" name="WINCH__RATE_D" documentation="Winch control D gain.  Compensates for short-term change in desired rate vs actual" user="Standard">
<field name="Range">0.000 0.400</field>
</param>
<param humanName="Winch control filter frequency" name="WINCH__RATE_FILT" documentation="Winch control input filter.  Lower values reduce noise but add delay." user="Standard">
<field name="Range">1.000 100.000</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
<parameters name="WPNAV_">
<param humanName="Waypoint Horizontal Speed Target" name="WPNAV_SPEED" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission" user="Standard">
<field name="Range">20 2000</field>
<field name="Increment">50</field>
<field name="Units">cm/s</field>
<field name="UnitText">centimeters per second</field>
</param>
<param humanName="Waypoint Radius" name="WPNAV_RADIUS" documentation="Defines the distance from a waypoint, that when crossed indicates the wp has been hit." user="Standard">
<field name="Range">10 1000</field>
<field name="Increment">1</field>
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
</param>
<param humanName="Waypoint Climb Speed Target" name="WPNAV_SPEED_UP" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission" user="Standard">
<field name="Range">10 1000</field>
<field name="Increment">50</field>
<field name="Units">cm/s</field>
<field name="UnitText">centimeters per second</field>
</param>
<param humanName="Waypoint Descent Speed Target" name="WPNAV_SPEED_DN" documentation="Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission" user="Standard">
<field name="Range">10 500</field>
<field name="Increment">10</field>
<field name="Units">cm/s</field>
<field name="UnitText">centimeters per second</field>
</param>
<param humanName="Waypoint Acceleration " name="WPNAV_ACCEL" documentation="Defines the horizontal acceleration in cm/s/s used during missions" user="Standard">
<field name="Range">50 500</field>
<field name="Increment">10</field>
<field name="Units">cm/s/s</field>
<field name="UnitText">centimeters per square second</field>
</param>
<param humanName="Waypoint Vertical Acceleration" name="WPNAV_ACCEL_Z" documentation="Defines the vertical acceleration in cm/s/s used during missions" user="Standard">
<field name="Range">50 500</field>
<field name="Increment">10</field>
<field name="Units">cm/s/s</field>
<field name="UnitText">centimeters per square second</field>
</param>
<param humanName="Waypoint missions use rangefinder for terrain following" name="WPNAV_RFND_USE" documentation="This controls if waypoint missions use rangefinder for terrain following" user="Advanced">
<values>
<value code="0">Disable</value>
<value code="1">Enable</value>
</values>
</param>
</parameters>
</libraries></paramfile>