vehicle_templates/ArduCopter/diatone_taycan_mxc/4.6.x-params/apm.pdef.xml
<?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:FORMAT_VERSION" documentation="This value is incremented when changes are made to the eeprom format" user="Advanced">
<field name="ReadOnly">True</field>
</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">
<field name="Range">1 255</field>
<field name="Increment">1</field>
</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="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 10</field>
<field name="Increment">.5</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="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Range">0.0 1000.0</field>
<field name="Increment">10</field>
</param>
<param humanName="Throttle stick behavior" name="ArduCopter:PILOT_THR_BHV" documentation="Bitmask containing various throttle stick options. TX with sprung throttle can set PILOT_THR_BHV to "1" so motor feedback when landed starts from mid-stick instead of bottom of stick." user="Standard">
<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>
<field name="Bitmask">0:Feedback from mid stick,1:High throttle cancels landing,2:Disarm on land detection</field>
</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="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Range">0 30</field>
<field name="Increment">1</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">
<values>
<value code="0">None</value>
<value code="1">Roll</value>
<value code="2">Pitch</value>
<value code="4">Yaw</value>
<value code="8">AccelZ</value>
</values>
<field name="Bitmask">0:Roll,1:Pitch,2:Yaw,3:AccelZ</field>
</param>
<param humanName="RTL Altitude" name="ArduCopter:RTL_ALT" documentation="The minimum alt above home the vehicle will climb to before returning. If the vehicle is flying higher than this value it will return at its current altitude." user="Standard">
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Range">30 300000</field>
<field name="Increment">1</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>
<field name="Increment">.1</field>
<values>
<value code="0">Disabled</value>
<value code="1">Shallow</value>
<value code="3">Steep</value>
</values>
</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="Units">cm/s</field>
<field name="UnitText">centimeters per second</field>
<field name="Range">0 2000</field>
<field name="Increment">50</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="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Range">0 1000</field>
<field name="Increment">1</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="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Range">0 3000</field>
<field name="Increment">10</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="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="Range">0 60000</field>
<field name="Increment">1000</field>
</param>
<param humanName="RTL mode altitude type" name="ArduCopter:RTL_ALT_TYPE" documentation="RTL altitude type. Set to 1 for Terrain following during RTL and then set WPNAV_RFND_USE=1 to use rangefinder or WPNAV_RFND_USE=0 to use Terrain database" user="Standard">
<values>
<value code="0">Relative to Home</value>
<value code="1">Terrain</value>
</values>
</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. See FS_OPTIONS param for additional actions, or for cases allowing Mission continuation, when GCS failsafe is enabled." user="Standard">
<values>
<value code="0">Disabled/NoAction</value>
<value code="1">RTL</value>
<value code="2">RTL or Continue with Mission in Auto Mode (Removed in 4.0+-see FS_OPTIONS)</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Land</value>
<value code="6">Auto DO_LAND_START or RTL</value>
<value code="7">Brake 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="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. The bitmask is for flight mode switch positions" user="Standard">
<field name="Bitmask">0:SwitchPos1, 1:SwitchPos2, 2:SwitchPos3, 3:SwitchPos4, 4:SwitchPos5, 5:SwitchPos6</field>
</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="Units">cm/s</field>
<field name="UnitText">centimeters per second</field>
<field name="Range">30 200</field>
<field name="Increment">10</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="Units">cm/s</field>
<field name="UnitText">centimeters per second</field>
<field name="Range">0 500</field>
<field name="Increment">10</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="Units">cm/s</field>
<field name="UnitText">centimeters per second</field>
<field name="Range">50 500</field>
<field name="Increment">10</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="Units">cm/s/s</field>
<field name="UnitText">centimeters per square second</field>
<field name="Range">50 500</field>
<field name="Increment">10</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 (Removed in 4.0+)</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>
<value code="6">Enabled Auto DO_LAND_START or RTL</value>
<value code="7">Enabled always Brake 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">910 1100</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Increment">1</field>
</param>
<param humanName="Flight Mode 1" name="ArduCopter:FLTMODE1" documentation="Flight mode when pwm of Flightmode channel(FLTMODE_CH) is <= 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>
<value code="24">ZigZag</value>
<value code="25">SystemID</value>
<value code="26">Heli_Autorotate</value>
<value code="27">Auto RTL</value>
</values>
</param>
<param humanName="Flight Mode 2" name="ArduCopter:FLTMODE2" documentation="Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1230, <= 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>
<value code="24">ZigZag</value>
<value code="25">SystemID</value>
<value code="26">Heli_Autorotate</value>
<value code="27">Auto RTL</value>
</values>
</param>
<param humanName="Flight Mode 3" name="ArduCopter:FLTMODE3" documentation="Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1360, <= 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>
<value code="24">ZigZag</value>
<value code="25">SystemID</value>
<value code="26">Heli_Autorotate</value>
<value code="27">Auto RTL</value>
</values>
</param>
<param humanName="Flight Mode 4" name="ArduCopter:FLTMODE4" documentation="Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1490, <= 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>
<value code="24">ZigZag</value>
<value code="25">SystemID</value>
<value code="26">Heli_Autorotate</value>
<value code="27">Auto RTL</value>
</values>
</param>
<param humanName="Flight Mode 5" name="ArduCopter:FLTMODE5" documentation="Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1620, <= 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>
<value code="24">ZigZag</value>
<value code="25">SystemID</value>
<value code="26">Heli_Autorotate</value>
<value code="27">Auto RTL</value>
</values>
</param>
<param humanName="Flight Mode 6" name="ArduCopter:FLTMODE6" documentation="Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >=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>
<value code="24">ZigZag</value>
<value code="25">SystemID</value>
<value code="26">Heli_Autorotate</value>
<value code="27">Auto RTL</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>
<value code="9">Channel9</value>
<value code="10">Channel 10</value>
<value code="11">Channel 11</value>
<value code="12">Channel 12</value>
<value code="13">Channel 13</value>
<value code="14">Channel 14</value>
<value code="15">Channel 15</value>
</values>
</param>
<param humanName="Initial flight mode" name="ArduCopter:INITIAL_MODE" documentation="This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver." user="Advanced">
<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>
<value code="24">ZigZag</value>
<value code="25">SystemID</value>
<value code="26">Heli_Autorotate</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). The bitmask is for flightmode switch positions." user="Advanced">
<field name="Bitmask">0:SwitchPos1, 1:SwitchPos2, 2:SwitchPos3, 3:SwitchPos4, 4:SwitchPos5, 5:SwitchPos6</field>
</param>
<param humanName="Log bitmask" name="ArduCopter:LOG_BITMASK" documentation="Bitmap of what on-board log types to enable. This value is made up of the sum of each of the log types you want to be saved. It is usually best just to enable all basiclog types by setting this to 65535." user="Standard">
<field name="Bitmask">0:Fast Attitude,1:Medium Attitude,2:GPS,3:System Performance,4:Control Tuning,5:Navigation Tuning,6:RC input,7:IMU,8:Mission Commands,9:Battery Monitor,10:RC output,11:Optical Flow,12:PID,13:Compass,15:Camera,17:Motors,18:Fast IMU,19:Raw IMU,20:Video Stabilization,21:Fast harmonic notch logging</field>
</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 Roll/Pitch deg/s</value>
<value code="40">Acro Yaw deg/s</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="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="58">SysID Magnitude</value>
<value code="59">PSC Angle Max</value>
</values>
</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>
<value code="11">Y6F</value>
<value code="12">BetaFlightX</value>
<value code="13">DJIX</value>
<value code="14">ClockwiseX</value>
<value code="15">I</value>
<value code="18">BetaFlightXReversed</value>
<value code="19">Y4</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Disarm delay" name="ArduCopter:DISARM_DELAY" documentation="Delay before automatic disarm in seconds after landing touchdown detection. A value of zero disables auto disarm. If Emergency Motor stop active, delay time is half this value." user="Advanced">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Range">0 127</field>
</param>
<param humanName="Angle Max" name="ArduCopter:ANGLE_MAX" documentation="Maximum lean angle in all flight modes" user="Advanced">
<field name="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
<field name="Increment">10</field>
<field name="Range">1000 8000</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="Units">deg/s</field>
<field name="UnitText">degrees per second</field>
<field name="Range">4 12</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="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
<field name="Increment">10</field>
<field name="Range">2000 4500</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, velocity, position and height variances. Used in arming check and EKF failsafe." user="Advanced">
<values>
<value code="0.6">Strict</value>
<value code="0.8">Default</value>
<value code="1.0">Relaxed</value>
</values>
</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="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">50 490</field>
<field name="Increment">1</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. For helicopter sets the decay rate of the virtual flybar in the roll axis. A higher value causes faster decay of desired to actual attitude." 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. For helicopter sets the decay rate of the virtual flybar in the pitch axis. A higher value causes faster decay of desired to actual attitude." 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="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 MOT_SPIN_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="Throw mode minimum altitude" name="ArduCopter:THROW_ALT_MIN" documentation="Minimum altitude above which Throw mode will detect a throw or a drop - 0 to disable the check" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Throw mode maximum altitude" name="ArduCopter:THROW_ALT_MAX" documentation="Maximum altitude under which Throw mode will detect a throw or a drop - 0 to disable the check" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</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,1:DevOptionVFR_HUDRelativeAlt</field>
</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="10">BiCopter</value>
<value code="11">Heli_Dual</value>
<value code="12">DodecaHexa</value>
<value code="13">HeliQuad</value>
<value code="14">Deca</value>
<value code="15">Scripting Matrix</value>
<value code="16">6DoF Scripting</value>
<value code="17">Dynamic Scripting Matrix</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. If 0 PILOT_SPEED_UP value is used." user="Standard">
<field name="Units">cm/s</field>
<field name="UnitText">centimeters per second</field>
<field name="Range">0 500</field>
<field name="Increment">10</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="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Range">100 10000</field>
<field name="Increment">10</field>
</param>
<param humanName="Tuning minimum" name="ArduCopter:TUNE_MIN" documentation="Minimum value that the parameter currently being tuned with the transmitter's channel 6 knob will be set to" user="Standard">
</param>
<param humanName="Tuning maximum" name="ArduCopter:TUNE_MAX" documentation="Maximum value that the parameter currently being tuned with the transmitter's channel 6 knob will be set to" user="Standard">
</param>
<param humanName="Vibration Failsafe enable" name="ArduCopter:FS_VIBE_ENABLE" documentation="This enables the vibration failsafe which will use modified altitude estimation and control during high vibrations" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Failsafe options bitmask" name="ArduCopter:FS_OPTIONS" documentation="Bitmask of additional options for battery, radio, & GCS failsafes. 0 (default) disables all options." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Continue if in Auto on RC failsafe only</value>
<value code="2">Continue if in Auto on GCS failsafe only</value>
<value code="3">Continue if in Auto on RC and/or GCS failsafe</value>
<value code="4">Continue if in Guided on RC failsafe only</value>
<value code="8">Continue if landing on any failsafe</value>
<value code="16">Continue if in pilot controlled modes on GCS failsafe</value>
<value code="19">Continue if in Auto on RC and/or GCS failsafe and continue if in pilot controlled modes on GCS failsafe</value>
</values>
<field name="Bitmask">0:Continue if in Auto on RC failsafe, 1:Continue if in Auto on GCS failsafe, 2:Continue if in Guided on RC failsafe, 3:Continue if landing on any failsafe, 4:Continue if in pilot controlled modes on GCS failsafe, 5:Release Gripper</field>
</param>
<param humanName="Acro mode options" name="ArduCopter:ACRO_OPTIONS" documentation="A range of options that can be applied to change acro mode behaviour. Air-mode enables ATC_THR_MIX_MAN at all times (air-mode has no effect on helicopters). Rate Loop Only disables the use of angle stabilization and uses angular rate stabilization only." user="Advanced">
<field name="Bitmask">0:Air-mode,1:Rate Loop Only</field>
</param>
<param humanName="Auto mode options" name="ArduCopter:AUTO_OPTIONS" documentation="A range of options that can be applied to change auto mode behaviour. Allow Arming allows the copter to be armed in Auto. Allow Takeoff Without Raising Throttle allows takeoff without the pilot having to raise the throttle. Ignore pilot yaw overrides the pilot's yaw stick being used while in auto." user="Advanced">
<field name="Bitmask">0:Allow Arming,1:Allow Takeoff Without Raising Throttle,2:Ignore pilot yaw,7:Allow weathervaning</field>
</param>
<param humanName="Guided mode options" name="ArduCopter:GUID_OPTIONS" documentation="Options that can be applied to change guided mode behaviour" user="Advanced">
<field name="Bitmask">0:Allow Arming from Transmitter,2:Ignore pilot yaw,3:SetAttitudeTarget interprets Thrust As Thrust,4:Do not stabilize PositionXY,5:Do not stabilize VelocityXY,6:Waypoint navigation used for position targets,7:Allow weathervaning</field>
</param>
<param humanName="GCS failsafe timeout" name="ArduCopter:FS_GCS_TIMEOUT" documentation="Timeout before triggering the GCS failsafe" user="Standard">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Range">2 120</field>
<field name="Increment">1</field>
</param>
<param humanName="RTL mode options" name="ArduCopter:RTL_OPTIONS" documentation="Options that can be applied to change RTL mode behaviour" user="Advanced">
<field name="Bitmask">2:Ignore pilot yaw</field>
</param>
<param humanName="Flight mode options" name="ArduCopter:FLIGHT_OPTIONS" documentation="Flight mode specific options" user="Advanced">
<field name="Bitmask">0:Disable thrust loss check, 1:Disable yaw imbalance warning, 2:Release gripper on thrust loss</field>
</param>
<param humanName="Rangefinder filter" name="ArduCopter:RNGFND_FILT" documentation="Rangefinder filter to smooth distance. Set to zero to disable filtering" user="Standard">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 5</field>
<field name="Increment">0.05</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Guided mode timeout" name="ArduCopter:GUID_TIMEOUT" documentation="Guided mode timeout after which vehicle will stop or return to level if no updates are received from caller. Only applicable during any combination of velocity, acceleration, angle control, and/or angular rate control" user="Advanced">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Range">0.1 5</field>
</param>
<param humanName="Surface Tracking Mode" name="ArduCopter:SURFTRAK_MODE" documentation="set which surface to track in surface tracking" user="Advanced">
<values>
<value code="0">Do not track</value>
<value code="1">Ground</value>
<value code="2">Ceiling</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="DeadReckon Failsafe Action" name="ArduCopter:FS_DR_ENABLE" documentation="Failsafe action taken immediately as deadreckoning starts. Deadreckoning starts when EKF loses position and velocity source and relies only on wind estimates" user="Standard">
<values>
<value code="0">Disabled/NoAction</value>
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="6">Auto DO_LAND_START or RTL</value>
</values>
</param>
<param humanName="DeadReckon Failsafe Timeout" name="ArduCopter:FS_DR_TIMEOUT" documentation="DeadReckoning is available for this many seconds after losing position and/or velocity source. After this timeout elapses the EKF failsafe will trigger in modes requiring a position estimate" user="Standard">
<field name="Range">0 120</field>
</param>
<param humanName="Acro Roll and Pitch Rate" name="ArduCopter:ACRO_RP_RATE" documentation="Acro mode maximum roll and pitch rate. Higher values mean faster rate of rotation" user="Standard">
<field name="Units">deg/s</field>
<field name="UnitText">degrees per second</field>
<field name="Range">1 1080</field>
</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">
<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>
<field name="Range">-0.5 0.95</field>
</param>
<param humanName="Acro roll/pitch rate control input time constant" name="ArduCopter:ACRO_RP_RATE_TC" documentation="Acro roll and pitch rate control input time constant. Low numbers lead to sharper response, higher numbers to softer response" user="Standard">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
<values>
<value code="0.5">Very Soft</value>
<value code="0.2">Soft</value>
<value code="0.15">Medium</value>
<value code="0.1">Crisp</value>
<value code="0.05">Very Crisp</value>
</values>
</param>
<param humanName="Acro Yaw Rate" name="ArduCopter:ACRO_Y_RATE" documentation="Acro mode maximum yaw rate. Higher value means faster rate of rotation" user="Standard">
<field name="Units">deg/s</field>
<field name="UnitText">degrees per second</field>
<field name="Range">1 360</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">
<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>
<field name="Range">-1.0 0.95</field>
</param>
<param humanName="Acro yaw rate control input time constant" name="ArduCopter:ACRO_Y_RATE_TC" documentation="Acro yaw rate control input time constant. Low numbers lead to sharper response, higher numbers to softer response" user="Standard">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
<values>
<value code="0.5">Very Soft</value>
<value code="0.2">Soft</value>
<value code="0.15">Medium</value>
<value code="0.1">Crisp</value>
<value code="0.05">Very Crisp</value>
</values>
</param>
<param humanName="Pilot controlled yaw rate" name="ArduCopter:PILOT_Y_RATE" documentation="Pilot controlled yaw rate max. Used in all pilot controlled modes except Acro" user="Standard">
<field name="Units">deg/s</field>
<field name="UnitText">degrees per second</field>
<field name="Range">1 360</field>
</param>
<param humanName="Pilot controlled yaw expo" name="ArduCopter:PILOT_Y_EXPO" documentation="Pilot controlled yaw expo to allow faster rotation when stick at edges" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="0.1">Very Low</value>
<value code="0.2">Low</value>
<value code="0.3">Medium</value>
<value code="0.4">High</value>
<value code="0.5">Very High</value>
</values>
<field name="Range">-0.5 1.0</field>
</param>
<param humanName="Pilot yaw rate control input time constant" name="ArduCopter:PILOT_Y_RATE_TC" documentation="Pilot yaw rate control input time constant. Low numbers lead to sharper response, higher numbers to softer response" user="Standard">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
<values>
<value code="0.5">Very Soft</value>
<value code="0.2">Soft</value>
<value code="0.15">Medium</value>
<value code="0.1">Crisp</value>
<value code="0.05">Very Crisp</value>
</values>
</param>
<param humanName="Slew time of throttle during take-off" name="ArduCopter:TKOFF_SLEW_TIME" documentation="Time to slew the throttle from minimum to maximum while checking for a succsessful takeoff." user="Standard">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Range">0.25 5.0</field>
</param>
<param humanName="Takeoff Check RPM minimum" name="ArduCopter:TKOFF_RPM_MIN" documentation="Takeoff is not permitted until motors report at least this RPM. Set to zero to disable check" user="Standard">
<field name="Range">0 10000</field>
</param>
<param humanName="Payload Place thrust ratio threshold" name="ArduCopter:PLDP_THRESH" documentation="Ratio of vertical thrust during decent below which payload touchdown will trigger." user="Standard">
<field name="Range">0.5 0.9</field>
</param>
<param humanName="Payload Place maximum range finder altitude" name="ArduCopter:PLDP_RNG_MAX" documentation="Maximum range finder altitude in m to trigger payload touchdown, set to zero to disable." user="Standard">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 100</field>
</param>
<param humanName="Payload Place climb delay" name="ArduCopter:PLDP_DELAY" documentation="Delay after release, in seconds, before aircraft starts to climb back to starting altitude." user="Standard">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Range">0 120</field>
</param>
<param humanName="Payload Place decent speed" name="ArduCopter:PLDP_SPEED_DN" documentation="The maximum vertical decent velocity in m/s. If 0 LAND_SPEED value is used." user="Standard">
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
<field name="Range">0 5</field>
</param>
<param humanName="Surface Tracking Filter Time Constant" name="ArduCopter:SURFTRAK_TC" documentation="Time to achieve 63.2% of the surface altitude measurement change. If 0 filtering is disabled" user="Advanced">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Range">0 5</field>
</param>
<param humanName="Takeoff maximum throttle during take-off ramp up" name="ArduCopter:TKOFF_THR_MAX" documentation="Takeoff maximum throttle allowed before controllers assume the aircraft is airborne during the takeoff process." user="Advanced">
<field name="Range">0.0 0.9</field>
</param>
<param humanName="Takeoff Check RPM maximum" name="ArduCopter:TKOFF_RPM_MAX" documentation="Takeoff is not permitted until motors report no more than this RPM. Set to zero to disable check" user="Standard">
<field name="Range">0 10000</field>
</param>
<param humanName="EKF Failsafe filter cutoff" name="ArduCopter:FS_EKF_FILT" documentation="EKF Failsafe filter cutoff frequency. EKF variances are filtered using this value to avoid spurious failsafes from transient high variances. A higher value means the failsafe is more likely to trigger." user="Advanced">
<field name="Range">0 10</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
</vehicles>
<libraries>
<parameters name="VEHICLE">
<param humanName="Flight mode block from GCS" name="FLTMODE_GCSBLOCK" documentation="Bitmask of flight modes to disable for GCS selection. Mode can still be accessed via RC or failsafe." user="Standard">
<field name="Bitmask">0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:Circle,7:Drift,8:Sport,9:Flip,10:AutoTune,11:PosHold,12:Brake,13:Throw,14:Avoid_ADSB,15:Guided_NoGPS,16:Smart_RTL,17:FlowHold,18:Follow,19:ZigZag,20:SystemID,21:Heli_Autorotate,22:Auto RTL,23:Turtle</field>
</param>
</parameters>
<parameters name="Lua Script">
<param humanName="enable web server" name="WEB_ENABLE" documentation="enable web server" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="web server TCP port" name="WEB_BIND_PORT" documentation="web server TCP port" user="Standard">
<field name="Range">1 65535</field>
</param>
<param humanName="web server debugging" name="WEB_DEBUG" documentation="web server debugging" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="web server block size" name="WEB_BLOCK_SIZE" documentation="web server block size for download" user="Advanced">
<field name="Range">1 65535</field>
</param>
<param humanName="web server timeout" name="WEB_TIMEOUT" documentation="timeout for inactive connections" user="Advanced">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Range">0.1 60</field>
</param>
<param humanName="web server minimum file size for sendfile" name="WEB_SENDFILE_MIN" documentation="sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download" user="Advanced">
<field name="Range">0 10000000</field>
</param>
<param humanName="Quicktune enable" name="QUIK_ENABLE" documentation="Enable quicktune system" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Quicktune axes" name="QUIK_AXES" documentation="axes to tune" user="Standard">
<field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
</param>
<param humanName="Quicktune doubling time" name="QUIK_DOUBLE_TIME" documentation="Time to double a tuning parameter. Raise this for a slower tune." user="Standard">
<field name="Range">5 20</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Quicktune gain margin" name="QUIK_GAIN_MARGIN" documentation="Reduction in gain after oscillation detected. Raise this number to get a more conservative tune" user="Standard">
<field name="Range">20 80</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="Quicktune oscillation rate threshold" name="QUIK_OSC_SMAX" documentation="Threshold for oscillation detection. A lower value will lead to a more conservative tune." user="Standard">
<field name="Range">1 10</field>
</param>
<param humanName="Quicktune Yaw P max" name="QUIK_YAW_P_MAX" documentation="Maximum value for yaw P gain" user="Standard">
<field name="Range">0.1 3</field>
</param>
<param humanName="Quicktune Yaw D max" name="QUIK_YAW_D_MAX" documentation="Maximum value for yaw D gain" user="Standard">
<field name="Range">0.001 1</field>
</param>
<param humanName="Quicktune roll/pitch PI ratio" name="QUIK_RP_PI_RATIO" documentation="Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain" user="Standard">
<field name="Range">0.5 1.0</field>
</param>
<param humanName="Quicktune Yaw PI ratio" name="QUIK_Y_PI_RATIO" documentation="Ratio between P and I gains for yaw. Raise this to get a lower I gain" user="Standard">
<field name="Range">0.5 20</field>
</param>
<param humanName="Quicktune auto filter enable" name="QUIK_AUTO_FILTER" documentation="When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Quicktune auto save" name="QUIK_AUTO_SAVE" documentation="Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune" user="Standard">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Quicktune RC function" name="QUIK_RC_FUNC" documentation="RCn_OPTION number to use to control tuning stop/start/save" user="Standard">
</param>
<param humanName="Quicktune maximum gain reduction" name="QUIK_MAX_REDUCE" documentation="This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation." user="Standard">
<field name="Units">%</field>
<field name="UnitText">percent</field>
<field name="Range">0 100</field>
</param>
<param humanName="Quicktune options" name="QUIK_OPTIONS" documentation="Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune." user="Standard">
<field name="Bitmask">0:UseTwoPositionSwitch</field>
</param>
<param humanName="Count of SOC estimators" name="BATT_SOC_COUNT" documentation="Number of battery SOC estimators" user="Standard">
<field name="Range">0 4</field>
</param>
<param humanName="Battery estimator index" name="BATT_SOC1_IDX" documentation="Battery estimator index" user="Standard">
<field name="Range">0 4</field>
</param>
<param humanName="Battery estimator cell count" name="BATT_SOC1_NCELL" documentation="Battery estimator cell count" user="Standard">
<field name="Range">0 48</field>
</param>
<param humanName="Battery estimator coefficient1" name="BATT_SOC1_C1" documentation="Battery estimator coefficient1" user="Standard">
<field name="Range">100 200</field>
</param>
<param humanName="Battery estimator coefficient2" name="BATT_SOC1_C2" documentation="Battery estimator coefficient2" user="Standard">
<field name="Range">2 5</field>
</param>
<param humanName="Battery estimator coefficient3" name="BATT_SOC1_C3" documentation="Battery estimator coefficient3" user="Standard">
<field name="Range">0.01 0.5</field>
</param>
<param humanName="Battery estimator index" name="BATT_SOC2_IDX" documentation="Battery estimator index" user="Standard">
<field name="Range">0 4</field>
</param>
<param humanName="Battery estimator cell count" name="BATT_SOC2_NCELL" documentation="Battery estimator cell count" user="Standard">
<field name="Range">0 48</field>
</param>
<param humanName="Battery estimator coefficient1" name="BATT_SOC2_C1" documentation="Battery estimator coefficient1" user="Standard">
<field name="Range">100 200</field>
</param>
<param humanName="Battery estimator coefficient2" name="BATT_SOC2_C2" documentation="Battery estimator coefficient2" user="Standard">
<field name="Range">2 5</field>
</param>
<param humanName="Battery estimator coefficient3" name="BATT_SOC2_C3" documentation="Battery estimator coefficient3" user="Standard">
<field name="Range">0.01 0.5</field>
</param>
<param humanName="Battery estimator index" name="BATT_SOC3_IDX" documentation="Battery estimator index" user="Standard">
<field name="Range">0 4</field>
</param>
<param humanName="Battery estimator cell count" name="BATT_SOC3_NCELL" documentation="Battery estimator cell count" user="Standard">
<field name="Range">0 48</field>
</param>
<param humanName="Battery estimator coefficient1" name="BATT_SOC3_C1" documentation="Battery estimator coefficient1" user="Standard">
<field name="Range">100 200</field>
</param>
<param humanName="Battery estimator coefficient2" name="BATT_SOC3_C2" documentation="Battery estimator coefficient2" user="Standard">
<field name="Range">2 5</field>
</param>
<param humanName="Battery estimator coefficient3" name="BATT_SOC3_C3" documentation="Battery estimator coefficient3" user="Standard">
<field name="Range">0.01 0.5</field>
</param>
<param humanName="Battery estimator index" name="BATT_SOC4_IDX" documentation="Battery estimator index" user="Standard">
<field name="Range">0 4</field>
</param>
<param humanName="Battery estimator cell count" name="BATT_SOC4_NCELL" documentation="Battery estimator cell count" user="Standard">
<field name="Range">0 48</field>
</param>
<param humanName="Battery estimator coefficient1" name="BATT_SOC4_C1" documentation="Battery estimator coefficient1" user="Standard">
<field name="Range">100 200</field>
</param>
<param humanName="Battery estimator coefficient2" name="BATT_SOC4_C2" documentation="Battery estimator coefficient2" user="Standard">
<field name="Range">2 5</field>
</param>
<param humanName="Battery estimator coefficient3" name="BATT_SOC4_C3" documentation="Battery estimator coefficient3" user="Standard">
<field name="Range">0.01 0.5</field>
</param>
<param humanName="WinchControl Rate Up" name="WINCH_RATE_UP" documentation="Maximum rate when retracting line" user="Standard">
<field name="Range">0.1 5.0</field>
</param>
<param humanName="WinchControl Rate Down" name="WINCH_RATE_DN" documentation="Maximum rate when releasing line" user="Standard">
<field name="Range">0.1 5.0</field>
</param>
<param humanName="Winch Rate Control RC function" name="WINCH_RC_FUNC" documentation="RCn_OPTION number to use to control winch rate" user="Standard">
<values>
<value code="300">Scripting1</value>
<value code="301">Scripting2</value>
<value code="302">Scripting3</value>
<value code="303">Scripting4</value>
<value code="304">Scripting5</value>
<value code="305">Scripting6</value>
<value code="306">Scripting7</value>
<value code="307">Scripting8</value>
</values>
</param>
<param humanName="parameter reversion enable" name="PREV_ENABLE" documentation="Enable parameter reversion system" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="param reversion RC function" name="PREV_RC_FUNC" documentation="RCn_OPTION number to used to trigger parameter reversion" user="Standard">
</param>
<param humanName="Precland altitude cutoff" name="PLND_ALT_CUTOFF" documentation="The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing" user="Standard">
<field name="Range">0 20</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Precland distance cutoff" name="DIST_CUTOFF" documentation="The distance from target beyond which the target is ignored" user="Standard">
<field name="Range">0 100</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Force enable High Latency mode" name="RCK_FORCEHL" documentation="Automatically enables High Latency mode if not already enabled" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Update rate" name="RCK_PERIOD" documentation="When in High Latency mode, send Rockblock updates every N seconds" user="Standard">
<field name="Range">0 600</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Display Rockblock debugging text" name="RCK_DEBUG" documentation="Sends Rockblock debug text to GCS via statustexts" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Enable Message transmission" name="RCK_ENABLE" documentation="Enables the Rockblock sending and recieving" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Ship landing enable" name="SHIP_ENABLE" documentation="Enable ship landing system" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Ship landing angle" name="SHIP_LAND_ANGLE" documentation="Angle from the stern of the ship for landing approach. Use this to ensure that on a go-around that ship superstructure and cables are avoided. A value of zero means to approach from the rear of the ship. A value of 90 means the landing will approach from the port (left) side of the ship. A value of -90 will mean approaching from the starboard (right) side of the ship. A value of 180 will approach from the bow of the ship. This parameter is combined with the sign of the RTL_RADIUS parameter to determine the holdoff pattern. If RTL_RADIUS is positive then a clockwise loiter is performed, if RTL_RADIUS is negative then a counter-clockwise loiter is used." user="Standard">
<field name="Range">-180 180</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Ship automatic offset trigger" name="SHIP_AUTO_OFS" documentation="Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target. NOTE: This parameter will auto-reset to zero once the offset has been calculated." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Trigger</value>
</values>
</param>
<param humanName="Rover Quicktune enable" name="RTUN_ENABLE" documentation="Enable quicktune system" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Rover Quicktune axes" name="RTUN_AXES" documentation="axes to tune" user="Standard">
<field name="Bitmask">0:Steering,1:Speed</field>
</param>
<param humanName="Rover Quicktune Steering Rate FeedForward ratio" name="RTUN_STR_FFRATIO" documentation="Ratio between measured response and FF gain. Raise this to get a higher FF gain" user="Standard">
<field name="Range">0 1.0</field>
</param>
<param humanName="Rover Quicktune Steering FF to P ratio" name="RTUN_STR_P_RATIO" documentation="Ratio between steering FF and P gains. Raise this to get a higher P gain, 0 to leave P unchanged" user="Standard">
<field name="Range">0 2.0</field>
</param>
<param humanName="Rover Quicktune Steering FF to I ratio" name="RTUN_STR_I_RATIO" documentation="Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged" user="Standard">
<field name="Range">0 2.0</field>
</param>
<param humanName="Rover Quicktune Speed FeedForward (equivalent) ratio" name="RTUN_SPD_FFRATIO" documentation="Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value" user="Standard">
<field name="Range">0 1.0</field>
</param>
<param humanName="Rover Quicktune Speed FF to P ratio" name="RTUN_SPD_P_RATIO" documentation="Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged" user="Standard">
<field name="Range">0 2.0</field>
</param>
<param humanName="Rover Quicktune Speed FF to I ratio" name="RTUN_SPD_I_RATIO" documentation="Ratio between speed FF and I gain. Raise this to get a higher I gain, 0 to leave I unchanged" user="Standard">
<field name="Range">0 2.0</field>
</param>
<param humanName="Rover Quicktune auto filter enable" name="RTUN_AUTO_FILTER" documentation="When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Rover Quicktune auto save" name="RTUN_AUTO_SAVE" documentation="Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune" user="Standard">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Rover Quicktune RC function" name="RTUN_RC_FUNC" documentation="RCn_OPTION number to use to control tuning stop/start/save" user="Standard">
<values>
<value code="300">Scripting1</value>
<value code="301">Scripting2</value>
<value code="302">Scripting3</value>
<value code="303">Scripting4</value>
<value code="304">Scripting5</value>
<value code="305">Scripting6</value>
<value code="306">Scripting7</value>
<value code="307">Scripting8</value>
</values>
</param>
<param humanName="Deadreckoning Enable" name="DR_ENABLE" documentation="Deadreckoning Enable" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Deadreckoning Enable Distance" name="DR_ENABLE_DIST" documentation="Distance from home (in meters) beyond which the dead reckoning will be enabled" user="Standard">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Deadreckoning GPS speed accuracy maximum threshold" name="DR_GPS_SACC_MAX" documentation="GPS speed accuracy maximum, above which deadreckoning home will begin (default is 0.8). Lower values trigger with good GPS quality, higher values will allow poorer GPS before triggering. Set to 0 to disable use of GPS speed accuracy" user="Standard">
<field name="Range">0 10</field>
</param>
<param humanName="Deadreckoning GPS satellite count min threshold" name="DR_GPS_SAT_MIN" documentation="GPS satellite count threshold below which deadreckoning home will begin (default is 6). Higher values trigger with good GPS quality, Lower values trigger with worse GPS quality. Set to 0 to disable use of GPS satellite count" user="Standard">
<field name="Range">0 30</field>
</param>
<param humanName="Deadreckoning GPS check trigger seconds" name="DR_GPS_TRIGG_SEC" documentation="GPS checks must fail for this many seconds before dead reckoning will be triggered" user="Standard">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Deadreckoning Lean Angle" name="DR_FLY_ANGLE" documentation="lean angle (in degrees) during deadreckoning" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 45</field>
</param>
<param humanName="Deadreckoning Altitude Min" name="DR_FLY_ALT_MIN" documentation="Copter will fly at at least this altitude (in meters) above home during deadreckoning" user="Standard">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 1000</field>
</param>
<param humanName="Deadreckoning flight timeout" name="DR_FLY_TIMEOUT" documentation="Copter will attempt to switch to NEXT_MODE after this many seconds of deadreckoning. If it cannot switch modes it will continue in Guided_NoGPS. Set to 0 to disable timeout" user="Standard">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Deadreckoning Next Mode" name="DR_NEXT_MODE" documentation="Copter switch to this mode after GPS recovers or DR_FLY_TIMEOUT has elapsed. Default is 6/RTL. Set to -1 to return to mode used before deadreckoning was triggered" user="Standard">
<values>
<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="16">PosHold</value>
<value code="17">Brake</value>
<value code="20">Guided_NoGPS</value>
<value code="21">Smart_RTL</value>
<value code="27">Auto RTL</value>
</values>
</param>
<param humanName="Mount POI distance max" name="POI_DIST_MAX" documentation="POI's max distance (in meters) from the vehicle" user="Standard">
<field name="Range">0 10000</field>
</param>
<param humanName="EKF Source ExternalNav Innovation Threshold" name="ESRC_EXTN_THRESH" documentation="ExternalNav may be used if innovations are below this threshold" user="Standard">
<field name="Range">0 1</field>
</param>
<param humanName="EKF Source ExternalNav Quality Threshold" name="ESRC_EXTN_QUAL" documentation="ExternalNav may be used if quality is above this threshold" user="Standard">
<field name="Range">0 100</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="EKF Source OpticalFlow Innovation Threshold" name="ESRC_FLOW_THRESH" documentation="OpticalFlow may be used if innovations are below this threshold" user="Standard">
<field name="Range">0 1</field>
</param>
<param humanName="EKF Source OpticalFlow Quality Threshold" name="ESRC_FLOW_QUAL" documentation="OpticalFlow may be used if quality is above this threshold" user="Standard">
<field name="Range">0 100</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="EKF Source Rangefinder Max" name="ESRC_RNGFND_MAX" documentation="OpticalFlow may be used if rangefinder distance is below this threshold" user="Standard">
<field name="Range">0 50</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Angular acceleration limit" name="AEROM_ANG_ACCEL" documentation="Maximum angular acceleration in maneuvers">
<field name="Units">deg/s/s</field>
<field name="UnitText">degrees per square second</field>
</param>
<param humanName="Roll control filtertime constant" name="AEROM_ANG_TC" documentation="This is the time over which we filter the desired roll to smooth it">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Throttle feed forward from pitch" name="AEROM_THR_PIT_FF" documentation="This controls how much extra throttle to add based on pitch ange. The value is for 90 degrees and is applied in proportion to pitch">
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="P gain for speed controller" name="AEROM_SPD_P" documentation="This controls how rapidly the throttle is raised to compensate for a speed error">
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="I gain for speed controller" name="AEROM_SPD_I" documentation="This controls how rapidly the throttle is raised to compensate for a speed error">
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="Roll control time constant" name="AEROM_ROL_COR_TC" documentation="This is the time constant for correcting roll errors. A smaller value leads to faster roll corrections">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Time constant for correction of our distance along the path" name="AEROM_TIME_COR_P" documentation="This is the time constant for correcting path position errors">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="P gain for path error corrections" name="AEROM_ERR_COR_P" documentation="This controls how rapidly we correct back onto the desired path">
</param>
<param humanName="D gain for path error corrections" name="AEROM_ERR_COR_D" documentation="This controls how rapidly we correct back onto the desired path">
</param>
<param humanName="The roll rate to use when entering a roll maneuver" name="AEROM_ENTRY_RATE" documentation="This controls how rapidly we roll into a new orientation">
<field name="Units">deg/s</field>
<field name="UnitText">degrees per second</field>
</param>
<param humanName="The lookahead for throttle control" name="AEROM_THR_LKAHD" documentation="This controls how far ahead we look in time along the path for the target throttle">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Debug control" name="AEROM_DEBUG" documentation="This controls the printing of extra debug information on paths">
</param>
<param humanName="Minimum Throttle" name="AEROM_THR_MIN" documentation="Lowest throttle used during maneuvers">
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="Throttle boost" name="AEROM_THR_BOOST" documentation="This is the extra throttle added in schedule elements marked as needing a throttle boost">
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="Yaw acceleration" name="AEROM_YAW_ACCEL" documentation="This is maximum yaw acceleration to use">
<field name="Units">deg/s/s</field>
<field name="UnitText">degrees per square second</field>
</param>
<param humanName="Lookahead" name="AEROM_LKAHD" documentation="This is how much time to look ahead in the path for calculating path rates">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Path Scale" name="AEROM_PATH_SCALE" documentation="Scale factor for Path/Box size. 0.5 would half the distances in maneuvers. Radii are unaffected.">
<field name="Range">0.1 100</field>
</param>
<param humanName="Box Width" name="AEROM_BOX_WIDTH" documentation="Length of aerobatic "box" ">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Stall turn throttle" name="AEROM_STALL_THR" documentation="Amount of throttle to reduce to for a stall turn">
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="Stall turn pitch threshold" name="AEROM_STALL_PIT" documentation="Pitch threashold for moving to final stage of stall turn">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="KnifeEdge Rudder" name="AEROM_KE_RUDD" documentation="Percent of rudder normally uses to sustain knife-edge at trick speed">
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="KnifeEdge Rudder lookahead" name="AEROM_KE_RUDD_LK" documentation="Time to look ahead in the path to calculate rudder correction for bank angle">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Altitude Abort" name="AEROM_ALT_ABORT" documentation="Maximum allowable loss in altitude during a trick or sequence from its starting altitude.">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Timesync P gain" name="AEROM_TS_P" documentation="This controls how rapidly two aircraft are brought back into time sync">
</param>
<param humanName="Timesync I gain" name="AEROM_TS_I" documentation="This controls how rapidly two aircraft are brought back into time sync">
</param>
<param humanName="Timesync speed max" name="AEROM_TS_SPDMAX" documentation="This sets the maximum speed adjustment for time sync between aircraft">
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="Timesync rate of send of NAMED_VALUE_FLOAT data" name="AEROM_TS_RATE" documentation="This sets the rate we send data for time sync between aircraft">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Mission angle" name="AEROM_MIS_ANGLE" documentation="When set to a non-zero value, this is the assumed direction of the mission. Otherwise the waypoint angle is used">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Aerobatic options" name="AEROM_OPTIONS" documentation="Options to control aerobatic behavior">
<field name="Bitmask">0:UseRTLOnAbort, 1:AddAtToMessages, 2:DualAircraftSynchronised</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Tricks on Switch Enable" name="TRIK_ENABLE" documentation="Enables Tricks on Switch. TRIK params hidden until enabled">
</param>
<param humanName="Trik Selection Scripting Function" name="TRIK_SEL_FN" documentation="Setting an RC channel's _OPTION to this value will use it for trick selection">
<field name="Range">301 307</field>
</param>
<param humanName="Trik Action Scripting Function" name="TRIK_ACT_FN" documentation="Setting an RC channel's _OPTION to this value will use it for trick action (abort,announce,execute)">
<field name="Range">301 307</field>
</param>
<param humanName="Trik Count" name="TRIK_COUNT" documentation="Number of tricks which can be selected over the range of the trik selection RC channel">
<field name="Range">1 11</field>
</param>
<param humanName="EFI DLA enable" name="EFI_DLA_ENABLE" documentation="Enable EFI DLA driver" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="EFI DLA fuel scale" name="EFI_DLA_LPS" documentation="EFI DLA litres of fuel per second of injection time" user="Standard">
<field name="Range">0.00001 1</field>
<field name="Units">litres</field>
<field name="UnitText">litres</field>
</param>
<param humanName="ViewPro debug" name="VIEP_DEBUG" documentation="ViewPro debug" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
<value code="2">Enabled including attitude reporting</value>
</values>
</param>
<param humanName="ViewPro Camera For Switch Low" name="VIEP_CAM_SWLOW" documentation="Camera selection when switch is in low position" user="Standard">
<values>
<value code="0">No change in camera selection</value>
<value code="1">EO1</value>
<value code="2">IR thermal</value>
<value code="3">EO1 + IR Picture-in-picture</value>
<value code="4">IR + EO1 Picture-in-picture</value>
<value code="5">Fusion</value>
<value code="6">IR1 13mm</value>
<value code="7">IR2 52mm</value>
</values>
</param>
<param humanName="ViewPro Camera For Switch Mid" name="VIEP_CAM_SWMID" documentation="Camera selection when switch is in middle position" user="Standard">
<values>
<value code="0">No change in camera selection</value>
<value code="1">EO1</value>
<value code="2">IR thermal</value>
<value code="3">EO1 + IR Picture-in-picture</value>
<value code="4">IR + EO1 Picture-in-picture</value>
<value code="5">Fusion</value>
<value code="6">IR1 13mm</value>
<value code="7">IR2 52mm</value>
</values>
</param>
<param humanName="ViewPro Camera For Switch High" name="VIEP_CAM_SWHIGH" documentation="Camera selection when switch is in high position" user="Standard">
<values>
<value code="0">No change in camera selection</value>
<value code="1">EO1</value>
<value code="2">IR thermal</value>
<value code="3">EO1 + IR Picture-in-picture</value>
<value code="4">IR + EO1 Picture-in-picture</value>
<value code="5">Fusion</value>
<value code="6">IR1 13mm</value>
<value code="7">IR2 52mm</value>
</values>
</param>
<param humanName="ViewPro Zoom Speed" name="VIEP_ZOOM_SPEED" documentation="ViewPro Zoom Speed. Higher numbers result in faster zooming" user="Standard">
<field name="Range">0 7</field>
</param>
<param humanName="ViewPro Zoom Times Max" name="VIEP_ZOOM_MAX" documentation="ViewPro Zoom Times Max" user="Standard">
<field name="Range">0 30</field>
</param>
<param humanName="Generator SVFFI enable" name="EFI_SVF_ENABLE" documentation="Enable SVFFI generator support" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Generator SVFFI arming check" name="EFI_SVF_ARMCHECK" documentation="Check for Generator ARM state before arming" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="DJIRS2 debug" name="DJIR_DEBUG" documentation="Enable DJIRS2 debug" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
<value code="2">Enabled with attitude reporting</value>
</values>
</param>
<param humanName="DJIRS2 upside down" name="DJIR_UPSIDEDOWN" documentation="DJIRS2 upside down" user="Standard">
<values>
<value code="0">Right side up</value>
<value code="1">Upside down</value>
</values>
</param>
<param humanName="Enable SkyPower EFI support" name="EFI_SP_ENABLE" documentation="Enable SkyPower EFI support" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Set SkyPower EFI CAN driver" name="EFI_SP_CANDRV" documentation="Set SkyPower EFI CAN driver" user="Standard">
<values>
<value code="0">None</value>
<value code="1">1stCANDriver</value>
<value code="2">2ndCanDriver</value>
</values>
</param>
<param humanName="SkyPower EFI update rate" name="EFI_SP_UPDATE_HZ" documentation="SkyPower EFI update rate" user="Advanced">
<field name="Range">10 200</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="SkyPower EFI throttle function" name="EFI_SP_THR_FN" documentation="SkyPower EFI throttle function. This sets which SERVOn_FUNCTION to use for the target throttle. This should be 70 for fixed wing aircraft and 31 for helicopter rotor speed control" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="70">FixedWing</value>
<value code="31">HeliRSC</value>
</values>
</param>
<param humanName="SkyPower EFI throttle rate" name="EFI_SP_THR_RATE" documentation="SkyPower EFI throttle rate. This sets rate at which throttle updates are sent to the engine" user="Advanced">
<field name="Range">10 100</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="SkyPower EFI start function" name="EFI_SP_START_FN" documentation="SkyPower EFI start function. This is the RCn_OPTION value to use to find the R/C channel used for controlling engine start" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="300">300</value>
<value code="301">301</value>
<value code="302">302</value>
<value code="303">303</value>
<value code="304">304</value>
<value code="305">305</value>
<value code="306">306</value>
<value code="307">307</value>
</values>
</param>
<param humanName="SkyPower EFI generator control function" name="EFI_SP_GEN_FN" documentation="SkyPower EFI generator control function. This is the RCn_OPTION value to use to find the R/C channel used for controlling generator start/stop" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="300">300</value>
<value code="301">301</value>
<value code="302">302</value>
<value code="303">303</value>
<value code="304">304</value>
<value code="305">305</value>
<value code="306">306</value>
<value code="307">307</value>
</values>
</param>
<param humanName="SkyPower EFI minimum RPM" name="EFI_SP_MIN_RPM" documentation="SkyPower EFI minimum RPM. This is the RPM below which the engine is considered to be stopped" user="Advanced">
<field name="Range">1 1000</field>
</param>
<param humanName="SkyPower EFI telemetry rate" name="EFI_SP_TLM_RT" documentation="SkyPower EFI telemetry rate. This is the rate at which extra telemetry values are sent to the GCS" user="Advanced">
<field name="Range">1 10</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="SkyPower EFI log rate" name="EFI_SP_LOG_RT" documentation="SkyPower EFI log rate. This is the rate at which extra logging of the SkyPower EFI is performed" user="Advanced">
<field name="Range">1 50</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="SkyPower EFI allow start disarmed" name="EFI_SP_ST_DISARM" documentation="SkyPower EFI allow start disarmed. This controls if starting the engine while disarmed is allowed" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="SkyPower EFI ECU model" name="EFI_SP_MODEL" documentation="SkyPower EFI ECU model" user="Standard">
<values>
<value code="0">Default</value>
<value code="1">SP_275</value>
</values>
</param>
<param humanName="SkyPower EFI enable generator control" name="EFI_SP_GEN_CTRL" documentation="SkyPower EFI enable generator control" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="SkyPower EFI restart time" name="EFI_SP_RST_TIME" documentation="SkyPower EFI restart time. If engine should be running and it has stopped for this amount of time then auto-restart. To disable this feature set this value to zero." user="Standard">
<field name="Range">0 10</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Enable ANX battery support" name="BATT_ANX_ENABLE" documentation="Enable ANX battery support" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Set ANX CAN driver" name="BATT_ANX_CANDRV" documentation="Set ANX CAN driver" user="Standard">
<values>
<value code="0">None</value>
<value code="1">1stCANDriver</value>
<value code="2">2ndCanDriver</value>
</values>
</param>
<param humanName="ANX CAN battery index" name="BATT_ANX_INDEX" documentation="ANX CAN battery index" user="Standard">
<field name="Range">1 10</field>
</param>
<param humanName="ANX CAN battery options" name="BATT_ANX_OPTIONS" documentation="ANX CAN battery options" user="Advanced">
<field name="Bitmask">0:LogAllFrames</field>
</param>
<param humanName="Hobbywing ESC Enable" name="ESC_HW_ENABLE" documentation="Enable Hobbywing ESC telemetry" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Hobbywing ESC motor poles" name="ESC_HW_POLES" documentation="Number of motor poles for eRPM scaling" user="Standard">
<field name="Range">1 50</field>
</param>
<param humanName="Hobbywing ESC motor offset" name="ESC_HW_OFS" documentation="Motor number offset of first ESC" user="Standard">
<field name="Range">0 31</field>
</param>
<param humanName="Enable Halo6000 EFI driver" name="EFI_H6K_ENABLE" documentation="Enable Halo6000 EFI driver" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Halo6000 CAN driver" name="EFI_H6K_CANDRV" documentation="Halo6000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">FirstCAN</value>
<value code="2">SecondCAN</value>
</values>
</param>
<param humanName="Halo6000 start auxilliary function" name="EFI_H6K_START_FN" documentation="The RC auxilliary function number for start/stop of the generator. Zero to disable start function" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="300">300</value>
<value code="301">301</value>
<value code="302">302</value>
<value code="303">303</value>
<value code="304">304</value>
<value code="305">305</value>
<value code="306">306</value>
<value code="307">307</value>
</values>
</param>
<param humanName="Halo6000 telemetry rate" name="EFI_H6K_TELEM_RT" documentation="The rate that additional generator telemetry is sent" user="Standard">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Halo6000 total fuel capacity" name="EFI_H6K_FUELTOT" documentation="The capacity of the tank in litres" user="Standard">
<field name="Units">litres</field>
<field name="UnitText">litres</field>
</param>
<param humanName="EFI INF-Inject enable" name="EFI_INF_ENABLE" documentation="Enable EFI INF-Inject driver" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="TOFSENSE-M to be used as Proximity sensor" name="TOFSENSE_S1_PRX" documentation="Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)" user="Standard">
<values>
<value code="0">Set as Rangefinder</value>
<value code="1">Set as Proximity sensor</value>
</values>
</param>
<param humanName="TOFSENSE-M serial port config" name="TOFSENSE_S1_SP" documentation="UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28. " user="Standard">
<field name="Range">1 4</field>
</param>
<param humanName="TOFSENSE-M serial port baudrate" name="TOFSENSE_S1_BR" documentation="Serial Port baud rate. Sensor baud rate can be changed from Nassistant software" user="Standard">
</param>
<param humanName="TOFSENSE-M to be used as Proximity sensor" name="TOFSENSE_PRX" documentation="Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)" user="Standard">
<values>
<value code="0">Set as Rangefinder</value>
<value code="1">Set as Proximity sensor</value>
</values>
</param>
<param humanName="TOFSENSE-M Connected" name="TOFSENSE_NO" documentation="Number of TOFSENSE-M CAN sensors connected" user="Standard">
<field name="Range">1 3</field>
</param>
<param humanName="TOFSENSE-M mode to be used" name="TOFSENSE_MODE" documentation="TOFSENSE-M mode to be used. 0 for 8x8 mode. 1 for 4x4 mode" user="Standard">
<values>
<value code="0">8x8 mode</value>
<value code="1">4x4 mode</value>
</values>
</param>
<param humanName="TOFSENSE-M First Instance" name="TOFSENSE_INST1" documentation="First TOFSENSE-M sensors backend Instance. Setting this to 1 will pick the first backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)" user="Standard">
<field name="Range">1 3</field>
</param>
<param humanName="TOFSENSE-M First ID" name="TOFSENSE_ID1" documentation="First TOFSENSE-M sensor ID. Leave this at 0 to accept all IDs and if only one sensor is present. You can change ID of sensor from NAssistant Software" user="Standard">
<field name="Range">1 255</field>
</param>
<param humanName="TOFSENSE-M Second Instance" name="TOFSENSE_INST2" documentation="Second TOFSENSE-M sensors backend Instance. Setting this to 2 will pick the second backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)" user="Standard">
<field name="Range">1 3</field>
</param>
<param humanName="TOFSENSE-M Second ID" name="TOFSENSE_ID2" documentation="Second TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from NAssistant Software" user="Standard">
<field name="Range">1 255</field>
</param>
<param humanName="TOFSENSE-M Third Instance" name="TOFSENSE_INST3" documentation="Third TOFSENSE-M sensors backend Instance. Setting this to 3 will pick the second backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)" user="Standard">
<field name="Range">1 3</field>
</param>
<param humanName="TOFSENSE-M Thir ID" name="TOFSENSE_ID3" documentation="Third TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from NAssistant Software" user="Standard">
<field name="Range">1 255</field>
</param>
</parameters>
<parameters name="ADSB_">
<param humanName="ADSB Type" name="ADSB_TYPE" documentation="Type of ADS-B hardware for ADSB-in and ADSB-out configuration and operation. If any type is selected then MAVLink based ADSB-in messages will always be enabled" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">uAvionix-MAVLink</value>
<value code="2">Sagetech</value>
<value code="3">uAvionix-UCP</value>
<value code="4">Sagetech MX Series</value>
</values>
<field name="RebootRequired">True</field>
</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>
<field name="RebootRequired">True</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. A value of 0 will disable this filter." user="Advanced">
<field name="Range">0 100000</field>
<field name="Units">m</field>
<field name="UnitText">meters</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 an 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 offset 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/or Rx. Rx-only devices should override this to always be Rx-only." user="Advanced">
<field name="Bitmask">0:Rx,1:Tx</field>
</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="Range">0 7777</field>
<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>
</param>
<param humanName="ADSB vehicle list altitude filter" name="ADSB_LIST_ALT" documentation="ADSB vehicle list altitude filter. Vehicles detected above this altitude 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. A value of 0 will disable this filter." user="Advanced">
<field name="Range">0 32767</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="ICAO_ID of special vehicle" name="ADSB_ICAO_SPECL" documentation="ICAO_ID of special vehicle that ignores ADSB_LIST_RADIUS and ADSB_LIST_ALT. The vehicle is always tracked. Use 0 to disable." user="Advanced">
</param>
<param humanName="ADS-B logging" name="ADSB_LOG" documentation="0: no logging, 1: log only special ID, 2:log all" user="Advanced">
<values>
<value code="0">no logging</value>
<value code="1">log only special ID</value>
<value code="2">log all</value>
</values>
</param>
<param humanName="ADS-B Options" name="ADSB_OPTIONS" documentation="Options for emergency failsafe codes and device capabilities" user="Advanced">
<field name="Bitmask">0:Ping200X Send GPS,1:Squawk 7400 on RC failsafe,2:Squawk 7400 on GCS failsafe,3:Sagetech MXS use External Config</field>
</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. See the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." 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. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Advanced">
<values>
<value code="-1">Disabled</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="113">BB Blue GP0 pin 6</value>
<value code="116">BB Blue GP0 pin 5</value>
</values>
</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_WP_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 ArduPilot 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. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Advanced">
<values>
<value code="-1">Disabled</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="113">BB Blue GP0 pin 6</value>
<value code="116">BB Blue GP0 pin 5</value>
</values>
</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">hPa</field>
<field name="UnitText">hectopascal</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>
<param humanName="Max allowed range" name="AFS_MAX_RANGE" documentation="This is the maximum range of the vehicle in kilometers from first arming. If the vehicle goes beyond this range then the TERM_ACTION is performed. A value of zero disables this feature." user="Advanced">
<field name="Units">km</field>
<field name="UnitText">kilometers</field>
</param>
<param humanName="AFS options" name="AFS_OPTIONS" documentation="See description for each bitmask bit description">
<field name="Bitmask">0: Continue the mission even after comms are recovered (does not go to the mission item at the time comms were lost), 1: Enable AFS for all autonomous modes (not just AUTO) </field>
</param>
<param humanName="GCS timeout" name="AFS_GCS_TIMEOUT" documentation="The time (in seconds) of persistent data link loss before GCS failsafe occurs. " 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 DCM navigation and position-down" 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 according to its own parameters. A value of 2 means to use GPS for height as well as position - both in DCM estimation and when determining altitude-above-home." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Use GPS for DCM position</value>
<value code="2">Use GPS for DCM position and height</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. A value of zero means to use the airspeed as is. This allows the plane to cope with a failing airspeed sensor by clipping it to groundspeed plus/minus this limit. See ARSPD_OPTIONS and ARSPD_WIND_MAX to disable airspeed sensors." user="Advanced">
<field name="Range">0 127</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
<field name="Increment">1</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="Units">rad</field>
<field name="UnitText">radians</field>
<field name="Range">-0.1745 +0.1745</field>
<field name="Increment">0.01</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="Units">rad</field>
<field name="UnitText">radians</field>
<field name="Range">-0.1745 +0.1745</field>
<field name="Increment">0.01</field>
</param>
<param humanName="AHRS Trim Yaw" name="AHRS_TRIM_Z" documentation="Not Used" user="Advanced">
<field name="Units">rad</field>
<field name="UnitText">radians</field>
<field name="Range">-0.1745 +0.1745</field>
<field name="Increment">0.01</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. The label for each option is specified in the order of rotations for that orientation. This option takes affect on next boot. After changing you will need to re-level your vehicle. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the AHRS_CUSTOM_ROLL/PIT/YAW angles for AHRS orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_ROT1_ROLL/PIT/YAW or CUST_ROT2_ROLL/PIT/YAW angles." 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">Yaw45Roll180</value>
<value code="10">Yaw90Roll180</value>
<value code="11">Yaw135Roll180</value>
<value code="12">Pitch180</value>
<value code="13">Yaw225Roll180</value>
<value code="14">Yaw270Roll180</value>
<value code="15">Yaw315Roll180</value>
<value code="16">Roll90</value>
<value code="17">Yaw45Roll90</value>
<value code="18">Yaw90Roll90</value>
<value code="19">Yaw135Roll90</value>
<value code="20">Roll270</value>
<value code="21">Yaw45Roll270</value>
<value code="22">Yaw90Roll270</value>
<value code="23">Yaw135Roll270</value>
<value code="24">Pitch90</value>
<value code="25">Pitch270</value>
<value code="26">Yaw90Pitch180</value>
<value code="27">Yaw270Pitch180</value>
<value code="28">Pitch90Roll90</value>
<value code="29">Pitch90Roll180</value>
<value code="30">Pitch90Roll270</value>
<value code="31">Pitch180Roll90</value>
<value code="32">Pitch180Roll270</value>
<value code="33">Pitch270Roll90</value>
<value code="34">Pitch270Roll180</value>
<value code="35">Pitch270Roll270</value>
<value code="36">Yaw90Pitch180Roll90</value>
<value code="37">Yaw270Roll90</value>
<value code="38">Yaw293Pitch68Roll180</value>
<value code="39">Pitch315</value>
<value code="40">Pitch315Roll90</value>
<value code="42">Roll45</value>
<value code="43">Roll315</value>
<value code="100">Custom 4.1 and older</value>
<value code="101">Custom 1</value>
<value code="102">Custom 2</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>
<value code="11">ExternalAHRS</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="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Increment">1</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="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Increment">1</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="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Increment">1</field>
</param>
<param humanName="Optional AHRS behaviour" name="AHRS_OPTIONS" documentation="This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating. " user="Advanced">
<field name="Bitmask">0:DisableDCMFallbackFW, 1:DisableDCMFallbackVTOL</field>
</param>
</parameters>
<parameters name="AIS_">
<param humanName="AIS receiver type" name="AIS_TYPE" documentation="AIS receiver type" user="Standard">
<values>
<value code="0">None</value>
<value code="1">NMEA AIVDM message</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="AIS vessel list size" name="AIS_LIST_MAX" documentation="AIS list size of nearest vessels. Longer lists take longer to refresh with lower SRx_ADSB values." user="Advanced">
<field name="Range">1 100</field>
</param>
<param humanName="AIS vessel time out" name="AIS_TIME_OUT" documentation="if no updates are received in this time a vessel will be removed from the list" user="Advanced">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Range">1 2000</field>
</param>
<param humanName="AIS logging options" name="AIS_LOGGING" documentation="Bitmask of AIS logging options" user="Advanced">
<field name="Bitmask">0:Log all AIVDM messages,1:Log only unsupported AIVDM messages,2:Log decoded messages</field>
</param>
</parameters>
<parameters name="ARMING_">
<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="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
<field name="Range">0.25 3.0</field>
</param>
<param humanName="Arming with Rudder enable/disable" name="ARMING_RUDDER" documentation="Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works with throttle at zero +- deadzone (RCx_DZ). Depending on vehicle type, arming in certain modes is prevented. See the wiki for each vehicle. Caution is recommended when arming if it is allowed in an auto-throttle mode!" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">ArmingOnly</value>
<value code="2">ArmOrDisarm</value>
</values>
</param>
<param humanName="Required mission items" name="ARMING_MIS_ITEMS" documentation="Bitmask of mission items that are required to be planned in order to arm the aircraft" user="Advanced">
<field name="Bitmask">0:Land,1:VTOL Land,2:DO_LAND_START,3:Takeoff,4:VTOL Takeoff,5:Rallypoint,6:RTL</field>
</param>
<param humanName="Arm Checks to Perform (bitmask)" name="ARMING_CHECK" documentation="Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. For most users it is recommended to leave this at the default of 1 (all checks enabled). 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." 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,13:System,14:Mission,15:Rangefinder,16:Camera,17:AuxAuth,18:VisualOdometry,19:FFT</field>
</param>
<param humanName="Arming options" name="ARMING_OPTIONS" documentation="Options that can be applied to change arming behaviour" user="Advanced">
<field name="Bitmask">0:Disable prearm display,1:Do not send status text on state change</field>
</param>
<param humanName="Compass magnetic field strength error threshold vs earth magnetic model" name="ARMING_MAGTHRESH" documentation="Compass magnetic field strength error threshold vs earth magnetic model. X and y axis are compared using this threhold, Z axis uses 2x this threshold. 0 to disable check" user="Advanced">
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
<field name="Range">0 500</field>
</param>
</parameters>
<parameters name="AROT_">
<param humanName="Enable settings for RSC Setpoint" name="AROT_ENABLE" documentation="Allows you to enable (1) or disable (0) the autonomous autorotation capability." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="P gain for head speed controller" name="AROT_HS_P" documentation="Increase value to increase sensitivity of head speed controller during autonomous autorotation." user="Advanced">
<field name="Range">0.3 1</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Target Head Speed" name="AROT_HS_SET_PT" documentation="The target head speed in RPM during autorotation. Start by setting to desired hover speed and tune from there as necessary." user="Advanced">
<field name="Units">RPM</field>
<field name="UnitText">Revolutions Per Minute</field>
<field name="Range">1000 2800</field>
<field name="Increment">1</field>
</param>
<param humanName="Target Glide Ground Speed" name="AROT_TARG_SP" documentation="Target ground speed in cm/s for the autorotation controller to try and achieve/ maintain during the glide phase." user="Advanced">
<field name="Units">cm/s</field>
<field name="UnitText">centimeters per second</field>
<field name="Range">800 2000</field>
<field name="Increment">50</field>
</param>
<param humanName="Entry Phase Collective Filter" name="AROT_COL_FILT_E" documentation="Cut-off frequency for collective low pass filter. For the entry phase. Acts as a following trim. Must be higher than AROT_COL_FILT_G." user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0.2 0.5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Glide Phase Collective Filter" name="AROT_COL_FILT_G" documentation="Cut-off frequency for collective low pass filter. For the glide phase. Acts as a following trim. Must be lower than AROT_COL_FILT_E." user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0.03 0.15</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Forward Acceleration Limit" name="AROT_AS_ACC_MAX" documentation="Maximum forward acceleration to apply in speed controller." user="Advanced">
<field name="Units">cm/s/s</field>
<field name="UnitText">centimeters per square second</field>
<field name="Range">30 60</field>
<field name="Increment">10</field>
</param>
<param humanName="Bail Out Timer" name="AROT_BAIL_TIME" documentation="Time in seconds from bail out initiated to the exit of autorotation flight mode." user="Advanced">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Range">0.5 4</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Main Rotor RPM Sensor " name="AROT_HS_SENSOR" documentation="Allocate the RPM sensor instance to use for measuring head speed. RPM1 = 0. RPM2 = 1." user="Advanced">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Range">0.5 3</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Velocity (horizontal) P gain" name="AROT_FW_V_P" documentation="Velocity (horizontal) P gain. Determines the proportion of the target acceleration based on the velocity error." user="Advanced">
<field name="Range">0.1 6.0</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Velocity (horizontal) feed forward" name="AROT_FW_V_FF" documentation="Velocity (horizontal) input filter. Corrects the target acceleration proportionally to the desired velocity." user="Advanced">
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
</param>
</parameters>
<parameters name="ARSPD">
<param humanName="Airspeed Enable" name="ARSPD_ENABLE" documentation="Enable airspeed sensor support" user="Standard">
<values>
<value code="0">Disable</value>
<value code="1">Enable</value>
</values>
</param>
<param humanName="Control pitot tube order" name="ARSPD_TUBE_ORDER" documentation="This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Swapped</value>
<value code="2">Auto Detect</value>
</values>
</param>
<param humanName="Primary airspeed sensor" name="ARSPD_PRIMARY" documentation="This selects which airspeed sensor will be the primary if multiple sensors are found" user="Advanced">
<values>
<value code="0">FirstSensor</value>
<value code="1">2ndSensor</value>
</values>
</param>
<param humanName="Airspeed options bitmask" name="ARSPD_OPTIONS" documentation="This parameter and function is not used by this vehicle. Always set to 0." user="Advanced">
<field name="Bitmask">0:SpeedMismatchDisable, 1:AllowSpeedMismatchRecovery, 2:DisableVoltageCorrection, 3:UseEkf3Consistency</field>
</param>
<param humanName="Maximum airspeed and ground speed difference" name="ARSPD_WIND_MAX" documentation="This parameter and function is not used by this vehicle. Always set to 0." user="Advanced">
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="Airspeed and GPS speed difference that gives a warning" name="ARSPD_WIND_WARN" documentation="This parameter and function is not used by this vehicle. Always set to 0." user="Advanced">
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="Re-enable Consistency Check Gate Size" name="ARSPD_WIND_GATE" documentation="This parameter and function is not used by this vehicle." user="Advanced">
<field name="Range">0.0 10.0</field>
</param>
<param humanName="Maximum offset cal speed error " name="ARSPD_OFF_PCNT" documentation="The maximum percentage speed change in airspeed reports that is allowed due to offset changes between calibrations before a warning is issued. This potential speed error is in percent of ASPD_FBW_MIN. 0 disables. Helps warn of calibrations without pitot being covered." user="Advanced">
<field name="Range">0.0 10.0</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
</parameters>
<parameters name="ARSPD2_">
<param humanName="Airspeed type" name="ARSPD2_TYPE" documentation="Type of airspeed sensor" user="Standard">
<values>
<value code="0">None</value>
<value code="1">I2C-MS4525D0</value>
<value code="2">Analog</value>
<value code="3">I2C-MS5525</value>
<value code="4">I2C-MS5525 (0x76)</value>
<value code="5">I2C-MS5525 (0x77)</value>
<value code="6">I2C-SDP3X</value>
<value code="7">I2C-DLVR-5in</value>
<value code="8">DroneCAN</value>
<value code="9">I2C-DLVR-10in</value>
<value code="10">I2C-DLVR-20in</value>
<value code="11">I2C-DLVR-30in</value>
<value code="12">I2C-DLVR-60in</value>
<value code="13">NMEA water speed</value>
<value code="14">MSP</value>
<value code="15">ASP5033</value>
<value code="16">ExternalAHRS</value>
<value code="100">SITL</value>
</values>
</param>
<param humanName="Airspeed use" name="ARSPD2_USE" documentation="This parameter is not used by this vehicle. Always set to 0." user="Standard">
<values>
<value code="0">DoNotUse</value>
<value code="1">Use</value>
<value code="2">UseWhenZeroThrottle</value>
</values>
</param>
<param humanName="Airspeed offset" name="ARSPD2_OFFSET" documentation="Airspeed calibration offset" user="Advanced">
<field name="Increment">0.1</field>
</param>
<param humanName="Airspeed ratio" name="ARSPD2_RATIO" documentation="Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure." user="Advanced">
<field name="Increment">0.1</field>
</param>
<param humanName="Airspeed pin" name="ARSPD2_PIN" documentation="The pin number that the airspeed sensor is connected to for analog sensors. Set to 15 on the Pixhawk for the analog airspeed port. " user="Advanced">
</param>
<param humanName="This parameter and function is not used by this vehicle. Always set to 0." name="ARSPD2_AUTOCAL" documentation="Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled." user="Advanced">
</param>
<param humanName="Control pitot tube order" name="ARSPD2_TUBE_ORDR" documentation="This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Swapped</value>
<value code="2">Auto Detect</value>
</values>
</param>
<param humanName="Skip airspeed offset calibration on startup" name="ARSPD2_SKIP_CAL" documentation="This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot." user="Advanced">
<values>
<value code="0">Disable</value>
<value code="1">Enable</value>
</values>
</param>
<param humanName="The PSI range of the device" name="ARSPD2_PSI_RANGE" documentation="This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device" user="Advanced">
</param>
<param humanName="Airspeed I2C bus" name="ARSPD2_BUS" documentation="Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize." user="Advanced">
<values>
<value code="0">Bus0</value>
<value code="1">Bus1</value>
<value code="2">Bus2</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Airspeed ID" name="ARSPD2_DEVID" documentation="Airspeed sensor ID, taking into account its type, bus and instance" user="Advanced">
<field name="ReadOnly">True</field>
</param>
</parameters>
<parameters name="ARSPD_">
<param humanName="Airspeed type" name="ARSPD_TYPE" documentation="Type of airspeed sensor" user="Standard">
<values>
<value code="0">None</value>
<value code="1">I2C-MS4525D0</value>
<value code="2">Analog</value>
<value code="3">I2C-MS5525</value>
<value code="4">I2C-MS5525 (0x76)</value>
<value code="5">I2C-MS5525 (0x77)</value>
<value code="6">I2C-SDP3X</value>
<value code="7">I2C-DLVR-5in</value>
<value code="8">DroneCAN</value>
<value code="9">I2C-DLVR-10in</value>
<value code="10">I2C-DLVR-20in</value>
<value code="11">I2C-DLVR-30in</value>
<value code="12">I2C-DLVR-60in</value>
<value code="13">NMEA water speed</value>
<value code="14">MSP</value>
<value code="15">ASP5033</value>
<value code="16">ExternalAHRS</value>
<value code="100">SITL</value>
</values>
</param>
<param humanName="Airspeed use" name="ARSPD_USE" documentation="This parameter is not used by this vehicle. Always set to 0." user="Standard">
<values>
<value code="0">DoNotUse</value>
<value code="1">Use</value>
<value code="2">UseWhenZeroThrottle</value>
</values>
</param>
<param humanName="Airspeed offset" name="ARSPD_OFFSET" documentation="Airspeed calibration offset" user="Advanced">
<field name="Increment">0.1</field>
</param>
<param humanName="Airspeed ratio" name="ARSPD_RATIO" documentation="Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure." user="Advanced">
<field name="Increment">0.1</field>
</param>
<param humanName="Airspeed pin" name="ARSPD_PIN" documentation="The pin number that the airspeed sensor is connected to for analog sensors. Set to 15 on the Pixhawk for the analog airspeed port. " user="Advanced">
</param>
<param humanName="This parameter and function is not used by this vehicle. Always set to 0." name="ARSPD_AUTOCAL" documentation="Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled." user="Advanced">
</param>
<param humanName="Control pitot tube order" name="ARSPD_TUBE_ORDR" documentation="This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Swapped</value>
<value code="2">Auto Detect</value>
</values>
</param>
<param humanName="Skip airspeed offset calibration on startup" name="ARSPD_SKIP_CAL" documentation="This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot." user="Advanced">
<values>
<value code="0">Disable</value>
<value code="1">Enable</value>
</values>
</param>
<param humanName="The PSI range of the device" name="ARSPD_PSI_RANGE" documentation="This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device" user="Advanced">
</param>
<param humanName="Airspeed I2C bus" name="ARSPD_BUS" documentation="Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize." user="Advanced">
<values>
<value code="0">Bus0</value>
<value code="1">Bus1</value>
<value code="2">Bus2</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Airspeed ID" name="ARSPD_DEVID" documentation="Airspeed sensor ID, taking into account its type, bus and instance" user="Advanced">
<field name="ReadOnly">True</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="Units">cdeg/s</field>
<field name="UnitText">centidegrees per second</field>
<field name="Range">500 18000</field>
<field name="Increment">100</field>
</param>
<param humanName="Acceleration Max for Yaw" name="ATC_ACCEL_Y_MAX" documentation="Maximum acceleration in yaw axis" user="Advanced">
<field name="Units">cdeg/s/s</field>
<field name="UnitText">centidegrees per square second</field>
<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>
</param>
<param humanName="Rate Feedforward Enable" name="ATC_RATE_FF_ENAB" documentation="Controls whether body-frame rate feedforward 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="Units">cdeg/s/s</field>
<field name="UnitText">centidegrees per square second</field>
<field name="Range">0 180000</field>
<field name="Increment">1000</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>
</param>
<param humanName="Acceleration Max for Pitch" name="ATC_ACCEL_P_MAX" documentation="Maximum acceleration in pitch axis" user="Advanced">
<field name="Units">cdeg/s/s</field>
<field name="UnitText">centidegrees per square second</field>
<field name="Range">0 180000</field>
<field name="Increment">1000</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>
</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 12.000</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="Units">deg/s</field>
<field name="UnitText">degrees per second</field>
<field name="Range">0 1080</field>
<field name="Increment">1</field>
<values>
<value code="0">Disabled</value>
<value code="60">Slow</value>
<value code="180">Medium</value>
<value code="360">Fast</value>
</values>
</param>
<param humanName="Angular Velocity Max for Pitch" name="ATC_RATE_P_MAX" documentation="Maximum angular velocity in pitch axis" user="Advanced">
<field name="Units">deg/s</field>
<field name="UnitText">degrees per second</field>
<field name="Range">0 1080</field>
<field name="Increment">1</field>
<values>
<value code="0">Disabled</value>
<value code="60">Slow</value>
<value code="180">Medium</value>
<value code="360">Fast</value>
</values>
</param>
<param humanName="Angular Velocity Max for Yaw" name="ATC_RATE_Y_MAX" documentation="Maximum angular velocity in yaw axis" user="Advanced">
<field name="Units">deg/s</field>
<field name="UnitText">degrees per second</field>
<field name="Range">0 1080</field>
<field name="Increment">1</field>
<values>
<value code="0">Disabled</value>
<value code="60">Slow</value>
<value code="180">Medium</value>
<value code="360">Fast</value>
</values>
</param>
<param humanName="Attitude control input time constant" 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="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
<values>
<value code="0.5">Very Soft</value>
<value code="0.2">Soft</value>
<value code="0.15">Medium</value>
<value code="0.1">Crisp</value>
<value code="0.05">Very Crisp</value>
</values>
</param>
<param humanName="Roll axis rate controller P gain" name="ATC_RAT_RLL_P" documentation="Roll axis rate controller P gain. Corrects in proportion to the difference between the desired roll rate vs actual roll rate" user="Standard">
<field name="Range">0.01 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 that the I term 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">0.0 0.05</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 target frequency in Hz" name="ATC_RAT_RLL_FLTT" documentation="Roll axis rate controller target frequency in Hz" user="Standard">
<field name="Range">5 100</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Roll axis rate controller error frequency in Hz" name="ATC_RAT_RLL_FLTE" documentation="Roll axis rate controller error frequency in Hz" user="Standard">
<field name="Range">0 100</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Roll axis rate controller derivative frequency in Hz" name="ATC_RAT_RLL_FLTD" documentation="Roll axis rate controller derivative frequency in Hz" user="Standard">
<field name="Range">5 100</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Roll slew rate limit" name="ATC_RAT_RLL_SMAX" documentation="Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature." user="Advanced">
<field name="Range">0 200</field>
<field name="Increment">0.5</field>
</param>
<param humanName="Roll axis rate controller PD sum maximum" name="ATC_RAT_RLL_PDMX" documentation="Roll axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output">
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Roll Derivative FeedForward Gain" name="ATC_RAT_RLL_D_FF" documentation="FF D Gain which produces an output that is proportional to the rate of change of the target" user="Advanced">
<field name="Range">0 0.02</field>
<field name="Increment">0.0001</field>
</param>
<param humanName="Roll Target notch filter index" name="ATC_RAT_RLL_NTF" documentation="Roll Target notch filter index" user="Advanced">
<field name="Range">1 8</field>
</param>
<param humanName="Roll Error notch filter index" name="ATC_RAT_RLL_NEF" documentation="Roll Error notch filter index" user="Advanced">
<field name="Range">1 8</field>
</param>
<param humanName="Pitch axis rate controller P gain" name="ATC_RAT_PIT_P" documentation="Pitch axis rate controller P gain. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate output" user="Standard">
<field name="Range">0.01 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 that the I term 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">0.0 0.05</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 target frequency in Hz" name="ATC_RAT_PIT_FLTT" documentation="Pitch axis rate controller target frequency in Hz" user="Standard">
<field name="Range">5 100</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Pitch axis rate controller error frequency in Hz" name="ATC_RAT_PIT_FLTE" documentation="Pitch axis rate controller error frequency in Hz" user="Standard">
<field name="Range">0 100</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Pitch axis rate controller derivative frequency in Hz" name="ATC_RAT_PIT_FLTD" documentation="Pitch axis rate controller derivative frequency in Hz" user="Standard">
<field name="Range">5 100</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Pitch slew rate limit" name="ATC_RAT_PIT_SMAX" documentation="Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature." user="Advanced">
<field name="Range">0 200</field>
<field name="Increment">0.5</field>
</param>
<param humanName="Pitch axis rate controller PD sum maximum" name="ATC_RAT_PIT_PDMX" documentation="Pitch axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output">
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Pitch Derivative FeedForward Gain" name="ATC_RAT_PIT_D_FF" documentation="FF D Gain which produces an output that is proportional to the rate of change of the target" user="Advanced">
<field name="Range">0 0.02</field>
<field name="Increment">0.0001</field>
</param>
<param humanName="Pitch Target notch filter index" name="ATC_RAT_PIT_NTF" documentation="Pitch Target notch filter index" user="Advanced">
<field name="Range">1 8</field>
</param>
<param humanName="Pitch Error notch filter index" name="ATC_RAT_PIT_NEF" documentation="Pitch Error notch filter index" user="Advanced">
<field name="Range">1 8</field>
</param>
<param humanName="Yaw axis rate controller P gain" name="ATC_RAT_YAW_P" documentation="Yaw axis rate controller P gain. Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate" 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 that the I term 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 target frequency in Hz" name="ATC_RAT_YAW_FLTT" documentation="Yaw axis rate controller target frequency in Hz" user="Standard">
<field name="Range">1 50</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Yaw axis rate controller error frequency in Hz" name="ATC_RAT_YAW_FLTE" documentation="Yaw axis rate controller error frequency in Hz" user="Standard">
<field name="Range">0 20</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Yaw axis rate controller derivative frequency in Hz" name="ATC_RAT_YAW_FLTD" documentation="Yaw axis rate controller derivative frequency in Hz" user="Standard">
<field name="Range">5 50</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Yaw slew rate limit" name="ATC_RAT_YAW_SMAX" documentation="Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature." user="Advanced">
<field name="Range">0 200</field>
<field name="Increment">0.5</field>
</param>
<param humanName="Yaw axis rate controller PD sum maximum" name="ATC_RAT_YAW_PDMX" documentation="Yaw axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output">
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Yaw Derivative FeedForward Gain" name="ATC_RAT_YAW_D_FF" documentation="FF D Gain which produces an output that is proportional to the rate of change of the target" user="Advanced">
<field name="Range">0 0.02</field>
<field name="Increment">0.0001</field>
</param>
<param humanName="Yaw Target notch filter index" name="ATC_RAT_YAW_NTF" documentation="Yaw Target notch filter index" user="Advanced">
<field name="Range">1 8</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Yaw Error notch filter index" name="ATC_RAT_YAW_NEF" documentation="Yaw Error notch filter index" user="Advanced">
<field name="Range">1 8</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="Throttle-gain boost" name="ATC_THR_G_BOOST" documentation="Throttle-gain boost ratio. A value of 0 means no boosting is applied, a value of 1 means full boosting is applied. Describes the ratio increase that is applied to angle P and PD on pitch and roll." user="Advanced">
<field name="Range">0 1</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="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
<field name="Increment">10</field>
<field name="Range">0 1000</field>
</param>
<param humanName="Roll axis rate controller P gain" name="ATC_RAT_RLL_P" documentation="Roll axis rate controller P gain. Corrects in proportion to the difference between the desired roll rate vs actual roll rate" user="Standard">
<field name="Range">0.0 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">0.0 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 that the I term will output" user="Standard">
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Roll axis rate controller I-term leak minimum" name="ATC_RAT_RLL_ILMI" documentation="Point below which I-term will not leak down" user="Advanced">
<field name="Range">0 1</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 0.03</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">0.05 0.5</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Roll axis rate controller target frequency in Hz" name="ATC_RAT_RLL_FLTT" documentation="Roll axis rate controller target frequency in Hz" user="Standard">
<field name="Range">5 50</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Roll axis rate controller error frequency in Hz" name="ATC_RAT_RLL_FLTE" documentation="Roll axis rate controller error frequency in Hz" user="Standard">
<field name="Range">5 50</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Roll axis rate controller derivative frequency in Hz" name="ATC_RAT_RLL_FLTD" documentation="Roll axis rate controller derivative frequency in Hz" user="Standard">
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Roll slew rate limit" name="ATC_RAT_RLL_SMAX" documentation="Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature." user="Advanced">
<field name="Range">0 200</field>
<field name="Increment">0.5</field>
</param>
<param humanName="Roll Derivative FeedForward Gain" name="ATC_RAT_RLL_D_FF" documentation="FF D Gain which produces an output that is proportional to the rate of change of the target" user="Advanced">
<field name="Range">0 0.02</field>
<field name="Increment">0.0001</field>
</param>
<param humanName="Roll Target notch filter index" name="ATC_RAT_RLL_NTF" documentation="Roll Target notch filter index" user="Advanced">
<field name="Range">1 8</field>
</param>
<param humanName="Roll Error notch filter index" name="ATC_RAT_RLL_NEF" documentation="Roll Error notch filter index" user="Advanced">
<field name="Range">1 8</field>
</param>
<param humanName="Pitch axis rate controller P gain" name="ATC_RAT_PIT_P" documentation="Pitch axis rate controller P gain. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate" user="Standard">
<field name="Range">0.0 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">0.0 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 that the I term will output" user="Standard">
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Pitch axis rate controller I-term leak minimum" name="ATC_RAT_PIT_ILMI" documentation="Point below which I-term will not leak down" user="Advanced">
<field name="Range">0 1</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 0.03</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">0.05 0.5</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Pitch axis rate controller target frequency in Hz" name="ATC_RAT_PIT_FLTT" documentation="Pitch axis rate controller target frequency in Hz" user="Standard">
<field name="Range">5 50</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Pitch axis rate controller error frequency in Hz" name="ATC_RAT_PIT_FLTE" documentation="Pitch axis rate controller error frequency in Hz" user="Standard">
<field name="Range">5 50</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Pitch axis rate controller derivative frequency in Hz" name="ATC_RAT_PIT_FLTD" documentation="Pitch axis rate controller derivative frequency in Hz" user="Standard">
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Pitch slew rate limit" name="ATC_RAT_PIT_SMAX" documentation="Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature." user="Advanced">
<field name="Range">0 200</field>
<field name="Increment">0.5</field>
</param>
<param humanName="Pitch Derivative FeedForward Gain" name="ATC_RAT_PIT_D_FF" documentation="FF D Gain which produces an output that is proportional to the rate of change of the target" user="Advanced">
<field name="Range">0 0.02</field>
<field name="Increment">0.0001</field>
</param>
<param humanName="Pitch Target notch filter index" name="ATC_RAT_PIT_NTF" documentation="Pitch Target notch filter index" user="Advanced">
<field name="Range">1 8</field>
</param>
<param humanName="Pitch Error notch filter index" name="ATC_RAT_PIT_NEF" documentation="Pitch Error notch filter index" user="Advanced">
<field name="Range">1 8</field>
</param>
<param humanName="Yaw axis rate controller P gain" name="ATC_RAT_YAW_P" documentation="Yaw axis rate controller P gain. Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate" 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 0.2</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 that the I term will output" user="Standard">
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Yaw axis rate controller I-term leak minimum" name="ATC_RAT_YAW_ILMI" documentation="Point below which I-term will not leak down" user="Advanced">
<field name="Range">0 1</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 target frequency in Hz" name="ATC_RAT_YAW_FLTT" documentation="Yaw axis rate controller target frequency in Hz" user="Standard">
<field name="Range">5 50</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Yaw axis rate controller error frequency in Hz" name="ATC_RAT_YAW_FLTE" documentation="Yaw axis rate controller error frequency in Hz" user="Standard">
<field name="Range">5 50</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Yaw axis rate controller derivative frequency in Hz" name="ATC_RAT_YAW_FLTD" documentation="Yaw axis rate controller derivative frequency in Hz" user="Standard">
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Yaw slew rate limit" name="ATC_RAT_YAW_SMAX" documentation="Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature." user="Advanced">
<field name="Range">0 200</field>
<field name="Increment">0.5</field>
</param>
<param humanName="Yaw Derivative FeedForward Gain" name="ATC_RAT_YAW_D_FF" documentation="FF D Gain which produces an output that is proportional to the rate of change of the target" user="Advanced">
<field name="Range">0 0.02</field>
<field name="Increment">0.0001</field>
</param>
<param humanName="Yaw Target notch filter index" name="ATC_RAT_YAW_NTF" documentation="Yaw Target notch filter index" user="Advanced">
<field name="Range">1 8</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Yaw Error notch filter index" name="ATC_RAT_YAW_NEF" documentation="Yaw Error notch filter index" user="Advanced">
<field name="Range">1 8</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="AUTOTUNE_">
<param humanName="Autotune axis bitmask" name="AUTOTUNE_AXES" documentation="1-byte bitmap of axes to autotune" user="Standard">
<field name="Bitmask">0:Roll,1:Pitch,2:Yaw,3:YawD</field>
</param>
<param humanName="Autotune aggressiveness" name="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="AUTOTUNE_MIN_D" documentation="Defines the minimum D gain" user="Standard">
<field name="Range">0.001 0.006</field>
</param>
<param humanName="Autotune axis bitmask" name="AUTOTUNE_AXES" documentation="1-byte bitmap of axes to autotune" user="Standard">
<field name="Bitmask">0:Roll,1:Pitch,2:Yaw</field>
</param>
<param humanName="AutoTune Sequence Bitmask" name="AUTOTUNE_SEQ" documentation="2-byte bitmask to select what tuning should be performed. Max gain automatically performed if Rate D is selected. Values: 7:All,1:VFF Only,2:Rate D/Rate P Only(incl max gain),4:Angle P Only,8:Max Gain Only,16:Tune Check,3:VFF and Rate D/Rate P(incl max gain),5:VFF and Angle P,6:Rate D/Rate P(incl max gain) and angle P" user="Standard">
<field name="Bitmask">0:VFF,1:Rate D/Rate P(incl max gain),2:Angle P,3:Max Gain Only,4:Tune Check</field>
</param>
<param humanName="AutoTune minimum sweep frequency" name="AUTOTUNE_FRQ_MIN" documentation="Defines the start frequency for sweeps and dwells" user="Standard">
<field name="Range">10 30</field>
</param>
<param humanName="AutoTune maximum sweep frequency" name="AUTOTUNE_FRQ_MAX" documentation="Defines the end frequency for sweeps and dwells" user="Standard">
<field name="Range">50 120</field>
</param>
<param humanName="AutoTune maximum response gain" name="AUTOTUNE_GN_MAX" documentation="Defines the response gain (output/input) to tune" user="Standard">
<field name="Range">1 2.5</field>
</param>
<param humanName="AutoTune velocity xy P gain" name="AUTOTUNE_VELXY_P" documentation="Velocity xy P gain used to hold position during Max Gain, Rate P, and Rate D frequency sweeps" user="Standard">
<field name="Range">0 1</field>
</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="Collision Avoidance Behavior" name="AVD_F_ACTION" documentation="Specifies aircraft behaviour when a collision is imminent" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Report</value>
<value code="2">Climb Or Descend</value>
<value code="3">Move Horizontally</value>
<value code="4">Move Perpendicularly in 3D</value>
<value code="5">RTL</value>
<value code="6">Hover</value>
</values>
</param>
<param humanName="Collision Avoidance Behavior - Warn" name="AVD_W_ACTION" documentation="Specifies aircraft behaviour when a collision may occur" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Report</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 AMSL (above mean sea level) 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 avoidance input sources" user="Standard">
<field name="Bitmask">0:UseFence,1:UseProximitySensor,2:UseBeaconFence</field>
</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="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
<field name="Increment">10</field>
<field name="Range">0 4500</field>
</param>
<param humanName="Avoidance distance maximum in non-GPS flight modes" name="AVOID_DIST_MAX" documentation="Distance from object at which obstacle avoidance will begin in non-GPS modes" user="Standard">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">1 30</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="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">1 10</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>
<param humanName="Avoidance maximum backup speed" name="AVOID_BACKUP_SPD" documentation="Maximum speed that will be used to back away from obstacles in GPS modes (m/s). Set zero to disable" user="Standard">
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
<field name="Range">0 2</field>
</param>
<param humanName="Avoidance minimum altitude" name="AVOID_ALT_MIN" documentation="Minimum altitude above which proximity based avoidance will start working. This requires a valid downward facing rangefinder reading to work. Set zero to disable" user="Standard">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 6</field>
</param>
<param humanName="Avoidance maximum acceleration" name="AVOID_ACCEL_MAX" documentation="Maximum acceleration with which obstacles will be avoided with. Set zero to disable acceleration limits" user="Standard">
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
<field name="Range">0 9</field>
</param>
<param humanName="Avoidance deadzone between stopping and backing away from obstacle" name="AVOID_BACKUP_DZ" documentation="Distance beyond AVOID_MARGIN parameter, after which vehicle will backaway from obstacles. Increase this parameter if you see vehicle going back and forth in front of obstacle." user="Standard">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 2</field>
</param>
</parameters>
<parameters name="BARO">
<param humanName="Ground Pressure" name="BARO1_GND_PRESS" documentation="calibrated ground pressure in Pascals" user="Advanced">
<field name="Units">Pa</field>
<field name="UnitText">pascal</field>
<field name="Increment">1</field>
<field name="ReadOnly">True</field>
<field name="Volatile">True</field>
</param>
<param humanName="ground temperature" name="BARO_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="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
<field name="Increment">1</field>
<field name="Volatile">True</field>
</param>
<param humanName="altitude offset" name="BARO_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="Units">m</field>
<field name="UnitText">meters</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Primary barometer" name="BARO_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="BARO_EXT_BUS" documentation="This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the BARO_PROBE_EXT parameter." user="Advanced">
<values>
<value code="-1">Disabled</value>
<value code="0">Bus0</value>
<value code="1">Bus1</value>
<value code="6">Bus6</value>
</values>
</param>
<param humanName="Ground Pressure" name="BARO2_GND_PRESS" documentation="calibrated ground pressure in Pascals" user="Advanced">
<field name="Units">Pa</field>
<field name="UnitText">pascal</field>
<field name="Increment">1</field>
<field name="ReadOnly">True</field>
<field name="Volatile">True</field>
</param>
<param humanName="Absolute Pressure" name="BARO3_GND_PRESS" documentation="calibrated ground pressure in Pascals" user="Advanced">
<field name="Units">Pa</field>
<field name="UnitText">pascal</field>
<field name="Increment">1</field>
<field name="ReadOnly">True</field>
<field name="Volatile">True</field>
</param>
<param humanName="Range in which sample is accepted" name="BARO_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="Units">%</field>
<field name="UnitText">percent</field>
<field name="Range">0 100</field>
<field name="Increment">1</field>
</param>
<param humanName="External barometers to probe" name="BARO_PROBE_EXT" documentation="This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on BARO_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in BARO_EXT_BUS." user="Advanced">
<field name="Bitmask">0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP</field>
</param>
<param humanName="Baro ID" name="BARO1_DEVID" documentation="Barometer sensor ID, taking into account its type, bus and instance" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Baro ID2" name="BARO2_DEVID" documentation="Barometer2 sensor ID, taking into account its type, bus and instance" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Baro ID3" name="BARO3_DEVID" documentation="Barometer3 sensor ID, taking into account its type, bus and instance" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="field elevation" name="BARO_FIELD_ELV" documentation="User provided field elevation in meters. 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. Changes to this parameter will only be used when disarmed. A value of 0 means the EKF origin height is used for takeoff height above sea level." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Increment">0.1</field>
<field name="Volatile">True</field>
</param>
<param humanName="Altitude error maximum" name="BARO_ALTERR_MAX" documentation="This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer. A common issue is vendors replacing a MS5611 in a "Pixhawk" with a MS5607. If you have that issue then please see BARO_OPTIONS parameter to force the MS5611 to be treated as a MS5607. This check is disabled if the value is zero." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Increment">1</field>
<field name="Range">0 5000</field>
</param>
<param humanName="Barometer options" name="BARO_OPTIONS" documentation="Barometer options" user="Advanced">
<field name="Bitmask">0:Treat MS5611 as MS5607</field>
</param>
</parameters>
<parameters name="BARO1_WCF_">
<param humanName="Wind coefficient enable" name="BARO1_WCF_ENABLE" documentation="This enables the use of wind coefficients for barometer compensation" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Pressure error coefficient in positive X direction (forward)" name="BARO1_WCF_FWD" documentation="This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned." user="Advanced">
<field name="Range">-1.0 1.0</field>
<field name="Increment">0.05</field>
</param>
<param humanName="Pressure error coefficient in negative X direction (backwards)" name="BARO1_WCF_BCK" documentation="This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned." user="Advanced">
<field name="Range">-1.0 1.0</field>
<field name="Increment">0.05</field>
</param>
<param humanName="Pressure error coefficient in positive Y direction (right)" name="BARO1_WCF_RGT" documentation="This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned." user="Advanced">
<field name="Range">-1.0 1.0</field>
<field name="Increment">0.05</field>
</param>
<param humanName="Pressure error coefficient in negative Y direction (left)" name="BARO1_WCF_LFT" documentation="This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned." user="Advanced">
<field name="Range">-1.0 1.0</field>
<field name="Increment">0.05</field>
</param>
<param humanName="Pressure error coefficient in positive Z direction (up)" name="BARO1_WCF_UP" documentation="This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned." user="Advanced">
<field name="Range">-1.0 1.0</field>
<field name="Increment">0.05</field>
</param>
<param humanName="Pressure error coefficient in negative Z direction (down)" name="BARO1_WCF_DN" documentation="This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned." user="Advanced">
<field name="Range">-1.0 1.0</field>
<field name="Increment">0.05</field>
</param>
</parameters>
<parameters name="BARO2_WCF_">
<param humanName="Wind coefficient enable" name="BARO2_WCF_ENABLE" documentation="This enables the use of wind coefficients for barometer compensation" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Pressure error coefficient in positive X direction (forward)" name="BARO2_WCF_FWD" documentation="This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned." user="Advanced">
<field name="Range">-1.0 1.0</field>
<field name="Increment">0.05</field>
</param>
<param humanName="Pressure error coefficient in negative X direction (backwards)" name="BARO2_WCF_BCK" documentation="This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned." user="Advanced">
<field name="Range">-1.0 1.0</field>
<field name="Increment">0.05</field>
</param>
<param humanName="Pressure error coefficient in positive Y direction (right)" name="BARO2_WCF_RGT" documentation="This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned." user="Advanced">
<field name="Range">-1.0 1.0</field>
<field name="Increment">0.05</field>
</param>
<param humanName="Pressure error coefficient in negative Y direction (left)" name="BARO2_WCF_LFT" documentation="This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned." user="Advanced">
<field name="Range">-1.0 1.0</field>
<field name="Increment">0.05</field>
</param>
<param humanName="Pressure error coefficient in positive Z direction (up)" name="BARO2_WCF_UP" documentation="This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned." user="Advanced">
<field name="Range">-1.0 1.0</field>
<field name="Increment">0.05</field>
</param>
<param humanName="Pressure error coefficient in negative Z direction (down)" name="BARO2_WCF_DN" documentation="This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned." user="Advanced">
<field name="Range">-1.0 1.0</field>
<field name="Increment">0.05</field>
</param>
</parameters>
<parameters name="BARO3_WCF_">
<param humanName="Wind coefficient enable" name="BARO3_WCF_ENABLE" documentation="This enables the use of wind coefficients for barometer compensation" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Pressure error coefficient in positive X direction (forward)" name="BARO3_WCF_FWD" documentation="This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned." user="Advanced">
<field name="Range">-1.0 1.0</field>
<field name="Increment">0.05</field>
</param>
<param humanName="Pressure error coefficient in negative X direction (backwards)" name="BARO3_WCF_BCK" documentation="This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned." user="Advanced">
<field name="Range">-1.0 1.0</field>
<field name="Increment">0.05</field>
</param>
<param humanName="Pressure error coefficient in positive Y direction (right)" name="BARO3_WCF_RGT" documentation="This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned." user="Advanced">
<field name="Range">-1.0 1.0</field>
<field name="Increment">0.05</field>
</param>
<param humanName="Pressure error coefficient in negative Y direction (left)" name="BARO3_WCF_LFT" documentation="This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned." user="Advanced">
<field name="Range">-1.0 1.0</field>
<field name="Increment">0.05</field>
</param>
<param humanName="Pressure error coefficient in positive Z direction (up)" name="BARO3_WCF_UP" documentation="This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned." user="Advanced">
<field name="Range">-1.0 1.0</field>
<field name="Increment">0.05</field>
</param>
<param humanName="Pressure error coefficient in negative Z direction (down)" name="BARO3_WCF_DN" documentation="This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned." user="Advanced">
<field name="Range">-1.0 1.0</field>
<field name="Increment">0.05</field>
</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-Generic</value>
<value code="8">DroneCAN-BatteryInfo</value>
<value code="9">ESC</value>
<value code="10">Sum Of Selected Monitors</value>
<value code="11">FuelFlow</value>
<value code="12">FuelLevelPWM</value>
<value code="13">SMBUS-SUI3</value>
<value code="14">SMBUS-SUI6</value>
<value code="15">NeoDesign</value>
<value code="16">SMBus-Maxell</value>
<value code="17">Generator-Elec</value>
<value code="18">Generator-Fuel</value>
<value code="19">Rotoye</value>
<value code="20">MPPT</value>
<value code="21">INA2XX</value>
<value code="22">LTC2946</value>
<value code="23">Torqeedo</value>
<value code="24">FuelLevelAnalog</value>
<value code="25">Synthetic Current and Analog Voltage</value>
<value code="26">INA239_SPI</value>
<value code="27">EFI</value>
<value code="28">AD7091R5</value>
<value code="29">Scripting</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery capacity" name="BATT2_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</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 DroneCan 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="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Increment">1</field>
<field name="Range">0 120</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="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</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="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</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="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</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="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</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>
<value code="0">None</value>
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
<value code="6">Auto DO_LAND_START or RTL</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>
<value code="0">None</value>
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
<value code="6">Auto DO_LAND_START or RTL</value>
</values>
</param>
<param humanName="Required arming voltage" name="BATT2_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Required arming remaining capacity" name="BATT2_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT2__ARM_VOLT parameter." user="Advanced">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Battery monitor options" name="BATT2_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
<field name="Bitmask">0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node</field>
</param>
<param humanName="ESC Telemetry Index to write to" name="BATT2_ESC_INDEX" documentation="ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable." user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
</param>
<param humanName="Battery Voltage sensing pin" name="BATT2_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="5">Navigator</value>
<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
<value code="14">CubeOrange</value>
<value code="16">Durandal</value>
<value code="100">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Current sensing pin" name="BATT2_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="4">CubeOrange_PM2/Navigator</value>
<value code="14">Pixhawk2_PM2</value>
<value code="15">CubeOrange</value>
<value code="17">Durandal</value>
<value code="101">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</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 with a 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. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw." 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 for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Voltage offset" name="BATT2_VLT_OFFSET" documentation="Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery monitor I2C bus number" name="BATT2_I2C_BUS" documentation="Battery monitor I2C bus number" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor I2C address" name="BATT2_I2C_ADDR" documentation="Battery monitor I2C address" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Sum mask" name="BATT2_SUM_MASK" documentation="0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged." user="Standard">
<field name="Bitmask">0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9</field>
</param>
<param humanName="Scales reported power monitor current" name="BATT2_CURR_MULT" documentation="Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications" user="Advanced">
<field name="Range">.1 10</field>
</param>
<param humanName="Empty fuel level voltage" name="BATT2_FL_VLT_MIN" documentation="The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS." user="Advanced">
<field name="Range">0.01 10</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Fuel level voltage multiplier" name="BATT2_FL_V_MULT" documentation="Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS." user="Advanced">
<field name="Range">0.01 10</field>
</param>
<param humanName="Fuel level filter frequency" name="BATT2_FL_FLTR" documentation="Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz." user="Advanced">
<field name="Range">-1 1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Fuel level analog pin number" name="BATT2_FL_PIN" documentation="Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.">
<values>
<value code="-1">Not Used</value>
<value code="11">Pixracer</value>
<value code="13">Pixhawk ADC4</value>
<value code="14">Pixhawk ADC3</value>
<value code="15">Pixhawk ADC6/Pixhawk2 ADC</value>
<value code="103">Pixhawk SBUS</value>
</values>
</param>
<param humanName="First order term" name="BATT2_FL_FF" documentation="First order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Second order term" name="BATT2_FL_FS" documentation="Second order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Third order term" name="BATT2_FL_FT" documentation="Third order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Offset term" name="BATT2_FL_OFF" documentation="Offset polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Maximum Battery Voltage" name="BATT2_MAX_VOLT" documentation="Maximum voltage of battery. Provides scaling of current versus voltage" user="Advanced">
<field name="Range">7 100</field>
</param>
<param humanName="Battery monitor I2C bus number" name="BATT2_I2C_BUS" documentation="Battery monitor I2C bus number" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor I2C address" name="BATT2_I2C_ADDR" documentation="Battery monitor I2C address. If this is zero then probe list of supported addresses" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor max current" name="BATT2_MAX_AMPS" documentation="This controls the maximum current the INS2XX sensor will work with." user="Advanced">
<field name="Range">1 400</field>
<field name="Units">A</field>
<field name="UnitText">ampere</field>
</param>
<param humanName="Battery monitor shunt resistor" name="BATT2_SHUNT" documentation="This sets the shunt resistor used in the device" user="Advanced">
<field name="Range">0.0001 0.01</field>
<field name="Units">Ohm</field>
<field name="UnitText">Ohm</field>
</param>
</parameters>
<parameters name="BATT3_">
<param humanName="Battery monitoring" name="BATT3_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-Generic</value>
<value code="8">DroneCAN-BatteryInfo</value>
<value code="9">ESC</value>
<value code="10">Sum Of Selected Monitors</value>
<value code="11">FuelFlow</value>
<value code="12">FuelLevelPWM</value>
<value code="13">SMBUS-SUI3</value>
<value code="14">SMBUS-SUI6</value>
<value code="15">NeoDesign</value>
<value code="16">SMBus-Maxell</value>
<value code="17">Generator-Elec</value>
<value code="18">Generator-Fuel</value>
<value code="19">Rotoye</value>
<value code="20">MPPT</value>
<value code="21">INA2XX</value>
<value code="22">LTC2946</value>
<value code="23">Torqeedo</value>
<value code="24">FuelLevelAnalog</value>
<value code="25">Synthetic Current and Analog Voltage</value>
<value code="26">INA239_SPI</value>
<value code="27">EFI</value>
<value code="28">AD7091R5</value>
<value code="29">Scripting</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery capacity" name="BATT3_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Battery serial number" name="BATT3_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id." user="Advanced">
</param>
<param humanName="Low voltage timeout" name="BATT3_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="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Increment">1</field>
<field name="Range">0 120</field>
</param>
<param humanName="Failsafe voltage source" name="BATT3_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="BATT3_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 BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Low battery capacity" name="BATT3_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 BATT3_FS_LOW_ACT parameter." user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Critical battery voltage" name="BATT3_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 BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Battery critical capacity" name="BATT3_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 BATT3_FS_CRT_ACT parameter." user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Low battery failsafe action" name="BATT3_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
<value code="6">Auto DO_LAND_START or RTL</value>
</values>
</param>
<param humanName="Critical battery failsafe action" name="BATT3_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
<value code="6">Auto DO_LAND_START or RTL</value>
</values>
</param>
<param humanName="Required arming voltage" name="BATT3_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Required arming remaining capacity" name="BATT3_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT3__ARM_VOLT parameter." user="Advanced">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Battery monitor options" name="BATT3_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
<field name="Bitmask">0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node</field>
</param>
<param humanName="ESC Telemetry Index to write to" name="BATT3_ESC_INDEX" documentation="ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable." user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
</param>
<param humanName="Battery Voltage sensing pin" name="BATT3_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="5">Navigator</value>
<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
<value code="14">CubeOrange</value>
<value code="16">Durandal</value>
<value code="100">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Current sensing pin" name="BATT3_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="4">CubeOrange_PM2/Navigator</value>
<value code="14">Pixhawk2_PM2</value>
<value code="15">CubeOrange</value>
<value code="17">Durandal</value>
<value code="101">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Voltage Multiplier" name="BATT3_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a 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="BATT3_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw." user="Standard">
<field name="Units">A/V</field>
<field name="UnitText">ampere per volt</field>
</param>
<param humanName="AMP offset" name="BATT3_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Voltage offset" name="BATT3_VLT_OFFSET" documentation="Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery monitor I2C bus number" name="BATT3_I2C_BUS" documentation="Battery monitor I2C bus number" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor I2C address" name="BATT3_I2C_ADDR" documentation="Battery monitor I2C address" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Sum mask" name="BATT3_SUM_MASK" documentation="0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged." user="Standard">
<field name="Bitmask">0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9</field>
</param>
<param humanName="Scales reported power monitor current" name="BATT3_CURR_MULT" documentation="Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications" user="Advanced">
<field name="Range">.1 10</field>
</param>
<param humanName="Empty fuel level voltage" name="BATT3_FL_VLT_MIN" documentation="The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS." user="Advanced">
<field name="Range">0.01 10</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Fuel level voltage multiplier" name="BATT3_FL_V_MULT" documentation="Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS." user="Advanced">
<field name="Range">0.01 10</field>
</param>
<param humanName="Fuel level filter frequency" name="BATT3_FL_FLTR" documentation="Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz." user="Advanced">
<field name="Range">-1 1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Fuel level analog pin number" name="BATT3_FL_PIN" documentation="Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.">
<values>
<value code="-1">Not Used</value>
<value code="11">Pixracer</value>
<value code="13">Pixhawk ADC4</value>
<value code="14">Pixhawk ADC3</value>
<value code="15">Pixhawk ADC6/Pixhawk2 ADC</value>
<value code="103">Pixhawk SBUS</value>
</values>
</param>
<param humanName="First order term" name="BATT3_FL_FF" documentation="First order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Second order term" name="BATT3_FL_FS" documentation="Second order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Third order term" name="BATT3_FL_FT" documentation="Third order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Offset term" name="BATT3_FL_OFF" documentation="Offset polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Maximum Battery Voltage" name="BATT3_MAX_VOLT" documentation="Maximum voltage of battery. Provides scaling of current versus voltage" user="Advanced">
<field name="Range">7 100</field>
</param>
<param humanName="Battery monitor I2C bus number" name="BATT3_I2C_BUS" documentation="Battery monitor I2C bus number" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor I2C address" name="BATT3_I2C_ADDR" documentation="Battery monitor I2C address. If this is zero then probe list of supported addresses" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor max current" name="BATT3_MAX_AMPS" documentation="This controls the maximum current the INS2XX sensor will work with." user="Advanced">
<field name="Range">1 400</field>
<field name="Units">A</field>
<field name="UnitText">ampere</field>
</param>
<param humanName="Battery monitor shunt resistor" name="BATT3_SHUNT" documentation="This sets the shunt resistor used in the device" user="Advanced">
<field name="Range">0.0001 0.01</field>
<field name="Units">Ohm</field>
<field name="UnitText">Ohm</field>
</param>
</parameters>
<parameters name="BATT4_">
<param humanName="Battery monitoring" name="BATT4_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-Generic</value>
<value code="8">DroneCAN-BatteryInfo</value>
<value code="9">ESC</value>
<value code="10">Sum Of Selected Monitors</value>
<value code="11">FuelFlow</value>
<value code="12">FuelLevelPWM</value>
<value code="13">SMBUS-SUI3</value>
<value code="14">SMBUS-SUI6</value>
<value code="15">NeoDesign</value>
<value code="16">SMBus-Maxell</value>
<value code="17">Generator-Elec</value>
<value code="18">Generator-Fuel</value>
<value code="19">Rotoye</value>
<value code="20">MPPT</value>
<value code="21">INA2XX</value>
<value code="22">LTC2946</value>
<value code="23">Torqeedo</value>
<value code="24">FuelLevelAnalog</value>
<value code="25">Synthetic Current and Analog Voltage</value>
<value code="26">INA239_SPI</value>
<value code="27">EFI</value>
<value code="28">AD7091R5</value>
<value code="29">Scripting</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery capacity" name="BATT4_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Battery serial number" name="BATT4_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id." user="Advanced">
</param>
<param humanName="Low voltage timeout" name="BATT4_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="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Increment">1</field>
<field name="Range">0 120</field>
</param>
<param humanName="Failsafe voltage source" name="BATT4_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="BATT4_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 BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Low battery capacity" name="BATT4_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 BATT4_FS_LOW_ACT parameter." user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Critical battery voltage" name="BATT4_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 BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Battery critical capacity" name="BATT4_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 BATT4_FS_CRT_ACT parameter." user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Low battery failsafe action" name="BATT4_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
<value code="6">Auto DO_LAND_START or RTL</value>
</values>
</param>
<param humanName="Critical battery failsafe action" name="BATT4_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
<value code="6">Auto DO_LAND_START or RTL</value>
</values>
</param>
<param humanName="Required arming voltage" name="BATT4_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Required arming remaining capacity" name="BATT4_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT4__ARM_VOLT parameter." user="Advanced">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Battery monitor options" name="BATT4_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
<field name="Bitmask">0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node</field>
</param>
<param humanName="ESC Telemetry Index to write to" name="BATT4_ESC_INDEX" documentation="ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable." user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
</param>
<param humanName="Battery Voltage sensing pin" name="BATT4_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="5">Navigator</value>
<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
<value code="14">CubeOrange</value>
<value code="16">Durandal</value>
<value code="100">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Current sensing pin" name="BATT4_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="4">CubeOrange_PM2/Navigator</value>
<value code="14">Pixhawk2_PM2</value>
<value code="15">CubeOrange</value>
<value code="17">Durandal</value>
<value code="101">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Voltage Multiplier" name="BATT4_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a 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="BATT4_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw." user="Standard">
<field name="Units">A/V</field>
<field name="UnitText">ampere per volt</field>
</param>
<param humanName="AMP offset" name="BATT4_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Voltage offset" name="BATT4_VLT_OFFSET" documentation="Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery monitor I2C bus number" name="BATT4_I2C_BUS" documentation="Battery monitor I2C bus number" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor I2C address" name="BATT4_I2C_ADDR" documentation="Battery monitor I2C address" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Sum mask" name="BATT4_SUM_MASK" documentation="0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged." user="Standard">
<field name="Bitmask">0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9</field>
</param>
<param humanName="Scales reported power monitor current" name="BATT4_CURR_MULT" documentation="Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications" user="Advanced">
<field name="Range">.1 10</field>
</param>
<param humanName="Empty fuel level voltage" name="BATT4_FL_VLT_MIN" documentation="The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS." user="Advanced">
<field name="Range">0.01 10</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Fuel level voltage multiplier" name="BATT4_FL_V_MULT" documentation="Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS." user="Advanced">
<field name="Range">0.01 10</field>
</param>
<param humanName="Fuel level filter frequency" name="BATT4_FL_FLTR" documentation="Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz." user="Advanced">
<field name="Range">-1 1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Fuel level analog pin number" name="BATT4_FL_PIN" documentation="Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.">
<values>
<value code="-1">Not Used</value>
<value code="11">Pixracer</value>
<value code="13">Pixhawk ADC4</value>
<value code="14">Pixhawk ADC3</value>
<value code="15">Pixhawk ADC6/Pixhawk2 ADC</value>
<value code="103">Pixhawk SBUS</value>
</values>
</param>
<param humanName="First order term" name="BATT4_FL_FF" documentation="First order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Second order term" name="BATT4_FL_FS" documentation="Second order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Third order term" name="BATT4_FL_FT" documentation="Third order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Offset term" name="BATT4_FL_OFF" documentation="Offset polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Maximum Battery Voltage" name="BATT4_MAX_VOLT" documentation="Maximum voltage of battery. Provides scaling of current versus voltage" user="Advanced">
<field name="Range">7 100</field>
</param>
<param humanName="Battery monitor I2C bus number" name="BATT4_I2C_BUS" documentation="Battery monitor I2C bus number" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor I2C address" name="BATT4_I2C_ADDR" documentation="Battery monitor I2C address. If this is zero then probe list of supported addresses" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor max current" name="BATT4_MAX_AMPS" documentation="This controls the maximum current the INS2XX sensor will work with." user="Advanced">
<field name="Range">1 400</field>
<field name="Units">A</field>
<field name="UnitText">ampere</field>
</param>
<param humanName="Battery monitor shunt resistor" name="BATT4_SHUNT" documentation="This sets the shunt resistor used in the device" user="Advanced">
<field name="Range">0.0001 0.01</field>
<field name="Units">Ohm</field>
<field name="UnitText">Ohm</field>
</param>
</parameters>
<parameters name="BATT5_">
<param humanName="Battery monitoring" name="BATT5_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-Generic</value>
<value code="8">DroneCAN-BatteryInfo</value>
<value code="9">ESC</value>
<value code="10">Sum Of Selected Monitors</value>
<value code="11">FuelFlow</value>
<value code="12">FuelLevelPWM</value>
<value code="13">SMBUS-SUI3</value>
<value code="14">SMBUS-SUI6</value>
<value code="15">NeoDesign</value>
<value code="16">SMBus-Maxell</value>
<value code="17">Generator-Elec</value>
<value code="18">Generator-Fuel</value>
<value code="19">Rotoye</value>
<value code="20">MPPT</value>
<value code="21">INA2XX</value>
<value code="22">LTC2946</value>
<value code="23">Torqeedo</value>
<value code="24">FuelLevelAnalog</value>
<value code="25">Synthetic Current and Analog Voltage</value>
<value code="26">INA239_SPI</value>
<value code="27">EFI</value>
<value code="28">AD7091R5</value>
<value code="29">Scripting</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery capacity" name="BATT5_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Battery serial number" name="BATT5_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id." user="Advanced">
</param>
<param humanName="Low voltage timeout" name="BATT5_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="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Increment">1</field>
<field name="Range">0 120</field>
</param>
<param humanName="Failsafe voltage source" name="BATT5_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="BATT5_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 BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Low battery capacity" name="BATT5_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 BATT5_FS_LOW_ACT parameter." user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Critical battery voltage" name="BATT5_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 BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Battery critical capacity" name="BATT5_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 BATT5_FS_CRT_ACT parameter." user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Low battery failsafe action" name="BATT5_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
<value code="6">Auto DO_LAND_START or RTL</value>
</values>
</param>
<param humanName="Critical battery failsafe action" name="BATT5_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
<value code="6">Auto DO_LAND_START or RTL</value>
</values>
</param>
<param humanName="Required arming voltage" name="BATT5_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Required arming remaining capacity" name="BATT5_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT5__ARM_VOLT parameter." user="Advanced">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Battery monitor options" name="BATT5_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
<field name="Bitmask">0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node</field>
</param>
<param humanName="ESC Telemetry Index to write to" name="BATT5_ESC_INDEX" documentation="ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable." user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
</param>
<param humanName="Battery Voltage sensing pin" name="BATT5_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="5">Navigator</value>
<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
<value code="14">CubeOrange</value>
<value code="16">Durandal</value>
<value code="100">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Current sensing pin" name="BATT5_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="4">CubeOrange_PM2/Navigator</value>
<value code="14">Pixhawk2_PM2</value>
<value code="15">CubeOrange</value>
<value code="17">Durandal</value>
<value code="101">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Voltage Multiplier" name="BATT5_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a 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="BATT5_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw." user="Standard">
<field name="Units">A/V</field>
<field name="UnitText">ampere per volt</field>
</param>
<param humanName="AMP offset" name="BATT5_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Voltage offset" name="BATT5_VLT_OFFSET" documentation="Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery monitor I2C bus number" name="BATT5_I2C_BUS" documentation="Battery monitor I2C bus number" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor I2C address" name="BATT5_I2C_ADDR" documentation="Battery monitor I2C address" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Sum mask" name="BATT5_SUM_MASK" documentation="0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged." user="Standard">
<field name="Bitmask">0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9</field>
</param>
<param humanName="Scales reported power monitor current" name="BATT5_CURR_MULT" documentation="Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications" user="Advanced">
<field name="Range">.1 10</field>
</param>
<param humanName="Empty fuel level voltage" name="BATT5_FL_VLT_MIN" documentation="The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS." user="Advanced">
<field name="Range">0.01 10</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Fuel level voltage multiplier" name="BATT5_FL_V_MULT" documentation="Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS." user="Advanced">
<field name="Range">0.01 10</field>
</param>
<param humanName="Fuel level filter frequency" name="BATT5_FL_FLTR" documentation="Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz." user="Advanced">
<field name="Range">-1 1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Fuel level analog pin number" name="BATT5_FL_PIN" documentation="Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.">
<values>
<value code="-1">Not Used</value>
<value code="11">Pixracer</value>
<value code="13">Pixhawk ADC4</value>
<value code="14">Pixhawk ADC3</value>
<value code="15">Pixhawk ADC6/Pixhawk2 ADC</value>
<value code="103">Pixhawk SBUS</value>
</values>
</param>
<param humanName="First order term" name="BATT5_FL_FF" documentation="First order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Second order term" name="BATT5_FL_FS" documentation="Second order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Third order term" name="BATT5_FL_FT" documentation="Third order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Offset term" name="BATT5_FL_OFF" documentation="Offset polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Maximum Battery Voltage" name="BATT5_MAX_VOLT" documentation="Maximum voltage of battery. Provides scaling of current versus voltage" user="Advanced">
<field name="Range">7 100</field>
</param>
<param humanName="Battery monitor I2C bus number" name="BATT5_I2C_BUS" documentation="Battery monitor I2C bus number" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor I2C address" name="BATT5_I2C_ADDR" documentation="Battery monitor I2C address. If this is zero then probe list of supported addresses" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor max current" name="BATT5_MAX_AMPS" documentation="This controls the maximum current the INS2XX sensor will work with." user="Advanced">
<field name="Range">1 400</field>
<field name="Units">A</field>
<field name="UnitText">ampere</field>
</param>
<param humanName="Battery monitor shunt resistor" name="BATT5_SHUNT" documentation="This sets the shunt resistor used in the device" user="Advanced">
<field name="Range">0.0001 0.01</field>
<field name="Units">Ohm</field>
<field name="UnitText">Ohm</field>
</param>
</parameters>
<parameters name="BATT6_">
<param humanName="Battery monitoring" name="BATT6_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-Generic</value>
<value code="8">DroneCAN-BatteryInfo</value>
<value code="9">ESC</value>
<value code="10">Sum Of Selected Monitors</value>
<value code="11">FuelFlow</value>
<value code="12">FuelLevelPWM</value>
<value code="13">SMBUS-SUI3</value>
<value code="14">SMBUS-SUI6</value>
<value code="15">NeoDesign</value>
<value code="16">SMBus-Maxell</value>
<value code="17">Generator-Elec</value>
<value code="18">Generator-Fuel</value>
<value code="19">Rotoye</value>
<value code="20">MPPT</value>
<value code="21">INA2XX</value>
<value code="22">LTC2946</value>
<value code="23">Torqeedo</value>
<value code="24">FuelLevelAnalog</value>
<value code="25">Synthetic Current and Analog Voltage</value>
<value code="26">INA239_SPI</value>
<value code="27">EFI</value>
<value code="28">AD7091R5</value>
<value code="29">Scripting</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery capacity" name="BATT6_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Battery serial number" name="BATT6_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id." user="Advanced">
</param>
<param humanName="Low voltage timeout" name="BATT6_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="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Increment">1</field>
<field name="Range">0 120</field>
</param>
<param humanName="Failsafe voltage source" name="BATT6_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="BATT6_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 BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Low battery capacity" name="BATT6_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 BATT6_FS_LOW_ACT parameter." user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Critical battery voltage" name="BATT6_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 BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Battery critical capacity" name="BATT6_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 BATT6_FS_CRT_ACT parameter." user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Low battery failsafe action" name="BATT6_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
<value code="6">Auto DO_LAND_START or RTL</value>
</values>
</param>
<param humanName="Critical battery failsafe action" name="BATT6_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
<value code="6">Auto DO_LAND_START or RTL</value>
</values>
</param>
<param humanName="Required arming voltage" name="BATT6_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Required arming remaining capacity" name="BATT6_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT6__ARM_VOLT parameter." user="Advanced">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Battery monitor options" name="BATT6_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
<field name="Bitmask">0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node</field>
</param>
<param humanName="ESC Telemetry Index to write to" name="BATT6_ESC_INDEX" documentation="ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable." user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
</param>
<param humanName="Battery Voltage sensing pin" name="BATT6_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="5">Navigator</value>
<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
<value code="14">CubeOrange</value>
<value code="16">Durandal</value>
<value code="100">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Current sensing pin" name="BATT6_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="4">CubeOrange_PM2/Navigator</value>
<value code="14">Pixhawk2_PM2</value>
<value code="15">CubeOrange</value>
<value code="17">Durandal</value>
<value code="101">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Voltage Multiplier" name="BATT6_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a 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="BATT6_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw." user="Standard">
<field name="Units">A/V</field>
<field name="UnitText">ampere per volt</field>
</param>
<param humanName="AMP offset" name="BATT6_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Voltage offset" name="BATT6_VLT_OFFSET" documentation="Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery monitor I2C bus number" name="BATT6_I2C_BUS" documentation="Battery monitor I2C bus number" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor I2C address" name="BATT6_I2C_ADDR" documentation="Battery monitor I2C address" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Sum mask" name="BATT6_SUM_MASK" documentation="0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged." user="Standard">
<field name="Bitmask">0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9</field>
</param>
<param humanName="Scales reported power monitor current" name="BATT6_CURR_MULT" documentation="Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications" user="Advanced">
<field name="Range">.1 10</field>
</param>
<param humanName="Empty fuel level voltage" name="BATT6_FL_VLT_MIN" documentation="The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS." user="Advanced">
<field name="Range">0.01 10</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Fuel level voltage multiplier" name="BATT6_FL_V_MULT" documentation="Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS." user="Advanced">
<field name="Range">0.01 10</field>
</param>
<param humanName="Fuel level filter frequency" name="BATT6_FL_FLTR" documentation="Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz." user="Advanced">
<field name="Range">-1 1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Fuel level analog pin number" name="BATT6_FL_PIN" documentation="Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.">
<values>
<value code="-1">Not Used</value>
<value code="11">Pixracer</value>
<value code="13">Pixhawk ADC4</value>
<value code="14">Pixhawk ADC3</value>
<value code="15">Pixhawk ADC6/Pixhawk2 ADC</value>
<value code="103">Pixhawk SBUS</value>
</values>
</param>
<param humanName="First order term" name="BATT6_FL_FF" documentation="First order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Second order term" name="BATT6_FL_FS" documentation="Second order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Third order term" name="BATT6_FL_FT" documentation="Third order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Offset term" name="BATT6_FL_OFF" documentation="Offset polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Maximum Battery Voltage" name="BATT6_MAX_VOLT" documentation="Maximum voltage of battery. Provides scaling of current versus voltage" user="Advanced">
<field name="Range">7 100</field>
</param>
<param humanName="Battery monitor I2C bus number" name="BATT6_I2C_BUS" documentation="Battery monitor I2C bus number" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor I2C address" name="BATT6_I2C_ADDR" documentation="Battery monitor I2C address. If this is zero then probe list of supported addresses" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor max current" name="BATT6_MAX_AMPS" documentation="This controls the maximum current the INS2XX sensor will work with." user="Advanced">
<field name="Range">1 400</field>
<field name="Units">A</field>
<field name="UnitText">ampere</field>
</param>
<param humanName="Battery monitor shunt resistor" name="BATT6_SHUNT" documentation="This sets the shunt resistor used in the device" user="Advanced">
<field name="Range">0.0001 0.01</field>
<field name="Units">Ohm</field>
<field name="UnitText">Ohm</field>
</param>
</parameters>
<parameters name="BATT7_">
<param humanName="Battery monitoring" name="BATT7_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-Generic</value>
<value code="8">DroneCAN-BatteryInfo</value>
<value code="9">ESC</value>
<value code="10">Sum Of Selected Monitors</value>
<value code="11">FuelFlow</value>
<value code="12">FuelLevelPWM</value>
<value code="13">SMBUS-SUI3</value>
<value code="14">SMBUS-SUI6</value>
<value code="15">NeoDesign</value>
<value code="16">SMBus-Maxell</value>
<value code="17">Generator-Elec</value>
<value code="18">Generator-Fuel</value>
<value code="19">Rotoye</value>
<value code="20">MPPT</value>
<value code="21">INA2XX</value>
<value code="22">LTC2946</value>
<value code="23">Torqeedo</value>
<value code="24">FuelLevelAnalog</value>
<value code="25">Synthetic Current and Analog Voltage</value>
<value code="26">INA239_SPI</value>
<value code="27">EFI</value>
<value code="28">AD7091R5</value>
<value code="29">Scripting</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery capacity" name="BATT7_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Battery serial number" name="BATT7_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id." user="Advanced">
</param>
<param humanName="Low voltage timeout" name="BATT7_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="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Increment">1</field>
<field name="Range">0 120</field>
</param>
<param humanName="Failsafe voltage source" name="BATT7_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="BATT7_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 BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Low battery capacity" name="BATT7_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 BATT7_FS_LOW_ACT parameter." user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Critical battery voltage" name="BATT7_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 BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Battery critical capacity" name="BATT7_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 BATT7_FS_CRT_ACT parameter." user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Low battery failsafe action" name="BATT7_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
<value code="6">Auto DO_LAND_START or RTL</value>
</values>
</param>
<param humanName="Critical battery failsafe action" name="BATT7_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
<value code="6">Auto DO_LAND_START or RTL</value>
</values>
</param>
<param humanName="Required arming voltage" name="BATT7_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Required arming remaining capacity" name="BATT7_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT7__ARM_VOLT parameter." user="Advanced">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Battery monitor options" name="BATT7_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
<field name="Bitmask">0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node</field>
</param>
<param humanName="ESC Telemetry Index to write to" name="BATT7_ESC_INDEX" documentation="ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable." user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
</param>
<param humanName="Battery Voltage sensing pin" name="BATT7_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="5">Navigator</value>
<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
<value code="14">CubeOrange</value>
<value code="16">Durandal</value>
<value code="100">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Current sensing pin" name="BATT7_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="4">CubeOrange_PM2/Navigator</value>
<value code="14">Pixhawk2_PM2</value>
<value code="15">CubeOrange</value>
<value code="17">Durandal</value>
<value code="101">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Voltage Multiplier" name="BATT7_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a 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="BATT7_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw." user="Standard">
<field name="Units">A/V</field>
<field name="UnitText">ampere per volt</field>
</param>
<param humanName="AMP offset" name="BATT7_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Voltage offset" name="BATT7_VLT_OFFSET" documentation="Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery monitor I2C bus number" name="BATT7_I2C_BUS" documentation="Battery monitor I2C bus number" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor I2C address" name="BATT7_I2C_ADDR" documentation="Battery monitor I2C address" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Sum mask" name="BATT7_SUM_MASK" documentation="0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged." user="Standard">
<field name="Bitmask">0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9</field>
</param>
<param humanName="Scales reported power monitor current" name="BATT7_CURR_MULT" documentation="Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications" user="Advanced">
<field name="Range">.1 10</field>
</param>
<param humanName="Empty fuel level voltage" name="BATT7_FL_VLT_MIN" documentation="The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS." user="Advanced">
<field name="Range">0.01 10</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Fuel level voltage multiplier" name="BATT7_FL_V_MULT" documentation="Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS." user="Advanced">
<field name="Range">0.01 10</field>
</param>
<param humanName="Fuel level filter frequency" name="BATT7_FL_FLTR" documentation="Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz." user="Advanced">
<field name="Range">-1 1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Fuel level analog pin number" name="BATT7_FL_PIN" documentation="Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.">
<values>
<value code="-1">Not Used</value>
<value code="11">Pixracer</value>
<value code="13">Pixhawk ADC4</value>
<value code="14">Pixhawk ADC3</value>
<value code="15">Pixhawk ADC6/Pixhawk2 ADC</value>
<value code="103">Pixhawk SBUS</value>
</values>
</param>
<param humanName="First order term" name="BATT7_FL_FF" documentation="First order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Second order term" name="BATT7_FL_FS" documentation="Second order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Third order term" name="BATT7_FL_FT" documentation="Third order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Offset term" name="BATT7_FL_OFF" documentation="Offset polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Maximum Battery Voltage" name="BATT7_MAX_VOLT" documentation="Maximum voltage of battery. Provides scaling of current versus voltage" user="Advanced">
<field name="Range">7 100</field>
</param>
<param humanName="Battery monitor I2C bus number" name="BATT7_I2C_BUS" documentation="Battery monitor I2C bus number" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor I2C address" name="BATT7_I2C_ADDR" documentation="Battery monitor I2C address. If this is zero then probe list of supported addresses" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor max current" name="BATT7_MAX_AMPS" documentation="This controls the maximum current the INS2XX sensor will work with." user="Advanced">
<field name="Range">1 400</field>
<field name="Units">A</field>
<field name="UnitText">ampere</field>
</param>
<param humanName="Battery monitor shunt resistor" name="BATT7_SHUNT" documentation="This sets the shunt resistor used in the device" user="Advanced">
<field name="Range">0.0001 0.01</field>
<field name="Units">Ohm</field>
<field name="UnitText">Ohm</field>
</param>
</parameters>
<parameters name="BATT8_">
<param humanName="Battery monitoring" name="BATT8_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-Generic</value>
<value code="8">DroneCAN-BatteryInfo</value>
<value code="9">ESC</value>
<value code="10">Sum Of Selected Monitors</value>
<value code="11">FuelFlow</value>
<value code="12">FuelLevelPWM</value>
<value code="13">SMBUS-SUI3</value>
<value code="14">SMBUS-SUI6</value>
<value code="15">NeoDesign</value>
<value code="16">SMBus-Maxell</value>
<value code="17">Generator-Elec</value>
<value code="18">Generator-Fuel</value>
<value code="19">Rotoye</value>
<value code="20">MPPT</value>
<value code="21">INA2XX</value>
<value code="22">LTC2946</value>
<value code="23">Torqeedo</value>
<value code="24">FuelLevelAnalog</value>
<value code="25">Synthetic Current and Analog Voltage</value>
<value code="26">INA239_SPI</value>
<value code="27">EFI</value>
<value code="28">AD7091R5</value>
<value code="29">Scripting</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery capacity" name="BATT8_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Battery serial number" name="BATT8_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id." user="Advanced">
</param>
<param humanName="Low voltage timeout" name="BATT8_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="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Increment">1</field>
<field name="Range">0 120</field>
</param>
<param humanName="Failsafe voltage source" name="BATT8_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="BATT8_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 BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Low battery capacity" name="BATT8_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 BATT8_FS_LOW_ACT parameter." user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Critical battery voltage" name="BATT8_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 BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Battery critical capacity" name="BATT8_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 BATT8_FS_CRT_ACT parameter." user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Low battery failsafe action" name="BATT8_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
<value code="6">Auto DO_LAND_START or RTL</value>
</values>
</param>
<param humanName="Critical battery failsafe action" name="BATT8_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
<value code="6">Auto DO_LAND_START or RTL</value>
</values>
</param>
<param humanName="Required arming voltage" name="BATT8_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Required arming remaining capacity" name="BATT8_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT8__ARM_VOLT parameter." user="Advanced">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Battery monitor options" name="BATT8_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
<field name="Bitmask">0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node</field>
</param>
<param humanName="ESC Telemetry Index to write to" name="BATT8_ESC_INDEX" documentation="ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable." user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
</param>
<param humanName="Battery Voltage sensing pin" name="BATT8_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="5">Navigator</value>
<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
<value code="14">CubeOrange</value>
<value code="16">Durandal</value>
<value code="100">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Current sensing pin" name="BATT8_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="4">CubeOrange_PM2/Navigator</value>
<value code="14">Pixhawk2_PM2</value>
<value code="15">CubeOrange</value>
<value code="17">Durandal</value>
<value code="101">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Voltage Multiplier" name="BATT8_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a 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="BATT8_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw." user="Standard">
<field name="Units">A/V</field>
<field name="UnitText">ampere per volt</field>
</param>
<param humanName="AMP offset" name="BATT8_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Voltage offset" name="BATT8_VLT_OFFSET" documentation="Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery monitor I2C bus number" name="BATT8_I2C_BUS" documentation="Battery monitor I2C bus number" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor I2C address" name="BATT8_I2C_ADDR" documentation="Battery monitor I2C address" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Sum mask" name="BATT8_SUM_MASK" documentation="0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged." user="Standard">
<field name="Bitmask">0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9</field>
</param>
<param humanName="Scales reported power monitor current" name="BATT8_CURR_MULT" documentation="Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications" user="Advanced">
<field name="Range">.1 10</field>
</param>
<param humanName="Empty fuel level voltage" name="BATT8_FL_VLT_MIN" documentation="The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS." user="Advanced">
<field name="Range">0.01 10</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Fuel level voltage multiplier" name="BATT8_FL_V_MULT" documentation="Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS." user="Advanced">
<field name="Range">0.01 10</field>
</param>
<param humanName="Fuel level filter frequency" name="BATT8_FL_FLTR" documentation="Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz." user="Advanced">
<field name="Range">-1 1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Fuel level analog pin number" name="BATT8_FL_PIN" documentation="Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.">
<values>
<value code="-1">Not Used</value>
<value code="11">Pixracer</value>
<value code="13">Pixhawk ADC4</value>
<value code="14">Pixhawk ADC3</value>
<value code="15">Pixhawk ADC6/Pixhawk2 ADC</value>
<value code="103">Pixhawk SBUS</value>
</values>
</param>
<param humanName="First order term" name="BATT8_FL_FF" documentation="First order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Second order term" name="BATT8_FL_FS" documentation="Second order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Third order term" name="BATT8_FL_FT" documentation="Third order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Offset term" name="BATT8_FL_OFF" documentation="Offset polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Maximum Battery Voltage" name="BATT8_MAX_VOLT" documentation="Maximum voltage of battery. Provides scaling of current versus voltage" user="Advanced">
<field name="Range">7 100</field>
</param>
<param humanName="Battery monitor I2C bus number" name="BATT8_I2C_BUS" documentation="Battery monitor I2C bus number" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor I2C address" name="BATT8_I2C_ADDR" documentation="Battery monitor I2C address. If this is zero then probe list of supported addresses" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor max current" name="BATT8_MAX_AMPS" documentation="This controls the maximum current the INS2XX sensor will work with." user="Advanced">
<field name="Range">1 400</field>
<field name="Units">A</field>
<field name="UnitText">ampere</field>
</param>
<param humanName="Battery monitor shunt resistor" name="BATT8_SHUNT" documentation="This sets the shunt resistor used in the device" user="Advanced">
<field name="Range">0.0001 0.01</field>
<field name="Units">Ohm</field>
<field name="UnitText">Ohm</field>
</param>
</parameters>
<parameters name="BATT9_">
<param humanName="Battery monitoring" name="BATT9_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-Generic</value>
<value code="8">DroneCAN-BatteryInfo</value>
<value code="9">ESC</value>
<value code="10">Sum Of Selected Monitors</value>
<value code="11">FuelFlow</value>
<value code="12">FuelLevelPWM</value>
<value code="13">SMBUS-SUI3</value>
<value code="14">SMBUS-SUI6</value>
<value code="15">NeoDesign</value>
<value code="16">SMBus-Maxell</value>
<value code="17">Generator-Elec</value>
<value code="18">Generator-Fuel</value>
<value code="19">Rotoye</value>
<value code="20">MPPT</value>
<value code="21">INA2XX</value>
<value code="22">LTC2946</value>
<value code="23">Torqeedo</value>
<value code="24">FuelLevelAnalog</value>
<value code="25">Synthetic Current and Analog Voltage</value>
<value code="26">INA239_SPI</value>
<value code="27">EFI</value>
<value code="28">AD7091R5</value>
<value code="29">Scripting</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery capacity" name="BATT9_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Battery serial number" name="BATT9_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id." user="Advanced">
</param>
<param humanName="Low voltage timeout" name="BATT9_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="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Increment">1</field>
<field name="Range">0 120</field>
</param>
<param humanName="Failsafe voltage source" name="BATT9_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="BATT9_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 BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Low battery capacity" name="BATT9_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 BATT9_FS_LOW_ACT parameter." user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Critical battery voltage" name="BATT9_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 BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Battery critical capacity" name="BATT9_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 BATT9_FS_CRT_ACT parameter." user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Low battery failsafe action" name="BATT9_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
<value code="6">Auto DO_LAND_START or RTL</value>
</values>
</param>
<param humanName="Critical battery failsafe action" name="BATT9_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
<value code="6">Auto DO_LAND_START or RTL</value>
</values>
</param>
<param humanName="Required arming voltage" name="BATT9_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Required arming remaining capacity" name="BATT9_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT9__ARM_VOLT parameter." user="Advanced">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Battery monitor options" name="BATT9_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
<field name="Bitmask">0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node</field>
</param>
<param humanName="ESC Telemetry Index to write to" name="BATT9_ESC_INDEX" documentation="ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable." user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
</param>
<param humanName="Battery Voltage sensing pin" name="BATT9_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="5">Navigator</value>
<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
<value code="14">CubeOrange</value>
<value code="16">Durandal</value>
<value code="100">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Current sensing pin" name="BATT9_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="4">CubeOrange_PM2/Navigator</value>
<value code="14">Pixhawk2_PM2</value>
<value code="15">CubeOrange</value>
<value code="17">Durandal</value>
<value code="101">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Voltage Multiplier" name="BATT9_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a 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="BATT9_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw." user="Standard">
<field name="Units">A/V</field>
<field name="UnitText">ampere per volt</field>
</param>
<param humanName="AMP offset" name="BATT9_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Voltage offset" name="BATT9_VLT_OFFSET" documentation="Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery monitor I2C bus number" name="BATT9_I2C_BUS" documentation="Battery monitor I2C bus number" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor I2C address" name="BATT9_I2C_ADDR" documentation="Battery monitor I2C address" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Sum mask" name="BATT9_SUM_MASK" documentation="0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged." user="Standard">
<field name="Bitmask">0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9</field>
</param>
<param humanName="Scales reported power monitor current" name="BATT9_CURR_MULT" documentation="Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications" user="Advanced">
<field name="Range">.1 10</field>
</param>
<param humanName="Empty fuel level voltage" name="BATT9_FL_VLT_MIN" documentation="The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS." user="Advanced">
<field name="Range">0.01 10</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Fuel level voltage multiplier" name="BATT9_FL_V_MULT" documentation="Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS." user="Advanced">
<field name="Range">0.01 10</field>
</param>
<param humanName="Fuel level filter frequency" name="BATT9_FL_FLTR" documentation="Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz." user="Advanced">
<field name="Range">-1 1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Fuel level analog pin number" name="BATT9_FL_PIN" documentation="Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.">
<values>
<value code="-1">Not Used</value>
<value code="11">Pixracer</value>
<value code="13">Pixhawk ADC4</value>
<value code="14">Pixhawk ADC3</value>
<value code="15">Pixhawk ADC6/Pixhawk2 ADC</value>
<value code="103">Pixhawk SBUS</value>
</values>
</param>
<param humanName="First order term" name="BATT9_FL_FF" documentation="First order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Second order term" name="BATT9_FL_FS" documentation="Second order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Third order term" name="BATT9_FL_FT" documentation="Third order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Offset term" name="BATT9_FL_OFF" documentation="Offset polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Maximum Battery Voltage" name="BATT9_MAX_VOLT" documentation="Maximum voltage of battery. Provides scaling of current versus voltage" user="Advanced">
<field name="Range">7 100</field>
</param>
<param humanName="Battery monitor I2C bus number" name="BATT9_I2C_BUS" documentation="Battery monitor I2C bus number" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor I2C address" name="BATT9_I2C_ADDR" documentation="Battery monitor I2C address. If this is zero then probe list of supported addresses" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor max current" name="BATT9_MAX_AMPS" documentation="This controls the maximum current the INS2XX sensor will work with." user="Advanced">
<field name="Range">1 400</field>
<field name="Units">A</field>
<field name="UnitText">ampere</field>
</param>
<param humanName="Battery monitor shunt resistor" name="BATT9_SHUNT" documentation="This sets the shunt resistor used in the device" user="Advanced">
<field name="Range">0.0001 0.01</field>
<field name="Units">Ohm</field>
<field name="UnitText">Ohm</field>
</param>
</parameters>
<parameters name="BATTA_">
<param humanName="Battery monitoring" name="BATTA_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-Generic</value>
<value code="8">DroneCAN-BatteryInfo</value>
<value code="9">ESC</value>
<value code="10">Sum Of Selected Monitors</value>
<value code="11">FuelFlow</value>
<value code="12">FuelLevelPWM</value>
<value code="13">SMBUS-SUI3</value>
<value code="14">SMBUS-SUI6</value>
<value code="15">NeoDesign</value>
<value code="16">SMBus-Maxell</value>
<value code="17">Generator-Elec</value>
<value code="18">Generator-Fuel</value>
<value code="19">Rotoye</value>
<value code="20">MPPT</value>
<value code="21">INA2XX</value>
<value code="22">LTC2946</value>
<value code="23">Torqeedo</value>
<value code="24">FuelLevelAnalog</value>
<value code="25">Synthetic Current and Analog Voltage</value>
<value code="26">INA239_SPI</value>
<value code="27">EFI</value>
<value code="28">AD7091R5</value>
<value code="29">Scripting</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery capacity" name="BATTA_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Battery serial number" name="BATTA_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id." user="Advanced">
</param>
<param humanName="Low voltage timeout" name="BATTA_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="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Increment">1</field>
<field name="Range">0 120</field>
</param>
<param humanName="Failsafe voltage source" name="BATTA_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="BATTA_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 BATTA_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA_FS_LOW_ACT parameter." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Low battery capacity" name="BATTA_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 BATTA_FS_LOW_ACT parameter." user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Critical battery voltage" name="BATTA_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 BATTA_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA_FS_CRT_ACT parameter." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Battery critical capacity" name="BATTA_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 BATTA_FS_CRT_ACT parameter." user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Low battery failsafe action" name="BATTA_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
<value code="6">Auto DO_LAND_START or RTL</value>
</values>
</param>
<param humanName="Critical battery failsafe action" name="BATTA_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
<value code="6">Auto DO_LAND_START or RTL</value>
</values>
</param>
<param humanName="Required arming voltage" name="BATTA_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Required arming remaining capacity" name="BATTA_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTA__ARM_VOLT parameter." user="Advanced">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Battery monitor options" name="BATTA_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
<field name="Bitmask">0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node</field>
</param>
<param humanName="ESC Telemetry Index to write to" name="BATTA_ESC_INDEX" documentation="ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable." user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
</param>
<param humanName="Battery Voltage sensing pin" name="BATTA_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="5">Navigator</value>
<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
<value code="14">CubeOrange</value>
<value code="16">Durandal</value>
<value code="100">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Current sensing pin" name="BATTA_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="4">CubeOrange_PM2/Navigator</value>
<value code="14">Pixhawk2_PM2</value>
<value code="15">CubeOrange</value>
<value code="17">Durandal</value>
<value code="101">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Voltage Multiplier" name="BATTA_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATTA_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a 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="BATTA_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw." user="Standard">
<field name="Units">A/V</field>
<field name="UnitText">ampere per volt</field>
</param>
<param humanName="AMP offset" name="BATTA_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Voltage offset" name="BATTA_VLT_OFFSET" documentation="Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery monitor I2C bus number" name="BATTA_I2C_BUS" documentation="Battery monitor I2C bus number" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor I2C address" name="BATTA_I2C_ADDR" documentation="Battery monitor I2C address" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Sum mask" name="BATTA_SUM_MASK" documentation="0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged." user="Standard">
<field name="Bitmask">0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9</field>
</param>
<param humanName="Scales reported power monitor current" name="BATTA_CURR_MULT" documentation="Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications" user="Advanced">
<field name="Range">.1 10</field>
</param>
<param humanName="Empty fuel level voltage" name="BATTA_FL_VLT_MIN" documentation="The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS." user="Advanced">
<field name="Range">0.01 10</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Fuel level voltage multiplier" name="BATTA_FL_V_MULT" documentation="Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS." user="Advanced">
<field name="Range">0.01 10</field>
</param>
<param humanName="Fuel level filter frequency" name="BATTA_FL_FLTR" documentation="Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz." user="Advanced">
<field name="Range">-1 1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Fuel level analog pin number" name="BATTA_FL_PIN" documentation="Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.">
<values>
<value code="-1">Not Used</value>
<value code="11">Pixracer</value>
<value code="13">Pixhawk ADC4</value>
<value code="14">Pixhawk ADC3</value>
<value code="15">Pixhawk ADC6/Pixhawk2 ADC</value>
<value code="103">Pixhawk SBUS</value>
</values>
</param>
<param humanName="First order term" name="BATTA_FL_FF" documentation="First order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Second order term" name="BATTA_FL_FS" documentation="Second order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Third order term" name="BATTA_FL_FT" documentation="Third order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Offset term" name="BATTA_FL_OFF" documentation="Offset polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Maximum Battery Voltage" name="BATTA_MAX_VOLT" documentation="Maximum voltage of battery. Provides scaling of current versus voltage" user="Advanced">
<field name="Range">7 100</field>
</param>
<param humanName="Battery monitor I2C bus number" name="BATTA_I2C_BUS" documentation="Battery monitor I2C bus number" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor I2C address" name="BATTA_I2C_ADDR" documentation="Battery monitor I2C address. If this is zero then probe list of supported addresses" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor max current" name="BATTA_MAX_AMPS" documentation="This controls the maximum current the INS2XX sensor will work with." user="Advanced">
<field name="Range">1 400</field>
<field name="Units">A</field>
<field name="UnitText">ampere</field>
</param>
<param humanName="Battery monitor shunt resistor" name="BATTA_SHUNT" documentation="This sets the shunt resistor used in the device" user="Advanced">
<field name="Range">0.0001 0.01</field>
<field name="Units">Ohm</field>
<field name="UnitText">Ohm</field>
</param>
</parameters>
<parameters name="BATTB_">
<param humanName="Battery monitoring" name="BATTB_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-Generic</value>
<value code="8">DroneCAN-BatteryInfo</value>
<value code="9">ESC</value>
<value code="10">Sum Of Selected Monitors</value>
<value code="11">FuelFlow</value>
<value code="12">FuelLevelPWM</value>
<value code="13">SMBUS-SUI3</value>
<value code="14">SMBUS-SUI6</value>
<value code="15">NeoDesign</value>
<value code="16">SMBus-Maxell</value>
<value code="17">Generator-Elec</value>
<value code="18">Generator-Fuel</value>
<value code="19">Rotoye</value>
<value code="20">MPPT</value>
<value code="21">INA2XX</value>
<value code="22">LTC2946</value>
<value code="23">Torqeedo</value>
<value code="24">FuelLevelAnalog</value>
<value code="25">Synthetic Current and Analog Voltage</value>
<value code="26">INA239_SPI</value>
<value code="27">EFI</value>
<value code="28">AD7091R5</value>
<value code="29">Scripting</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery capacity" name="BATTB_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Battery serial number" name="BATTB_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id." user="Advanced">
</param>
<param humanName="Low voltage timeout" name="BATTB_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="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Increment">1</field>
<field name="Range">0 120</field>
</param>
<param humanName="Failsafe voltage source" name="BATTB_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="BATTB_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 BATTB_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB_FS_LOW_ACT parameter." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Low battery capacity" name="BATTB_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 BATTB_FS_LOW_ACT parameter." user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Critical battery voltage" name="BATTB_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 BATTB_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB_FS_CRT_ACT parameter." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Battery critical capacity" name="BATTB_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 BATTB_FS_CRT_ACT parameter." user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Low battery failsafe action" name="BATTB_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
<value code="6">Auto DO_LAND_START or RTL</value>
</values>
</param>
<param humanName="Critical battery failsafe action" name="BATTB_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
<value code="6">Auto DO_LAND_START or RTL</value>
</values>
</param>
<param humanName="Required arming voltage" name="BATTB_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Required arming remaining capacity" name="BATTB_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTB__ARM_VOLT parameter." user="Advanced">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Battery monitor options" name="BATTB_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
<field name="Bitmask">0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node</field>
</param>
<param humanName="ESC Telemetry Index to write to" name="BATTB_ESC_INDEX" documentation="ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable." user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
</param>
<param humanName="Battery Voltage sensing pin" name="BATTB_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="5">Navigator</value>
<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
<value code="14">CubeOrange</value>
<value code="16">Durandal</value>
<value code="100">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Current sensing pin" name="BATTB_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="4">CubeOrange_PM2/Navigator</value>
<value code="14">Pixhawk2_PM2</value>
<value code="15">CubeOrange</value>
<value code="17">Durandal</value>
<value code="101">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Voltage Multiplier" name="BATTB_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATTB_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a 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="BATTB_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw." user="Standard">
<field name="Units">A/V</field>
<field name="UnitText">ampere per volt</field>
</param>
<param humanName="AMP offset" name="BATTB_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Voltage offset" name="BATTB_VLT_OFFSET" documentation="Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery monitor I2C bus number" name="BATTB_I2C_BUS" documentation="Battery monitor I2C bus number" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor I2C address" name="BATTB_I2C_ADDR" documentation="Battery monitor I2C address" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Sum mask" name="BATTB_SUM_MASK" documentation="0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged." user="Standard">
<field name="Bitmask">0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9</field>
</param>
<param humanName="Scales reported power monitor current" name="BATTB_CURR_MULT" documentation="Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications" user="Advanced">
<field name="Range">.1 10</field>
</param>
<param humanName="Empty fuel level voltage" name="BATTB_FL_VLT_MIN" documentation="The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS." user="Advanced">
<field name="Range">0.01 10</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Fuel level voltage multiplier" name="BATTB_FL_V_MULT" documentation="Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS." user="Advanced">
<field name="Range">0.01 10</field>
</param>
<param humanName="Fuel level filter frequency" name="BATTB_FL_FLTR" documentation="Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz." user="Advanced">
<field name="Range">-1 1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Fuel level analog pin number" name="BATTB_FL_PIN" documentation="Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.">
<values>
<value code="-1">Not Used</value>
<value code="11">Pixracer</value>
<value code="13">Pixhawk ADC4</value>
<value code="14">Pixhawk ADC3</value>
<value code="15">Pixhawk ADC6/Pixhawk2 ADC</value>
<value code="103">Pixhawk SBUS</value>
</values>
</param>
<param humanName="First order term" name="BATTB_FL_FF" documentation="First order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Second order term" name="BATTB_FL_FS" documentation="Second order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Third order term" name="BATTB_FL_FT" documentation="Third order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Offset term" name="BATTB_FL_OFF" documentation="Offset polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Maximum Battery Voltage" name="BATTB_MAX_VOLT" documentation="Maximum voltage of battery. Provides scaling of current versus voltage" user="Advanced">
<field name="Range">7 100</field>
</param>
<param humanName="Battery monitor I2C bus number" name="BATTB_I2C_BUS" documentation="Battery monitor I2C bus number" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor I2C address" name="BATTB_I2C_ADDR" documentation="Battery monitor I2C address. If this is zero then probe list of supported addresses" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor max current" name="BATTB_MAX_AMPS" documentation="This controls the maximum current the INS2XX sensor will work with." user="Advanced">
<field name="Range">1 400</field>
<field name="Units">A</field>
<field name="UnitText">ampere</field>
</param>
<param humanName="Battery monitor shunt resistor" name="BATTB_SHUNT" documentation="This sets the shunt resistor used in the device" user="Advanced">
<field name="Range">0.0001 0.01</field>
<field name="Units">Ohm</field>
<field name="UnitText">Ohm</field>
</param>
</parameters>
<parameters name="BATTC_">
<param humanName="Battery monitoring" name="BATTC_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-Generic</value>
<value code="8">DroneCAN-BatteryInfo</value>
<value code="9">ESC</value>
<value code="10">Sum Of Selected Monitors</value>
<value code="11">FuelFlow</value>
<value code="12">FuelLevelPWM</value>
<value code="13">SMBUS-SUI3</value>
<value code="14">SMBUS-SUI6</value>
<value code="15">NeoDesign</value>
<value code="16">SMBus-Maxell</value>
<value code="17">Generator-Elec</value>
<value code="18">Generator-Fuel</value>
<value code="19">Rotoye</value>
<value code="20">MPPT</value>
<value code="21">INA2XX</value>
<value code="22">LTC2946</value>
<value code="23">Torqeedo</value>
<value code="24">FuelLevelAnalog</value>
<value code="25">Synthetic Current and Analog Voltage</value>
<value code="26">INA239_SPI</value>
<value code="27">EFI</value>
<value code="28">AD7091R5</value>
<value code="29">Scripting</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery capacity" name="BATTC_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Battery serial number" name="BATTC_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id." user="Advanced">
</param>
<param humanName="Low voltage timeout" name="BATTC_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="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Increment">1</field>
<field name="Range">0 120</field>
</param>
<param humanName="Failsafe voltage source" name="BATTC_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="BATTC_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 BATTC_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC_FS_LOW_ACT parameter." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Low battery capacity" name="BATTC_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 BATTC_FS_LOW_ACT parameter." user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Critical battery voltage" name="BATTC_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 BATTC_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC_FS_CRT_ACT parameter." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Battery critical capacity" name="BATTC_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 BATTC_FS_CRT_ACT parameter." user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Low battery failsafe action" name="BATTC_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
<value code="6">Auto DO_LAND_START or RTL</value>
</values>
</param>
<param humanName="Critical battery failsafe action" name="BATTC_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
<value code="6">Auto DO_LAND_START or RTL</value>
</values>
</param>
<param humanName="Required arming voltage" name="BATTC_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Required arming remaining capacity" name="BATTC_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTC__ARM_VOLT parameter." user="Advanced">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Battery monitor options" name="BATTC_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
<field name="Bitmask">0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node</field>
</param>
<param humanName="ESC Telemetry Index to write to" name="BATTC_ESC_INDEX" documentation="ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable." user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
</param>
<param humanName="Battery Voltage sensing pin" name="BATTC_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="5">Navigator</value>
<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
<value code="14">CubeOrange</value>
<value code="16">Durandal</value>
<value code="100">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Current sensing pin" name="BATTC_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="4">CubeOrange_PM2/Navigator</value>
<value code="14">Pixhawk2_PM2</value>
<value code="15">CubeOrange</value>
<value code="17">Durandal</value>
<value code="101">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Voltage Multiplier" name="BATTC_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATTC_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a 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="BATTC_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw." user="Standard">
<field name="Units">A/V</field>
<field name="UnitText">ampere per volt</field>
</param>
<param humanName="AMP offset" name="BATTC_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Voltage offset" name="BATTC_VLT_OFFSET" documentation="Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery monitor I2C bus number" name="BATTC_I2C_BUS" documentation="Battery monitor I2C bus number" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor I2C address" name="BATTC_I2C_ADDR" documentation="Battery monitor I2C address" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Sum mask" name="BATTC_SUM_MASK" documentation="0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged." user="Standard">
<field name="Bitmask">0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9</field>
</param>
<param humanName="Scales reported power monitor current" name="BATTC_CURR_MULT" documentation="Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications" user="Advanced">
<field name="Range">.1 10</field>
</param>
<param humanName="Empty fuel level voltage" name="BATTC_FL_VLT_MIN" documentation="The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS." user="Advanced">
<field name="Range">0.01 10</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Fuel level voltage multiplier" name="BATTC_FL_V_MULT" documentation="Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS." user="Advanced">
<field name="Range">0.01 10</field>
</param>
<param humanName="Fuel level filter frequency" name="BATTC_FL_FLTR" documentation="Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz." user="Advanced">
<field name="Range">-1 1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Fuel level analog pin number" name="BATTC_FL_PIN" documentation="Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.">
<values>
<value code="-1">Not Used</value>
<value code="11">Pixracer</value>
<value code="13">Pixhawk ADC4</value>
<value code="14">Pixhawk ADC3</value>
<value code="15">Pixhawk ADC6/Pixhawk2 ADC</value>
<value code="103">Pixhawk SBUS</value>
</values>
</param>
<param humanName="First order term" name="BATTC_FL_FF" documentation="First order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Second order term" name="BATTC_FL_FS" documentation="Second order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Third order term" name="BATTC_FL_FT" documentation="Third order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Offset term" name="BATTC_FL_OFF" documentation="Offset polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Maximum Battery Voltage" name="BATTC_MAX_VOLT" documentation="Maximum voltage of battery. Provides scaling of current versus voltage" user="Advanced">
<field name="Range">7 100</field>
</param>
<param humanName="Battery monitor I2C bus number" name="BATTC_I2C_BUS" documentation="Battery monitor I2C bus number" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor I2C address" name="BATTC_I2C_ADDR" documentation="Battery monitor I2C address. If this is zero then probe list of supported addresses" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor max current" name="BATTC_MAX_AMPS" documentation="This controls the maximum current the INS2XX sensor will work with." user="Advanced">
<field name="Range">1 400</field>
<field name="Units">A</field>
<field name="UnitText">ampere</field>
</param>
<param humanName="Battery monitor shunt resistor" name="BATTC_SHUNT" documentation="This sets the shunt resistor used in the device" user="Advanced">
<field name="Range">0.0001 0.01</field>
<field name="Units">Ohm</field>
<field name="UnitText">Ohm</field>
</param>
</parameters>
<parameters name="BATTD_">
<param humanName="Battery monitoring" name="BATTD_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-Generic</value>
<value code="8">DroneCAN-BatteryInfo</value>
<value code="9">ESC</value>
<value code="10">Sum Of Selected Monitors</value>
<value code="11">FuelFlow</value>
<value code="12">FuelLevelPWM</value>
<value code="13">SMBUS-SUI3</value>
<value code="14">SMBUS-SUI6</value>
<value code="15">NeoDesign</value>
<value code="16">SMBus-Maxell</value>
<value code="17">Generator-Elec</value>
<value code="18">Generator-Fuel</value>
<value code="19">Rotoye</value>
<value code="20">MPPT</value>
<value code="21">INA2XX</value>
<value code="22">LTC2946</value>
<value code="23">Torqeedo</value>
<value code="24">FuelLevelAnalog</value>
<value code="25">Synthetic Current and Analog Voltage</value>
<value code="26">INA239_SPI</value>
<value code="27">EFI</value>
<value code="28">AD7091R5</value>
<value code="29">Scripting</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery capacity" name="BATTD_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Battery serial number" name="BATTD_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id." user="Advanced">
</param>
<param humanName="Low voltage timeout" name="BATTD_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="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Increment">1</field>
<field name="Range">0 120</field>
</param>
<param humanName="Failsafe voltage source" name="BATTD_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="BATTD_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 BATTD_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD_FS_LOW_ACT parameter." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Low battery capacity" name="BATTD_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 BATTD_FS_LOW_ACT parameter." user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Critical battery voltage" name="BATTD_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 BATTD_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD_FS_CRT_ACT parameter." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Battery critical capacity" name="BATTD_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 BATTD_FS_CRT_ACT parameter." user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Low battery failsafe action" name="BATTD_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
<value code="6">Auto DO_LAND_START or RTL</value>
</values>
</param>
<param humanName="Critical battery failsafe action" name="BATTD_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
<value code="6">Auto DO_LAND_START or RTL</value>
</values>
</param>
<param humanName="Required arming voltage" name="BATTD_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Required arming remaining capacity" name="BATTD_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTD__ARM_VOLT parameter." user="Advanced">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Battery monitor options" name="BATTD_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
<field name="Bitmask">0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node</field>
</param>
<param humanName="ESC Telemetry Index to write to" name="BATTD_ESC_INDEX" documentation="ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable." user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
</param>
<param humanName="Battery Voltage sensing pin" name="BATTD_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="5">Navigator</value>
<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
<value code="14">CubeOrange</value>
<value code="16">Durandal</value>
<value code="100">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Current sensing pin" name="BATTD_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="4">CubeOrange_PM2/Navigator</value>
<value code="14">Pixhawk2_PM2</value>
<value code="15">CubeOrange</value>
<value code="17">Durandal</value>
<value code="101">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Voltage Multiplier" name="BATTD_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATTD_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a 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="BATTD_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw." user="Standard">
<field name="Units">A/V</field>
<field name="UnitText">ampere per volt</field>
</param>
<param humanName="AMP offset" name="BATTD_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Voltage offset" name="BATTD_VLT_OFFSET" documentation="Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery monitor I2C bus number" name="BATTD_I2C_BUS" documentation="Battery monitor I2C bus number" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor I2C address" name="BATTD_I2C_ADDR" documentation="Battery monitor I2C address" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Sum mask" name="BATTD_SUM_MASK" documentation="0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged." user="Standard">
<field name="Bitmask">0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9</field>
</param>
<param humanName="Scales reported power monitor current" name="BATTD_CURR_MULT" documentation="Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications" user="Advanced">
<field name="Range">.1 10</field>
</param>
<param humanName="Empty fuel level voltage" name="BATTD_FL_VLT_MIN" documentation="The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS." user="Advanced">
<field name="Range">0.01 10</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Fuel level voltage multiplier" name="BATTD_FL_V_MULT" documentation="Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS." user="Advanced">
<field name="Range">0.01 10</field>
</param>
<param humanName="Fuel level filter frequency" name="BATTD_FL_FLTR" documentation="Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz." user="Advanced">
<field name="Range">-1 1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Fuel level analog pin number" name="BATTD_FL_PIN" documentation="Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.">
<values>
<value code="-1">Not Used</value>
<value code="11">Pixracer</value>
<value code="13">Pixhawk ADC4</value>
<value code="14">Pixhawk ADC3</value>
<value code="15">Pixhawk ADC6/Pixhawk2 ADC</value>
<value code="103">Pixhawk SBUS</value>
</values>
</param>
<param humanName="First order term" name="BATTD_FL_FF" documentation="First order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Second order term" name="BATTD_FL_FS" documentation="Second order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Third order term" name="BATTD_FL_FT" documentation="Third order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Offset term" name="BATTD_FL_OFF" documentation="Offset polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Maximum Battery Voltage" name="BATTD_MAX_VOLT" documentation="Maximum voltage of battery. Provides scaling of current versus voltage" user="Advanced">
<field name="Range">7 100</field>
</param>
<param humanName="Battery monitor I2C bus number" name="BATTD_I2C_BUS" documentation="Battery monitor I2C bus number" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor I2C address" name="BATTD_I2C_ADDR" documentation="Battery monitor I2C address. If this is zero then probe list of supported addresses" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor max current" name="BATTD_MAX_AMPS" documentation="This controls the maximum current the INS2XX sensor will work with." user="Advanced">
<field name="Range">1 400</field>
<field name="Units">A</field>
<field name="UnitText">ampere</field>
</param>
<param humanName="Battery monitor shunt resistor" name="BATTD_SHUNT" documentation="This sets the shunt resistor used in the device" user="Advanced">
<field name="Range">0.0001 0.01</field>
<field name="Units">Ohm</field>
<field name="UnitText">Ohm</field>
</param>
</parameters>
<parameters name="BATTE_">
<param humanName="Battery monitoring" name="BATTE_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-Generic</value>
<value code="8">DroneCAN-BatteryInfo</value>
<value code="9">ESC</value>
<value code="10">Sum Of Selected Monitors</value>
<value code="11">FuelFlow</value>
<value code="12">FuelLevelPWM</value>
<value code="13">SMBUS-SUI3</value>
<value code="14">SMBUS-SUI6</value>
<value code="15">NeoDesign</value>
<value code="16">SMBus-Maxell</value>
<value code="17">Generator-Elec</value>
<value code="18">Generator-Fuel</value>
<value code="19">Rotoye</value>
<value code="20">MPPT</value>
<value code="21">INA2XX</value>
<value code="22">LTC2946</value>
<value code="23">Torqeedo</value>
<value code="24">FuelLevelAnalog</value>
<value code="25">Synthetic Current and Analog Voltage</value>
<value code="26">INA239_SPI</value>
<value code="27">EFI</value>
<value code="28">AD7091R5</value>
<value code="29">Scripting</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery capacity" name="BATTE_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Battery serial number" name="BATTE_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id." user="Advanced">
</param>
<param humanName="Low voltage timeout" name="BATTE_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="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Increment">1</field>
<field name="Range">0 120</field>
</param>
<param humanName="Failsafe voltage source" name="BATTE_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="BATTE_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 BATTE_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE_FS_LOW_ACT parameter." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Low battery capacity" name="BATTE_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 BATTE_FS_LOW_ACT parameter." user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Critical battery voltage" name="BATTE_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 BATTE_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE_FS_CRT_ACT parameter." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Battery critical capacity" name="BATTE_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 BATTE_FS_CRT_ACT parameter." user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Low battery failsafe action" name="BATTE_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
<value code="6">Auto DO_LAND_START or RTL</value>
</values>
</param>
<param humanName="Critical battery failsafe action" name="BATTE_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
<value code="6">Auto DO_LAND_START or RTL</value>
</values>
</param>
<param humanName="Required arming voltage" name="BATTE_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Required arming remaining capacity" name="BATTE_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTE__ARM_VOLT parameter." user="Advanced">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Battery monitor options" name="BATTE_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
<field name="Bitmask">0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node</field>
</param>
<param humanName="ESC Telemetry Index to write to" name="BATTE_ESC_INDEX" documentation="ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable." user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
</param>
<param humanName="Battery Voltage sensing pin" name="BATTE_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="5">Navigator</value>
<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
<value code="14">CubeOrange</value>
<value code="16">Durandal</value>
<value code="100">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Current sensing pin" name="BATTE_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="4">CubeOrange_PM2/Navigator</value>
<value code="14">Pixhawk2_PM2</value>
<value code="15">CubeOrange</value>
<value code="17">Durandal</value>
<value code="101">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Voltage Multiplier" name="BATTE_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATTE_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a 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="BATTE_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw." user="Standard">
<field name="Units">A/V</field>
<field name="UnitText">ampere per volt</field>
</param>
<param humanName="AMP offset" name="BATTE_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Voltage offset" name="BATTE_VLT_OFFSET" documentation="Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery monitor I2C bus number" name="BATTE_I2C_BUS" documentation="Battery monitor I2C bus number" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor I2C address" name="BATTE_I2C_ADDR" documentation="Battery monitor I2C address" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Sum mask" name="BATTE_SUM_MASK" documentation="0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged." user="Standard">
<field name="Bitmask">0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9</field>
</param>
<param humanName="Scales reported power monitor current" name="BATTE_CURR_MULT" documentation="Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications" user="Advanced">
<field name="Range">.1 10</field>
</param>
<param humanName="Empty fuel level voltage" name="BATTE_FL_VLT_MIN" documentation="The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS." user="Advanced">
<field name="Range">0.01 10</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Fuel level voltage multiplier" name="BATTE_FL_V_MULT" documentation="Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS." user="Advanced">
<field name="Range">0.01 10</field>
</param>
<param humanName="Fuel level filter frequency" name="BATTE_FL_FLTR" documentation="Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz." user="Advanced">
<field name="Range">-1 1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Fuel level analog pin number" name="BATTE_FL_PIN" documentation="Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.">
<values>
<value code="-1">Not Used</value>
<value code="11">Pixracer</value>
<value code="13">Pixhawk ADC4</value>
<value code="14">Pixhawk ADC3</value>
<value code="15">Pixhawk ADC6/Pixhawk2 ADC</value>
<value code="103">Pixhawk SBUS</value>
</values>
</param>
<param humanName="First order term" name="BATTE_FL_FF" documentation="First order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Second order term" name="BATTE_FL_FS" documentation="Second order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Third order term" name="BATTE_FL_FT" documentation="Third order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Offset term" name="BATTE_FL_OFF" documentation="Offset polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Maximum Battery Voltage" name="BATTE_MAX_VOLT" documentation="Maximum voltage of battery. Provides scaling of current versus voltage" user="Advanced">
<field name="Range">7 100</field>
</param>
<param humanName="Battery monitor I2C bus number" name="BATTE_I2C_BUS" documentation="Battery monitor I2C bus number" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor I2C address" name="BATTE_I2C_ADDR" documentation="Battery monitor I2C address. If this is zero then probe list of supported addresses" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor max current" name="BATTE_MAX_AMPS" documentation="This controls the maximum current the INS2XX sensor will work with." user="Advanced">
<field name="Range">1 400</field>
<field name="Units">A</field>
<field name="UnitText">ampere</field>
</param>
<param humanName="Battery monitor shunt resistor" name="BATTE_SHUNT" documentation="This sets the shunt resistor used in the device" user="Advanced">
<field name="Range">0.0001 0.01</field>
<field name="Units">Ohm</field>
<field name="UnitText">Ohm</field>
</param>
</parameters>
<parameters name="BATTF_">
<param humanName="Battery monitoring" name="BATTF_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-Generic</value>
<value code="8">DroneCAN-BatteryInfo</value>
<value code="9">ESC</value>
<value code="10">Sum Of Selected Monitors</value>
<value code="11">FuelFlow</value>
<value code="12">FuelLevelPWM</value>
<value code="13">SMBUS-SUI3</value>
<value code="14">SMBUS-SUI6</value>
<value code="15">NeoDesign</value>
<value code="16">SMBus-Maxell</value>
<value code="17">Generator-Elec</value>
<value code="18">Generator-Fuel</value>
<value code="19">Rotoye</value>
<value code="20">MPPT</value>
<value code="21">INA2XX</value>
<value code="22">LTC2946</value>
<value code="23">Torqeedo</value>
<value code="24">FuelLevelAnalog</value>
<value code="25">Synthetic Current and Analog Voltage</value>
<value code="26">INA239_SPI</value>
<value code="27">EFI</value>
<value code="28">AD7091R5</value>
<value code="29">Scripting</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery capacity" name="BATTF_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Battery serial number" name="BATTF_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id." user="Advanced">
</param>
<param humanName="Low voltage timeout" name="BATTF_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="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Increment">1</field>
<field name="Range">0 120</field>
</param>
<param humanName="Failsafe voltage source" name="BATTF_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="BATTF_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 BATTF_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF_FS_LOW_ACT parameter." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Low battery capacity" name="BATTF_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 BATTF_FS_LOW_ACT parameter." user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Critical battery voltage" name="BATTF_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 BATTF_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF_FS_CRT_ACT parameter." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Battery critical capacity" name="BATTF_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 BATTF_FS_CRT_ACT parameter." user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Low battery failsafe action" name="BATTF_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
<value code="6">Auto DO_LAND_START or RTL</value>
</values>
</param>
<param humanName="Critical battery failsafe action" name="BATTF_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
<value code="6">Auto DO_LAND_START or RTL</value>
</values>
</param>
<param humanName="Required arming voltage" name="BATTF_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Required arming remaining capacity" name="BATTF_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTF__ARM_VOLT parameter." user="Advanced">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Battery monitor options" name="BATTF_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
<field name="Bitmask">0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node</field>
</param>
<param humanName="ESC Telemetry Index to write to" name="BATTF_ESC_INDEX" documentation="ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable." user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
</param>
<param humanName="Battery Voltage sensing pin" name="BATTF_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="5">Navigator</value>
<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
<value code="14">CubeOrange</value>
<value code="16">Durandal</value>
<value code="100">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Current sensing pin" name="BATTF_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="4">CubeOrange_PM2/Navigator</value>
<value code="14">Pixhawk2_PM2</value>
<value code="15">CubeOrange</value>
<value code="17">Durandal</value>
<value code="101">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Voltage Multiplier" name="BATTF_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATTF_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a 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="BATTF_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw." user="Standard">
<field name="Units">A/V</field>
<field name="UnitText">ampere per volt</field>
</param>
<param humanName="AMP offset" name="BATTF_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Voltage offset" name="BATTF_VLT_OFFSET" documentation="Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery monitor I2C bus number" name="BATTF_I2C_BUS" documentation="Battery monitor I2C bus number" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor I2C address" name="BATTF_I2C_ADDR" documentation="Battery monitor I2C address" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Sum mask" name="BATTF_SUM_MASK" documentation="0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged." user="Standard">
<field name="Bitmask">0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9</field>
</param>
<param humanName="Scales reported power monitor current" name="BATTF_CURR_MULT" documentation="Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications" user="Advanced">
<field name="Range">.1 10</field>
</param>
<param humanName="Empty fuel level voltage" name="BATTF_FL_VLT_MIN" documentation="The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS." user="Advanced">
<field name="Range">0.01 10</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Fuel level voltage multiplier" name="BATTF_FL_V_MULT" documentation="Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS." user="Advanced">
<field name="Range">0.01 10</field>
</param>
<param humanName="Fuel level filter frequency" name="BATTF_FL_FLTR" documentation="Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz." user="Advanced">
<field name="Range">-1 1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Fuel level analog pin number" name="BATTF_FL_PIN" documentation="Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.">
<values>
<value code="-1">Not Used</value>
<value code="11">Pixracer</value>
<value code="13">Pixhawk ADC4</value>
<value code="14">Pixhawk ADC3</value>
<value code="15">Pixhawk ADC6/Pixhawk2 ADC</value>
<value code="103">Pixhawk SBUS</value>
</values>
</param>
<param humanName="First order term" name="BATTF_FL_FF" documentation="First order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Second order term" name="BATTF_FL_FS" documentation="Second order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Third order term" name="BATTF_FL_FT" documentation="Third order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Offset term" name="BATTF_FL_OFF" documentation="Offset polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Maximum Battery Voltage" name="BATTF_MAX_VOLT" documentation="Maximum voltage of battery. Provides scaling of current versus voltage" user="Advanced">
<field name="Range">7 100</field>
</param>
<param humanName="Battery monitor I2C bus number" name="BATTF_I2C_BUS" documentation="Battery monitor I2C bus number" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor I2C address" name="BATTF_I2C_ADDR" documentation="Battery monitor I2C address. If this is zero then probe list of supported addresses" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor max current" name="BATTF_MAX_AMPS" documentation="This controls the maximum current the INS2XX sensor will work with." user="Advanced">
<field name="Range">1 400</field>
<field name="Units">A</field>
<field name="UnitText">ampere</field>
</param>
<param humanName="Battery monitor shunt resistor" name="BATTF_SHUNT" documentation="This sets the shunt resistor used in the device" user="Advanced">
<field name="Range">0.0001 0.01</field>
<field name="Units">Ohm</field>
<field name="UnitText">Ohm</field>
</param>
</parameters>
<parameters name="BATTG_">
<param humanName="Battery monitoring" name="BATTG_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-Generic</value>
<value code="8">DroneCAN-BatteryInfo</value>
<value code="9">ESC</value>
<value code="10">Sum Of Selected Monitors</value>
<value code="11">FuelFlow</value>
<value code="12">FuelLevelPWM</value>
<value code="13">SMBUS-SUI3</value>
<value code="14">SMBUS-SUI6</value>
<value code="15">NeoDesign</value>
<value code="16">SMBus-Maxell</value>
<value code="17">Generator-Elec</value>
<value code="18">Generator-Fuel</value>
<value code="19">Rotoye</value>
<value code="20">MPPT</value>
<value code="21">INA2XX</value>
<value code="22">LTC2946</value>
<value code="23">Torqeedo</value>
<value code="24">FuelLevelAnalog</value>
<value code="25">Synthetic Current and Analog Voltage</value>
<value code="26">INA239_SPI</value>
<value code="27">EFI</value>
<value code="28">AD7091R5</value>
<value code="29">Scripting</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery capacity" name="BATTG_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Battery serial number" name="BATTG_SERIAL_NUM" documentation="Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id." user="Advanced">
</param>
<param humanName="Low voltage timeout" name="BATTG_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="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Increment">1</field>
<field name="Range">0 120</field>
</param>
<param humanName="Failsafe voltage source" name="BATTG_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="BATTG_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 BATTG_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG_FS_LOW_ACT parameter." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Low battery capacity" name="BATTG_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 BATTG_FS_LOW_ACT parameter." user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Critical battery voltage" name="BATTG_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 BATTG_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG_FS_CRT_ACT parameter." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Battery critical capacity" name="BATTG_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 BATTG_FS_CRT_ACT parameter." user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Low battery failsafe action" name="BATTG_FS_LOW_ACT" documentation="What action the vehicle should perform if it hits a low battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
<value code="6">Auto DO_LAND_START or RTL</value>
</values>
</param>
<param humanName="Critical battery failsafe action" name="BATTG_FS_CRT_ACT" documentation="What action the vehicle should perform if it hits a critical battery failsafe" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
<value code="6">Auto DO_LAND_START or RTL</value>
</values>
</param>
<param humanName="Required arming voltage" name="BATTG_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Required arming remaining capacity" name="BATTG_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTG__ARM_VOLT parameter." user="Advanced">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Battery monitor options" name="BATTG_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
<field name="Bitmask">0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node</field>
</param>
<param humanName="ESC Telemetry Index to write to" name="BATTG_ESC_INDEX" documentation="ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable." user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
</param>
<param humanName="Battery Voltage sensing pin" name="BATTG_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="5">Navigator</value>
<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
<value code="14">CubeOrange</value>
<value code="16">Durandal</value>
<value code="100">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Current sensing pin" name="BATTG_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="4">CubeOrange_PM2/Navigator</value>
<value code="14">Pixhawk2_PM2</value>
<value code="15">CubeOrange</value>
<value code="17">Durandal</value>
<value code="101">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Voltage Multiplier" name="BATTG_VOLT_MULT" documentation="Used to convert the voltage of the voltage sensing pin (BATTG_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a 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="BATTG_AMP_PERVLT" documentation="Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw." user="Standard">
<field name="Units">A/V</field>
<field name="UnitText">ampere per volt</field>
</param>
<param humanName="AMP offset" name="BATTG_AMP_OFFSET" documentation="Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Voltage offset" name="BATTG_VLT_OFFSET" documentation="Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery monitor I2C bus number" name="BATTG_I2C_BUS" documentation="Battery monitor I2C bus number" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor I2C address" name="BATTG_I2C_ADDR" documentation="Battery monitor I2C address" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Sum mask" name="BATTG_SUM_MASK" documentation="0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged." user="Standard">
<field name="Bitmask">0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9</field>
</param>
<param humanName="Scales reported power monitor current" name="BATTG_CURR_MULT" documentation="Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications" user="Advanced">
<field name="Range">.1 10</field>
</param>
<param humanName="Empty fuel level voltage" name="BATTG_FL_VLT_MIN" documentation="The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS." user="Advanced">
<field name="Range">0.01 10</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Fuel level voltage multiplier" name="BATTG_FL_V_MULT" documentation="Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS." user="Advanced">
<field name="Range">0.01 10</field>
</param>
<param humanName="Fuel level filter frequency" name="BATTG_FL_FLTR" documentation="Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz." user="Advanced">
<field name="Range">-1 1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Fuel level analog pin number" name="BATTG_FL_PIN" documentation="Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.">
<values>
<value code="-1">Not Used</value>
<value code="11">Pixracer</value>
<value code="13">Pixhawk ADC4</value>
<value code="14">Pixhawk ADC3</value>
<value code="15">Pixhawk ADC6/Pixhawk2 ADC</value>
<value code="103">Pixhawk SBUS</value>
</values>
</param>
<param humanName="First order term" name="BATTG_FL_FF" documentation="First order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Second order term" name="BATTG_FL_FS" documentation="Second order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Third order term" name="BATTG_FL_FT" documentation="Third order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Offset term" name="BATTG_FL_OFF" documentation="Offset polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Maximum Battery Voltage" name="BATTG_MAX_VOLT" documentation="Maximum voltage of battery. Provides scaling of current versus voltage" user="Advanced">
<field name="Range">7 100</field>
</param>
<param humanName="Battery monitor I2C bus number" name="BATTG_I2C_BUS" documentation="Battery monitor I2C bus number" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor I2C address" name="BATTG_I2C_ADDR" documentation="Battery monitor I2C address. If this is zero then probe list of supported addresses" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor max current" name="BATTG_MAX_AMPS" documentation="This controls the maximum current the INS2XX sensor will work with." user="Advanced">
<field name="Range">1 400</field>
<field name="Units">A</field>
<field name="UnitText">ampere</field>
</param>
<param humanName="Battery monitor shunt resistor" name="BATTG_SHUNT" documentation="This sets the shunt resistor used in the device" user="Advanced">
<field name="Range">0.0001 0.01</field>
<field name="Units">Ohm</field>
<field name="UnitText">Ohm</field>
</param>
</parameters>
<parameters name="BATT_">
<param humanName="Battery monitoring" name="BATT_MONITOR" documentation="Controls enabling monitoring of the battery's voltage and current" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="3">Analog Voltage Only</value>
<value code="4">Analog Voltage and Current</value>
<value code="5">Solo</value>
<value code="6">Bebop</value>
<value code="7">SMBus-Generic</value>
<value code="8">DroneCAN-BatteryInfo</value>
<value code="9">ESC</value>
<value code="10">Sum Of Selected Monitors</value>
<value code="11">FuelFlow</value>
<value code="12">FuelLevelPWM</value>
<value code="13">SMBUS-SUI3</value>
<value code="14">SMBUS-SUI6</value>
<value code="15">NeoDesign</value>
<value code="16">SMBus-Maxell</value>
<value code="17">Generator-Elec</value>
<value code="18">Generator-Fuel</value>
<value code="19">Rotoye</value>
<value code="20">MPPT</value>
<value code="21">INA2XX</value>
<value code="22">LTC2946</value>
<value code="23">Torqeedo</value>
<value code="24">FuelLevelAnalog</value>
<value code="25">Synthetic Current and Analog Voltage</value>
<value code="26">INA239_SPI</value>
<value code="27">EFI</value>
<value code="28">AD7091R5</value>
<value code="29">Scripting</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery capacity" name="BATT_CAPACITY" documentation="Capacity of the battery in mAh when full" user="Standard">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</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 DroneCan 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="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Increment">1</field>
<field name="Range">0 120</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="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</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="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</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="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</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="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</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>
<value code="0">None</value>
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
<value code="6">Auto DO_LAND_START or RTL</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>
<value code="0">None</value>
<value code="1">Land</value>
<value code="2">RTL</value>
<value code="3">SmartRTL or RTL</value>
<value code="4">SmartRTL or Land</value>
<value code="5">Terminate</value>
<value code="6">Auto DO_LAND_START or RTL</value>
</values>
</param>
<param humanName="Required arming voltage" name="BATT_ARM_VOLT" documentation="Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Required arming remaining capacity" name="BATT_ARM_MAH" documentation="Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT__ARM_VOLT parameter." user="Advanced">
<field name="Units">mAh</field>
<field name="UnitText">milliampere hour</field>
<field name="Increment">50</field>
</param>
<param humanName="Battery monitor options" name="BATT_OPTIONS" documentation="This sets options to change the behaviour of the battery monitor" user="Advanced">
<field name="Bitmask">0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node</field>
</param>
<param humanName="ESC Telemetry Index to write to" name="BATT_ESC_INDEX" documentation="ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable." user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
</param>
<param humanName="Battery Voltage sensing pin" name="BATT_VOLT_PIN" documentation="Sets the analog input pin that should be used for voltage monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="5">Navigator</value>
<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
<value code="14">CubeOrange</value>
<value code="16">Durandal</value>
<value code="100">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Current sensing pin" name="BATT_CURR_PIN" documentation="Sets the analog input pin that should be used for current monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="3">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="4">CubeOrange_PM2/Navigator</value>
<value code="14">Pixhawk2_PM2</value>
<value code="15">CubeOrange</value>
<value code="17">Durandal</value>
<value code="101">PX4-v1</value>
</values>
<field name="RebootRequired">True</field>
</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 with a 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. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw." 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 for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Voltage offset" name="BATT_VLT_OFFSET" documentation="Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery monitor I2C bus number" name="BATT_I2C_BUS" documentation="Battery monitor I2C bus number" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor I2C address" name="BATT_I2C_ADDR" documentation="Battery monitor I2C address" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery Sum mask" name="BATT_SUM_MASK" documentation="0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged." user="Standard">
<field name="Bitmask">0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9</field>
</param>
<param humanName="Scales reported power monitor current" name="BATT_CURR_MULT" documentation="Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications" user="Advanced">
<field name="Range">.1 10</field>
</param>
<param humanName="Empty fuel level voltage" name="BATT_FL_VLT_MIN" documentation="The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS." user="Advanced">
<field name="Range">0.01 10</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Fuel level voltage multiplier" name="BATT_FL_V_MULT" documentation="Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS." user="Advanced">
<field name="Range">0.01 10</field>
</param>
<param humanName="Fuel level filter frequency" name="BATT_FL_FLTR" documentation="Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz." user="Advanced">
<field name="Range">-1 1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Fuel level analog pin number" name="BATT_FL_PIN" documentation="Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.">
<values>
<value code="-1">Not Used</value>
<value code="11">Pixracer</value>
<value code="13">Pixhawk ADC4</value>
<value code="14">Pixhawk ADC3</value>
<value code="15">Pixhawk ADC6/Pixhawk2 ADC</value>
<value code="103">Pixhawk SBUS</value>
</values>
</param>
<param humanName="First order term" name="BATT_FL_FF" documentation="First order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Second order term" name="BATT_FL_FS" documentation="Second order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Third order term" name="BATT_FL_FT" documentation="Third order polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Offset term" name="BATT_FL_OFF" documentation="Offset polynomial fit term" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="Maximum Battery Voltage" name="BATT_MAX_VOLT" documentation="Maximum voltage of battery. Provides scaling of current versus voltage" user="Advanced">
<field name="Range">7 100</field>
</param>
<param humanName="Battery monitor I2C bus number" name="BATT_I2C_BUS" documentation="Battery monitor I2C bus number" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor I2C address" name="BATT_I2C_ADDR" documentation="Battery monitor I2C address. If this is zero then probe list of supported addresses" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Battery monitor max current" name="BATT_MAX_AMPS" documentation="This controls the maximum current the INS2XX sensor will work with." user="Advanced">
<field name="Range">1 400</field>
<field name="Units">A</field>
<field name="UnitText">ampere</field>
</param>
<param humanName="Battery monitor shunt resistor" name="BATT_SHUNT" documentation="This sets the shunt resistor used in the device" user="Advanced">
<field name="Range">0.0001 0.01</field>
<field name="Units">Ohm</field>
<field name="UnitText">Ohm</field>
</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>
<value code="3">Nooploop</value>
<value code="10">SITL</value>
</values>
</param>
<param humanName="Beacon origin's latitude" name="BCN_LATITUDE" documentation="Beacon origin's latitude" user="Advanced">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Increment">0.000001</field>
<field name="Range">-90 90</field>
</param>
<param humanName="Beacon origin's longitude" name="BCN_LONGITUDE" documentation="Beacon origin's longitude" user="Advanced">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Increment">0.000001</field>
<field name="Range">-180 180</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="Units">m</field>
<field name="UnitText">meters</field>
<field name="Increment">1</field>
<field name="Range">0 10000</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="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Increment">1</field>
<field name="Range">-180 +180</field>
</param>
</parameters>
<parameters name="BRD_">
<param humanName="Serial 1 flow control" name="BRD_SER1_RTSCTS" documentation="Enable flow control on serial 1 (telemetry 1). 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). 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="Serial 3 flow control" name="BRD_SER3_RTSCTS" documentation="Enable flow control on serial 3. 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="Serial 4 flow control" name="BRD_SER4_RTSCTS" documentation="Enable flow control on serial 4. 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="Serial 5 flow control" name="BRD_SER5_RTSCTS" documentation="Enable flow control on serial 5. 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="Sets default state of the safety switch" name="BRD_SAFETY_DEFLT" 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">-8388608 8388607</field>
</param>
<param humanName="Outputs which ignore the safety switch state" name="BRD_SAFETY_MASK" documentation="A bitmask which controls what outputs can move while the safety switch has not been pressed" user="Advanced">
<field name="Bitmask">0:Output1,1:Output2,2:Output3,3:Output4,4:Output5,5:Output6,6:Output7,7:Output8,8:Output9,9:Output10,10:Output11,11:Output12,12:Output13,13:Output14</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Board heater temperature target" name="BRD_HEAT_TARG" documentation="Board heater target temperature for boards with controllable heating units. Set to -1 to disable the heater, please reboot after setting to -1." 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="13">Intel Aero FC</value>
<value code="14">Pixhawk Pro</value>
<value code="20">AUAV2.1</value>
<value code="21">PCNC1</value>
<value code="22">MINDPXV2</value>
<value code="23">SP01</value>
<value code="24">CUAVv5/FMUV5</value>
<value code="30">VRX BRAIN51</value>
<value code="32">VRX BRAIN52</value>
<value code="33">VRX BRAIN52E</value>
<value code="34">VRX UBRAIN51</value>
<value code="35">VRX UBRAIN52</value>
<value code="36">VRX CORE10</value>
<value code="38">VRX BRAIN54</value>
<value code="39">PX4 FMUV6</value>
<value code="100">PX4 OLDDRIVERS</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 boards with an IOMCU to be disabled. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
<value code="2">EnableNoFWUpdate</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:ActiveForSafetyDisable,1:ActiveForSafetyEnable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms</field>
</param>
<param humanName="Autopilot board voltage requirement" name="BRD_VBUS_MIN" documentation="Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Range">4.0 5.5</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Servo voltage requirement" name="BRD_VSERVO_MIN" documentation="Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check." user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Range">3.3 12.0</field>
<field name="Increment">0.1</field>
</param>
<param humanName="microSD slowdown" name="BRD_SD_SLOWDOWN" documentation="This is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used." user="Advanced">
<field name="Range">0 32</field>
<field name="Increment">1</field>
</param>
<param humanName="Set PWM Out Voltage" name="BRD_PWM_VOLT_SEL" documentation="This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output. On boards with an IOMCU that support this parameter this option only affects the 8 main outputs, not the 6 auxiliary outputs. Using 5V output can help to reduce the impact of ESC noise interference corrupting signals to the ESCs." user="Advanced">
<values>
<value code="0">3.3V</value>
<value code="1">5V</value>
</values>
</param>
<param humanName="Board options" name="BRD_OPTIONS" documentation="Board specific option flags" user="Advanced">
<field name="Bitmask">0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters, 3:Enable Debug Pins, 4:Unlock flash on reboot, 5:Write protect firmware flash on reboot, 6:Write protect bootloader flash on reboot, 7:Skip board validation, 8:Disable board arming gpio output change on arm/disarm</field>
</param>
<param humanName="Boot delay" name="BRD_BOOT_DELAY" documentation="This adds a delay in milliseconds to boot to ensure peripherals initialise fully" user="Advanced">
<field name="Range">0 10000</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
</param>
<param humanName="Board Heater P gain" name="BRD_HEAT_P" documentation="Board Heater P gain" user="Advanced">
<field name="Range">1 500</field>
<field name="Increment">1</field>
</param>
<param humanName="Board Heater I gain" name="BRD_HEAT_I" documentation="Board Heater integrator gain" user="Advanced">
<field name="Range">0 1</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Board Heater IMAX" name="BRD_HEAT_IMAX" documentation="Board Heater integrator maximum" user="Advanced">
<field name="Range">0 100</field>
<field name="Increment">1</field>
</param>
<param humanName="Alternative HW config" name="BRD_ALT_CONFIG" documentation="Select an alternative hardware configuration. A value of zero selects the default configuration for this board. Other values are board specific. Please see the documentation for your board for details on any alternative configuration values that may be available." user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Board heater temp lower margin" name="BRD_HEAT_LOWMGN" documentation="Arming check will fail if temp is lower than this margin below BRD_HEAT_TARG. 0 disables the low temperature check" user="Advanced">
<field name="Range">0 20</field>
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
</param>
<param humanName=" SDCard Mission size" name="BRD_SD_MISSION" documentation="This sets the amount of storage in kilobytes reserved on the microsd card in mission.stg for waypoint storage. Each waypoint uses 15 bytes." user="Advanced">
<field name="Range">0 64</field>
<field name="RebootRequired">True</field>
</param>
<param humanName=" SDCard Fence size" name="BRD_SD_FENCE" documentation="This sets the amount of storage in kilobytes reserved on the microsd card in fence.stg for fence storage." user="Advanced">
<field name="Range">0 64</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Load DShot FW on IO" name="BRD_IO_DSHOT" documentation="This loads the DShot firmware on the IO co-processor" user="Advanced">
<values>
<value code="0">StandardFW</value>
<value code="1">DshotFW</value>
</values>
<field name="RebootRequired">True</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">
<values>
<value code="0">None</value>
<value code="1">CYRF6936</value>
<value code="2">CC2500</value>
<value code="3">BK2425</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="BRD_RTC">
<param humanName="Allowed sources of RTC time" name="BRD_RTC_TYPES" documentation="Specifies which sources of UTC time will be accepted" user="Advanced">
<field name="Bitmask">0:GPS,1:MAVLINK_SYSTEM_TIME,2:HW</field>
</param>
<param humanName="Timezone offset from UTC" name="BRD_RTC_TZ_MIN" documentation="Adds offset in +- minutes from UTC to calculate local time" user="Advanced">
<field name="Range">-720 +840</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. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</value>
</values>
</param>
<param humanName="Second button Pin" name="BTN_PIN2" documentation="Digital pin number for second button input. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</value>
</values>
</param>
<param humanName="Third button Pin" name="BTN_PIN3" documentation="Digital pin number for third button input. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</value>
</values>
</param>
<param humanName="Fourth button Pin" name="BTN_PIN4" documentation="Digital pin number for fourth button input. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</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>
<param humanName="Button Pin 1 Options" name="BTN_OPTIONS1" documentation="Options for Pin 1. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input." user="Standard">
<field name="Bitmask">0:PWM Input,1:InvertInput</field>
</param>
<param humanName="Button Pin 2 Options" name="BTN_OPTIONS2" documentation="Options for Pin 2. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input." user="Standard">
<field name="Bitmask">0:PWM Input,1:InvertInput</field>
</param>
<param humanName="Button Pin 3 Options" name="BTN_OPTIONS3" documentation="Options for Pin 3. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.">
<field name="Bitmask">0:PWM Input,1:InvertInput</field>
</param>
<param humanName="Button Pin 4 Options" name="BTN_OPTIONS4" documentation="Options for Pin 4. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input." user="Standard">
<field name="Bitmask">0:PWM Input,1:InvertInput</field>
</param>
<param humanName="Button Pin 1 RC Channel function" name="BTN_FUNC1" documentation="Auxiliary RC Options function executed on pin change" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code="52">ACRO Mode</value>
<value code="38">ADSB Avoidance Enable</value>
<value code="70">ALTHOLD Mode</value>
<value code="16">AUTO Mode</value>
<value code="99">AUTO RTL</value>
<value code="17">AUTOTUNE Mode</value>
<value code="14">Acro Trainer</value>
<value code="84">AirMode</value>
<value code="165">Arm/Emergency Motor Stop</value>
<value code="41">ArmDisarm (4.1 and lower)</value>
<value code="153">ArmDisarm (4.2 and higher)</value>
<value code="154">ArmDisarm with AirMode (4.2 and higher)</value>
<value code="26">AttCon Accel Limits</value>
<value code="25">AttCon Feed Forward</value>
<value code="24">Auto Mission Reset</value>
<value code="33">BRAKE Mode</value>
<value code="172">Battery MPPT Enable</value>
<value code="72">CIRCLE Mode</value>
<value code="171">Calibrate Compasses</value>
<value code="169">Camera Auto Focus</value>
<value code="174">Camera Image Tracking</value>
<value code="175">Camera Lens</value>
<value code="168">Camera Manual Focus</value>
<value code="102">Camera Mode Toggle</value>
<value code="166">Camera Record Video</value>
<value code="9">Camera Trigger</value>
<value code="167">Camera Zoom</value>
<value code="58">Clear Waypoints</value>
<value code="62">Compass Learn</value>
<value code="73">DRIFT Mode</value>
<value code="81">Disarm</value>
<value code="90">EKF Pos Source</value>
<value code="162">FFT Tune</value>
<value code="2">FLIP Mode</value>
<value code="71">FLOWHOLD Mode</value>
<value code="57">FOLLOW Mode</value>
<value code="11">Fence Enable</value>
<value code="159">Force IS_Flying</value>
<value code="65">GPS Disable</value>
<value code="105">GPS Disable Yaw</value>
<value code="55">GUIDED Mode</value>
<value code="85">Generator</value>
<value code="19">Gripper Release</value>
<value code="43">InvertedFlight Enable</value>
<value code="100">KillIMU1</value>
<value code="101">KillIMU2</value>
<value code="110">KillIMU3</value>
<value code="18">LAND Mode</value>
<value code="56">LOITER Mode</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="177">Mount LRF enable</value>
<value code="163">Mount Lock</value>
<value code="213">Mount1 Pitch</value>
<value code="212">Mount1 Roll</value>
<value code="214">Mount1 Yaw</value>
<value code="216">Mount2 Pitch</value>
<value code="215">Mount2 Roll</value>
<value code="217">Mount2 Yaw</value>
<value code="158">Optflow Calibration</value>
<value code="69">POSHOLD Mode</value>
<value code="23">Parachute 3pos</value>
<value code="21">Parachute Enable</value>
<value code="22">Parachute Release</value>
<value code="164">Pause Stream Logging</value>
<value code="39">PrecLoiter Enable</value>
<value code="40">Proximity Avoidance Enable</value>
<value code="46">RC Override Enable</value>
<value code="4">RTL</value>
<value code="10">RangeFinder Enable</value>
<value code="28">Relay1 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="66">Relay5 On/Off</value>
<value code="67">Relay6 On/Off</value>
<value code="27">Retract Mount1</value>
<value code="78">RunCam Control</value>
<value code="79">RunCam OSD Control</value>
<value code="152">SIMPLE heading reset</value>
<value code="42">SMARTRTL Mode</value>
<value code="68">STABILIZE Mode</value>
<value code="76">STANDBY Mode</value>
<value code="5">Save Trim</value>
<value code="7">Save WP</value>
<value code="300">Scripting1</value>
<value code="301">Scripting2</value>
<value code="302">Scripting3</value>
<value code="303">Scripting4</value>
<value code="304">Scripting5</value>
<value code="305">Scripting6</value>
<value code="306">Scripting7</value>
<value code="307">Scripting8</value>
<value code="3">Simple Mode</value>
<value code="15">Sprayer Enable</value>
<value code="13">Super Simple Mode</value>
<value code="75">SurfaceTrackingUpDown</value>
<value code="112">SwitchExternalAHRS</value>
<value code="37">THROW Mode</value>
<value code="151">TURTLE Mode</value>
<value code="161">Turbine Start(heli)</value>
<value code="47">User Function 1</value>
<value code="48">User Function 2</value>
<value code="49">User Function 3</value>
<value code="94">VTX Power</value>
<value code="80">VisOdom Align</value>
<value code="45">Winch Control</value>
<value code="44">Winch Enable</value>
<value code="83">ZigZag Auto</value>
<value code="60">ZigZag Mode</value>
<value code="61">ZigZag SaveWP</value>
<value code="109">use Custom Controller</value>
</values>
</param>
<param humanName="Button Pin 2 RC Channel function" name="BTN_FUNC2" documentation="Auxiliary RC Options function executed on pin change" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code="52">ACRO Mode</value>
<value code="38">ADSB Avoidance Enable</value>
<value code="70">ALTHOLD Mode</value>
<value code="16">AUTO Mode</value>
<value code="99">AUTO RTL</value>
<value code="17">AUTOTUNE Mode</value>
<value code="14">Acro Trainer</value>
<value code="84">AirMode</value>
<value code="165">Arm/Emergency Motor Stop</value>
<value code="41">ArmDisarm (4.1 and lower)</value>
<value code="153">ArmDisarm (4.2 and higher)</value>
<value code="154">ArmDisarm with AirMode (4.2 and higher)</value>
<value code="26">AttCon Accel Limits</value>
<value code="25">AttCon Feed Forward</value>
<value code="24">Auto Mission Reset</value>
<value code="33">BRAKE Mode</value>
<value code="172">Battery MPPT Enable</value>
<value code="72">CIRCLE Mode</value>
<value code="171">Calibrate Compasses</value>
<value code="169">Camera Auto Focus</value>
<value code="174">Camera Image Tracking</value>
<value code="175">Camera Lens</value>
<value code="168">Camera Manual Focus</value>
<value code="102">Camera Mode Toggle</value>
<value code="166">Camera Record Video</value>
<value code="9">Camera Trigger</value>
<value code="167">Camera Zoom</value>
<value code="58">Clear Waypoints</value>
<value code="62">Compass Learn</value>
<value code="73">DRIFT Mode</value>
<value code="81">Disarm</value>
<value code="90">EKF Pos Source</value>
<value code="162">FFT Tune</value>
<value code="2">FLIP Mode</value>
<value code="71">FLOWHOLD Mode</value>
<value code="57">FOLLOW Mode</value>
<value code="11">Fence Enable</value>
<value code="159">Force IS_Flying</value>
<value code="65">GPS Disable</value>
<value code="105">GPS Disable Yaw</value>
<value code="55">GUIDED Mode</value>
<value code="85">Generator</value>
<value code="19">Gripper Release</value>
<value code="43">InvertedFlight Enable</value>
<value code="100">KillIMU1</value>
<value code="101">KillIMU2</value>
<value code="110">KillIMU3</value>
<value code="18">LAND Mode</value>
<value code="56">LOITER Mode</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="177">Mount LRF enable</value>
<value code="163">Mount Lock</value>
<value code="213">Mount1 Pitch</value>
<value code="212">Mount1 Roll</value>
<value code="214">Mount1 Yaw</value>
<value code="216">Mount2 Pitch</value>
<value code="215">Mount2 Roll</value>
<value code="217">Mount2 Yaw</value>
<value code="158">Optflow Calibration</value>
<value code="69">POSHOLD Mode</value>
<value code="23">Parachute 3pos</value>
<value code="21">Parachute Enable</value>
<value code="22">Parachute Release</value>
<value code="164">Pause Stream Logging</value>
<value code="39">PrecLoiter Enable</value>
<value code="40">Proximity Avoidance Enable</value>
<value code="46">RC Override Enable</value>
<value code="4">RTL</value>
<value code="10">RangeFinder Enable</value>
<value code="28">Relay1 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="66">Relay5 On/Off</value>
<value code="67">Relay6 On/Off</value>
<value code="27">Retract Mount1</value>
<value code="78">RunCam Control</value>
<value code="79">RunCam OSD Control</value>
<value code="152">SIMPLE heading reset</value>
<value code="42">SMARTRTL Mode</value>
<value code="68">STABILIZE Mode</value>
<value code="76">STANDBY Mode</value>
<value code="5">Save Trim</value>
<value code="7">Save WP</value>
<value code="300">Scripting1</value>
<value code="301">Scripting2</value>
<value code="302">Scripting3</value>
<value code="303">Scripting4</value>
<value code="304">Scripting5</value>
<value code="305">Scripting6</value>
<value code="306">Scripting7</value>
<value code="307">Scripting8</value>
<value code="3">Simple Mode</value>
<value code="15">Sprayer Enable</value>
<value code="13">Super Simple Mode</value>
<value code="75">SurfaceTrackingUpDown</value>
<value code="112">SwitchExternalAHRS</value>
<value code="37">THROW Mode</value>
<value code="151">TURTLE Mode</value>
<value code="161">Turbine Start(heli)</value>
<value code="47">User Function 1</value>
<value code="48">User Function 2</value>
<value code="49">User Function 3</value>
<value code="94">VTX Power</value>
<value code="80">VisOdom Align</value>
<value code="45">Winch Control</value>
<value code="44">Winch Enable</value>
<value code="83">ZigZag Auto</value>
<value code="60">ZigZag Mode</value>
<value code="61">ZigZag SaveWP</value>
<value code="109">use Custom Controller</value>
</values>
</param>
<param humanName="Button Pin 3 RC Channel function" name="BTN_FUNC3" documentation="Auxiliary RC Options function executed on pin change" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code="52">ACRO Mode</value>
<value code="38">ADSB Avoidance Enable</value>
<value code="70">ALTHOLD Mode</value>
<value code="16">AUTO Mode</value>
<value code="99">AUTO RTL</value>
<value code="17">AUTOTUNE Mode</value>
<value code="14">Acro Trainer</value>
<value code="84">AirMode</value>
<value code="165">Arm/Emergency Motor Stop</value>
<value code="41">ArmDisarm (4.1 and lower)</value>
<value code="153">ArmDisarm (4.2 and higher)</value>
<value code="154">ArmDisarm with AirMode (4.2 and higher)</value>
<value code="26">AttCon Accel Limits</value>
<value code="25">AttCon Feed Forward</value>
<value code="24">Auto Mission Reset</value>
<value code="33">BRAKE Mode</value>
<value code="172">Battery MPPT Enable</value>
<value code="72">CIRCLE Mode</value>
<value code="171">Calibrate Compasses</value>
<value code="169">Camera Auto Focus</value>
<value code="174">Camera Image Tracking</value>
<value code="175">Camera Lens</value>
<value code="168">Camera Manual Focus</value>
<value code="102">Camera Mode Toggle</value>
<value code="166">Camera Record Video</value>
<value code="9">Camera Trigger</value>
<value code="167">Camera Zoom</value>
<value code="58">Clear Waypoints</value>
<value code="62">Compass Learn</value>
<value code="73">DRIFT Mode</value>
<value code="81">Disarm</value>
<value code="90">EKF Pos Source</value>
<value code="162">FFT Tune</value>
<value code="2">FLIP Mode</value>
<value code="71">FLOWHOLD Mode</value>
<value code="57">FOLLOW Mode</value>
<value code="11">Fence Enable</value>
<value code="159">Force IS_Flying</value>
<value code="65">GPS Disable</value>
<value code="105">GPS Disable Yaw</value>
<value code="55">GUIDED Mode</value>
<value code="85">Generator</value>
<value code="19">Gripper Release</value>
<value code="43">InvertedFlight Enable</value>
<value code="100">KillIMU1</value>
<value code="101">KillIMU2</value>
<value code="110">KillIMU3</value>
<value code="18">LAND Mode</value>
<value code="56">LOITER Mode</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="177">Mount LRF enable</value>
<value code="163">Mount Lock</value>
<value code="213">Mount1 Pitch</value>
<value code="212">Mount1 Roll</value>
<value code="214">Mount1 Yaw</value>
<value code="216">Mount2 Pitch</value>
<value code="215">Mount2 Roll</value>
<value code="217">Mount2 Yaw</value>
<value code="158">Optflow Calibration</value>
<value code="69">POSHOLD Mode</value>
<value code="23">Parachute 3pos</value>
<value code="21">Parachute Enable</value>
<value code="22">Parachute Release</value>
<value code="164">Pause Stream Logging</value>
<value code="39">PrecLoiter Enable</value>
<value code="40">Proximity Avoidance Enable</value>
<value code="46">RC Override Enable</value>
<value code="4">RTL</value>
<value code="10">RangeFinder Enable</value>
<value code="28">Relay1 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="66">Relay5 On/Off</value>
<value code="67">Relay6 On/Off</value>
<value code="27">Retract Mount1</value>
<value code="78">RunCam Control</value>
<value code="79">RunCam OSD Control</value>
<value code="152">SIMPLE heading reset</value>
<value code="42">SMARTRTL Mode</value>
<value code="68">STABILIZE Mode</value>
<value code="76">STANDBY Mode</value>
<value code="5">Save Trim</value>
<value code="7">Save WP</value>
<value code="300">Scripting1</value>
<value code="301">Scripting2</value>
<value code="302">Scripting3</value>
<value code="303">Scripting4</value>
<value code="304">Scripting5</value>
<value code="305">Scripting6</value>
<value code="306">Scripting7</value>
<value code="307">Scripting8</value>
<value code="3">Simple Mode</value>
<value code="15">Sprayer Enable</value>
<value code="13">Super Simple Mode</value>
<value code="75">SurfaceTrackingUpDown</value>
<value code="112">SwitchExternalAHRS</value>
<value code="37">THROW Mode</value>
<value code="151">TURTLE Mode</value>
<value code="161">Turbine Start(heli)</value>
<value code="47">User Function 1</value>
<value code="48">User Function 2</value>
<value code="49">User Function 3</value>
<value code="94">VTX Power</value>
<value code="80">VisOdom Align</value>
<value code="45">Winch Control</value>
<value code="44">Winch Enable</value>
<value code="83">ZigZag Auto</value>
<value code="60">ZigZag Mode</value>
<value code="61">ZigZag SaveWP</value>
<value code="109">use Custom Controller</value>
</values>
</param>
<param humanName="Button Pin 4 RC Channel function" name="BTN_FUNC4" documentation="Auxiliary RC Options function executed on pin change" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code="52">ACRO Mode</value>
<value code="38">ADSB Avoidance Enable</value>
<value code="70">ALTHOLD Mode</value>
<value code="16">AUTO Mode</value>
<value code="99">AUTO RTL</value>
<value code="17">AUTOTUNE Mode</value>
<value code="14">Acro Trainer</value>
<value code="84">AirMode</value>
<value code="165">Arm/Emergency Motor Stop</value>
<value code="41">ArmDisarm (4.1 and lower)</value>
<value code="153">ArmDisarm (4.2 and higher)</value>
<value code="154">ArmDisarm with AirMode (4.2 and higher)</value>
<value code="26">AttCon Accel Limits</value>
<value code="25">AttCon Feed Forward</value>
<value code="24">Auto Mission Reset</value>
<value code="33">BRAKE Mode</value>
<value code="172">Battery MPPT Enable</value>
<value code="72">CIRCLE Mode</value>
<value code="171">Calibrate Compasses</value>
<value code="169">Camera Auto Focus</value>
<value code="174">Camera Image Tracking</value>
<value code="175">Camera Lens</value>
<value code="168">Camera Manual Focus</value>
<value code="102">Camera Mode Toggle</value>
<value code="166">Camera Record Video</value>
<value code="9">Camera Trigger</value>
<value code="167">Camera Zoom</value>
<value code="58">Clear Waypoints</value>
<value code="62">Compass Learn</value>
<value code="73">DRIFT Mode</value>
<value code="81">Disarm</value>
<value code="90">EKF Pos Source</value>
<value code="162">FFT Tune</value>
<value code="2">FLIP Mode</value>
<value code="71">FLOWHOLD Mode</value>
<value code="57">FOLLOW Mode</value>
<value code="11">Fence Enable</value>
<value code="159">Force IS_Flying</value>
<value code="65">GPS Disable</value>
<value code="105">GPS Disable Yaw</value>
<value code="55">GUIDED Mode</value>
<value code="85">Generator</value>
<value code="19">Gripper Release</value>
<value code="43">InvertedFlight Enable</value>
<value code="100">KillIMU1</value>
<value code="101">KillIMU2</value>
<value code="110">KillIMU3</value>
<value code="18">LAND Mode</value>
<value code="56">LOITER Mode</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="177">Mount LRF enable</value>
<value code="163">Mount Lock</value>
<value code="213">Mount1 Pitch</value>
<value code="212">Mount1 Roll</value>
<value code="214">Mount1 Yaw</value>
<value code="216">Mount2 Pitch</value>
<value code="215">Mount2 Roll</value>
<value code="217">Mount2 Yaw</value>
<value code="158">Optflow Calibration</value>
<value code="69">POSHOLD Mode</value>
<value code="23">Parachute 3pos</value>
<value code="21">Parachute Enable</value>
<value code="22">Parachute Release</value>
<value code="164">Pause Stream Logging</value>
<value code="39">PrecLoiter Enable</value>
<value code="40">Proximity Avoidance Enable</value>
<value code="46">RC Override Enable</value>
<value code="4">RTL</value>
<value code="10">RangeFinder Enable</value>
<value code="28">Relay1 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="66">Relay5 On/Off</value>
<value code="67">Relay6 On/Off</value>
<value code="27">Retract Mount1</value>
<value code="78">RunCam Control</value>
<value code="79">RunCam OSD Control</value>
<value code="152">SIMPLE heading reset</value>
<value code="42">SMARTRTL Mode</value>
<value code="68">STABILIZE Mode</value>
<value code="76">STANDBY Mode</value>
<value code="5">Save Trim</value>
<value code="7">Save WP</value>
<value code="300">Scripting1</value>
<value code="301">Scripting2</value>
<value code="302">Scripting3</value>
<value code="303">Scripting4</value>
<value code="304">Scripting5</value>
<value code="305">Scripting6</value>
<value code="306">Scripting7</value>
<value code="307">Scripting8</value>
<value code="3">Simple Mode</value>
<value code="15">Sprayer Enable</value>
<value code="13">Super Simple Mode</value>
<value code="75">SurfaceTrackingUpDown</value>
<value code="112">SwitchExternalAHRS</value>
<value code="37">THROW Mode</value>
<value code="151">TURTLE Mode</value>
<value code="161">Turbine Start(heli)</value>
<value code="47">User Function 1</value>
<value code="48">User Function 2</value>
<value code="49">User Function 3</value>
<value code="94">VTX Power</value>
<value code="80">VisOdom Align</value>
<value code="45">Winch Control</value>
<value code="44">Winch Enable</value>
<value code="83">ZigZag Auto</value>
<value code="60">ZigZag Mode</value>
<value code="61">ZigZag SaveWP</value>
<value code="109">use Custom Controller</value>
</values>
</param>
</parameters>
<parameters name="CAM">
<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="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 180</field>
</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="CAM1">
<param humanName="Camera shutter (trigger) type" name="CAM1_TYPE" documentation="how to trigger the camera to take a picture" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Servo</value>
<value code="2">Relay</value>
<value code="3">GoPro in Solo Gimbal</value>
<value code="4">Mount (Siyi)</value>
<value code="5">MAVLink</value>
<value code="6">MAVLinkCamV2</value>
<value code="7">Scripting</value>
</values>
</param>
<param humanName="Camera shutter duration held open" name="CAM1_DURATION" documentation="Duration in seconds that the camera shutter is held open" user="Standard">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Range">0 5</field>
</param>
<param humanName="Camera servo ON PWM value" name="CAM1_SERVO_ON" documentation="PWM value in microseconds to move servo to when shutter is activated" user="Standard">
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">1000 2000</field>
</param>
<param humanName="Camera servo OFF PWM value" name="CAM1_SERVO_OFF" documentation="PWM value in microseconds to move servo to when shutter is deactivated" user="Standard">
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">1000 2000</field>
</param>
<param humanName="Camera trigger distance" name="CAM1_TRIGG_DIST" documentation="Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the 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="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 1000</field>
</param>
<param humanName="Camera relay ON value" name="CAM1_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="Camera minimum time interval between photos" name="CAM1_INTRVAL_MIN" documentation="Postpone shooting if previous picture was taken less than this many seconds ago" user="Standard">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Range">0 10</field>
</param>
<param humanName="Camera feedback pin" name="CAM1_FEEDBAK_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. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. See also the CAMx_FEEDBCK_POL option." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">AUX1</value>
<value code="51">AUX2</value>
<value code="52">AUX3</value>
<value code="53">AUX4</value>
<value code="54">AUX5</value>
<value code="55">AUX6</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Camera feedback pin polarity" name="CAM1_FEEDBAK_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="Camera options" name="CAM1_OPTIONS" documentation="Camera options bitmask" user="Standard">
<field name="Bitmask">0:Recording Starts at arming and stops at disarming</field>
</param>
<param humanName="Camera Mount instance" name="CAM1_MNT_INST" documentation="Mount instance camera is associated with. 0 means camera and mount have identical instance numbers e.g. camera1 and mount1" user="Standard">
</param>
<param humanName="Camera horizontal field of view" name="CAM1_HFOV" documentation="Camera horizontal field of view. 0 if unknown" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 360</field>
</param>
<param humanName="Camera vertical field of view" name="CAM1_VFOV" documentation="Camera vertical field of view. 0 if unknown" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 180</field>
</param>
</parameters>
<parameters name="CAM2">
<param humanName="Camera shutter (trigger) type" name="CAM2_TYPE" documentation="how to trigger the camera to take a picture" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Servo</value>
<value code="2">Relay</value>
<value code="3">GoPro in Solo Gimbal</value>
<value code="4">Mount (Siyi)</value>
<value code="5">MAVLink</value>
<value code="6">MAVLinkCamV2</value>
<value code="7">Scripting</value>
</values>
</param>
<param humanName="Camera shutter duration held open" name="CAM2_DURATION" documentation="Duration in seconds that the camera shutter is held open" user="Standard">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Range">0 5</field>
</param>
<param humanName="Camera servo ON PWM value" name="CAM2_SERVO_ON" documentation="PWM value in microseconds to move servo to when shutter is activated" user="Standard">
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">1000 2000</field>
</param>
<param humanName="Camera servo OFF PWM value" name="CAM2_SERVO_OFF" documentation="PWM value in microseconds to move servo to when shutter is deactivated" user="Standard">
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">1000 2000</field>
</param>
<param humanName="Camera trigger distance" name="CAM2_TRIGG_DIST" documentation="Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the 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="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 1000</field>
</param>
<param humanName="Camera relay ON value" name="CAM2_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="Camera minimum time interval between photos" name="CAM2_INTRVAL_MIN" documentation="Postpone shooting if previous picture was taken less than this many seconds ago" user="Standard">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Range">0 10</field>
</param>
<param humanName="Camera feedback pin" name="CAM2_FEEDBAK_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. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. See also the CAMx_FEEDBCK_POL option." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">AUX1</value>
<value code="51">AUX2</value>
<value code="52">AUX3</value>
<value code="53">AUX4</value>
<value code="54">AUX5</value>
<value code="55">AUX6</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Camera feedback pin polarity" name="CAM2_FEEDBAK_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="Camera options" name="CAM2_OPTIONS" documentation="Camera options bitmask" user="Standard">
<field name="Bitmask">0:Recording Starts at arming and stops at disarming</field>
</param>
<param humanName="Camera Mount instance" name="CAM2_MNT_INST" documentation="Mount instance camera is associated with. 0 means camera and mount have identical instance numbers e.g. camera1 and mount1" user="Standard">
</param>
<param humanName="Camera horizontal field of view" name="CAM2_HFOV" documentation="Camera horizontal field of view. 0 if unknown" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 360</field>
</param>
<param humanName="Camera vertical field of view" name="CAM2_VFOV" documentation="Camera vertical field of view. 0 if unknown" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 180</field>
</param>
</parameters>
<parameters name="CAM_RC_">
<param humanName="RunCam device type" name="CAM_RC_TYPE" documentation="RunCam device type used to determine OSD menu structure and shutter options.">
<values>
<value code="0">Disabled</value>
<value code="1">RunCam Split Micro/RunCam with UART</value>
<value code="2">RunCam Split</value>
<value code="3">RunCam Split4 4k</value>
<value code="4">RunCam Hybrid/RunCam Thumb Pro</value>
<value code="5">Runcam 2 4k</value>
</values>
</param>
<param humanName="RunCam features available" name="CAM_RC_FEATURES" documentation="The available features of the attached RunCam device. If 0 then the RunCam device will be queried for the features it supports, otherwise this setting is used." user="Advanced">
<field name="Bitmask">0:Power Button,1:WiFi Button,2:Change Mode,3:5-Key OSD,4:Settings Access,5:DisplayPort,6:Start Recording,7:Stop Recording</field>
</param>
<param humanName="RunCam boot delay before allowing updates" name="CAM_RC_BT_DELAY" documentation="Time it takes for the RunCam to become fully ready in ms. If this is too short then commands can get out of sync." user="Advanced">
</param>
<param humanName="RunCam button delay before allowing further button presses" name="CAM_RC_BTN_DELAY" documentation="Time it takes for the a RunCam button press to be actived in ms. If this is too short then commands can get out of sync." user="Advanced">
</param>
<param humanName="RunCam mode delay before allowing further button presses" name="CAM_RC_MDE_DELAY" documentation="Time it takes for the a RunCam mode button press to be actived in ms. If a mode change first requires a video recording change then double this value is used. If this is too short then commands can get out of sync." user="Advanced">
</param>
<param humanName="RunCam control option" name="CAM_RC_CONTROL" documentation="Specifies the allowed actions required to enter the OSD menu and other option like autorecording" user="Advanced">
<field name="Bitmask">0:Stick yaw right,1:Stick roll right,2:3-position switch,3:2-position switch,4:Autorecording enabled</field>
</param>
</parameters>
<parameters name="CAN_">
<param humanName="Loglevel" name="CAN_LOGLEVEL" documentation="Loglevel for recording initialisation and debug information from CAN Interface" user="Advanced">
<field name="Range">0 4</field>
<values>
<value code="0">Log None</value>
<value code="1">Log Error</value>
<value code="2">Log Warning and below</value>
<value code="3">Log Info and below</value>
<value code="4">Log Everything</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">DroneCAN</value>
<value code="4">PiccoloCAN</value>
<value code="6">EFI_NWPMU</value>
<value code="7">USD1</value>
<value code="8">KDECAN</value>
<value code="10">Scripting</value>
<value code="11">Benewake</value>
<value code="12">Scripting2</value>
<value code="13">TOFSenseP</value>
<value code="14">NanoRadar</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Secondary protocol with 11 bit CAN addressing" name="CAN_D1_PROTOCOL2" documentation="Secondary protocol with 11 bit CAN addressing" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="7">USD1</value>
<value code="10">Scripting</value>
<value code="11">Benewake</value>
<value code="12">Scripting2</value>
<value code="13">TOFSenseP</value>
<value code="14">NanoRadar</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="CAN_D1_PC_">
<param humanName="ESC channels" name="CAN_D1_PC_ESC_BM" documentation="Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN" 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, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32</field>
</param>
<param humanName="ESC output rate" name="CAN_D1_PC_ESC_RT" documentation="Output rate of ESC command messages" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">1 500</field>
</param>
<param humanName="Servo channels" name="CAN_D1_PC_SRV_BM" documentation="Bitmask defining which servo channels are to be transmitted over Piccolo CAN" 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, 15: Servo 16</field>
</param>
<param humanName="Servo command output rate" name="CAN_D1_PC_SRV_RT" documentation="Output rate of servo command messages" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">1 500</field>
</param>
<param humanName="ECU Node ID" name="CAN_D1_PC_ECU_ID" documentation="Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs." user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="ECU command output rate" name="CAN_D1_PC_ECU_RT" documentation="Output rate of ECU command messages" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">1 500</field>
</param>
</parameters>
<parameters name="CAN_D1_UC_">
<param humanName="DroneCAN node that is used for this network" name="CAN_D1_UC_NODE" documentation="DroneCAN node should be set implicitly" user="Advanced">
<field name="Range">1 250</field>
</param>
<param humanName="Output channels to be transmitted as servo over DroneCAN" name="CAN_D1_UC_SRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over DroneCAN">
<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, 15: Servo 16, 16: Servo 17, 17: Servo 18, 18: Servo 19, 19: Servo 20, 20: Servo 21, 21: Servo 22, 22: Servo 23, 23: Servo 24, 24: Servo 25, 25: Servo 26, 26: Servo 27, 27: Servo 28, 28: Servo 29, 29: Servo 30, 30: Servo 31, 31: Servo 32</field>
</param>
<param humanName="Output channels to be transmitted as ESC over DroneCAN" name="CAN_D1_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN" 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, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32</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>
<param humanName="DroneCAN options" name="CAN_D1_UC_OPTION" documentation="Option flags" user="Advanced">
<field name="Bitmask">0:ClearDNADatabase,1:IgnoreDNANodeConflicts,2:EnableCanfd,3:IgnoreDNANodeUnhealthy,4:SendServoAsPWM,5:SendGNSS,6:UseHimarkServo,7:HobbyWingESC,8:EnableStats</field>
</param>
<param humanName="Notify State rate" name="CAN_D1_UC_NTF_RT" documentation="Maximum transmit rate for Notify State Message" user="Advanced">
<field name="Range">1 200</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="ESC Output channels offset" name="CAN_D1_UC_ESC_OF" documentation="Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth" user="Advanced">
<field name="Range">0 18</field>
</param>
<param humanName="CAN pool size" name="CAN_D1_UC_POOL" documentation="Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads" user="Advanced">
<field name="Range">1024 16384</field>
</param>
<param humanName="Bitmask for output channels for reversible ESCs over DroneCAN." name="CAN_D1_UC_ESC_RV" documentation="Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction." 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, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32</field>
</param>
<param humanName="DroneCAN relay output rate" name="CAN_D1_UC_RLY_RT" documentation="Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="DroneCAN Serial enable" name="CAN_D1_UC_SER_EN" documentation="Enable DroneCAN virtual serial ports" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial CAN remote node number" name="CAN_D1_UC_S1_NOD" documentation="CAN remote node number for serial port" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="DroneCAN Serial1 index" name="CAN_D1_UC_S1_IDX" documentation="Serial port number on remote CAN node" user="Advanced">
<field name="Range">0 100</field>
<values>
<value code="-1">Disabled</value>
<value code="0">Serial0</value>
<value code="1">Serial1</value>
<value code="2">Serial2</value>
<value code="3">Serial3</value>
<value code="4">Serial4</value>
<value code="5">Serial5</value>
<value code="6">Serial6</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="DroneCAN Serial default baud rate" name="CAN_D1_UC_S1_BD" documentation="Serial baud rate on remote CAN node" user="Advanced">
<field name="RebootRequired">True</field>
<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="230">230400</value>
<value code="256">256000</value>
<value code="460">460800</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
<value code="2000">2000000</value>
</values>
</param>
<param humanName="Serial protocol of DroneCAN serial port" name="CAN_D1_UC_S1_PRO" documentation="Serial protocol of DroneCAN serial port" user="Advanced">
<field name="RebootRequired">True</field>
<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">Gimbal</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>
<value code="18">OpticalFlow</value>
<value code="19">RobotisServo</value>
<value code="20">NMEA Output</value>
<value code="21">WindVane</value>
<value code="22">SLCAN</value>
<value code="23">RCIN</value>
<value code="24">EFI Serial</value>
<value code="25">LTM</value>
<value code="26">RunCam</value>
<value code="27">HottTelem</value>
<value code="28">Scripting</value>
<value code="29">Crossfire VTX</value>
<value code="30">Generator</value>
<value code="31">Winch</value>
<value code="32">MSP</value>
<value code="33">DJI FPV</value>
<value code="34">AirSpeed</value>
<value code="35">ADSB</value>
<value code="36">AHRS</value>
<value code="37">SmartAudio</value>
<value code="38">FETtecOneWire</value>
<value code="39">Torqeedo</value>
<value code="40">AIS</value>
<value code="41">CoDevESC</value>
<value code="42">DisplayPort</value>
<value code="43">MAVLink High Latency</value>
<value code="44">IRC Tramp</value>
<value code="45">DDS XRCE</value>
<value code="46">IMUDATA</value>
</values>
</param>
<param humanName="Serial CAN remote node number" name="CAN_D1_UC_S2_NOD" documentation="CAN remote node number for serial port" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial port number on remote CAN node" name="CAN_D1_UC_S2_IDX" documentation="Serial port number on remote CAN node" user="Advanced">
<field name="Range">0 100</field>
<field name="RebootRequired">True</field>
<values>
<value code="-1">Disabled</value>
<value code="0">Serial0</value>
<value code="1">Serial1</value>
<value code="2">Serial2</value>
<value code="3">Serial3</value>
<value code="4">Serial4</value>
<value code="5">Serial5</value>
<value code="6">Serial6</value>
</values>
</param>
<param humanName="DroneCAN Serial default baud rate" name="CAN_D1_UC_S2_BD" documentation="Serial baud rate on remote CAN node" user="Advanced">
<field name="RebootRequired">True</field>
<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="230">230400</value>
<value code="256">256000</value>
<value code="460">460800</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
<value code="2000">2000000</value>
</values>
</param>
<param humanName="Serial protocol of DroneCAN serial port" name="CAN_D1_UC_S2_PRO" documentation="Serial protocol of DroneCAN serial port" user="Advanced">
<field name="RebootRequired">True</field>
<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">Gimbal</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>
<value code="18">OpticalFlow</value>
<value code="19">RobotisServo</value>
<value code="20">NMEA Output</value>
<value code="21">WindVane</value>
<value code="22">SLCAN</value>
<value code="23">RCIN</value>
<value code="24">EFI Serial</value>
<value code="25">LTM</value>
<value code="26">RunCam</value>
<value code="27">HottTelem</value>
<value code="28">Scripting</value>
<value code="29">Crossfire VTX</value>
<value code="30">Generator</value>
<value code="31">Winch</value>
<value code="32">MSP</value>
<value code="33">DJI FPV</value>
<value code="34">AirSpeed</value>
<value code="35">ADSB</value>
<value code="36">AHRS</value>
<value code="37">SmartAudio</value>
<value code="38">FETtecOneWire</value>
<value code="39">Torqeedo</value>
<value code="40">AIS</value>
<value code="41">CoDevESC</value>
<value code="42">DisplayPort</value>
<value code="43">MAVLink High Latency</value>
<value code="44">IRC Tramp</value>
<value code="45">DDS XRCE</value>
<value code="46">IMUDATA</value>
</values>
</param>
<param humanName="Serial CAN remote node number" name="CAN_D1_UC_S3_NOD" documentation="CAN node number for serial port" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial port number on remote CAN node" name="CAN_D1_UC_S3_IDX" documentation="Serial port number on remote CAN node" user="Advanced">
<field name="Range">0 100</field>
<field name="RebootRequired">True</field>
<values>
<value code="-1">Disabled</value>
<value code="0">Serial0</value>
<value code="1">Serial1</value>
<value code="2">Serial2</value>
<value code="3">Serial3</value>
<value code="4">Serial4</value>
<value code="5">Serial5</value>
<value code="6">Serial6</value>
</values>
</param>
<param humanName="Serial baud rate on remote CAN node" name="CAN_D1_UC_S3_BD" documentation="Serial baud rate on remote CAN node" user="Advanced">
<field name="RebootRequired">True</field>
<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="230">230400</value>
<value code="256">256000</value>
<value code="460">460800</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
<value code="2000">2000000</value>
</values>
</param>
<param humanName="Serial protocol of DroneCAN serial port" name="CAN_D1_UC_S3_PRO" documentation="Serial protocol of DroneCAN serial port" user="Advanced">
<field name="RebootRequired">True</field>
<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">Gimbal</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>
<value code="18">OpticalFlow</value>
<value code="19">RobotisServo</value>
<value code="20">NMEA Output</value>
<value code="21">WindVane</value>
<value code="22">SLCAN</value>
<value code="23">RCIN</value>
<value code="24">EFI Serial</value>
<value code="25">LTM</value>
<value code="26">RunCam</value>
<value code="27">HottTelem</value>
<value code="28">Scripting</value>
<value code="29">Crossfire VTX</value>
<value code="30">Generator</value>
<value code="31">Winch</value>
<value code="32">MSP</value>
<value code="33">DJI FPV</value>
<value code="34">AirSpeed</value>
<value code="35">ADSB</value>
<value code="36">AHRS</value>
<value code="37">SmartAudio</value>
<value code="38">FETtecOneWire</value>
<value code="39">Torqeedo</value>
<value code="40">AIS</value>
<value code="41">CoDevESC</value>
<value code="42">DisplayPort</value>
<value code="43">MAVLink High Latency</value>
<value code="44">IRC Tramp</value>
<value code="45">DDS XRCE</value>
<value code="46">IMUDATA</value>
</values>
</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">DroneCAN</value>
<value code="4">PiccoloCAN</value>
<value code="6">EFI_NWPMU</value>
<value code="7">USD1</value>
<value code="8">KDECAN</value>
<value code="10">Scripting</value>
<value code="11">Benewake</value>
<value code="12">Scripting2</value>
<value code="13">TOFSenseP</value>
<value code="14">NanoRadar</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Secondary protocol with 11 bit CAN addressing" name="CAN_D2_PROTOCOL2" documentation="Secondary protocol with 11 bit CAN addressing" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="7">USD1</value>
<value code="10">Scripting</value>
<value code="11">Benewake</value>
<value code="12">Scripting2</value>
<value code="13">TOFSenseP</value>
<value code="14">NanoRadar</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="CAN_D2_PC_">
<param humanName="ESC channels" name="CAN_D2_PC_ESC_BM" documentation="Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN" 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, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32</field>
</param>
<param humanName="ESC output rate" name="CAN_D2_PC_ESC_RT" documentation="Output rate of ESC command messages" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">1 500</field>
</param>
<param humanName="Servo channels" name="CAN_D2_PC_SRV_BM" documentation="Bitmask defining which servo channels are to be transmitted over Piccolo CAN" 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, 15: Servo 16</field>
</param>
<param humanName="Servo command output rate" name="CAN_D2_PC_SRV_RT" documentation="Output rate of servo command messages" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">1 500</field>
</param>
<param humanName="ECU Node ID" name="CAN_D2_PC_ECU_ID" documentation="Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs." user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="ECU command output rate" name="CAN_D2_PC_ECU_RT" documentation="Output rate of ECU command messages" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">1 500</field>
</param>
</parameters>
<parameters name="CAN_D2_UC_">
<param humanName="DroneCAN node that is used for this network" name="CAN_D2_UC_NODE" documentation="DroneCAN node should be set implicitly" user="Advanced">
<field name="Range">1 250</field>
</param>
<param humanName="Output channels to be transmitted as servo over DroneCAN" name="CAN_D2_UC_SRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over DroneCAN">
<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, 15: Servo 16, 16: Servo 17, 17: Servo 18, 18: Servo 19, 19: Servo 20, 20: Servo 21, 21: Servo 22, 22: Servo 23, 23: Servo 24, 24: Servo 25, 25: Servo 26, 26: Servo 27, 27: Servo 28, 28: Servo 29, 29: Servo 30, 30: Servo 31, 31: Servo 32</field>
</param>
<param humanName="Output channels to be transmitted as ESC over DroneCAN" name="CAN_D2_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN" 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, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32</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>
<param humanName="DroneCAN options" name="CAN_D2_UC_OPTION" documentation="Option flags" user="Advanced">
<field name="Bitmask">0:ClearDNADatabase,1:IgnoreDNANodeConflicts,2:EnableCanfd,3:IgnoreDNANodeUnhealthy,4:SendServoAsPWM,5:SendGNSS,6:UseHimarkServo,7:HobbyWingESC,8:EnableStats</field>
</param>
<param humanName="Notify State rate" name="CAN_D2_UC_NTF_RT" documentation="Maximum transmit rate for Notify State Message" user="Advanced">
<field name="Range">1 200</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="ESC Output channels offset" name="CAN_D2_UC_ESC_OF" documentation="Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth" user="Advanced">
<field name="Range">0 18</field>
</param>
<param humanName="CAN pool size" name="CAN_D2_UC_POOL" documentation="Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads" user="Advanced">
<field name="Range">1024 16384</field>
</param>
<param humanName="Bitmask for output channels for reversible ESCs over DroneCAN." name="CAN_D2_UC_ESC_RV" documentation="Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction." 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, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32</field>
</param>
<param humanName="DroneCAN relay output rate" name="CAN_D2_UC_RLY_RT" documentation="Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="DroneCAN Serial enable" name="CAN_D2_UC_SER_EN" documentation="Enable DroneCAN virtual serial ports" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial CAN remote node number" name="CAN_D2_UC_S1_NOD" documentation="CAN remote node number for serial port" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="DroneCAN Serial1 index" name="CAN_D2_UC_S1_IDX" documentation="Serial port number on remote CAN node" user="Advanced">
<field name="Range">0 100</field>
<values>
<value code="-1">Disabled</value>
<value code="0">Serial0</value>
<value code="1">Serial1</value>
<value code="2">Serial2</value>
<value code="3">Serial3</value>
<value code="4">Serial4</value>
<value code="5">Serial5</value>
<value code="6">Serial6</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="DroneCAN Serial default baud rate" name="CAN_D2_UC_S1_BD" documentation="Serial baud rate on remote CAN node" user="Advanced">
<field name="RebootRequired">True</field>
<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="230">230400</value>
<value code="256">256000</value>
<value code="460">460800</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
<value code="2000">2000000</value>
</values>
</param>
<param humanName="Serial protocol of DroneCAN serial port" name="CAN_D2_UC_S1_PRO" documentation="Serial protocol of DroneCAN serial port" user="Advanced">
<field name="RebootRequired">True</field>
<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">Gimbal</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>
<value code="18">OpticalFlow</value>
<value code="19">RobotisServo</value>
<value code="20">NMEA Output</value>
<value code="21">WindVane</value>
<value code="22">SLCAN</value>
<value code="23">RCIN</value>
<value code="24">EFI Serial</value>
<value code="25">LTM</value>
<value code="26">RunCam</value>
<value code="27">HottTelem</value>
<value code="28">Scripting</value>
<value code="29">Crossfire VTX</value>
<value code="30">Generator</value>
<value code="31">Winch</value>
<value code="32">MSP</value>
<value code="33">DJI FPV</value>
<value code="34">AirSpeed</value>
<value code="35">ADSB</value>
<value code="36">AHRS</value>
<value code="37">SmartAudio</value>
<value code="38">FETtecOneWire</value>
<value code="39">Torqeedo</value>
<value code="40">AIS</value>
<value code="41">CoDevESC</value>
<value code="42">DisplayPort</value>
<value code="43">MAVLink High Latency</value>
<value code="44">IRC Tramp</value>
<value code="45">DDS XRCE</value>
<value code="46">IMUDATA</value>
</values>
</param>
<param humanName="Serial CAN remote node number" name="CAN_D2_UC_S2_NOD" documentation="CAN remote node number for serial port" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial port number on remote CAN node" name="CAN_D2_UC_S2_IDX" documentation="Serial port number on remote CAN node" user="Advanced">
<field name="Range">0 100</field>
<field name="RebootRequired">True</field>
<values>
<value code="-1">Disabled</value>
<value code="0">Serial0</value>
<value code="1">Serial1</value>
<value code="2">Serial2</value>
<value code="3">Serial3</value>
<value code="4">Serial4</value>
<value code="5">Serial5</value>
<value code="6">Serial6</value>
</values>
</param>
<param humanName="DroneCAN Serial default baud rate" name="CAN_D2_UC_S2_BD" documentation="Serial baud rate on remote CAN node" user="Advanced">
<field name="RebootRequired">True</field>
<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="230">230400</value>
<value code="256">256000</value>
<value code="460">460800</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
<value code="2000">2000000</value>
</values>
</param>
<param humanName="Serial protocol of DroneCAN serial port" name="CAN_D2_UC_S2_PRO" documentation="Serial protocol of DroneCAN serial port" user="Advanced">
<field name="RebootRequired">True</field>
<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">Gimbal</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>
<value code="18">OpticalFlow</value>
<value code="19">RobotisServo</value>
<value code="20">NMEA Output</value>
<value code="21">WindVane</value>
<value code="22">SLCAN</value>
<value code="23">RCIN</value>
<value code="24">EFI Serial</value>
<value code="25">LTM</value>
<value code="26">RunCam</value>
<value code="27">HottTelem</value>
<value code="28">Scripting</value>
<value code="29">Crossfire VTX</value>
<value code="30">Generator</value>
<value code="31">Winch</value>
<value code="32">MSP</value>
<value code="33">DJI FPV</value>
<value code="34">AirSpeed</value>
<value code="35">ADSB</value>
<value code="36">AHRS</value>
<value code="37">SmartAudio</value>
<value code="38">FETtecOneWire</value>
<value code="39">Torqeedo</value>
<value code="40">AIS</value>
<value code="41">CoDevESC</value>
<value code="42">DisplayPort</value>
<value code="43">MAVLink High Latency</value>
<value code="44">IRC Tramp</value>
<value code="45">DDS XRCE</value>
<value code="46">IMUDATA</value>
</values>
</param>
<param humanName="Serial CAN remote node number" name="CAN_D2_UC_S3_NOD" documentation="CAN node number for serial port" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial port number on remote CAN node" name="CAN_D2_UC_S3_IDX" documentation="Serial port number on remote CAN node" user="Advanced">
<field name="Range">0 100</field>
<field name="RebootRequired">True</field>
<values>
<value code="-1">Disabled</value>
<value code="0">Serial0</value>
<value code="1">Serial1</value>
<value code="2">Serial2</value>
<value code="3">Serial3</value>
<value code="4">Serial4</value>
<value code="5">Serial5</value>
<value code="6">Serial6</value>
</values>
</param>
<param humanName="Serial baud rate on remote CAN node" name="CAN_D2_UC_S3_BD" documentation="Serial baud rate on remote CAN node" user="Advanced">
<field name="RebootRequired">True</field>
<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="230">230400</value>
<value code="256">256000</value>
<value code="460">460800</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
<value code="2000">2000000</value>
</values>
</param>
<param humanName="Serial protocol of DroneCAN serial port" name="CAN_D2_UC_S3_PRO" documentation="Serial protocol of DroneCAN serial port" user="Advanced">
<field name="RebootRequired">True</field>
<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">Gimbal</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>
<value code="18">OpticalFlow</value>
<value code="19">RobotisServo</value>
<value code="20">NMEA Output</value>
<value code="21">WindVane</value>
<value code="22">SLCAN</value>
<value code="23">RCIN</value>
<value code="24">EFI Serial</value>
<value code="25">LTM</value>
<value code="26">RunCam</value>
<value code="27">HottTelem</value>
<value code="28">Scripting</value>
<value code="29">Crossfire VTX</value>
<value code="30">Generator</value>
<value code="31">Winch</value>
<value code="32">MSP</value>
<value code="33">DJI FPV</value>
<value code="34">AirSpeed</value>
<value code="35">ADSB</value>
<value code="36">AHRS</value>
<value code="37">SmartAudio</value>
<value code="38">FETtecOneWire</value>
<value code="39">Torqeedo</value>
<value code="40">AIS</value>
<value code="41">CoDevESC</value>
<value code="42">DisplayPort</value>
<value code="43">MAVLink High Latency</value>
<value code="44">IRC Tramp</value>
<value code="45">DDS XRCE</value>
<value code="46">IMUDATA</value>
</values>
</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">DroneCAN</value>
<value code="4">PiccoloCAN</value>
<value code="6">EFI_NWPMU</value>
<value code="7">USD1</value>
<value code="8">KDECAN</value>
<value code="10">Scripting</value>
<value code="11">Benewake</value>
<value code="12">Scripting2</value>
<value code="13">TOFSenseP</value>
<value code="14">NanoRadar</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Secondary protocol with 11 bit CAN addressing" name="CAN_D3_PROTOCOL2" documentation="Secondary protocol with 11 bit CAN addressing" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="7">USD1</value>
<value code="10">Scripting</value>
<value code="11">Benewake</value>
<value code="12">Scripting2</value>
<value code="13">TOFSenseP</value>
<value code="14">NanoRadar</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="CAN_D3_PC_">
<param humanName="ESC channels" name="CAN_D3_PC_ESC_BM" documentation="Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN" 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, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32</field>
</param>
<param humanName="ESC output rate" name="CAN_D3_PC_ESC_RT" documentation="Output rate of ESC command messages" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">1 500</field>
</param>
<param humanName="Servo channels" name="CAN_D3_PC_SRV_BM" documentation="Bitmask defining which servo channels are to be transmitted over Piccolo CAN" 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, 15: Servo 16</field>
</param>
<param humanName="Servo command output rate" name="CAN_D3_PC_SRV_RT" documentation="Output rate of servo command messages" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">1 500</field>
</param>
<param humanName="ECU Node ID" name="CAN_D3_PC_ECU_ID" documentation="Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs." user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="ECU command output rate" name="CAN_D3_PC_ECU_RT" documentation="Output rate of ECU command messages" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">1 500</field>
</param>
</parameters>
<parameters name="CAN_D3_UC_">
<param humanName="DroneCAN node that is used for this network" name="CAN_D3_UC_NODE" documentation="DroneCAN node should be set implicitly" user="Advanced">
<field name="Range">1 250</field>
</param>
<param humanName="Output channels to be transmitted as servo over DroneCAN" name="CAN_D3_UC_SRV_BM" documentation="Bitmask with one set for channel to be transmitted as a servo command over DroneCAN">
<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, 15: Servo 16, 16: Servo 17, 17: Servo 18, 18: Servo 19, 19: Servo 20, 20: Servo 21, 21: Servo 22, 22: Servo 23, 23: Servo 24, 24: Servo 25, 25: Servo 26, 26: Servo 27, 27: Servo 28, 28: Servo 29, 29: Servo 30, 30: Servo 31, 31: Servo 32</field>
</param>
<param humanName="Output channels to be transmitted as ESC over DroneCAN" name="CAN_D3_UC_ESC_BM" documentation="Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN" 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, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32</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>
<param humanName="DroneCAN options" name="CAN_D3_UC_OPTION" documentation="Option flags" user="Advanced">
<field name="Bitmask">0:ClearDNADatabase,1:IgnoreDNANodeConflicts,2:EnableCanfd,3:IgnoreDNANodeUnhealthy,4:SendServoAsPWM,5:SendGNSS,6:UseHimarkServo,7:HobbyWingESC,8:EnableStats</field>
</param>
<param humanName="Notify State rate" name="CAN_D3_UC_NTF_RT" documentation="Maximum transmit rate for Notify State Message" user="Advanced">
<field name="Range">1 200</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="ESC Output channels offset" name="CAN_D3_UC_ESC_OF" documentation="Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth" user="Advanced">
<field name="Range">0 18</field>
</param>
<param humanName="CAN pool size" name="CAN_D3_UC_POOL" documentation="Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads" user="Advanced">
<field name="Range">1024 16384</field>
</param>
<param humanName="Bitmask for output channels for reversible ESCs over DroneCAN." name="CAN_D3_UC_ESC_RV" documentation="Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction." 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, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32</field>
</param>
<param humanName="DroneCAN relay output rate" name="CAN_D3_UC_RLY_RT" documentation="Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state" user="Advanced">
<field name="Range">0 200</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="DroneCAN Serial enable" name="CAN_D3_UC_SER_EN" documentation="Enable DroneCAN virtual serial ports" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial CAN remote node number" name="CAN_D3_UC_S1_NOD" documentation="CAN remote node number for serial port" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="DroneCAN Serial1 index" name="CAN_D3_UC_S1_IDX" documentation="Serial port number on remote CAN node" user="Advanced">
<field name="Range">0 100</field>
<values>
<value code="-1">Disabled</value>
<value code="0">Serial0</value>
<value code="1">Serial1</value>
<value code="2">Serial2</value>
<value code="3">Serial3</value>
<value code="4">Serial4</value>
<value code="5">Serial5</value>
<value code="6">Serial6</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="DroneCAN Serial default baud rate" name="CAN_D3_UC_S1_BD" documentation="Serial baud rate on remote CAN node" user="Advanced">
<field name="RebootRequired">True</field>
<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="230">230400</value>
<value code="256">256000</value>
<value code="460">460800</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
<value code="2000">2000000</value>
</values>
</param>
<param humanName="Serial protocol of DroneCAN serial port" name="CAN_D3_UC_S1_PRO" documentation="Serial protocol of DroneCAN serial port" user="Advanced">
<field name="RebootRequired">True</field>
<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">Gimbal</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>
<value code="18">OpticalFlow</value>
<value code="19">RobotisServo</value>
<value code="20">NMEA Output</value>
<value code="21">WindVane</value>
<value code="22">SLCAN</value>
<value code="23">RCIN</value>
<value code="24">EFI Serial</value>
<value code="25">LTM</value>
<value code="26">RunCam</value>
<value code="27">HottTelem</value>
<value code="28">Scripting</value>
<value code="29">Crossfire VTX</value>
<value code="30">Generator</value>
<value code="31">Winch</value>
<value code="32">MSP</value>
<value code="33">DJI FPV</value>
<value code="34">AirSpeed</value>
<value code="35">ADSB</value>
<value code="36">AHRS</value>
<value code="37">SmartAudio</value>
<value code="38">FETtecOneWire</value>
<value code="39">Torqeedo</value>
<value code="40">AIS</value>
<value code="41">CoDevESC</value>
<value code="42">DisplayPort</value>
<value code="43">MAVLink High Latency</value>
<value code="44">IRC Tramp</value>
<value code="45">DDS XRCE</value>
<value code="46">IMUDATA</value>
</values>
</param>
<param humanName="Serial CAN remote node number" name="CAN_D3_UC_S2_NOD" documentation="CAN remote node number for serial port" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial port number on remote CAN node" name="CAN_D3_UC_S2_IDX" documentation="Serial port number on remote CAN node" user="Advanced">
<field name="Range">0 100</field>
<field name="RebootRequired">True</field>
<values>
<value code="-1">Disabled</value>
<value code="0">Serial0</value>
<value code="1">Serial1</value>
<value code="2">Serial2</value>
<value code="3">Serial3</value>
<value code="4">Serial4</value>
<value code="5">Serial5</value>
<value code="6">Serial6</value>
</values>
</param>
<param humanName="DroneCAN Serial default baud rate" name="CAN_D3_UC_S2_BD" documentation="Serial baud rate on remote CAN node" user="Advanced">
<field name="RebootRequired">True</field>
<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="230">230400</value>
<value code="256">256000</value>
<value code="460">460800</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
<value code="2000">2000000</value>
</values>
</param>
<param humanName="Serial protocol of DroneCAN serial port" name="CAN_D3_UC_S2_PRO" documentation="Serial protocol of DroneCAN serial port" user="Advanced">
<field name="RebootRequired">True</field>
<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">Gimbal</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>
<value code="18">OpticalFlow</value>
<value code="19">RobotisServo</value>
<value code="20">NMEA Output</value>
<value code="21">WindVane</value>
<value code="22">SLCAN</value>
<value code="23">RCIN</value>
<value code="24">EFI Serial</value>
<value code="25">LTM</value>
<value code="26">RunCam</value>
<value code="27">HottTelem</value>
<value code="28">Scripting</value>
<value code="29">Crossfire VTX</value>
<value code="30">Generator</value>
<value code="31">Winch</value>
<value code="32">MSP</value>
<value code="33">DJI FPV</value>
<value code="34">AirSpeed</value>
<value code="35">ADSB</value>
<value code="36">AHRS</value>
<value code="37">SmartAudio</value>
<value code="38">FETtecOneWire</value>
<value code="39">Torqeedo</value>
<value code="40">AIS</value>
<value code="41">CoDevESC</value>
<value code="42">DisplayPort</value>
<value code="43">MAVLink High Latency</value>
<value code="44">IRC Tramp</value>
<value code="45">DDS XRCE</value>
<value code="46">IMUDATA</value>
</values>
</param>
<param humanName="Serial CAN remote node number" name="CAN_D3_UC_S3_NOD" documentation="CAN node number for serial port" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial port number on remote CAN node" name="CAN_D3_UC_S3_IDX" documentation="Serial port number on remote CAN node" user="Advanced">
<field name="Range">0 100</field>
<field name="RebootRequired">True</field>
<values>
<value code="-1">Disabled</value>
<value code="0">Serial0</value>
<value code="1">Serial1</value>
<value code="2">Serial2</value>
<value code="3">Serial3</value>
<value code="4">Serial4</value>
<value code="5">Serial5</value>
<value code="6">Serial6</value>
</values>
</param>
<param humanName="Serial baud rate on remote CAN node" name="CAN_D3_UC_S3_BD" documentation="Serial baud rate on remote CAN node" user="Advanced">
<field name="RebootRequired">True</field>
<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="230">230400</value>
<value code="256">256000</value>
<value code="460">460800</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
<value code="2000">2000000</value>
</values>
</param>
<param humanName="Serial protocol of DroneCAN serial port" name="CAN_D3_UC_S3_PRO" documentation="Serial protocol of DroneCAN serial port" user="Advanced">
<field name="RebootRequired">True</field>
<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">Gimbal</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>
<value code="18">OpticalFlow</value>
<value code="19">RobotisServo</value>
<value code="20">NMEA Output</value>
<value code="21">WindVane</value>
<value code="22">SLCAN</value>
<value code="23">RCIN</value>
<value code="24">EFI Serial</value>
<value code="25">LTM</value>
<value code="26">RunCam</value>
<value code="27">HottTelem</value>
<value code="28">Scripting</value>
<value code="29">Crossfire VTX</value>
<value code="30">Generator</value>
<value code="31">Winch</value>
<value code="32">MSP</value>
<value code="33">DJI FPV</value>
<value code="34">AirSpeed</value>
<value code="35">ADSB</value>
<value code="36">AHRS</value>
<value code="37">SmartAudio</value>
<value code="38">FETtecOneWire</value>
<value code="39">Torqeedo</value>
<value code="40">AIS</value>
<value code="41">CoDevESC</value>
<value code="42">DisplayPort</value>
<value code="43">MAVLink High Latency</value>
<value code="44">IRC Tramp</value>
<value code="45">DDS XRCE</value>
<value code="46">IMUDATA</value>
</values>
</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>
<value code="3">Third 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="Bitrate of CANFD interface" name="CAN_P1_FDBITRATE" documentation="Bit rate can be set up to from 1000000 to 8000000" user="Advanced">
<values>
<value code="1">1M</value>
<value code="2">2M</value>
<value code="4">4M</value>
<value code="5">5M</value>
<value code="8">8M</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>
<value code="3">Third 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="Bitrate of CANFD interface" name="CAN_P2_FDBITRATE" documentation="Bit rate can be set up to from 1000000 to 8000000" user="Advanced">
<values>
<value code="1">1M</value>
<value code="2">2M</value>
<value code="4">4M</value>
<value code="5">5M</value>
<value code="8">8M</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>
<value code="3">Third 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="Bitrate of CANFD interface" name="CAN_P3_FDBITRATE" documentation="Bit rate can be set up to from 1000000 to 8000000" user="Advanced">
<values>
<value code="1">1M</value>
<value code="2">2M</value>
<value code="4">4M</value>
<value code="5">5M</value>
<value code="8">8M</value>
</values>
</param>
</parameters>
<parameters name="CAN_SLCAN_">
<param humanName="SLCAN Route" name="CAN_SLCAN_CPORT" documentation="CAN Interface ID to be routed to SLCAN, 0 means no routing" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">First interface</value>
<value code="2">Second interface</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="SLCAN Serial Port" name="CAN_SLCAN_SERNUM" documentation="Serial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial. This parameter is automatically reset on reboot or on timeout. See CAN_SLCAN_TIMOUT for timeout details" user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="0">Serial0</value>
<value code="1">Serial1</value>
<value code="2">Serial2</value>
<value code="3">Serial3</value>
<value code="4">Serial4</value>
<value code="5">Serial5</value>
<value code="6">Serial6</value>
</values>
</param>
<param humanName="SLCAN Timeout" name="CAN_SLCAN_TIMOUT" documentation="Duration of inactivity after which SLCAN is switched back to original driver in seconds." user="Standard">
<field name="Range">0 127</field>
</param>
<param humanName="SLCAN Start Delay" name="CAN_SLCAN_SDELAY" documentation="Duration after which slcan starts after setting SERNUM in seconds." user="Standard">
<field name="Range">0 127</field>
</param>
</parameters>
<parameters name="CC">
<param humanName="Custom control type" name="CC_TYPE" documentation="Custom control type to be used" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Empty</value>
<value code="2">PID</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Custom Controller bitmask" name="CC_AXIS_MASK" documentation="Custom Controller bitmask to chose which axis to run" user="Advanced">
<field name="Bitmask">0:Roll, 1:Pitch, 2:Yaw</field>
</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 number in versions prior to 4.5, or servo). Values 0-3 all are relay. Relay number used for release is set by RELAYx_FUNCTION in 4.5 or later. ">
<values>
<value code="0">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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Increment">1</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="Units">m</field>
<field name="UnitText">meters</field>
<field name="Increment">1</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="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="Increment">1</field>
</param>
<param humanName="Critical sink speed rate in m/s to trigger emergency parachute" name="CHUTE_CRT_SINK" documentation="Release parachute when critical sink rate is reached" user="Standard">
<field name="Range">0 15</field>
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
<field name="Increment">1</field>
</param>
<param humanName="Parachute options" name="CHUTE_OPTIONS" documentation="Optional behaviour for parachute" user="Standard">
<field name="Bitmask">0:hold open forever after release</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="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Range">0 200000</field>
<field name="Increment">100</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. Circle rate must be less than ATC_SLEW_YAW parameter." user="Standard">
<field name="Units">deg/s</field>
<field name="UnitText">degrees per second</field>
<field name="Range">-90 90</field>
<field name="Increment">1</field>
</param>
<param humanName="Circle options" name="CIRCLE_OPTIONS" documentation="0:Enable or disable using the pitch/roll stick control circle mode's radius and rate" user="Standard">
<field name="Bitmask">0:manual control, 1:face direction of travel, 2:Start at center rather than on perimeter, 3:Make Mount ROI the center of the circle</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" calibration="1">
<field name="Range">-400 400</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
<field name="Increment">1</field>
<field name="Calibration">1</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" calibration="1">
<field name="Range">-400 400</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
<field name="Increment">1</field>
<field name="Calibration">1</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="Units">mGauss</field>
<field name="UnitText">milligauss</field>
<field name="Increment">1</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="Units">rad</field>
<field name="UnitText">radians</field>
<field name="Increment">0.01</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. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Internal-Learning</value>
<value code="2">EKF-Learning</value>
<value code="3">InFlight-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" calibration="1">
<values>
<value code="0">Disabled</value>
<value code="1">Use Throttle</value>
<value code="2">Use Current</value>
</values>
<field name="Calibration">1</field>
</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" calibration="1">
<field name="Range">-1000 1000</field>
<field name="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
<field name="Increment">1</field>
<field name="Calibration">1</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" calibration="1">
<field name="Range">-1000 1000</field>
<field name="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
<field name="Increment">1</field>
<field name="Calibration">1</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="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
<field name="Increment">1</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. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles." 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">Yaw45Roll180</value>
<value code="10">Yaw90Roll180</value>
<value code="11">Yaw135Roll180</value>
<value code="12">Pitch180</value>
<value code="13">Yaw225Roll180</value>
<value code="14">Yaw270Roll180</value>
<value code="15">Yaw315Roll180</value>
<value code="16">Roll90</value>
<value code="17">Yaw45Roll90</value>
<value code="18">Yaw90Roll90</value>
<value code="19">Yaw135Roll90</value>
<value code="20">Roll270</value>
<value code="21">Yaw45Roll270</value>
<value code="22">Yaw90Roll270</value>
<value code="23">Yaw135Roll270</value>
<value code="24">Pitch90</value>
<value code="25">Pitch270</value>
<value code="26">Yaw90Pitch180</value>
<value code="27">Yaw270Pitch180</value>
<value code="28">Pitch90Roll90</value>
<value code="29">Pitch90Roll180</value>
<value code="30">Pitch90Roll270</value>
<value code="31">Pitch180Roll90</value>
<value code="32">Pitch180Roll270</value>
<value code="33">Pitch270Roll90</value>
<value code="34">Pitch270Roll180</value>
<value code="35">Pitch270Roll270</value>
<value code="36">Yaw90Pitch180Roll90</value>
<value code="37">Yaw270Roll90</value>
<value code="38">Yaw293Pitch68Roll180</value>
<value code="39">Pitch315</value>
<value code="40">Pitch315Roll90</value>
<value code="42">Roll45</value>
<value code="43">Roll315</value>
<value code="100">Custom 4.1 and older</value>
<value code="101">Custom 1</value>
<value code="102">Custom 2</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 most boards. 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" calibration="1">
<field name="Range">-400 400</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
<field name="Increment">1</field>
<field name="Calibration">1</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" calibration="1">
<field name="Range">-400 400</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
<field name="Increment">1</field>
<field name="Calibration">1</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="Units">mGauss</field>
<field name="UnitText">milligauss</field>
<field name="Increment">1</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" calibration="1">
<field name="Range">-1000 1000</field>
<field name="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
<field name="Increment">1</field>
<field name="Calibration">1</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" calibration="1">
<field name="Range">-1000 1000</field>
<field name="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
<field name="Increment">1</field>
<field name="Calibration">1</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="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
<field name="Increment">1</field>
</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" calibration="1">
<field name="Range">-400 400</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
<field name="Increment">1</field>
<field name="Calibration">1</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" calibration="1">
<field name="Range">-400 400</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
<field name="Increment">1</field>
<field name="Calibration">1</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="Units">mGauss</field>
<field name="UnitText">milligauss</field>
<field name="Increment">1</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" calibration="1">
<field name="Range">-1000 1000</field>
<field name="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
<field name="Increment">1</field>
<field name="Calibration">1</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" calibration="1">
<field name="Range">-1000 1000</field>
<field name="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
<field name="Increment">1</field>
<field name="Calibration">1</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="Units">mGauss/A</field>
<field name="UnitText">milligauss per ampere</field>
<field name="Increment">1</field>
</param>
<param humanName="Compass device id" name="COMPASS_DEV_ID" documentation="Compass device id. Automatically detected, do not set manually" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Compass2 device id" name="COMPASS_DEV_ID2" documentation="Second compass's device id. Automatically detected, do not set manually" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Compass3 device id" name="COMPASS_DEV_ID3" documentation="Third compass's device id. Automatically detected, do not set manually" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Compass2 used for yaw" name="COMPASS_USE2" documentation="Enable or disable the secondary 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. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles." 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">Yaw45Roll180</value>
<value code="10">Yaw90Roll180</value>
<value code="11">Yaw135Roll180</value>
<value code="12">Pitch180</value>
<value code="13">Yaw225Roll180</value>
<value code="14">Yaw270Roll180</value>
<value code="15">Yaw315Roll180</value>
<value code="16">Roll90</value>
<value code="17">Yaw45Roll90</value>
<value code="18">Yaw90Roll90</value>
<value code="19">Yaw135Roll90</value>
<value code="20">Roll270</value>
<value code="21">Yaw45Roll270</value>
<value code="22">Yaw90Roll270</value>
<value code="23">Yaw135Roll270</value>
<value code="24">Pitch90</value>
<value code="25">Pitch270</value>
<value code="26">Yaw90Pitch180</value>
<value code="27">Yaw270Pitch180</value>
<value code="28">Pitch90Roll90</value>
<value code="29">Pitch90Roll180</value>
<value code="30">Pitch90Roll270</value>
<value code="31">Pitch180Roll90</value>
<value code="32">Pitch180Roll270</value>
<value code="33">Pitch270Roll90</value>
<value code="34">Pitch270Roll180</value>
<value code="35">Pitch270Roll270</value>
<value code="36">Yaw90Pitch180Roll90</value>
<value code="37">Yaw270Roll90</value>
<value code="38">Yaw293Pitch68Roll180</value>
<value code="39">Pitch315</value>
<value code="40">Pitch315Roll90</value>
<value code="42">Roll45</value>
<value code="43">Roll315</value>
<value code="100">Custom 4.1 and older</value>
<value code="101">Custom 1</value>
<value code="102">Custom 2</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 most boards. 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 tertiary 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. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles." 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">Yaw45Roll180</value>
<value code="10">Yaw90Roll180</value>
<value code="11">Yaw135Roll180</value>
<value code="12">Pitch180</value>
<value code="13">Yaw225Roll180</value>
<value code="14">Yaw270Roll180</value>
<value code="15">Yaw315Roll180</value>
<value code="16">Roll90</value>
<value code="17">Yaw45Roll90</value>
<value code="18">Yaw90Roll90</value>
<value code="19">Yaw135Roll90</value>
<value code="20">Roll270</value>
<value code="21">Yaw45Roll270</value>
<value code="22">Yaw90Roll270</value>
<value code="23">Yaw135Roll270</value>
<value code="24">Pitch90</value>
<value code="25">Pitch270</value>
<value code="26">Yaw90Pitch180</value>
<value code="27">Yaw270Pitch180</value>
<value code="28">Pitch90Roll90</value>
<value code="29">Pitch90Roll180</value>
<value code="30">Pitch90Roll270</value>
<value code="31">Pitch180Roll90</value>
<value code="32">Pitch180Roll270</value>
<value code="33">Pitch270Roll90</value>
<value code="34">Pitch270Roll180</value>
<value code="35">Pitch270Roll270</value>
<value code="36">Yaw90Pitch180Roll90</value>
<value code="37">Yaw270Roll90</value>
<value code="38">Yaw293Pitch68Roll180</value>
<value code="39">Pitch315</value>
<value code="40">Pitch315Roll90</value>
<value code="42">Roll45</value>
<value code="43">Roll315</value>
<value code="100">Custom 4.1 and older</value>
<value code="101">Custom 1</value>
<value code="102">Custom 2</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 most boards. 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" calibration="1">
<field name="Calibration">1</field>
</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" calibration="1">
<field name="Calibration">1</field>
</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" calibration="1">
<field name="Calibration">1</field>
</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" calibration="1">
<field name="Calibration">1</field>
</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" calibration="1">
<field name="Calibration">1</field>
</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" calibration="1">
<field name="Calibration">1</field>
</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" calibration="1">
<field name="Calibration">1</field>
</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" calibration="1">
<field name="Calibration">1</field>
</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" calibration="1">
<field name="Calibration">1</field>
</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" calibration="1">
<field name="Calibration">1</field>
</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" calibration="1">
<field name="Calibration">1</field>
</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" calibration="1">
<field name="Calibration">1</field>
</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_DISBLMSK" 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:DroneCAN,12:QMC5883,14:MAG3110,15:IST8308,16:RM3100,17:MSP,18:ExternalAHRS</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="Units">%</field>
<field name="UnitText">percent</field>
<field name="Range">0 100</field>
<field name="Increment">1</field>
</param>
<param humanName="Automatically check orientation" name="COMPASS_AUTO_ROT" documentation="When enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected.">
<values>
<value code="0">Disabled</value>
<value code="1">CheckOnly</value>
<value code="2">CheckAndFix</value>
<value code="3">use same tolerance to auto rotate 45 deg rotations</value>
</values>
</param>
<param humanName="Compass device id with 1st order priority" name="COMPASS_PRIO1_ID" documentation="Compass device id with 1st order priority, set automatically if 0. Reboot required after change." user="Advanced">
<field name="RebootRequired">True</field>
</param>
<param humanName="Compass device id with 2nd order priority" name="COMPASS_PRIO2_ID" documentation="Compass device id with 2nd order priority, set automatically if 0. Reboot required after change." user="Advanced">
<field name="RebootRequired">True</field>
</param>
<param humanName="Compass device id with 3rd order priority" name="COMPASS_PRIO3_ID" documentation="Compass device id with 3rd order priority, set automatically if 0. Reboot required after change." user="Advanced">
<field name="RebootRequired">True</field>
</param>
<param humanName="Enable Compass" name="COMPASS_ENABLE" documentation="Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1." user="Standard">
<field name="RebootRequired">True</field>
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Compass1 scale factor" name="COMPASS_SCALE" documentation="Scaling factor for first compass to compensate for sensor scaling errors. If this is 0 then no scaling is done" user="Standard">
<field name="Range">0 1.3</field>
</param>
<param humanName="Compass2 scale factor" name="COMPASS_SCALE2" documentation="Scaling factor for 2nd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done" user="Standard">
<field name="Range">0 1.3</field>
</param>
<param humanName="Compass3 scale factor" name="COMPASS_SCALE3" documentation="Scaling factor for 3rd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done" user="Standard">
<field name="Range">0 1.3</field>
</param>
<param humanName="Compass options" name="COMPASS_OPTIONS" documentation="This sets options to change the behaviour of the compass" user="Advanced">
<field name="Bitmask">0:CalRequireGPS, 1: Allow missing DroneCAN compasses to be automaticaly replaced (calibration still required)</field>
</param>
<param humanName="Compass4 device id" name="COMPASS_DEV_ID4" documentation="Extra 4th compass's device id. Automatically detected, do not set manually" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Compass5 device id" name="COMPASS_DEV_ID5" documentation="Extra 5th compass's device id. Automatically detected, do not set manually" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Compass6 device id" name="COMPASS_DEV_ID6" documentation="Extra 6th compass's device id. Automatically detected, do not set manually" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Compass7 device id" name="COMPASS_DEV_ID7" documentation="Extra 7th compass's device id. Automatically detected, do not set manually" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Compass8 device id" name="COMPASS_DEV_ID8" documentation="Extra 8th compass's device id. Automatically detected, do not set manually" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Custom orientation roll offset" name="COMPASS_CUS_ROLL" documentation="Compass mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM." user="Advanced">
<field name="Range">-180 180</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Custom orientation pitch offset" name="COMPASS_CUS_PIT" documentation="Compass mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM." user="Advanced">
<field name="Range">-180 180</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Custom orientation yaw offset" name="COMPASS_CUS_YAW" documentation="Compass mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM." user="Advanced">
<field name="Range">-180 180</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</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="CUST_ROT">
<param humanName="Enable Custom rotations" name="CUST_ROT_ENABLE" documentation="This enables custom rotations" user="Standard">
<values>
<value code="0">Disable</value>
<value code="1">Enable</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="CUST_ROT1_">
<param humanName="Custom roll" name="CUST_ROT1_ROLL" documentation="Custom euler roll, euler 321 (yaw, pitch, roll) ordering">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Custom pitch" name="CUST_ROT1_PITCH" documentation="Custom euler pitch, euler 321 (yaw, pitch, roll) ordering">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Custom yaw" name="CUST_ROT1_YAW" documentation="Custom euler yaw, euler 321 (yaw, pitch, roll) ordering">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="CUST_ROT2_">
<param humanName="Custom roll" name="CUST_ROT2_ROLL" documentation="Custom euler roll, euler 321 (yaw, pitch, roll) ordering">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Custom pitch" name="CUST_ROT2_PITCH" documentation="Custom euler pitch, euler 321 (yaw, pitch, roll) ordering">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Custom yaw" name="CUST_ROT2_YAW" documentation="Custom euler yaw, euler 321 (yaw, pitch, roll) ordering">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="DDS">
<param humanName="DDS enable" name="DDS_ENABLE" documentation="Enable DDS subsystem" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="DDS UDP port" name="DDS_UDP_PORT" documentation="UDP port number for DDS" user="Standard">
<field name="Range">1 65535</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="DDS_IP">
<param humanName="IPv4 Address 1st byte" name="DDS_IP0" documentation="IPv4 address. Example: 192.xxx.xxx.xxx">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="IPv4 Address 2nd byte" name="DDS_IP1" documentation="IPv4 address. Example: xxx.168.xxx.xxx">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="IPv4 Address 3rd byte" name="DDS_IP2" documentation="IPv4 address. Example: xxx.xxx.13.xxx">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="IPv4 Address 4th byte" name="DDS_IP3" documentation="IPv4 address. Example: xxx.xxx.xxx.14">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="DID_">
<param humanName="Enable ODID subsystem" name="DID_ENABLE" documentation="Enable ODID subsystem">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="MAVLink serial port" name="DID_MAVPORT" documentation="Serial port number to send OpenDroneID MAVLink messages to. Can be -1 if using DroneCAN.">
<values>
<value code="-1">Disabled</value>
<value code="0">Serial0</value>
<value code="1">Serial1</value>
<value code="2">Serial2</value>
<value code="3">Serial3</value>
<value code="4">Serial4</value>
<value code="5">Serial5</value>
<value code="6">Serial6</value>
</values>
</param>
<param humanName="DroneCAN driver number" name="DID_CANDRIVER" documentation="DroneCAN driver index, 0 to disable DroneCAN">
<values>
<value code="0">Disabled</value>
<value code="1">Driver1</value>
<value code="2">Driver2</value>
</values>
</param>
<param humanName="OpenDroneID options" name="DID_OPTIONS" documentation="Options for OpenDroneID subsystem">
<field name="Bitmask">0:EnforceArming, 1:AllowNonGPSPosition, 2:LockUASIDOnFirstBasicIDRx</field>
</param>
<param humanName="Barometer vertical accuraacy" name="DID_BARO_ACC" documentation="Barometer Vertical Accuracy when installed in the vehicle. Note this is dependent upon installation conditions and thus disabled by default" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
</parameters>
<parameters name="EAHRS">
<param humanName="AHRS type" name="EAHRS_TYPE" documentation="Type of AHRS device" user="Standard">
<values>
<value code="0">None</value>
<value code="1">VectorNav</value>
<value code="2">MicroStrain5</value>
<value code="5">InertialLabs</value>
<value code="7">MicroStrain7</value>
</values>
</param>
<param humanName="AHRS data rate" name="EAHRS_RATE" documentation="Requested rate for AHRS device" user="Standard">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="External AHRS options" name="EAHRS_OPTIONS" documentation="External AHRS options bitmask" user="Standard">
<field name="Bitmask">0:Vector Nav use uncompensated values for accel gyro and mag.</field>
</param>
<param humanName="External AHRS sensors" name="EAHRS_SENSORS" documentation="External AHRS sensors bitmask" user="Advanced">
<field name="Bitmask">0:GPS,1:IMU,2:Baro,3:Compass</field>
</param>
<param humanName="AHRS logging rate" name="EAHRS_LOG_RATE" documentation="Logging rate for EARHS devices" user="Standard">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
</parameters>
<parameters name="EFI">
<param humanName="EFI communication type" name="EFI_TYPE" documentation="What method of communication is used for EFI #1" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Serial-MS</value>
<value code="2">NWPMU</value>
<value code="3">Serial-Lutan</value>
<value code="5">DroneCAN</value>
<value code="6">Currawong-ECU</value>
<value code="7">Scripting</value>
<value code="8">Hirth</value>
<value code="9">MAV</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="EFI Calibration Coefficient 1" name="EFI_COEF1" documentation="Used to calibrate fuel flow for MS protocol (Slope). This should be calculated from a log at constant fuel usage rate. Plot (ECYL[0].InjT*EFI.Rpm)/600.0 to get the duty_cycle. Measure actual fuel usage in cm^3/min, and set EFI_COEF1 = fuel_usage_cm3permin / duty_cycle" user="Advanced">
<field name="Range">0 1</field>
</param>
<param humanName="EFI Calibration Coefficient 2" name="EFI_COEF2" documentation="Used to calibrate fuel flow for MS protocol (Offset). This can be used to correct for a non-zero offset in the fuel consumption calculation of EFI_COEF1" user="Advanced">
<field name="Range">0 10</field>
</param>
<param humanName="ECU Fuel Density" name="EFI_FUEL_DENS" documentation="Used to calculate fuel consumption" user="Advanced">
<field name="Units">kg/m/m/m</field>
<field name="UnitText">kilograms per cubic meter</field>
<field name="Range">0 10000</field>
</param>
</parameters>
<parameters name="EFI_THRLIN">
<param humanName="Enable throttle linearisation" name="EFI_THRLIN_EN" documentation="Enable EFI throttle linearisation" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Throttle linearisation - First Order" name="EFI_THRLIN_COEF1" documentation="First Order Polynomial Coefficient. (=1, if throttle is first order polynomial trendline)" user="Advanced">
<field name="Range">-1 1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Throttle linearisation - Second Order" name="EFI_THRLIN_COEF2" documentation="Second Order Polynomial Coefficient (=0, if throttle is second order polynomial trendline)" user="Advanced">
<field name="Range">-1 1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Throttle linearisation - Third Order" name="EFI_THRLIN_COEF3" documentation="Third Order Polynomial Coefficient. (=0, if throttle is third order polynomial trendline)" user="Advanced">
<field name="Range">-1 1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="throttle linearization offset" name="EFI_THRLIN_OFS" documentation="Offset for throttle linearization " user="Advanced">
<field name="Range">0 100</field>
<field name="RebootRequired">True</field>
</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 & 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 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 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="Primary altitude sensor source" name="EK2_ALT_SOURCE" documentation="Primary height sensor used by the EKF. If a sensor other than Baro is selected and becomes unavailable, then the Baro sensor will be used as a fallback. NOTE: The EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground in conjunction with EK2_ALT_SOURCE = 0 or 2 (Baro or GPS)." 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, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer. 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: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 with COMPASS_ENABLE set to 1. If this is done, the EK2_GSF_RUN and EK2_GSF_USE masks must be set to the same as EK2_IMU_MASK." 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 0.005</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="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="Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). This will not work unless Baro or GPS height is selected as the primary height source vis EK2_ALT_SOURCE = 0 or 2 respectively. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point." 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 assumed when it is fusing range finder or optical flow to estimate terrain height." 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>
<param humanName="Optical flow use bitmask" name="EK2_FLOW_USE" documentation="Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator." user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Navigation</value>
<value code="2">Terrain</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="EarthField error limit" name="EK2_MAG_EF_LIM" documentation="This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables." user="Advanced">
<field name="Range">0 500</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
</param>
<param humanName="Height rate filter crossover frequency" name="EK2_HRT_FILT" documentation="Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.">
<field name="Range">0.1 30.0</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Bitmask of which EKF-GSF yaw estimators run" name="EK2_GSF_RUN_MASK" documentation="A bitmask of which EKF2 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK2_GSF_USE_MASK and EK2_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK2_GSF_USE_MASK to 0. " 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 of which EKF-GSF yaw estimators are used" name="EK2_GSF_USE_MASK" documentation="1 byte bitmap of which EKF2 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK2_GSF_RUN_MASK parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF2 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF2 instance." 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="Maximum number of resets to the EKF-GSF yaw estimate allowed" name="EK2_GSF_RST_MAX" documentation="Sets the maximum number of times the EKF2 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE_MASK parameter." user="Advanced">
<field name="Range">1 10</field>
<field name="Increment">1</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 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 will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD set to 0 the velocity innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_VEL_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors." 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. If EK3_GLITCH_RAD has been set to 0 the horizontal position innovations will be clipped instead of rejected if they exceed the gate size so a smaller value of EK3_POS_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors." 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. If EK3_GLITCH_RAD set to 0 the GPS innovations will be clipped instead of rejected if they exceed the gate size set by EK3_VEL_I_GATE and EK3_POS_I_GATE which can be useful if poor quality sensor data is causing GPS rejection and loss of navigation but does make the EKF more susceptible to GPS glitches. If setting EK3_GLITCH_RAD to 0 it is recommended to reduce EK3_VEL_I_GATE and EK3_POS_I_GATE to 300." 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="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. A larger value for EK3_ALT_M_NSE may be required when operating with EK3_SRCx_POSZ = 0. This parameter also sets the noise for the 'synthetic' zero height measurement that is used when EK3_SRCx_POSZ = 0." user="Advanced">
<field name="Range">0.1 100.0</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. If EK3_GLITCH_RAD set to 0 the vertical position innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_HGT_I_GATE not exceeding 300 is recommended to limit the effect of height sensor transient errors." 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. EK3_MAG_CAL = 5 uses an external yaw sensor with simple heading fusion. 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. EK3_MAG_CAL = 6 uses an external yaw sensor with fallback to compass when the external sensor is not available if we are flying. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 and setting COMPASS_ENABLE to 0. If this is done, the EK3_GSF_RUN and EK3_GSF_USE masks must be set to the same as EK3_IMU_MASK. A yaw angle derived from IMU and GPS velocity data using a Gaussian Sum Filter (GSF) will then be used to align the yaw when flight commences and there is sufficient movement." 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>
<value code="5">Use external yaw sensor (Deprecated in 4.1+ see EK3_SRCn_YAW)</value>
<value code="6">External yaw sensor with compass fallback (Deprecated in 4.1+ see EK3_SRCn_YAW)</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 0.02</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 2.0</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 2.0</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="Bitmask controlling sidelip angle fusion" name="EK3_BETA_MASK" documentation="1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of 'fly forward' vehicle types such as fixed wing planes. By assuming that the angle of sideslip is small, the wind velocity state estimates are corrected whenever the EKF is not dead reckoning (e.g. has an independent velocity or position sensor such as GPS). This behaviour is on by default and cannot be disabled. When the EKF is dead reckoning, the wind states are used as a reference, enabling use of the small angle of sideslip assumption to correct non wind velocity states (eg attitude, velocity, position, etc) and improve navigation accuracy. This behaviour is on by default and cannot be disabled. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor (e.g. magnetometer or dual antenna GPS yaw) provided aerobatic flight maneuvers with large sideslip angles are not performed. The 'always' option might be used where the yaw sensor is intentionally not fitted or disabled. The 'WhenNoYawSensor' option might be used if a yaw sensor is fitted, but protection against in-flight failure and continual rejection by the EKF is desired. For vehicles operated within visual range of the operator performing frequent turning maneuvers, setting this parameter is unnecessary." user="Advanced">
<field name="Bitmask">0:Always,1:WhenNoYawSensor</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="Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFNDx_MAX_CM) and the primary height source is Baro or GPS (see EK3_SRCx_POSZ). This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point." 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>
<param humanName="Optical flow use bitmask" name="EK3_FLOW_USE" documentation="Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator." user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Navigation</value>
<value code="2">Terrain</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Height rate filter crossover frequency" name="EK3_HRT_FILT" documentation="Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.">
<field name="Range">0.1 30.0</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="EarthField error limit" name="EK3_MAG_EF_LIM" documentation="This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables." user="Advanced">
<field name="Range">0 500</field>
<field name="Units">mGauss</field>
<field name="UnitText">milligauss</field>
</param>
<param humanName="Bitmask of which EKF-GSF yaw estimators run" name="EK3_GSF_RUN_MASK" documentation="1 byte bitmap of which EKF3 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF3 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK3_GSF_USE_MASK and EK3_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK3_GSF_USE to 0. " 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 of which EKF-GSF yaw estimators are used" name="EK3_GSF_USE_MASK" documentation="A bitmask of which EKF3 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK3_GSF_RUN_MASK parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF3 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF3 instance." 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="Maximum number of resets to the EKF-GSF yaw estimate allowed" name="EK3_GSF_RST_MAX" documentation="Sets the maximum number of times the EKF3 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE_MASK parameter." user="Advanced">
<field name="Range">1 10</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="EKF3 Lane Relative Error Sensitivity Threshold" name="EK3_ERR_THRESH" documentation="lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError, lowering this makes lane switching more sensitive to smaller error differences" user="Advanced">
<field name="Range">0.05 1</field>
<field name="Increment">0.05</field>
</param>
<param humanName="EKF3 Sensor Affinity Options" name="EK3_AFFINITY" documentation="These options control the affinity between sensor instances and EKF cores" user="Advanced">
<field name="Bitmask">0:EnableGPSAffinity,1:EnableBaroAffinity,2:EnableCompassAffinity,3:EnableAirspeedAffinity</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Ballistic coefficient for X axis drag" name="EK3_DRAG_BCOEF_X" documentation="Ratio of mass to drag coefficient measured along the X body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the frontal area. The predicted drag from the rotors is specified separately by the EK3_DRAG_MCOEF parameter." user="Advanced">
<field name="Range">0.0 1000.0</field>
<field name="Units">kg/m/m</field>
<field name="UnitText">kilograms per square meter</field>
</param>
<param humanName="Ballistic coefficient for Y axis drag" name="EK3_DRAG_BCOEF_Y" documentation="Ratio of mass to drag coefficient measured along the Y body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the side area. The predicted drag from the rotors is specified separately by the EK3_DRAG_MCOEF parameter." user="Advanced">
<field name="Range">50.0 1000.0</field>
<field name="Units">kg/m/m</field>
<field name="UnitText">kilograms per square meter</field>
</param>
<param humanName="Observation noise for drag acceleration" name="EK3_DRAG_M_NSE" documentation="This sets the amount of noise used when fusing X and Y acceleration as an observation that enables esitmation of wind velocity for multi-rotor vehicles. This feature is enabled by the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters" user="Advanced">
<field name="Range">0.1 2.0</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="Momentum coefficient for propeller drag" name="EK3_DRAG_MCOEF" documentation="This parameter is used to predict the drag produced by the rotors when flying a multi-copter, enabling estimation of wind drift. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers. It is higher for ducted rotors. For example if flying at 15 m/s at sea level conditions produces a rotor induced drag acceleration of 1.5 m/s/s, then EK3_DRAG_MCOEF would be set to 0.1 = (1.5/15.0). Set EK3_MCOEF to a postive value to enable wind estimation using this drag effect. To account for the drag produced by the body which scales with speed squared, see documentation for the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters." user="Advanced">
<field name="Range">0.0 1.0</field>
<field name="Increment">0.01</field>
<field name="Units">1/s</field>
<field name="UnitText">per second</field>
</param>
<param humanName="On ground not moving test scale factor" name="EK3_OGNM_TEST_SF" documentation="This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor. Bigger values allow the detection of a not moving condition with noiser IMU data. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM_TEST_SF to be slightly higher than the maximum value of the XKFM.ADR, XKFM.ALR, XKFM.GDR and XKFM.GLR test levels." user="Advanced">
<field name="Range">1.0 10.0</field>
<field name="Increment">0.5</field>
</param>
<param humanName="Baro height ground effect dead zone" name="EK3_GND_EFF_DZ" documentation="This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when taking off or landing when a vehicle with lift rotors is operating in ground effect ground effect. Set to about 0.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up. Set to 0 if no ground effect is present." user="Advanced">
<field name="Range">0.0 10.0</field>
<field name="Increment">0.5</field>
</param>
<param humanName="Primary core number" name="EK3_PRIMARY" documentation="The core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK." user="Advanced">
<field name="Range">0 2</field>
<field name="Increment">1</field>
</param>
<param humanName="Logging Level" name="EK3_LOG_LEVEL" documentation="Determines how verbose the EKF3 streaming logging is. A value of 0 provides full logging(default), a value of 1 only XKF4 scaled innovations are logged, a value of 2 both XKF4 and GSF are logged, and a value of 3 disables all streaming logging of EKF3." user="Advanced">
<field name="Range">0 3</field>
<field name="Increment">1</field>
</param>
<param humanName="GPS vertical accuracy threshold" name="EK3_GPS_VACC_MAX" documentation="Vertical accuracy threshold for GPS as the altitude source. The GPS will not be used as an altitude source if the reported vertical accuracy of the GPS is larger than this threshold, falling back to baro instead. Set to zero to deactivate the threshold check." user="Advanced">
<field name="Range">0.0 10.0</field>
<field name="Increment">0.1</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
</parameters>
<parameters name="EK3_SRC">
<param humanName="Position Horizontal Source (Primary)" name="EK3_SRC1_POSXY" documentation="Position Horizontal Source (Primary)" user="Advanced">
<values>
<value code="0">None</value>
<value code="3">GPS</value>
<value code="4">Beacon</value>
<value code="6">ExternalNav</value>
</values>
</param>
<param humanName="Velocity Horizontal Source" name="EK3_SRC1_VELXY" documentation="Velocity Horizontal Source" user="Advanced">
<values>
<value code="0">None</value>
<value code="3">GPS</value>
<value code="4">Beacon</value>
<value code="5">OpticalFlow</value>
<value code="6">ExternalNav</value>
<value code="7">WheelEncoder</value>
</values>
</param>
<param humanName="Position Vertical Source" name="EK3_SRC1_POSZ" documentation="Position Vertical Source" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Baro</value>
<value code="2">RangeFinder</value>
<value code="3">GPS</value>
<value code="4">Beacon</value>
<value code="6">ExternalNav</value>
</values>
</param>
<param humanName="Velocity Vertical Source" name="EK3_SRC1_VELZ" documentation="Velocity Vertical Source" user="Advanced">
<values>
<value code="0">None</value>
<value code="3">GPS</value>
<value code="4">Beacon</value>
<value code="6">ExternalNav</value>
</values>
</param>
<param humanName="Yaw Source" name="EK3_SRC1_YAW" documentation="Yaw Source" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Compass</value>
<value code="2">GPS</value>
<value code="3">GPS with Compass Fallback</value>
<value code="6">ExternalNav</value>
<value code="8">GSF</value>
</values>
</param>
<param humanName="Position Horizontal Source (Secondary)" name="EK3_SRC2_POSXY" documentation="Position Horizontal Source (Secondary)" user="Advanced">
<values>
<value code="0">None</value>
<value code="3">GPS</value>
<value code="4">Beacon</value>
<value code="6">ExternalNav</value>
</values>
</param>
<param humanName="Velocity Horizontal Source (Secondary)" name="EK3_SRC2_VELXY" documentation="Velocity Horizontal Source (Secondary)" user="Advanced">
<values>
<value code="0">None</value>
<value code="3">GPS</value>
<value code="4">Beacon</value>
<value code="5">OpticalFlow</value>
<value code="6">ExternalNav</value>
<value code="7">WheelEncoder</value>
</values>
</param>
<param humanName="Position Vertical Source (Secondary)" name="EK3_SRC2_POSZ" documentation="Position Vertical Source (Secondary)" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Baro</value>
<value code="2">RangeFinder</value>
<value code="3">GPS</value>
<value code="4">Beacon</value>
<value code="6">ExternalNav</value>
</values>
</param>
<param humanName="Velocity Vertical Source (Secondary)" name="EK3_SRC2_VELZ" documentation="Velocity Vertical Source (Secondary)" user="Advanced">
<values>
<value code="0">None</value>
<value code="3">GPS</value>
<value code="4">Beacon</value>
<value code="6">ExternalNav</value>
</values>
</param>
<param humanName="Yaw Source (Secondary)" name="EK3_SRC2_YAW" documentation="Yaw Source (Secondary)" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Compass</value>
<value code="2">GPS</value>
<value code="3">GPS with Compass Fallback</value>
<value code="6">ExternalNav</value>
<value code="8">GSF</value>
</values>
</param>
<param humanName="Position Horizontal Source (Tertiary)" name="EK3_SRC3_POSXY" documentation="Position Horizontal Source (Tertiary)" user="Advanced">
<values>
<value code="0">None</value>
<value code="3">GPS</value>
<value code="4">Beacon</value>
<value code="6">ExternalNav</value>
</values>
</param>
<param humanName="Velocity Horizontal Source (Tertiary)" name="EK3_SRC3_VELXY" documentation="Velocity Horizontal Source (Tertiary)" user="Advanced">
<values>
<value code="0">None</value>
<value code="3">GPS</value>
<value code="4">Beacon</value>
<value code="5">OpticalFlow</value>
<value code="6">ExternalNav</value>
<value code="7">WheelEncoder</value>
</values>
</param>
<param humanName="Position Vertical Source (Tertiary)" name="EK3_SRC3_POSZ" documentation="Position Vertical Source (Tertiary)" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Baro</value>
<value code="2">RangeFinder</value>
<value code="3">GPS</value>
<value code="4">Beacon</value>
<value code="6">ExternalNav</value>
</values>
</param>
<param humanName="Velocity Vertical Source (Tertiary)" name="EK3_SRC3_VELZ" documentation="Velocity Vertical Source (Tertiary)" user="Advanced">
<values>
<value code="0">None</value>
<value code="3">GPS</value>
<value code="4">Beacon</value>
<value code="6">ExternalNav</value>
</values>
</param>
<param humanName="Yaw Source (Tertiary)" name="EK3_SRC3_YAW" documentation="Yaw Source (Tertiary)" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Compass</value>
<value code="2">GPS</value>
<value code="3">GPS with Compass Fallback</value>
<value code="6">ExternalNav</value>
<value code="8">GSF</value>
</values>
</param>
<param humanName="EKF Source Options" name="EK3_SRC_OPTIONS" documentation="EKF Source Options" user="Advanced">
<field name="Bitmask">0:FuseAllVelocities</field>
</param>
</parameters>
<parameters name="ESC_TLM">
<param humanName="ESC Telemetry mavlink offset" name="ESC_TLM_MAV_OFS" documentation="Offset to apply to ESC numbers when reporting as ESC_TELEMETRY packets over MAVLink. This allows high numbered motors to be displayed as low numbered ESCs for convenience on GCS displays. A value of 4 would send ESC on output 5 as ESC number 1 in ESC_TELEMETRY packets" user="Standard">
<field name="Increment">1</field>
<field name="Range">0 31</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:Max altitude,1:Circle Centered on Home,2:Inclusion/Exclusion Circles+Polygons,3:Min altitude</field>
</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>
<value code="2">Always Land</value>
<value code="3">SmartRTL or RTL or Land</value>
<value code="4">Brake or Land</value>
<value code="5">SmartRTL 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="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">10 1000</field>
<field name="Increment">1</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="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">30 10000</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="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">1 10</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="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">-100 100</field>
<field name="Increment">1</field>
</param>
</parameters>
<parameters name="FFT_">
<param humanName="Enable" name="FFT_ENABLE" documentation="Enable Gyro FFT analyser" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Minimum Frequency" name="FFT_MINHZ" documentation="Lower bound of FFT frequency detection in Hz. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles." user="Advanced">
<field name="Range">20 400</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Maximum Frequency" name="FFT_MAXHZ" documentation="Upper bound of FFT frequency detection in Hz. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles." user="Advanced">
<field name="Range">20 495</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Sample Mode" name="FFT_SAMPLE_MODE" documentation="Sampling mode (and therefore rate). 0: Gyro rate sampling, 1: Fast loop rate sampling, 2: Fast loop rate / 2 sampling, 3: Fast loop rate / 3 sampling. Takes effect on reboot." user="Advanced">
<field name="Range">0 4</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="FFT window size" name="FFT_WINDOW_SIZE" documentation="Size of window to be used in FFT calculations. Takes effect on reboot. Must be a power of 2 and between 32 and 512. Larger windows give greater frequency resolution but poorer time resolution, consume more CPU time and may not be appropriate for all vehicles. Time and frequency resolution are given by the sample-rate / window-size. Windows of 256 are only really recommended for F7 class boards, windows of 512 or more H7 class." user="Advanced">
<field name="Range">32 1024</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="FFT window overlap" name="FFT_WINDOW_OLAP" documentation="Percentage of window to be overlapped before another frame is process. Takes effect on reboot. A good default is 50% overlap. Higher overlap results in more processed frames but not necessarily more temporal resolution. Lower overlap results in lost information at the frame edges." user="Advanced">
<field name="Range">0 0.9</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="FFT learned hover frequency" name="FFT_FREQ_HOVER" documentation="The learned hover noise frequency" user="Advanced">
<field name="Range">0 250</field>
</param>
<param humanName="FFT learned thrust reference" name="FFT_THR_REF" documentation="FFT learned thrust reference for the hover frequency and FFT minimum frequency." user="Advanced">
<field name="Range">0.01 0.9</field>
</param>
<param humanName="FFT SNR reference threshold" name="FFT_SNR_REF" documentation="FFT SNR reference threshold in dB at which a signal is determined to be present." user="Advanced">
<field name="Range">0.0 100.0</field>
</param>
<param humanName="FFT attenuation for bandwidth calculation" name="FFT_ATT_REF" documentation="FFT attenuation level in dB for bandwidth calculation and peak detection. The bandwidth is calculated by comparing peak power output with the attenuated version. The default of 15 has shown to be a good compromise in both simulations and real flight." user="Advanced">
<field name="Range">0 100</field>
</param>
<param humanName="FFT learned bandwidth at hover" name="FFT_BW_HOVER" documentation="FFT learned bandwidth at hover for the attenuation frequencies." user="Advanced">
<field name="Range">0 200</field>
</param>
<param humanName="FFT harmonic fit frequency threshold" name="FFT_HMNC_FIT" documentation="FFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch. A value of zero completely disables harmonic matching." user="Advanced">
<field name="Range">0 100</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="FFT harmonic peak target" name="FFT_HMNC_PEAK" documentation="The FFT harmonic peak target that should be returned by FTN1.PkAvg. The resulting value will be used by the harmonic notch if configured to track the FFT frequency. By default the appropriate peak is auto-detected based on the harmonic fit between peaks and the energy-weighted average frequency on roll on pitch is used. Setting this to 1 will always target the highest energy peak. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used (some vehicles have a much more pronounced peak on roll). Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used (some vehicles have a much more pronounced peak on roll)." user="Advanced">
<values>
<value code="0">Auto</value>
<value code="1">Center Frequency</value>
<value code="2">Lower-Shoulder Frequency</value>
<value code="3">Upper-Shoulder Frequency</value>
<value code="4">Roll-Axis</value>
<value code="5">Pitch-Axis</value>
</values>
</param>
<param humanName="FFT output frames to retain and average" name="FFT_NUM_FRAMES" documentation="Number of output frequency frames to retain and average in order to calculate final frequencies. Averaging output frames can drastically reduce noise and jitter at the cost of latency as long as the input is stable. The default is to perform no averaging. For rapidly changing frequencies (e.g. smaller aircraft) fewer frames should be averaged." user="Advanced">
<field name="Range">0 8</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="FFT options" name="FFT_OPTIONS" documentation="FFT configuration options. Values: 1:Apply the FFT *after* the filter bank,2:Check noise at the motor frequencies using ESC data as a reference" user="Advanced">
<field name="Bitmask">0:Enable post-filter FFT,1:Check motor noise</field>
<field name="RebootRequired">True</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 filter on input to control" name="FHLD_XY_FILT_HZ" documentation="FlowHold (horizontal) filter on input to control" user="Advanced">
<field name="Range">0 100</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</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="FILT1_">
<param humanName="Filter Type" name="FILT1_TYPE" documentation="Filter Type" user="Standard">
<values>
<value code="0">Disable</value>
<value code="1">Notch Filter</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Notch Filter center frequency" name="FILT1_NOTCH_FREQ" documentation="Notch Filter center frequency in Hz." user="Advanced">
<field name="Range">10 495</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Notch Filter quality factor" name="FILT1_NOTCH_Q" documentation="Notch Filter quality factor given by the notch centre frequency divided by its bandwidth." user="Advanced">
<field name="Range">1 10</field>
</param>
<param humanName="Notch Filter attenuation" name="FILT1_NOTCH_ATT" documentation="Notch Filter attenuation in dB." user="Advanced">
<field name="Range">5 50</field>
<field name="Units">dB</field>
<field name="UnitText">decibel</field>
</param>
</parameters>
<parameters name="FILT2_">
<param humanName="Filter Type" name="FILT2_TYPE" documentation="Filter Type" user="Standard">
<values>
<value code="0">Disable</value>
<value code="1">Notch Filter</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Notch Filter center frequency" name="FILT2_NOTCH_FREQ" documentation="Notch Filter center frequency in Hz." user="Advanced">
<field name="Range">10 495</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Notch Filter quality factor" name="FILT2_NOTCH_Q" documentation="Notch Filter quality factor given by the notch centre frequency divided by its bandwidth." user="Advanced">
<field name="Range">1 10</field>
</param>
<param humanName="Notch Filter attenuation" name="FILT2_NOTCH_ATT" documentation="Notch Filter attenuation in dB." user="Advanced">
<field name="Range">5 50</field>
<field name="Units">dB</field>
<field name="UnitText">decibel</field>
</param>
</parameters>
<parameters name="FILT3_">
<param humanName="Filter Type" name="FILT3_TYPE" documentation="Filter Type" user="Standard">
<values>
<value code="0">Disable</value>
<value code="1">Notch Filter</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Notch Filter center frequency" name="FILT3_NOTCH_FREQ" documentation="Notch Filter center frequency in Hz." user="Advanced">
<field name="Range">10 495</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Notch Filter quality factor" name="FILT3_NOTCH_Q" documentation="Notch Filter quality factor given by the notch centre frequency divided by its bandwidth." user="Advanced">
<field name="Range">1 10</field>
</param>
<param humanName="Notch Filter attenuation" name="FILT3_NOTCH_ATT" documentation="Notch Filter attenuation in dB." user="Advanced">
<field name="Range">5 50</field>
<field name="Units">dB</field>
<field name="UnitText">decibel</field>
</param>
</parameters>
<parameters name="FILT4_">
<param humanName="Filter Type" name="FILT4_TYPE" documentation="Filter Type" user="Standard">
<values>
<value code="0">Disable</value>
<value code="1">Notch Filter</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Notch Filter center frequency" name="FILT4_NOTCH_FREQ" documentation="Notch Filter center frequency in Hz." user="Advanced">
<field name="Range">10 495</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Notch Filter quality factor" name="FILT4_NOTCH_Q" documentation="Notch Filter quality factor given by the notch centre frequency divided by its bandwidth." user="Advanced">
<field name="Range">1 10</field>
</param>
<param humanName="Notch Filter attenuation" name="FILT4_NOTCH_ATT" documentation="Notch Filter attenuation in dB." user="Advanced">
<field name="Range">5 50</field>
<field name="Units">dB</field>
<field name="UnitText">decibel</field>
</param>
</parameters>
<parameters name="FILT5_">
<param humanName="Filter Type" name="FILT5_TYPE" documentation="Filter Type" user="Standard">
<values>
<value code="0">Disable</value>
<value code="1">Notch Filter</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Notch Filter center frequency" name="FILT5_NOTCH_FREQ" documentation="Notch Filter center frequency in Hz." user="Advanced">
<field name="Range">10 495</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Notch Filter quality factor" name="FILT5_NOTCH_Q" documentation="Notch Filter quality factor given by the notch centre frequency divided by its bandwidth." user="Advanced">
<field name="Range">1 10</field>
</param>
<param humanName="Notch Filter attenuation" name="FILT5_NOTCH_ATT" documentation="Notch Filter attenuation in dB." user="Advanced">
<field name="Range">5 50</field>
<field name="Units">dB</field>
<field name="UnitText">decibel</field>
</param>
</parameters>
<parameters name="FILT6_">
<param humanName="Filter Type" name="FILT6_TYPE" documentation="Filter Type" user="Standard">
<values>
<value code="0">Disable</value>
<value code="1">Notch Filter</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Notch Filter center frequency" name="FILT6_NOTCH_FREQ" documentation="Notch Filter center frequency in Hz." user="Advanced">
<field name="Range">10 495</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Notch Filter quality factor" name="FILT6_NOTCH_Q" documentation="Notch Filter quality factor given by the notch centre frequency divided by its bandwidth." user="Advanced">
<field name="Range">1 10</field>
</param>
<param humanName="Notch Filter attenuation" name="FILT6_NOTCH_ATT" documentation="Notch Filter attenuation in dB." user="Advanced">
<field name="Range">5 50</field>
<field name="Units">dB</field>
<field name="UnitText">decibel</field>
</param>
</parameters>
<parameters name="FILT7_">
<param humanName="Filter Type" name="FILT7_TYPE" documentation="Filter Type" user="Standard">
<values>
<value code="0">Disable</value>
<value code="1">Notch Filter</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Notch Filter center frequency" name="FILT7_NOTCH_FREQ" documentation="Notch Filter center frequency in Hz." user="Advanced">
<field name="Range">10 495</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Notch Filter quality factor" name="FILT7_NOTCH_Q" documentation="Notch Filter quality factor given by the notch centre frequency divided by its bandwidth." user="Advanced">
<field name="Range">1 10</field>
</param>
<param humanName="Notch Filter attenuation" name="FILT7_NOTCH_ATT" documentation="Notch Filter attenuation in dB." user="Advanced">
<field name="Range">5 50</field>
<field name="Units">dB</field>
<field name="UnitText">decibel</field>
</param>
</parameters>
<parameters name="FILT8_">
<param humanName="Filter Type" name="FILT8_TYPE" documentation="Filter Type" user="Standard">
<values>
<value code="0">Disable</value>
<value code="1">Notch Filter</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Notch Filter center frequency" name="FILT8_NOTCH_FREQ" documentation="Notch Filter center frequency in Hz." user="Advanced">
<field name="Range">10 495</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Notch Filter quality factor" name="FILT8_NOTCH_Q" documentation="Notch Filter quality factor given by the notch centre frequency divided by its bandwidth." user="Advanced">
<field name="Range">1 10</field>
</param>
<param humanName="Notch Filter attenuation" name="FILT8_NOTCH_ATT" documentation="Notch Filter attenuation in dB." user="Advanced">
<field name="Range">5 50</field>
<field name="Units">dB</field>
<field name="UnitText">decibel</field>
</param>
</parameters>
<parameters name="FLOW">
<param humanName="Optical flow sensor type" name="FLOW_TYPE" documentation="Optical flow sensor type" user="Standard">
<values>
<value code="0">None</value>
<value code="1">PX4Flow</value>
<value code="2">Pixart</value>
<value code="3">Bebop</value>
<value code="4">CXOF</value>
<value code="5">MAVLink</value>
<value code="6">DroneCAN</value>
<value code="7">MSP</value>
<value code="8">UPFLOW</value>
</values>
<field name="RebootRequired">True</field>
</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">-800 +800</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">-800 +800</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="Units">cdeg</field>
<field name="UnitText">centidegrees</field>
<field name="Range">-17999 +18000</field>
<field name="Increment">10</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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</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>
<param humanName="Height override of sensor above ground" name="FLOW_HGT_OVR" documentation="This is used in rover vehicles, where the sensor is a fixed height above the ground" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 2</field>
<field name="Increment">0.01</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="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">1 1000</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="Units">m</field>
<field name="UnitText">meters</field>
<field name="Increment">1</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 will fly to the right or east of lead vehicle. Depends on FOLL_OFS_TYPE" user="Standard">
<field name="Range">-100 100</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Increment">1</field>
</param>
<param humanName="Follow offsets in meters down" name="FOLL_OFS_Z" documentation="Follow offsets in meters down. If positive, this vehicle will fly below the lead vehicle" user="Standard">
<field name="Range">-100 100</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Increment">1</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>
<param humanName="Follow altitude type" name="FOLL_ALT_TYPE" documentation="Follow altitude type" user="Standard">
<values>
<value code="0">absolute</value>
<value code="1">relative</value>
</values>
</param>
<param humanName="Follow options" name="FOLL_OPTIONS" documentation="Follow options bitmask" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Mount Follows lead vehicle on mode enter</value>
</values>
</param>
</parameters>
<parameters name="FRSKY_">
<param humanName="Uplink sensor id" name="FRSKY_UPLINK_ID" documentation="Change the uplink sensor id (SPort only)" user="Advanced">
<values>
<value code="-1">Disable</value>
<value code="7">7</value>
<value code="8">8</value>
<value code="9">9</value>
<value code="10">10</value>
<value code="11">11</value>
<value code="12">12</value>
<value code="13">13</value>
<value code="14">14</value>
<value code="15">15</value>
<value code="16">16</value>
<value code="17">17</value>
<value code="18">18</value>
<value code="19">19</value>
<value code="20">20</value>
<value code="21">21</value>
<value code="22">22</value>
<value code="23">23</value>
<value code="24">24</value>
<value code="25">25</value>
<value code="26">26</value>
</values>
</param>
<param humanName="First downlink sensor id" name="FRSKY_DNLINK1_ID" documentation="Change the first extra downlink sensor id (SPort only)" user="Advanced">
<values>
<value code="-1">Disable</value>
<value code="7">7</value>
<value code="8">8</value>
<value code="9">9</value>
<value code="10">10</value>
<value code="11">11</value>
<value code="12">12</value>
<value code="13">13</value>
<value code="14">14</value>
<value code="15">15</value>
<value code="16">16</value>
<value code="17">17</value>
<value code="18">18</value>
<value code="19">19</value>
<value code="20">20</value>
<value code="21">21</value>
<value code="22">22</value>
<value code="23">23</value>
<value code="24">24</value>
<value code="25">25</value>
<value code="26">26</value>
</values>
</param>
<param humanName="Second downlink sensor id" name="FRSKY_DNLINK2_ID" documentation="Change the second extra downlink sensor id (SPort only)" user="Advanced">
<values>
<value code="-1">Disable</value>
<value code="7">7</value>
<value code="8">8</value>
<value code="9">9</value>
<value code="10">10</value>
<value code="11">11</value>
<value code="12">12</value>
<value code="13">13</value>
<value code="14">14</value>
<value code="15">15</value>
<value code="16">16</value>
<value code="17">17</value>
<value code="18">18</value>
<value code="19">19</value>
<value code="20">20</value>
<value code="21">21</value>
<value code="22">22</value>
<value code="23">23</value>
<value code="24">24</value>
<value code="25">25</value>
<value code="26">26</value>
</values>
</param>
<param humanName="Default downlink sensor id" name="FRSKY_DNLINK_ID" documentation="Change the default downlink sensor id (SPort only)" user="Advanced">
<values>
<value code="-1">Disable</value>
<value code="7">7</value>
<value code="8">8</value>
<value code="9">9</value>
<value code="10">10</value>
<value code="11">11</value>
<value code="12">12</value>
<value code="13">13</value>
<value code="14">14</value>
<value code="15">15</value>
<value code="16">16</value>
<value code="17">17</value>
<value code="18">18</value>
<value code="19">19</value>
<value code="20">20</value>
<value code="21">21</value>
<value code="22">22</value>
<value code="23">23</value>
<value code="24">24</value>
<value code="25">25</value>
<value code="26">26</value>
<value code="27">27</value>
</values>
</param>
<param humanName="FRSky Telemetry Options" name="FRSKY_OPTIONS" documentation="A bitmask to set some FRSky Telemetry specific options" user="Standard">
<field name="Bitmask">0:EnableAirspeedAndGroundspeed</field>
</param>
</parameters>
<parameters name="GEN_">
<param humanName="Generator type" name="GEN_TYPE" documentation="Generator type" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">IE 650w 800w Fuel Cell</value>
<value code="2">IE 2.4kW Fuel Cell</value>
<value code="3">Richenpower</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Generator Options" name="GEN_OPTIONS" documentation="Bitmask of options for generators" user="Standard">
<field name="Bitmask">0:Suppress Maintenance-Required Warnings</field>
</param>
</parameters>
<parameters name="GPS">
<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, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used 4:Use primary if 3D fix or better, will revert to 'UseBest' behaviour if 3D fix is lost on primary" user="Advanced">
<values>
<value code="0">Use primary</value>
<value code="1">UseBest</value>
<value code="2">Blend</value>
<value code="4">Use primary if 3D fix or better</value>
</values>
</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 logger; 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="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="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 for Serial GPSes only</value>
<value code="2">Enable automatic configuration for DroneCAN as well</value>
</values>
</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(Blend)" user="Advanced">
<field name="Bitmask">0:Horiz Pos,1:Vert Pos,2:Speed</field>
</param>
<param humanName="driver options" name="GPS_DRV_OPTIONS" documentation="Additional backend specific options" user="Advanced">
<field name="Bitmask">0:Use UART2 for moving baseline on ublox,1:Use base station for GPS yaw on SBF,2:Use baudrate 115200,3:Use dedicated CAN port b/w GPSes for moving baseline,4:Use ellipsoid height instead of AMSL, 5:Override GPS satellite health of L5 band from L1 health, 6:Enable RTCM full parse even for a single channel, 7:Disable automatic full RTCM parsing when RTCM seen on more than one channel</field>
</param>
<param humanName="Primary GPS" name="GPS_PRIMARY" documentation="This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4." user="Advanced">
<field name="Increment">1</field>
<values>
<value code="0">FirstGPS</value>
<value code="1">SecondGPS</value>
</values>
</param>
</parameters>
<parameters name="GPS1_">
<param humanName="GPS type" name="GPS1_TYPE" documentation="GPS type" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">AUTO</value>
<value code="2">uBlox</value>
<value code="5">NMEA</value>
<value code="6">SiRF</value>
<value code="7">HIL</value>
<value code="8">SwiftNav</value>
<value code="9">DroneCAN</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>
<value code="16">HemisphereNMEA</value>
<value code="17">uBlox-MovingBaseline-Base</value>
<value code="18">uBlox-MovingBaseline-Rover</value>
<value code="19">MSP</value>
<value code="20">AllyStar</value>
<value code="21">ExternalAHRS</value>
<value code="22">DroneCAN-MovingBaseline-Base</value>
<value code="23">DroneCAN-MovingBaseline-Rover</value>
<value code="24">UnicoreNMEA</value>
<value code="25">UnicoreMovingBaselineNMEA</value>
<value code="26">SBF-DualAntenna</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="GNSS system configuration" name="GPS1_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:GLONASS</field>
</param>
<param humanName="GPS update rate in milliseconds" name="GPS1_RATE_MS" documentation="Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance." user="Advanced">
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
<values>
<value code="100">10Hz</value>
<value code="125">8Hz</value>
<value code="200">5Hz</value>
</values>
<field name="Range">50 200</field>
</param>
<param humanName="Antenna X position offset" name="GPS1_POS_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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Antenna Y position offset" name="GPS1_POS_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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Antenna Z position offset" name="GPS1_POS_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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="GPS delay in milliseconds" name="GPS1_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="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="Range">0 250</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="GPS physical COM port" name="GPS1_COM_PORT" documentation="The physical COM port on the connected device, currently only applies to SBF and GSOF GPS" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<values>
<value code="0">COM1(RS232) on GSOF</value>
<value code="1">COM2(TTL) on GSOF</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Detected CAN Node ID for GPS" name="GPS1_CAN_NODEID" documentation="GPS Node id for GPS. Detected node unless CAN_OVRIDE is set" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="DroneCAN GPS NODE ID" name="GPS1_CAN_OVRIDE" documentation="GPS Node id for GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis." user="Advanced">
</param>
</parameters>
<parameters name="GPS1_MB_">
<param humanName="Moving base type" name="GPS1_MB_TYPE" documentation="Controls the type of moving base used if using moving base." user="Advanced">
<values>
<value code="0">Relative to alternate GPS instance</value>
<value code="1">RelativeToCustomBase</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Base antenna X position offset" name="GPS1_MB_OFS_X" documentation="X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Base antenna Y position offset " name="GPS1_MB_OFS_Y" documentation="Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Base antenna Z position offset" name="GPS1_MB_OFS_Z" documentation="Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
</parameters>
<parameters name="GPS2_">
<param humanName="GPS type" name="GPS2_TYPE" documentation="GPS type" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">AUTO</value>
<value code="2">uBlox</value>
<value code="5">NMEA</value>
<value code="6">SiRF</value>
<value code="7">HIL</value>
<value code="8">SwiftNav</value>
<value code="9">DroneCAN</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>
<value code="16">HemisphereNMEA</value>
<value code="17">uBlox-MovingBaseline-Base</value>
<value code="18">uBlox-MovingBaseline-Rover</value>
<value code="19">MSP</value>
<value code="20">AllyStar</value>
<value code="21">ExternalAHRS</value>
<value code="22">DroneCAN-MovingBaseline-Base</value>
<value code="23">DroneCAN-MovingBaseline-Rover</value>
<value code="24">UnicoreNMEA</value>
<value code="25">UnicoreMovingBaselineNMEA</value>
<value code="26">SBF-DualAntenna</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="GNSS system configuration" name="GPS2_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:GLONASS</field>
</param>
<param humanName="GPS update rate in milliseconds" name="GPS2_RATE_MS" documentation="Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance." user="Advanced">
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
<values>
<value code="100">10Hz</value>
<value code="125">8Hz</value>
<value code="200">5Hz</value>
</values>
<field name="Range">50 200</field>
</param>
<param humanName="Antenna X position offset" name="GPS2_POS_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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Antenna Y position offset" name="GPS2_POS_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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Antenna Z position offset" name="GPS2_POS_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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="GPS delay in milliseconds" name="GPS2_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="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="Range">0 250</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="GPS physical COM port" name="GPS2_COM_PORT" documentation="The physical COM port on the connected device, currently only applies to SBF and GSOF GPS" user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
<values>
<value code="0">COM1(RS232) on GSOF</value>
<value code="1">COM2(TTL) on GSOF</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Detected CAN Node ID for GPS" name="GPS2_CAN_NODEID" documentation="GPS Node id for GPS. Detected node unless CAN_OVRIDE is set" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="DroneCAN GPS NODE ID" name="GPS2_CAN_OVRIDE" documentation="GPS Node id for GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis." user="Advanced">
</param>
</parameters>
<parameters name="GPS2_MB_">
<param humanName="Moving base type" name="GPS2_MB_TYPE" documentation="Controls the type of moving base used if using moving base." user="Advanced">
<values>
<value code="0">Relative to alternate GPS instance</value>
<value code="1">RelativeToCustomBase</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Base antenna X position offset" name="GPS2_MB_OFS_X" documentation="X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Base antenna Y position offset " name="GPS2_MB_OFS_Y" documentation="Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Base antenna Z position offset" name="GPS2_MB_OFS_Z" documentation="Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">-5 5</field>
<field name="Increment">0.01</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="EPM Gripper Regrab interval" name="GRIP_REGRAB" documentation="Time in seconds that EPM 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_CAN_ID" documentation="Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface" user="Standard">
<field name="Range">0 255</field>
</param>
<param humanName="Gripper Autoclose time" name="GRIP_AUTOCLOSE" documentation="Time in seconds that gripper close the gripper after opening; 0 to disable" user="Advanced">
<field name="Range">0.25 255</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
</parameters>
<parameters name="H_">
<param humanName="Tail Type" name="H_TAIL_TYPE" documentation="Tail type selection. Servo Only uses tail rotor pitch to provide yaw control (including stabilization) via an output assigned to Motor4. Servo with External Gyro uses an external gyro to control tail rotor pitch via a servo. Yaw control without stabilization is passed to the external gyro via the output assigned to Motor4. Direct Drive Variable Pitch(DDVP) is used for tails that have a motor whose ESC is connected to an output with function HeliTailRSC. Tail pitch is still accomplished with a servo on an output assigned to Motor4 function. Direct Drive Fixed Pitch (DDFP) CW is used for helicopters with a rotor that spins clockwise when viewed from above with a motor whose ESC is controlled by an output whose function is Motor4. Direct Drive Fixed Pitch (DDFP) CCW is used for helicopters with a rotor that spins counter clockwise when viewed from above with a motor whose ESC is controlled by an output whose function is Motor4. In both DDFP cases, no servo is used for the tail and the tail motor esc on Motor4 output is used to control the yaw axis using motor speed." 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 CW</value>
<value code="4">DirectDrive FixedPitch CCW</value>
</values>
</param>
<param humanName="External Gyro Gain" name="H_GYR_GAIN" documentation="PWM in microseconds sent to external gyro on an servo/output whose function is Motor7 when tail type is Servo w/ ExtGyro" user="Standard">
<field name="Range">0 1000</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Increment">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="DDVP Tail ESC speed" name="H_TAIL_SPEED" documentation="Direct drive, variable pitch tail ESC speed in percent output to the tail motor esc (HeliTailRSC Servo) when motor interlock enabled (throttle hold off) and speed fully ramped up after spoolup." user="Standard">
<field name="Range">0 100</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
<field name="Increment">1</field>
</param>
<param humanName="ACRO External Gyro Gain" name="H_GYR_GAIN_ACRO" documentation="PWM in microseconds sent to external gyro on an servo/output whose function is Motor7 when tail type is Servo w/ ExtGyro in mode ACRO instead of H_GYR_GAIN. A value of zero means to use H_GYR_GAIN" user="Standard">
<field name="Range">0 1000</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Increment">1</field>
</param>
<param humanName="Swashplate Type" name="H_SW_TYPE" documentation="H3 is generic, three-servo only. H3_120/H3_140 plates have Motor1 left side, Motor2 right side, Motor3 elevator in rear. HR3_120/HR3_140 have Motor1 right side, Motor2 left side, Motor3 elevator in front - use H3_120/H3_140 and reverse servo and collective directions as necessary. For all H3_90 swashplates use H4_90 and don't use servo output for the missing servo. For H4-90 Motors1&2 are left/right respectively, Motors3&4 are rear/front respectively. For H4-45 Motors1&2 are LF/RF, Motors3&4 are LR/RR " user="Standard">
<values>
<value code="0">H3 Generic</value>
<value code="1">H1 non-CPPM</value>
<value code="2">H3_140</value>
<value code="3">H3_120</value>
<value code="4">H4_90</value>
<value code="5">H4_45</value>
</values>
</param>
<param humanName="Collective Direction" name="H_SW_COL_DIR" documentation="Direction collective moves for positive pitch. 0 for Normal, 1 for Reversed" user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Linearize Swash Servos" name="H_SW_LIN_SVO" documentation="This linearizes the swashplate servo's mechanical output to account for nonlinear output due to arm rotation. This requires a specific setup procedure to work properly. The servo arm must be centered on the mechanical throw at the servo trim position and the servo trim position kept as close to 1500 as possible. Leveling the swashplate can only be done through the pitch links. See the ardupilot wiki for more details on setup." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="H3 Generic Enable" name="H_SW_H3_ENABLE" documentation="Automatically set when H3 generic swash type is selected for swashplate. Do not set manually." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="H3 Generic Servo 1 Position" name="H_SW_H3_SV1_POS" documentation="Azimuth position on swashplate for servo 1 with the front of the heli being 0 deg" user="Advanced">
<field name="Range">-180 180</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="H3 Generic Servo 2 Position" name="H_SW_H3_SV2_POS" documentation="Azimuth position on swashplate for servo 2 with the front of the heli being 0 deg" user="Advanced">
<field name="Range">-180 180</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="H3 Generic Servo 3 Position" name="H_SW_H3_SV3_POS" documentation="Azimuth position on swashplate for servo 3 with the front of the heli being 0 deg" user="Advanced">
<field name="Range">-180 180</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="H3 Generic Phase Angle Comp" name="H_SW_H3_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="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Increment">1</field>
</param>
<param humanName="Collective-Yaw Mixing" name="H_COL2YAW" documentation="Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics." user="Standard">
<field name="Range">-2 2</field>
<field name="Increment">0.1</field>
</param>
<param humanName="DDFP Tail Rotor Thrust Curve Expo" name="H_DDFP_THST_EXPO" documentation="Tail rotor DDFP motor thrust curve exponent (0.0 for linear to 1.0 for second order curve)" user="Standard">
<field name="Range">-1 1</field>
</param>
<param humanName="DDFP Tail Rotor Motor Spin minimum" name="H_DDFP_SPIN_MIN" documentation="Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range." user="Standard">
<values>
<value code="0.0">Low</value>
<value code="0.15">Default</value>
<value code="0.3">High</value>
</values>
</param>
<param humanName="DDFP Tail Rotor Motor Spin maximum" name="H_DDFP_SPIN_MAX" documentation="Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range" user="Standard">
<values>
<value code="0.9">Low</value>
<value code="0.95">Default</value>
<value code="1.0">High</value>
</values>
</param>
<param humanName="DDFP Tail Rotor Battery compensation index" name="H_DDFP_BAT_IDX" documentation="Which battery monitor should be used for doing compensation" user="Standard">
<values>
<value code="0">First battery</value>
<value code="1">Second battery</value>
</values>
</param>
<param humanName="Battery voltage compensation maximum voltage" name="H_DDFP_BAT_V_MAX" documentation="Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.2 * cell count, 0 = Disabled" user="Standard">
<field name="Range">6 53</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Battery voltage compensation minimum voltage" name="H_DDFP_BAT_V_MIN" documentation="Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.3 * cell count, 0 = Disabled" user="Standard">
<field name="Range">6 42</field>
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Tail Rotor Trim" name="H_YAW_TRIM" documentation="Fixed offset applied to yaw output to minimize yaw I-term contribution needed to counter rotor drag. Currently only works of DDFP tails (H_TAIL_TYPE = 3 or H_TAIL_TYPE = 4). If using the H_COL2YAW compensation this trim is used to compensate for the main rotor profile drag. If H_COL2YAW is not used, this value can be set to reduce the yaw I contribution to zero when in a steady hover." user="Standard">
<field name="Range">0 1</field>
</param>
<param humanName="Dual Mode" name="H_DUAL_MODE" documentation="Sets the dual mode of the heli, either as tandem, transverse, or intermeshing/coaxial." user="Standard">
<values>
<value code="0">Longitudinal</value>
<value code="1">Transverse</value>
<value code="2">Intermeshing/Coaxial</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. Disabled for intermeshing mode." user="Standard">
<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." user="Standard">
<field name="Range">-10 10</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Swash 2 Minimum Collective Pitch" name="H_COL2_MIN" documentation="Lowest possible servo position in PWM microseconds for swashplate 2" user="Standard">
<field name="Range">1000 2000</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Increment">1</field>
</param>
<param humanName="Swash 2 Maximum Collective Pitch" name="H_COL2_MAX" documentation="Highest possible servo position in PWM microseconds for swashplate 2" user="Standard">
<field name="Range">1000 2000</field>
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Increment">1</field>
</param>
<param humanName="Swash 1 Type" name="H_SW_TYPE" documentation="H3 is generic, three-servo only. H3_120/H3_140 plates have Motor1 left side, Motor2 right side, Motor3 elevator in rear. HR3_120/HR3_140 have Motor1 right side, Motor2 left side, Motor3 elevator in front - use H3_120/H3_140 and reverse servo and collective directions as necessary. For all H3_90 swashplates use H4_90 and don't use servo output for the missing servo. For H4-90 Motors1&2 are left/right respectively, Motors3&4 are rear/front respectively. For H4-45 Motors1&2 are LF/RF, Motors3&4 are LR/RR " user="Standard">
<values>
<value code="0">H3 Generic</value>
<value code="1">H1 non-CPPM</value>
<value code="2">H3_140</value>
<value code="3">H3_120</value>
<value code="4">H4_90</value>
<value code="5">H4_45</value>
</values>
</param>
<param humanName="Swash 1 Collective Direction" name="H_SW_COL_DIR" documentation="Direction collective moves for positive pitch. 0 for Normal, 1 for Reversed" user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Linearize Swash 1 Servos" name="H_SW_LIN_SVO" documentation="This linearizes the swashplate 1 servo's mechanical output to account for nonlinear output due to arm rotation. This requires a specific setup procedure to work properly. The servo arm must be centered on the mechanical throw at the servo trim position and the servo trim position kept as close to 1500 as possible. Leveling the swashplate can only be done through the pitch links. See the ardupilot wiki for more details on setup." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Swash 1 H3 Generic Enable" name="H_SW_H3_ENABLE" documentation="Automatically set when H3 generic swash type is selected for swashplate 1. Do not set manually." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Swash 1 H3 Generic Servo 1 Position" name="H_SW_H3_SV1_POS" documentation="Azimuth position on swashplate for servo 1 with the front of the heli being 0 deg" user="Advanced">
<field name="Range">-180 180</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Swash 1 H3 Generic Servo 2 Position" name="H_SW_H3_SV2_POS" documentation="Azimuth position on swashplate 1 for servo 2 with the front of the heli being 0 deg" user="Advanced">
<field name="Range">-180 180</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Swash 1 H3 Generic Servo 3 Position" name="H_SW_H3_SV3_POS" documentation="Azimuth position on swashplate 1 for servo 3 with the front of the heli being 0 deg" user="Advanced">
<field name="Range">-180 180</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Swash 1 H3 Generic Phase Angle Comp" name="H_SW_H3_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="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Increment">1</field>
</param>
<param humanName="Swash 2 Type" name="H_SW2_TYPE" documentation="H3 is generic, three-servo only. H3_120/H3_140 plates have Motor1 left side, Motor2 right side, Motor3 elevator in rear. HR3_120/HR3_140 have Motor1 right side, Motor2 left side, Motor3 elevator in front - use H3_120/H3_140 and reverse servo and collective directions as necessary. For all H3_90 swashplates use H4_90 and don't use servo output for the missing servo. For H4-90 Motors1&2 are left/right respectively, Motors3&4 are rear/front respectively. For H4-45 Motors1&2 are LF/RF, Motors3&4 are LR/RR " user="Standard">
<values>
<value code="0">H3 Generic</value>
<value code="1">H1 non-CPPM</value>
<value code="2">H3_140</value>
<value code="3">H3_120</value>
<value code="4">H4_90</value>
<value code="5">H4_45</value>
</values>
</param>
<param humanName="Swash 2 Collective Direction" name="H_SW2_COL_DIR" documentation="Direction collective moves for positive pitch. 0 for Normal, 1 for Reversed" user="Standard">
<values>
<value code="0">Normal</value>
<value code="1">Reversed</value>
</values>
</param>
<param humanName="Linearize Swash 2 Servos" name="H_SW2_LIN_SVO" documentation="This linearizes the swashplate 2 servo's mechanical output to account for nonlinear output due to arm rotation. This requires a specific setup procedure to work properly. The servo arm must be centered on the mechanical throw at the servo trim position and the servo trim position kept as close to 1500 as possible. Leveling the swashplate can only be done through the pitch links. See the ardupilot wiki for more details on setup." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Swash 2 H3 Generic Enable" name="H_SW2_H3_ENABLE" documentation="Automatically set when H3 generic swash type is selected for swashplate 2. Do not set manually." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Swash 2 H3 Generic Servo 1 Position" name="H_SW2_H3_SV1_POS" documentation="Azimuth position on swashplate for servo 1 with the front of the heli being 0 deg" user="Advanced">
<field name="Range">-180 180</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Swash 2 H3 Generic Servo 2 Position" name="H_SW2_H3_SV2_POS" documentation="Azimuth position on swashplate 2 for servo 2 with the front of the heli being 0 deg" user="Advanced">
<field name="Range">-180 180</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Swash 2 H3 Generic Servo 3 Position" name="H_SW2_H3_SV3_POS" documentation="Azimuth position on swashplate 2 for servo 3 with the front of the heli being 0 deg" user="Advanced">
<field name="Range">-180 180</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Swash 2 H3 Generic Phase Angle Comp" name="H_SW2_H3_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="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Increment">1</field>
</param>
<param humanName="Differential Collective Pitch Trim" name="H_DCP_TRIM" documentation="Removes I term bias due to center of gravity offsets or discrepancies between rotors in swashplate setup. If DCP axis has I term bias while hovering in calm winds, use value of bias in DCP_TRIM to re-center I term." user="Standard">
<field name="Range">-0.2 0.2</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Yaw reverser expo" name="H_YAW_REV_EXPO" documentation="For intermeshing mode only. Yaw revereser smoothing exponent, smoothen transition near zero collective region. Increase this parameter to shink smoothing range. Set to -1 to disable reverser. " user="Standard">
<field name="Range">-1 1000</field>
<field name="Increment">1.0</field>
</param>
<param humanName="Minimum Collective Pitch" 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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Increment">1</field>
</param>
<param humanName="Maximum Collective Pitch" 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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Increment">1</field>
</param>
<param humanName="Manual Servo Mode" name="H_SV_MAN" documentation="Manual servo override for swash set-up. Must be 0 (Disabled) for flight!" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Passthrough</value>
<value code="2">Max collective</value>
<value code="3">Zero thrust collective</value>
<value code="4">Min collective</value>
</values>
</param>
<param humanName="Maximum Cyclic Pitch Angle" name="H_CYC_MAX" documentation="Maximum cyclic pitch angle of the swash plate. There are no units to this parameter. This should be adjusted to get the desired cyclic blade pitch for the pitch and roll axes. Typically this should be 6-7 deg (measured blade pitch angle difference between stick centered and stick max deflection." user="Standard">
<field name="Range">0 4500</field>
<field name="Increment">100</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="Collective Hover Value" name="H_COL_HOVER" documentation="Collective needed to hover expressed as a number from 0 to 1 where 0 is H_COL_MIN and 1 is H_COL_MAX" user="Advanced">
<field name="Range">0.3 0.8</field>
</param>
<param humanName="Hover Value Learning" name="H_HOVER_LEARN" documentation="Enable/Disable automatic learning of hover collective" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Learn</value>
<value code="2">Learn and Save</value>
</values>
</param>
<param humanName="Heli_Options" name="H_OPTIONS" documentation="Bitmask of heli options. Bit 0 changes how the pitch, roll, and yaw axis integrator term is managed for low speed and takeoff/landing. In AC 4.0 and earlier, scheme uses a leaky integrator for ground speeds less than 5 m/s and won't let the steady state integrator build above ILMI. The integrator is allowed to build to the ILMI value when it is landed. The other integrator management scheme bases integrator limiting on takeoff and landing. Whenever the aircraft is landed the integrator is set to zero. When the aicraft is airborne, the integrator is only limited by IMAX. " user="Standard">
<field name="Bitmask">0:Use Leaky I</field>
</param>
<param humanName="Collective Blade Pitch Angle Minimum" name="H_COL_ANG_MIN" documentation="Minimum collective blade pitch angle in deg that corresponds to the PWM set for minimum collective pitch (H_COL_MIN)." user="Standard">
<field name="Range">-20 0</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Collective Blade Pitch Angle Maximum" name="H_COL_ANG_MAX" documentation="Maximum collective blade pitch angle in deg that corresponds to the PWM set for maximum collective pitch (H_COL_MAX)." user="Standard">
<field name="Range">5 20</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Collective Blade Pitch at Zero Thrust" name="H_COL_ZERO_THRST" documentation="Collective blade pitch angle at zero thrust in degrees. For symetric airfoil blades this value is zero deg. For chambered airfoil blades this value is typically negative." user="Standard">
<field name="Range">-5 0</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Collective Blade Pitch Minimum when Landed" name="H_COL_LAND_MIN" documentation="Minimum collective blade pitch angle when landed in degrees for non-manual collective modes (i.e. modes that use altitude hold)." user="Standard">
<field name="Range">-5 0</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Increment">0.1</field>
</param>
</parameters>
<parameters name="H_RSC_">
<param humanName="External Motor Governor Setpoint" name="H_RSC_SETPOINT" documentation="Throttle (HeliRSC Servo) output in percent to the external motor governor when motor interlock enabled (throttle hold off)." user="Standard">
<field name="Range">0 100</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
<field name="Increment">1</field>
</param>
<param humanName="Rotor Speed Control Mode" name="H_RSC_MODE" documentation="Selects the type of rotor speed control used to determine throttle output to the HeliRSC servo channel when motor interlock is enabled (throttle hold off). RC Passthrough sends the input from the RC Motor Interlock channel as throttle output. External Gov SetPoint sends the RSC SetPoint parameter value as throttle output. Throttle Curve uses the 5 point throttle curve to determine throttle output based on the collective output. AutoThrottle requires a rotor speed sensor, contains an advanced autothrottle governor and is primarily for piston and turbine engines. WARNING: Throttle ramp time and throttle curve MUST be tuned properly using Throttle Curve mode before using AutoThrottle" user="Standard">
<values>
<value code="1">RC Passthrough</value>
<value code="2">External Gov SetPoint</value>
<value code="3">Throttle Curve</value>
<value code="4">AutoThrottle</value>
</values>
</param>
<param humanName="Throttle Ramp Time" name="H_RSC_RAMP_TIME" documentation="Time in seconds for throttle output (HeliRSC servo) to ramp from ground idle (RSC_IDLE) to flight idle throttle setting when motor interlock is enabled (throttle hold off)." user="Standard">
<field name="Range">0 60</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Rotor Runup Time" name="H_RSC_RUNUP_TIME" documentation="Actual time in seconds for the main rotor to reach full speed after motor interlock is enabled (throttle hold off). Must be at least one second longer than the Throttle Ramp Time that is set with RSC_RAMP_TIME. WARNING: For AutoThrottle users with piston and turbine engines it is VERY important to know how long it takes to warm up your engine and reach full rotor speed when throttle switch is turned ON. This timer should be set for at least the amount of time it takes to get your helicopter to full flight power, ready for takeoff. Failure to heed this warning could result in the auto-takeoff mode attempting to lift up into hover before the engine has reached full power, and subsequent loss of control" 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="Percentage of normal rotor speed where flight is no longer possible. However currently the rotor runup/rundown is estimated using the RSC_RUNUP_TIME parameter. Estimated rotor speed increases/decreases between 0 (rotor stopped) to 1 (rotor at normal speed) in the RSC_RUNUP_TIME in seconds. This parameter should be set so that the estimated rotor speed goes below critical in approximately 3 seconds. So if you had a 10 second runup time then set RSC_CRITICAL to 70%." user="Standard">
<field name="Range">0 100</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
<field name="Increment">1</field>
</param>
<param humanName="Throttle Output at Idle" name="H_RSC_IDLE" documentation="Throttle output (HeliRSC Servo) in percent while armed but motor interlock is disabled (throttle hold on). FOR COMBUSTION ENGINES. Sets the engine ground idle throttle percentage with clutch disengaged. This must be set to zero for electric helicopters under most situations. If the ESC has an autorotation window this can be set to keep the autorotation window open in the ESC. Consult the operating manual for your ESC to set it properly for this purpose" user="Standard">
<field name="Range">0 50</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
<field name="Increment">1</field>
</param>
<param humanName="Throttle Slew Rate" name="H_RSC_SLEWRATE" documentation="This controls the maximum rate at which the throttle output (HeliRSC servo) 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 Curve at 0% Coll" name="H_RSC_THRCRV_0" documentation="Sets the throttle output (HeliRSC servo) in percent for the throttle curve at the minimum collective pitch position. The 0 percent collective is defined by H_COL_MIN. Example: if the setup has -2 degree to +10 degree collective pitch setup, this setting would correspond to -2 degree of pitch." user="Standard">
<field name="Range">0 100</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
<field name="Increment">1</field>
</param>
<param humanName="Throttle Curve at 25% Coll" name="H_RSC_THRCRV_25" documentation="Sets the throttle output (HeliRSC servo) in percent for the throttle curve at 25% of full collective travel where he 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX. Example: if the setup has -2 degree to +10 degree collective pitch setup, the total range is 12 degrees. 25% of 12 degrees is 3 degrees, so this setting would correspond to +1 degree of pitch." user="Standard">
<field name="Range">0 100</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
<field name="Increment">1</field>
</param>
<param humanName="Throttle Curve at 50% Coll" name="H_RSC_THRCRV_50" documentation="Sets the throttle output (HeliRSC servo) in percent for the throttle curve at 50% of full collective travel where he 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX. Example: if the setup has -2 degree to +10 degree collective pitch setup, the total range is 12 degrees. 50% of 12 degrees is 6 degrees, so this setting would correspond to +4 degree of pitch." user="Standard">
<field name="Range">0 100</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
<field name="Increment">1</field>
</param>
<param humanName="Throttle Curve at 75% Coll" name="H_RSC_THRCRV_75" documentation="Sets the throttle output (HeliRSC servo) in percent for the throttle curve at 75% of full collective travel where he 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX. Example: if the setup has -2 degree to +10 degree collective pitch setup, the total range is 12 degrees. 75% of 12 degrees is 9 degrees, so this setting would correspond to +7 degree of pitch." user="Standard">
<field name="Range">0 100</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
<field name="Increment">1</field>
</param>
<param humanName="Throttle Curve at 100% Coll" name="H_RSC_THRCRV_100" documentation="Sets the throttle output (HeliRSC servo) in percent for the throttle curve at the minimum collective pitch position. The 100 percent collective is defined by H_COL_MAX. Example: if the setup has -2 degree to +10 degree collective pitch setup, this setting would correspond to +10 degree of pitch." user="Standard">
<field name="Range">0 100</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
<field name="Increment">1</field>
</param>
<param humanName="Governor Operational Range" name="H_RSC_GOV_RANGE" documentation="RPM range +/- governor rpm reference setting where governor is operational. If speed sensor fails or rpm falls outside of this range, the governor will disengage and return to throttle curve. Recommended range is 100" user="Standard">
<field name="Range">50 200</field>
<field name="Units">RPM</field>
<field name="UnitText">Revolutions Per Minute</field>
<field name="Increment">10</field>
</param>
<param humanName="Cooldown Time" name="H_RSC_CLDWN_TIME" documentation="Will provide a fast idle for engine cooldown by raising the Ground Idle speed setting by 50% for the number of seconds the timer is set for. A setting of zero disables the fast idle. This feature will only apply after the runup complete has been declared. This will not extend the time before ground idle is declared, which triggers engine shutdown for autonomous landings." user="Standard">
<field name="Range">0 120</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Increment">1</field>
</param>
<param humanName="Governor Torque Compensator" name="H_RSC_GOV_COMP" documentation="Adjusts the autothrottle governor torque compensator that determines how fast the governor will adjust the base torque reference to compensate for changes in density altitude. If RPM is low or high by more than 2-5 RPM, increase this setting by 1% at a time until the governor speed matches your RPM setting. Setting the compensator too high can result in surging and throttle "hunting". Do not make large adjustments at one time" user="Standard">
<field name="Range">0 70</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Governor Droop Compensator" name="H_RSC_GOV_DROOP" documentation="AutoThrottle governor droop response under load, normal settings of 0-50%. Higher value is quicker response to large speed changes due to load but may cause surging. Adjust this to be as aggressive as possible without getting surging or RPM over-run when the governor responds to large load changes on the rotor system" user="Standard">
<field name="Range">0 100</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Governor Feedforward" name="H_RSC_GOV_FF" documentation="Feedforward governor gain to throttle response during sudden loading/unloading of the rotor system. If RPM drops excessively during full collective climb with the droop response set correctly, increase the governor feedforward." user="Standard">
<field name="Range">0 100</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Rotor RPM Setting" name="H_RSC_GOV_RPM" documentation="Main rotor RPM that governor maintains when engaged" user="Standard">
<field name="Range">800 3500</field>
<field name="Units">RPM</field>
<field name="UnitText">Revolutions Per Minute</field>
<field name="Increment">10</field>
</param>
<param humanName="Governor Torque Limiter" name="H_RSC_GOV_TORQUE" documentation="Adjusts the engine's percentage of torque rise on autothrottle during ramp-up to governor speed. The torque rise will determine how fast the rotor speed will ramp up when rotor speed reaches 50% of the rotor RPM setting. The sequence of events engaging the governor is as follows: Throttle ramp time will engage the clutch and start the main rotor turning. The collective should be at flat pitch and the throttle curve set to provide at least 50% of normal RPM at flat pitch. The autothrottle torque limiter will automatically activate and start accelerating the main rotor. If the autothrottle consistently fails to accelerate the main rotor during ramp-in due to engine tune or other factors, then increase the torque limiter setting. NOTE: throttle ramp time and throttle curve should be tuned using RSC_MODE Throttle Curve before using RSC_MODE AutoThrottle" user="Standard">
<field name="Range">10 60</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
<field name="Increment">1</field>
</param>
<param humanName="Time for in-flight power re-engagement" name="H_RSC_AROT_ENG_T" documentation="amount of seconds to move throttle output from idle to throttle curve position during manual autorotations" user="Standard">
<field name="Range">0 10</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
<field name="Increment">0.5</field>
</param>
<param humanName="Enable Manual Autorotations" name="H_RSC_AROT_MN_EN" documentation="Allows you to enable (1) or disable (0) the manual autorotation capability." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Idle Throttle Percentage during Autorotation" name="H_RSC_AROT_IDLE" documentation="Idle throttle used for all RSC modes. For external governors, this would be set to signal it to enable fast spool-up, when bailing out of an autorotation. Set 0 to disable. If also using a tail rotor of type DDVP with external governor then this value must lie within the autorotation window of both governors." user="Standard">
<field name="Range">0 40</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
<field name="Increment">1</field>
</param>
</parameters>
<parameters name="IM_">
<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>
<param humanName="Stabilize Collective Low" name="IM_STB_COL_1" documentation="Helicopter's minimum collective pitch setting at zero collective stick input in Stabilize mode. Set this as a percent of collective range given by H_COL_MAX minus H_COL_MIN." user="Standard">
<field name="Range">0 100</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
<field name="Increment">1</field>
</param>
<param humanName="Stabilize Collective Mid-Low" name="IM_STB_COL_2" documentation="Helicopter's collective pitch setting at mid-low (40%) collective stick input in Stabilize mode. Set this as a percent of collective range given by H_COL_MAX minus H_COL_MIN." user="Standard">
<field name="Range">0 100</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
<field name="Increment">1</field>
</param>
<param humanName="Stabilize Collective Mid-High" name="IM_STB_COL_3" documentation="Helicopter's collective pitch setting at mid-high (60%) collective stick input in Stabilize mode. Set this as a percent of collective range given by H_COL_MAX minus H_COL_MIN." user="Standard">
<field name="Range">0 100</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
<field name="Increment">1</field>
</param>
<param humanName="Stabilize Collective High" name="IM_STB_COL_4" documentation="Helicopter's maximum collective pitch setting at full collective stick input in Stabilize mode. Set this as a percent of collective range given by H_COL_MAX minus H_COL_MIN." user="Standard">
<field name="Range">0 100</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
<field name="Increment">1</field>
</param>
</parameters>
<parameters name="INS">
<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" calibration="1">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
<field name="Calibration">1</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" calibration="1">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
<field name="Calibration">1</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" calibration="1">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
<field name="Calibration">1</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" calibration="1">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
<field name="Calibration">1</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" calibration="1">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
<field name="Calibration">1</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" calibration="1">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
<field name="Calibration">1</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" calibration="1">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
<field name="Calibration">1</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" calibration="1">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
<field name="Calibration">1</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" calibration="1">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
<field name="Calibration">1</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" calibration="1">
<field name="Range">0.8 1.2</field>
<field name="Calibration">1</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" calibration="1">
<field name="Range">0.8 1.2</field>
<field name="Calibration">1</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" calibration="1">
<field name="Range">0.8 1.2</field>
<field name="Calibration">1</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" calibration="1">
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
<field name="Range">-3.5 3.5</field>
<field name="Calibration">1</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" calibration="1">
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
<field name="Range">-3.5 3.5</field>
<field name="Calibration">1</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" calibration="1">
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
<field name="Range">-3.5 3.5</field>
<field name="Calibration">1</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" calibration="1">
<field name="Range">0.8 1.2</field>
<field name="Calibration">1</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" calibration="1">
<field name="Range">0.8 1.2</field>
<field name="Calibration">1</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" calibration="1">
<field name="Range">0.8 1.2</field>
<field name="Calibration">1</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" calibration="1">
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
<field name="Range">-3.5 3.5</field>
<field name="Calibration">1</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" calibration="1">
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
<field name="Range">-3.5 3.5</field>
<field name="Calibration">1</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" calibration="1">
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
<field name="Range">-3.5 3.5</field>
<field name="Calibration">1</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" calibration="1">
<field name="Range">0.8 1.2</field>
<field name="Calibration">1</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" calibration="1">
<field name="Range">0.8 1.2</field>
<field name="Calibration">1</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" calibration="1">
<field name="Range">0.8 1.2</field>
<field name="Calibration">1</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" calibration="1">
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
<field name="Range">-3.5 3.5</field>
<field name="Calibration">1</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" calibration="1">
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
<field name="Range">-3.5 3.5</field>
<field name="Calibration">1</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" calibration="1">
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
<field name="Range">-3.5 3.5</field>
<field name="Calibration">1</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. A value of zero means no filtering (not recommended!)" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 256</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. A value of zero means no filtering (not recommended!)" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 256</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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</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>
<field name="Range">-10 10</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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</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>
</param>
<param humanName="IMU enable mask" name="INS_ENABLE_MASK" documentation="Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs" user="Advanced">
<field name="Bitmask">0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU,6:SeventhIMU</field>
</param>
<param humanName="Gyro rate for IMUs with Fast Sampling enabled" name="INS_GYRO_RATE" documentation="Gyro rate for IMUs with fast sampling enabled. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency. If the sensor does not support the selected rate the next highest supported rate will be used. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used." user="Advanced">
<values>
<value code="0">1kHz</value>
<value code="1">2kHz</value>
<value code="2">4kHz</value>
<value code="3">8kHz</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Calibration temperature for 1st accelerometer" name="INS_ACC1_CALTEMP" documentation="Temperature that the 1st accelerometer was calibrated at" user="Advanced" calibration="1">
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
<field name="Calibration">1</field>
</param>
<param humanName="Calibration temperature for 1st gyroscope" name="INS_GYR1_CALTEMP" documentation="Temperature that the 1st gyroscope was calibrated at" user="Advanced" calibration="1">
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
<field name="Calibration">1</field>
</param>
<param humanName="Calibration temperature for 2nd accelerometer" name="INS_ACC2_CALTEMP" documentation="Temperature that the 2nd accelerometer was calibrated at" user="Advanced" calibration="1">
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
<field name="Calibration">1</field>
</param>
<param humanName="Calibration temperature for 2nd gyroscope" name="INS_GYR2_CALTEMP" documentation="Temperature that the 2nd gyroscope was calibrated at" user="Advanced" calibration="1">
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
<field name="Calibration">1</field>
</param>
<param humanName="Calibration temperature for 3rd accelerometer" name="INS_ACC3_CALTEMP" documentation="Temperature that the 3rd accelerometer was calibrated at" user="Advanced" calibration="1">
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
<field name="Calibration">1</field>
</param>
<param humanName="Calibration temperature for 3rd gyroscope" name="INS_GYR3_CALTEMP" documentation="Temperature that the 3rd gyroscope was calibrated at" user="Advanced" calibration="1">
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
<field name="Calibration">1</field>
</param>
<param humanName="Options for temperature calibration" name="INS_TCAL_OPTIONS" documentation="This enables optional temperature calibration features. Setting of the Persist bits will save the temperature and/or accelerometer calibration parameters in the bootloader sector on the next update of the bootloader." user="Advanced">
<field name="Bitmask">0:PersistTemps, 1:PersistAccels</field>
</param>
<param humanName="Raw logging options" name="INS_RAW_LOG_OPT" documentation="Raw logging options bitmask" user="Advanced">
<field name="Bitmask">0:Log primary gyro only, 1:Log all gyros, 2:Post filter, 3: Pre and post filter</field>
</param>
</parameters>
<parameters name="INS4_">
<param humanName="Use first IMU for attitude, velocity and position estimates" name="INS4_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="Accelerometer ID" name="INS4_ACC_ID" documentation="Accelerometer sensor ID, taking into account its type, bus and instance" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Accelerometer scaling of X axis" name="INS4_ACCSCAL_X" documentation="Accelerometer scaling of X axis. Calculated during acceleration calibration routine" user="Advanced" calibration="1">
<field name="Range">0.8 1.2</field>
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer scaling of Y axis" name="INS4_ACCSCAL_Y" documentation="Accelerometer scaling of Y axis Calculated during acceleration calibration routine" user="Advanced" calibration="1">
<field name="Range">0.8 1.2</field>
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer scaling of Z axis" name="INS4_ACCSCAL_Z" documentation="Accelerometer scaling of Z axis Calculated during acceleration calibration routine" user="Advanced" calibration="1">
<field name="Range">0.8 1.2</field>
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer offsets of X axis" name="INS4_ACCOFFS_X" documentation="Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced" calibration="1">
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
<field name="Range">-3.5 3.5</field>
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer offsets of Y axis" name="INS4_ACCOFFS_Y" documentation="Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced" calibration="1">
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
<field name="Range">-3.5 3.5</field>
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer offsets of Z axis" name="INS4_ACCOFFS_Z" documentation="Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced" calibration="1">
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
<field name="Range">-3.5 3.5</field>
<field name="Calibration">1</field>
</param>
<param humanName="IMU accelerometer X position" name="INS4_POS_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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="IMU accelerometer Y position" name="INS4_POS_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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="IMU accelerometer Z position" name="INS4_POS_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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Calibration temperature for accelerometer" name="INS4_ACC_CALTEMP" documentation="Temperature that the accelerometer was calibrated at" user="Advanced" calibration="1">
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
<field name="Calibration">1</field>
</param>
<param humanName="Gyro ID" name="INS4_GYR_ID" documentation="Gyro sensor ID, taking into account its type, bus and instance" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Gyro offsets of X axis" name="INS4_GYROFFS_X" documentation="Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced" calibration="1">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
<field name="Calibration">1</field>
</param>
<param humanName="Gyro offsets of Y axis" name="INS4_GYROFFS_Y" documentation="Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced" calibration="1">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
<field name="Calibration">1</field>
</param>
<param humanName="Gyro offsets of Z axis" name="INS4_GYROFFS_Z" documentation="Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced" calibration="1">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
<field name="Calibration">1</field>
</param>
<param humanName="Calibration temperature for gyroscope" name="INS4_GYR_CALTEMP" documentation="Temperature that the gyroscope was calibrated at" user="Advanced" calibration="1">
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
<field name="Calibration">1</field>
</param>
</parameters>
<parameters name="INS4_TCAL_">
<param humanName="Enable temperature calibration" name="INS4_TCAL_ENABLE" documentation="Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
<value code="2">LearnCalibration</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Temperature calibration min" name="INS4_TCAL_TMIN" documentation="The minimum temperature that the calibration is valid for" user="Advanced" calibration="1">
<field name="Range">-70 80</field>
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
<field name="Calibration">1</field>
</param>
<param humanName="Temperature calibration max" name="INS4_TCAL_TMAX" documentation="The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration" user="Advanced" calibration="1">
<field name="Range">-70 80</field>
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 1st order temperature coefficient X axis" name="INS4_TCAL_ACC1_X" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 1st order temperature coefficient Y axis" name="INS4_TCAL_ACC1_Y" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 1st order temperature coefficient Z axis" name="INS4_TCAL_ACC1_Z" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 2nd order temperature coefficient X axis" name="INS4_TCAL_ACC2_X" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 2nd order temperature coefficient Y axis" name="INS4_TCAL_ACC2_Y" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 2nd order temperature coefficient Z axis" name="INS4_TCAL_ACC2_Z" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 3rd order temperature coefficient X axis" name="INS4_TCAL_ACC3_X" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 3rd order temperature coefficient Y axis" name="INS4_TCAL_ACC3_Y" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 3rd order temperature coefficient Z axis" name="INS4_TCAL_ACC3_Z" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 1st order temperature coefficient X axis" name="INS4_TCAL_GYR1_X" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 1st order temperature coefficient Y axis" name="INS4_TCAL_GYR1_Y" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 1st order temperature coefficient Z axis" name="INS4_TCAL_GYR1_Z" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 2nd order temperature coefficient X axis" name="INS4_TCAL_GYR2_X" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 2nd order temperature coefficient Y axis" name="INS4_TCAL_GYR2_Y" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 2nd order temperature coefficient Z axis" name="INS4_TCAL_GYR2_Z" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 3rd order temperature coefficient X axis" name="INS4_TCAL_GYR3_X" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 3rd order temperature coefficient Y axis" name="INS4_TCAL_GYR3_Y" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 3rd order temperature coefficient Z axis" name="INS4_TCAL_GYR3_Z" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
</parameters>
<parameters name="INS5_">
<param humanName="Use first IMU for attitude, velocity and position estimates" name="INS5_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="Accelerometer ID" name="INS5_ACC_ID" documentation="Accelerometer sensor ID, taking into account its type, bus and instance" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Accelerometer scaling of X axis" name="INS5_ACCSCAL_X" documentation="Accelerometer scaling of X axis. Calculated during acceleration calibration routine" user="Advanced" calibration="1">
<field name="Range">0.8 1.2</field>
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer scaling of Y axis" name="INS5_ACCSCAL_Y" documentation="Accelerometer scaling of Y axis Calculated during acceleration calibration routine" user="Advanced" calibration="1">
<field name="Range">0.8 1.2</field>
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer scaling of Z axis" name="INS5_ACCSCAL_Z" documentation="Accelerometer scaling of Z axis Calculated during acceleration calibration routine" user="Advanced" calibration="1">
<field name="Range">0.8 1.2</field>
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer offsets of X axis" name="INS5_ACCOFFS_X" documentation="Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations" user="Advanced" calibration="1">
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
<field name="Range">-3.5 3.5</field>
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer offsets of Y axis" name="INS5_ACCOFFS_Y" documentation="Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations" user="Advanced" calibration="1">
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
<field name="Range">-3.5 3.5</field>
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer offsets of Z axis" name="INS5_ACCOFFS_Z" documentation="Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations" user="Advanced" calibration="1">
<field name="Units">m/s/s</field>
<field name="UnitText">meters per square second</field>
<field name="Range">-3.5 3.5</field>
<field name="Calibration">1</field>
</param>
<param humanName="IMU accelerometer X position" name="INS5_POS_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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="IMU accelerometer Y position" name="INS5_POS_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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="IMU accelerometer Z position" name="INS5_POS_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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Calibration temperature for accelerometer" name="INS5_ACC_CALTEMP" documentation="Temperature that the accelerometer was calibrated at" user="Advanced" calibration="1">
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
<field name="Calibration">1</field>
</param>
<param humanName="Gyro ID" name="INS5_GYR_ID" documentation="Gyro sensor ID, taking into account its type, bus and instance" user="Advanced">
<field name="ReadOnly">True</field>
</param>
<param humanName="Gyro offsets of X axis" name="INS5_GYROFFS_X" documentation="Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations" user="Advanced" calibration="1">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
<field name="Calibration">1</field>
</param>
<param humanName="Gyro offsets of Y axis" name="INS5_GYROFFS_Y" documentation="Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations" user="Advanced" calibration="1">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
<field name="Calibration">1</field>
</param>
<param humanName="Gyro offsets of Z axis" name="INS5_GYROFFS_Z" documentation="Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations" user="Advanced" calibration="1">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
<field name="Calibration">1</field>
</param>
<param humanName="Calibration temperature for gyroscope" name="INS5_GYR_CALTEMP" documentation="Temperature that the gyroscope was calibrated at" user="Advanced" calibration="1">
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
<field name="Calibration">1</field>
</param>
</parameters>
<parameters name="INS5_TCAL_">
<param humanName="Enable temperature calibration" name="INS5_TCAL_ENABLE" documentation="Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
<value code="2">LearnCalibration</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Temperature calibration min" name="INS5_TCAL_TMIN" documentation="The minimum temperature that the calibration is valid for" user="Advanced" calibration="1">
<field name="Range">-70 80</field>
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
<field name="Calibration">1</field>
</param>
<param humanName="Temperature calibration max" name="INS5_TCAL_TMAX" documentation="The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration" user="Advanced" calibration="1">
<field name="Range">-70 80</field>
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 1st order temperature coefficient X axis" name="INS5_TCAL_ACC1_X" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 1st order temperature coefficient Y axis" name="INS5_TCAL_ACC1_Y" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 1st order temperature coefficient Z axis" name="INS5_TCAL_ACC1_Z" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 2nd order temperature coefficient X axis" name="INS5_TCAL_ACC2_X" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 2nd order temperature coefficient Y axis" name="INS5_TCAL_ACC2_Y" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 2nd order temperature coefficient Z axis" name="INS5_TCAL_ACC2_Z" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 3rd order temperature coefficient X axis" name="INS5_TCAL_ACC3_X" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 3rd order temperature coefficient Y axis" name="INS5_TCAL_ACC3_Y" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 3rd order temperature coefficient Z axis" name="INS5_TCAL_ACC3_Z" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 1st order temperature coefficient X axis" name="INS5_TCAL_GYR1_X" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 1st order temperature coefficient Y axis" name="INS5_TCAL_GYR1_Y" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 1st order temperature coefficient Z axis" name="INS5_TCAL_GYR1_Z" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 2nd order temperature coefficient X axis" name="INS5_TCAL_GYR2_X" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 2nd order temperature coefficient Y axis" name="INS5_TCAL_GYR2_Y" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 2nd order temperature coefficient Z axis" name="INS5_TCAL_GYR2_Z" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 3rd order temperature coefficient X axis" name="INS5_TCAL_GYR3_X" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 3rd order temperature coefficient Y axis" name="INS5_TCAL_GYR3_Y" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 3rd order temperature coefficient Z axis" name="INS5_TCAL_GYR3_Z" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
</parameters>
<parameters name="INS_HNTC2_">
<param humanName="Harmonic Notch Filter enable" name="INS_HNTC2_ENABLE" documentation="Harmonic Notch Filter enable" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Harmonic Notch Filter base frequency" name="INS_HNTC2_FREQ" documentation="Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz). " user="Advanced">
<field name="Range">10 495</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Harmonic Notch Filter bandwidth" name="INS_HNTC2_BW" documentation="Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics." user="Advanced">
<field name="Range">5 250</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Harmonic Notch Filter attenuation" name="INS_HNTC2_ATT" documentation="Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise." user="Advanced">
<field name="Range">5 50</field>
<field name="Units">dB</field>
<field name="UnitText">decibel</field>
</param>
<param humanName="Harmonic Notch Filter harmonics" name="INS_HNTC2_HMNCS" documentation="Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency." user="Advanced">
<field name="Bitmask">0: 1st harmonic, 1: 2nd harmonic, 2: 3rd harmonic, 3: 4th harmonic, 4: 5th harmonic, 5: 6th harmonic, 6: 7th harmonic, 7: 8th harmonic, 8: 9th harmonic, 9: 10th harmonic, 10: 11th harmonic, 11: 12th harmonic, 12: 13th harmonic, 13: 14th harmonic, 14: 15th harmonic, 15: 16th harmonic</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Harmonic Notch Filter reference value" name="INS_HNTC2_REF" documentation="A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM." user="Advanced">
<field name="Range">0.0 1.0</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Harmonic Notch Filter dynamic frequency tracking mode" name="INS_HNTC2_MODE" documentation="Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based updates should only be used with multicopters." user="Advanced">
<field name="Range">0 5</field>
<values>
<value code="0">Fixed</value>
<value code="1">Throttle</value>
<value code="2">RPM Sensor</value>
<value code="3">ESC Telemetry</value>
<value code="4">Dynamic FFT</value>
<value code="5">Second RPM Sensor</value>
</values>
</param>
<param humanName="Harmonic Notch Filter options" name="INS_HNTC2_OPTS" documentation="Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect." user="Advanced">
<field name="Bitmask">0:Double notch,1:Multi-Source,2:Update at loop rate,3:EnableOnAllIMUs,4:Triple notch, 5:Use min freq on RPM failure</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Throttle notch min freqency ratio" name="INS_HNTC2_FM_RAT" documentation="The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter." user="Advanced">
<field name="Range">0.1 1.0</field>
</param>
</parameters>
<parameters name="INS_HNTCH_">
<param humanName="Harmonic Notch Filter enable" name="INS_HNTCH_ENABLE" documentation="Harmonic Notch Filter enable" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Harmonic Notch Filter base frequency" name="INS_HNTCH_FREQ" documentation="Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz). " user="Advanced">
<field name="Range">10 495</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Harmonic Notch Filter bandwidth" name="INS_HNTCH_BW" documentation="Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics." user="Advanced">
<field name="Range">5 250</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Harmonic Notch Filter attenuation" name="INS_HNTCH_ATT" documentation="Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise." user="Advanced">
<field name="Range">5 50</field>
<field name="Units">dB</field>
<field name="UnitText">decibel</field>
</param>
<param humanName="Harmonic Notch Filter harmonics" name="INS_HNTCH_HMNCS" documentation="Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency." user="Advanced">
<field name="Bitmask">0: 1st harmonic, 1: 2nd harmonic, 2: 3rd harmonic, 3: 4th harmonic, 4: 5th harmonic, 5: 6th harmonic, 6: 7th harmonic, 7: 8th harmonic, 8: 9th harmonic, 9: 10th harmonic, 10: 11th harmonic, 11: 12th harmonic, 12: 13th harmonic, 13: 14th harmonic, 14: 15th harmonic, 15: 16th harmonic</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Harmonic Notch Filter reference value" name="INS_HNTCH_REF" documentation="A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM." user="Advanced">
<field name="Range">0.0 1.0</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Harmonic Notch Filter dynamic frequency tracking mode" name="INS_HNTCH_MODE" documentation="Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based updates should only be used with multicopters." user="Advanced">
<field name="Range">0 5</field>
<values>
<value code="0">Fixed</value>
<value code="1">Throttle</value>
<value code="2">RPM Sensor</value>
<value code="3">ESC Telemetry</value>
<value code="4">Dynamic FFT</value>
<value code="5">Second RPM Sensor</value>
</values>
</param>
<param humanName="Harmonic Notch Filter options" name="INS_HNTCH_OPTS" documentation="Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect." user="Advanced">
<field name="Bitmask">0:Double notch,1:Multi-Source,2:Update at loop rate,3:EnableOnAllIMUs,4:Triple notch, 5:Use min freq on RPM failure</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Throttle notch min freqency ratio" name="INS_HNTCH_FM_RAT" documentation="The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter." user="Advanced">
<field name="Range">0.1 1.0</field>
</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. This option takes effect on the next reboot." user="Advanced">
<field name="Increment">32</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Sensor Bitmask" name="INS_LOG_BAT_MASK" documentation="Bitmap of which IMUs to log batch data for. This option takes effect on the next reboot." user="Advanced">
<field name="Bitmask">0:IMU1,1:IMU2,2:IMU3</field>
<field name="RebootRequired">True</field>
</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), 1: Sample post-filtering, 2: Sample pre- and post-filter</field>
</param>
<param humanName="logging interval" name="INS_LOG_BAT_LGIN" documentation="Interval between pushing samples to the AP_Logger 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_TCAL1_">
<param humanName="Enable temperature calibration" name="INS_TCAL1_ENABLE" documentation="Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
<value code="2">LearnCalibration</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Temperature calibration min" name="INS_TCAL1_TMIN" documentation="The minimum temperature that the calibration is valid for" user="Advanced" calibration="1">
<field name="Range">-70 80</field>
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
<field name="Calibration">1</field>
</param>
<param humanName="Temperature calibration max" name="INS_TCAL1_TMAX" documentation="The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration" user="Advanced" calibration="1">
<field name="Range">-70 80</field>
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 1st order temperature coefficient X axis" name="INS_TCAL1_ACC1_X" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 1st order temperature coefficient Y axis" name="INS_TCAL1_ACC1_Y" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 1st order temperature coefficient Z axis" name="INS_TCAL1_ACC1_Z" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 2nd order temperature coefficient X axis" name="INS_TCAL1_ACC2_X" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 2nd order temperature coefficient Y axis" name="INS_TCAL1_ACC2_Y" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 2nd order temperature coefficient Z axis" name="INS_TCAL1_ACC2_Z" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 3rd order temperature coefficient X axis" name="INS_TCAL1_ACC3_X" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 3rd order temperature coefficient Y axis" name="INS_TCAL1_ACC3_Y" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 3rd order temperature coefficient Z axis" name="INS_TCAL1_ACC3_Z" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 1st order temperature coefficient X axis" name="INS_TCAL1_GYR1_X" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 1st order temperature coefficient Y axis" name="INS_TCAL1_GYR1_Y" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 1st order temperature coefficient Z axis" name="INS_TCAL1_GYR1_Z" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 2nd order temperature coefficient X axis" name="INS_TCAL1_GYR2_X" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 2nd order temperature coefficient Y axis" name="INS_TCAL1_GYR2_Y" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 2nd order temperature coefficient Z axis" name="INS_TCAL1_GYR2_Z" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 3rd order temperature coefficient X axis" name="INS_TCAL1_GYR3_X" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 3rd order temperature coefficient Y axis" name="INS_TCAL1_GYR3_Y" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 3rd order temperature coefficient Z axis" name="INS_TCAL1_GYR3_Z" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
</parameters>
<parameters name="INS_TCAL2_">
<param humanName="Enable temperature calibration" name="INS_TCAL2_ENABLE" documentation="Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
<value code="2">LearnCalibration</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Temperature calibration min" name="INS_TCAL2_TMIN" documentation="The minimum temperature that the calibration is valid for" user="Advanced" calibration="1">
<field name="Range">-70 80</field>
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
<field name="Calibration">1</field>
</param>
<param humanName="Temperature calibration max" name="INS_TCAL2_TMAX" documentation="The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration" user="Advanced" calibration="1">
<field name="Range">-70 80</field>
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 1st order temperature coefficient X axis" name="INS_TCAL2_ACC1_X" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 1st order temperature coefficient Y axis" name="INS_TCAL2_ACC1_Y" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 1st order temperature coefficient Z axis" name="INS_TCAL2_ACC1_Z" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 2nd order temperature coefficient X axis" name="INS_TCAL2_ACC2_X" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 2nd order temperature coefficient Y axis" name="INS_TCAL2_ACC2_Y" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 2nd order temperature coefficient Z axis" name="INS_TCAL2_ACC2_Z" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 3rd order temperature coefficient X axis" name="INS_TCAL2_ACC3_X" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 3rd order temperature coefficient Y axis" name="INS_TCAL2_ACC3_Y" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 3rd order temperature coefficient Z axis" name="INS_TCAL2_ACC3_Z" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 1st order temperature coefficient X axis" name="INS_TCAL2_GYR1_X" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 1st order temperature coefficient Y axis" name="INS_TCAL2_GYR1_Y" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 1st order temperature coefficient Z axis" name="INS_TCAL2_GYR1_Z" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 2nd order temperature coefficient X axis" name="INS_TCAL2_GYR2_X" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 2nd order temperature coefficient Y axis" name="INS_TCAL2_GYR2_Y" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 2nd order temperature coefficient Z axis" name="INS_TCAL2_GYR2_Z" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 3rd order temperature coefficient X axis" name="INS_TCAL2_GYR3_X" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 3rd order temperature coefficient Y axis" name="INS_TCAL2_GYR3_Y" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 3rd order temperature coefficient Z axis" name="INS_TCAL2_GYR3_Z" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
</parameters>
<parameters name="INS_TCAL3_">
<param humanName="Enable temperature calibration" name="INS_TCAL3_ENABLE" documentation="Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
<value code="2">LearnCalibration</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Temperature calibration min" name="INS_TCAL3_TMIN" documentation="The minimum temperature that the calibration is valid for" user="Advanced" calibration="1">
<field name="Range">-70 80</field>
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
<field name="Calibration">1</field>
</param>
<param humanName="Temperature calibration max" name="INS_TCAL3_TMAX" documentation="The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration" user="Advanced" calibration="1">
<field name="Range">-70 80</field>
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 1st order temperature coefficient X axis" name="INS_TCAL3_ACC1_X" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 1st order temperature coefficient Y axis" name="INS_TCAL3_ACC1_Y" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 1st order temperature coefficient Z axis" name="INS_TCAL3_ACC1_Z" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 2nd order temperature coefficient X axis" name="INS_TCAL3_ACC2_X" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 2nd order temperature coefficient Y axis" name="INS_TCAL3_ACC2_Y" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 2nd order temperature coefficient Z axis" name="INS_TCAL3_ACC2_Z" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 3rd order temperature coefficient X axis" name="INS_TCAL3_ACC3_X" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 3rd order temperature coefficient Y axis" name="INS_TCAL3_ACC3_Y" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Accelerometer 3rd order temperature coefficient Z axis" name="INS_TCAL3_ACC3_Z" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 1st order temperature coefficient X axis" name="INS_TCAL3_GYR1_X" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 1st order temperature coefficient Y axis" name="INS_TCAL3_GYR1_Y" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 1st order temperature coefficient Z axis" name="INS_TCAL3_GYR1_Z" documentation="This is the 1st order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 2nd order temperature coefficient X axis" name="INS_TCAL3_GYR2_X" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 2nd order temperature coefficient Y axis" name="INS_TCAL3_GYR2_Y" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 2nd order temperature coefficient Z axis" name="INS_TCAL3_GYR2_Z" documentation="This is the 2nd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 3rd order temperature coefficient X axis" name="INS_TCAL3_GYR3_X" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 3rd order temperature coefficient Y axis" name="INS_TCAL3_GYR3_Y" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
<param humanName="Gyroscope 3rd order temperature coefficient Z axis" name="INS_TCAL3_GYR3_Z" documentation="This is the 3rd order temperature coefficient from a temperature calibration" user="Advanced" calibration="1">
<field name="Calibration">1</field>
</param>
</parameters>
<parameters name="KDE_">
<param humanName="Number of motor poles" name="KDE_NPOLE" documentation="Sets the number of motor poles to calculate the correct RPM value">
</param>
</parameters>
<parameters name="LGR_">
<param humanName="Enable landing gear" name="LGR_ENABLE" documentation="Enable landing gear control" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</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>
<param humanName="Chassis deployment feedback pin" name="LGR_DEPLOY_PIN" documentation="Pin number to use for detection of gear deployment. If set to -1 feedback is disabled. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">AUX1</value>
<value code="51">AUX2</value>
<value code="52">AUX3</value>
<value code="53">AUX4</value>
<value code="54">AUX5</value>
<value code="55">AUX6</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Chassis deployment feedback pin polarity" name="LGR_DEPLOY_POL" documentation="Polarity for feedback pin. If this is 1 then the pin should be high when gear are deployed. If set to 0 then then deployed gear level is low." user="Standard">
<values>
<value code="0">Low</value>
<value code="1">High</value>
</values>
</param>
<param humanName="Weight on wheels feedback pin" name="LGR_WOW_PIN" documentation="Pin number to use for feedback of weight on wheels condition. If set to -1 feedback is disabled. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">AUX1</value>
<value code="51">AUX2</value>
<value code="52">AUX3</value>
<value code="53">AUX4</value>
<value code="54">AUX5</value>
<value code="55">AUX6</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Weight on wheels feedback pin polarity" name="LGR_WOW_POL" documentation="Polarity for feedback pin. If this is 1 then the pin should be high when there is weight on wheels. If set to 0 then then weight on wheels level is low." user="Standard">
<values>
<value code="0">Low</value>
<value code="1">High</value>
</values>
</param>
<param humanName="Landing gear deployment altitude" name="LGR_DEPLOY_ALT" documentation="Altitude where the landing gear will be deployed. This should be lower than the RETRACT_ALT. If zero then altitude is not used for deploying landing gear. Only applies when vehicle is armed." user="Standard">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 1000</field>
<field name="Increment">1</field>
</param>
<param humanName="Landing gear retract altitude" name="LGR_RETRACT_ALT" documentation="Altitude where the landing gear will be retracted. This should be higher than the DEPLOY_ALT. If zero then altitude is not used for retracting landing gear. Only applies when vehicle is armed." user="Standard">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 1000</field>
<field name="Increment">1</field>
</param>
<param humanName="Landing gear auto retract/deploy options" name="LGR_OPTIONS" documentation="Options to retract or deploy landing gear in Auto or Guided mode" user="Standard">
<field name="Bitmask">0:Retract after Takeoff,1:Deploy during Land</field>
</param>
</parameters>
<parameters name="LOG">
<param humanName="AP_Logger Backend Storage type" name="LOG_BACKEND_TYPE" documentation="Bitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected." user="Standard">
<field name="Bitmask">0:File,1:MAVLink,2:Block</field>
</param>
<param humanName="Maximum AP_Logger File and Block Backend buffer size (in kilobytes)" name="LOG_FILE_BUFSIZE" documentation="The File and Block backends use 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 at all times including when disarmed. Logging before arming can make for very large logfiles but can help a lot when tracking down startup issues and is necessary if logging of EKF replay data is selected via the LOG_REPLAY parameter. If LOG_DISARMED is set to 2, then logging will be enabled when disarmed, but not if a USB connection is detected. This can be used to prevent unwanted data logs being generated when the vehicle is connected via USB for log downloading or parameter changes. If LOG_DISARMED is set to 3 then logging will happen while disarmed, but if the vehicle never arms then the logs using the filesystem backend will be discarded on the next boot." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
<value code="2">Disabled on USB connection</value>
<value code="3">Discard log on reboot if never armed</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 and EKF3 state estimators will log detailed information needed for diagnosing problems with the Kalman filter. LOG_DISARMED must be set to 1 or 2 or else the log will not contain the pre-flight data required for replay testing of the EKF's. 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. Applies to the File and Block logging backends." user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Maximum AP_Logger MAVLink Backend buffer size" name="LOG_MAV_BUFSIZE" documentation="Maximum amount of memory to allocate to AP_Logger-over-mavlink" user="Advanced">
<field name="Units">kB</field>
<field name="UnitText">kilobytes</field>
</param>
<param humanName="Timeout before giving up on file writes" name="LOG_FILE_TIMEOUT" documentation="This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped." user="Standard">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Old logs on the SD card will be deleted to maintain this amount of free space" name="LOG_FILE_MB_FREE" documentation="Set this such that the free space is larger than your largest typical flight log" user="Standard">
<field name="Units">MB</field>
<field name="UnitText">megabyte</field>
<field name="Range">10 1000</field>
</param>
<param humanName="Maximum logging rate for file backend" name="LOG_FILE_RATEMAX" documentation="This sets the maximum rate that streaming log messages will be logged to the file backend. A value of zero means that rate limiting is disabled." user="Standard">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 1000</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Maximum logging rate for mavlink backend" name="LOG_MAV_RATEMAX" documentation="This sets the maximum rate that streaming log messages will be logged to the mavlink backend. A value of zero means that rate limiting is disabled." user="Standard">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 1000</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Maximum logging rate for block backend" name="LOG_BLK_RATEMAX" documentation="This sets the maximum rate that streaming log messages will be logged to the block backend. A value of zero means that rate limiting is disabled." user="Standard">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 1000</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Maximum logging rate when disarmed" name="LOG_DARM_RATEMAX" documentation="This sets the maximum rate that streaming log messages will be logged to any backend when disarmed. A value of zero means that the normal backend rate limit is applied." user="Standard">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 1000</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Maximum number of log files" name="LOG_MAX_FILES" documentation="This sets the maximum number of log file that will be written on dataflash or sd card before starting to rotate log number. Limit is capped at 500 logs." user="Advanced">
<field name="Range">2 500</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="LOIT_">
<param humanName="Loiter pilot angle max" name="LOIT_ANG_MAX" documentation="Loiter maximum pilot requested lean angle. Set to zero for 2/3 of PSC_ANGLE_MAX/ANGLE_MAX. The maximum vehicle lean angle is still limited by PSC_ANGLE_MAX/ANGLE_MAX" user="Advanced">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 45</field>
<field name="Increment">1</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="Units">cm/s</field>
<field name="UnitText">centimeters per second</field>
<field name="Range">20 3500</field>
<field name="Increment">50</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="Units">cm/s/s</field>
<field name="UnitText">centimeters per square second</field>
<field name="Range">100 981</field>
<field name="Increment">1</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="Units">cm/s/s</field>
<field name="UnitText">centimeters per square second</field>
<field name="Range">25 250</field>
<field name="Increment">1</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 maneuver." user="Advanced">
<field name="Units">cm/s/s/s</field>
<field name="UnitText">centimeters per cubic second</field>
<field name="Range">500 5000</field>
<field name="Increment">1</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="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Range">0 2</field>
<field name="Increment">0.1</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>
<field name="ReadOnly">True</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, 2:ContinueAfterLand</field>
</param>
</parameters>
<parameters name="MNT1">
<param humanName="Mount Type" name="MNT1_TYPE" documentation="Mount Type" 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>
<value code="6">Gremsy</value>
<value code="7">BrushlessPWM</value>
<value code="8">Siyi</value>
<value code="9">Scripting</value>
<value code="10">Xacti</value>
<value code="11">Viewpro</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Mount default operating mode" name="MNT1_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>
<value code="5">SysID Target</value>
<value code="6">Home Location</value>
</values>
</param>
<param humanName="Mount RC Rate" name="MNT1_RC_RATE" documentation="Pilot rate control's maximum rate. Set to zero to use angle control" user="Standard">
<field name="Units">deg/s</field>
<field name="UnitText">degrees per second</field>
<field name="Range">0 90</field>
<field name="Increment">1</field>
</param>
<param humanName="Mount Roll angle minimum" name="MNT1_ROLL_MIN" documentation="Mount Roll angle minimum" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">-180 180</field>
<field name="Increment">1</field>
</param>
<param humanName="Mount Roll angle maximum" name="MNT1_ROLL_MAX" documentation="Mount Roll angle maximum" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">-180 180</field>
<field name="Increment">1</field>
</param>
<param humanName="Mount Pitch angle minimum" name="MNT1_PITCH_MIN" documentation="Mount Pitch angle minimum" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">-90 90</field>
<field name="Increment">1</field>
</param>
<param humanName="Mount Pitch angle maximum" name="MNT1_PITCH_MAX" documentation="Mount Pitch angle maximum" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">-90 90</field>
<field name="Increment">1</field>
</param>
<param humanName="Mount Yaw angle minimum" name="MNT1_YAW_MIN" documentation="Mount Yaw angle minimum" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">-180 180</field>
<field name="Increment">1</field>
</param>
<param humanName="Mount Yaw angle maximum" name="MNT1_YAW_MAX" documentation="Mount Yaw angle maximum" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">-180 180</field>
<field name="Increment">1</field>
</param>
<param humanName="Mount roll angle when in retracted position" name="MNT1_RETRACT_X" documentation="Mount roll angle when in retracted position" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">-180.0 180.0</field>
<field name="Increment">1</field>
</param>
<param humanName="Mount pitch angle when in retracted position" name="MNT1_RETRACT_Y" documentation="Mount pitch angle when in retracted position" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">-180.0 180.0</field>
<field name="Increment">1</field>
</param>
<param humanName="Mount yaw angle when in retracted position" name="MNT1_RETRACT_Z" documentation="Mount yaw angle when in retracted position" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">-180.0 180.0</field>
<field name="Increment">1</field>
</param>
<param humanName="Mount roll angle when in neutral position" name="MNT1_NEUTRAL_X" documentation="Mount roll angle when in neutral position" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">-180.0 180.0</field>
<field name="Increment">1</field>
</param>
<param humanName="Mount pitch angle when in neutral position" name="MNT1_NEUTRAL_Y" documentation="Mount pitch angle when in neutral position" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">-180.0 180.0</field>
<field name="Increment">1</field>
</param>
<param humanName="Mount yaw angle when in neutral position" name="MNT1_NEUTRAL_Z" documentation="Mount yaw angle when in neutral position" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">-180.0 180.0</field>
<field name="Increment">1</field>
</param>
<param humanName="Mount Roll stabilization lead time" name="MNT1_LEAD_RLL" documentation="Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate. Increase until the servo is responsive but does not overshoot" user="Standard">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Range">0.0 0.2</field>
<field name="Increment">.005</field>
</param>
<param humanName="Mount Pitch stabilization lead time" name="MNT1_LEAD_PTCH" documentation="Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate. Increase until the servo is responsive but does not overshoot" user="Standard">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Range">0.0 0.2</field>
<field name="Increment">.005</field>
</param>
<param humanName="Mount Target sysID" name="MNT1_SYSID_DFLT" documentation="Default Target sysID for the mount to point to" user="Standard">
<field name="RebootRequired">True</field>
</param>
<param humanName="Mount Device ID" name="MNT1_DEVID" documentation="Mount device ID, taking into account its type, bus and instance" user="Advanced">
</param>
<param humanName="Mount options" name="MNT1_OPTIONS" documentation="Mount options bitmask" user="Standard">
<field name="Bitmask">0:RC lock state from previous mode</field>
</param>
</parameters>
<parameters name="MNT2">
<param humanName="Mount Type" name="MNT2_TYPE" documentation="Mount Type" 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>
<value code="6">Gremsy</value>
<value code="7">BrushlessPWM</value>
<value code="8">Siyi</value>
<value code="9">Scripting</value>
<value code="10">Xacti</value>
<value code="11">Viewpro</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>
<value code="5">SysID Target</value>
<value code="6">Home Location</value>
</values>
</param>
<param humanName="Mount RC Rate" name="MNT2_RC_RATE" documentation="Pilot rate control's maximum rate. Set to zero to use angle control" user="Standard">
<field name="Units">deg/s</field>
<field name="UnitText">degrees per second</field>
<field name="Range">0 90</field>
<field name="Increment">1</field>
</param>
<param humanName="Mount Roll angle minimum" name="MNT2_ROLL_MIN" documentation="Mount Roll angle minimum" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">-180 180</field>
<field name="Increment">1</field>
</param>
<param humanName="Mount Roll angle maximum" name="MNT2_ROLL_MAX" documentation="Mount Roll angle maximum" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">-180 180</field>
<field name="Increment">1</field>
</param>
<param humanName="Mount Pitch angle minimum" name="MNT2_PITCH_MIN" documentation="Mount Pitch angle minimum" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">-90 90</field>
<field name="Increment">1</field>
</param>
<param humanName="Mount Pitch angle maximum" name="MNT2_PITCH_MAX" documentation="Mount Pitch angle maximum" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">-90 90</field>
<field name="Increment">1</field>
</param>
<param humanName="Mount Yaw angle minimum" name="MNT2_YAW_MIN" documentation="Mount Yaw angle minimum" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">-180 180</field>
<field name="Increment">1</field>
</param>
<param humanName="Mount Yaw angle maximum" name="MNT2_YAW_MAX" documentation="Mount Yaw angle maximum" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">-180 180</field>
<field name="Increment">1</field>
</param>
<param humanName="Mount roll angle when in retracted position" name="MNT2_RETRACT_X" documentation="Mount roll angle when in retracted position" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">-180.0 180.0</field>
<field name="Increment">1</field>
</param>
<param humanName="Mount pitch angle when in retracted position" name="MNT2_RETRACT_Y" documentation="Mount pitch angle when in retracted position" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">-180.0 180.0</field>
<field name="Increment">1</field>
</param>
<param humanName="Mount yaw angle when in retracted position" name="MNT2_RETRACT_Z" documentation="Mount yaw angle when in retracted position" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">-180.0 180.0</field>
<field name="Increment">1</field>
</param>
<param humanName="Mount roll angle when in neutral position" name="MNT2_NEUTRAL_X" documentation="Mount roll angle when in neutral position" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">-180.0 180.0</field>
<field name="Increment">1</field>
</param>
<param humanName="Mount pitch angle when in neutral position" name="MNT2_NEUTRAL_Y" documentation="Mount pitch angle when in neutral position" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">-180.0 180.0</field>
<field name="Increment">1</field>
</param>
<param humanName="Mount yaw angle when in neutral position" name="MNT2_NEUTRAL_Z" documentation="Mount yaw angle when in neutral position" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">-180.0 180.0</field>
<field name="Increment">1</field>
</param>
<param humanName="Mount Roll stabilization lead time" name="MNT2_LEAD_RLL" documentation="Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate. Increase until the servo is responsive but does not overshoot" user="Standard">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Range">0.0 0.2</field>
<field name="Increment">.005</field>
</param>
<param humanName="Mount Pitch stabilization lead time" name="MNT2_LEAD_PTCH" documentation="Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate. Increase until the servo is responsive but does not overshoot" user="Standard">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Range">0.0 0.2</field>
<field name="Increment">.005</field>
</param>
<param humanName="Mount Target sysID" name="MNT2_SYSID_DFLT" documentation="Default Target sysID for the mount to point to" user="Standard">
<field name="RebootRequired">True</field>
</param>
<param humanName="Mount Device ID" name="MNT2_DEVID" documentation="Mount device ID, taking into account its type, bus and instance" user="Advanced">
</param>
<param humanName="Mount options" name="MNT2_OPTIONS" documentation="Mount options bitmask" user="Standard">
<field name="Bitmask">0:RC lock state from previous mode</field>
</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 (0.0 for linear to 1.0 for second order curve)" user="Advanced">
<field name="Range">-1.0 1.0</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">
<values>
<value code="0.9">Low</value>
<value code="0.95">Default</value>
<value code="1.0">High</value>
</values>
</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 4.2 * cell count, 0 = Disabled" user="Advanced">
<field name="Range">6 53</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 3.3 * cell count, 0 = Disabled" user="Advanced">
<field name="Range">6 42</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>
<value code="8">PWMRange</value>
<value code="9">PWMAngle</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="PWM output minimum" name="MOT_PWM_MIN" documentation="This sets the min PWM output value in microseconds that will ever be output to the motors" user="Advanced">
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">0 2000</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" user="Advanced">
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">0 2000</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">
<values>
<value code="0.0">Low</value>
<value code="0.15">Default</value>
<value code="0.25">High</value>
</values>
</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">
<values>
<value code="0.0">Low</value>
<value code="0.1">Default</value>
<value code="0.2">High</value>
</values>
</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">Learn and Save</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 (Tricopter only)" user="Standard">
<field name="Range">5 80</field>
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Increment">1</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">0.05 2</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Motor boost scale" name="MOT_BOOST_SCALE" documentation="Booster motor output scaling factor vs main throttle. The output to the BoostThrottle servo will be the main throttle 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>
<param humanName="Output slew time for increasing throttle" name="MOT_SLEW_UP_TIME" documentation="Time in seconds to slew output from zero to full. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5." user="Advanced">
<field name="Range">0 .5</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Output slew time for decreasing throttle" name="MOT_SLEW_DN_TIME" documentation="Time in seconds to slew output from full to zero. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5." user="Advanced">
<field name="Range">0 .5</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Time taken to disable and enable the motor PWM output when disarmed and armed." name="MOT_SAFE_TIME" documentation="Time taken to disable and enable the motor PWM output when disarmed and armed." user="Advanced">
<field name="Range">0 5</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Motor options" name="MOT_OPTIONS" documentation="Motor options" user="Advanced">
<field name="Bitmask">0:Voltage compensation uses raw voltage</field>
</param>
<param humanName="Spool down time" name="MOT_SPOOL_TIM_DN" documentation="Time taken to spool down the motors from min to zero throttle. If set to 0 then SPOOL_TIME is used instead." user="Advanced">
<field name="Range">0 2</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Increment">0.001</field>
</param>
</parameters>
<parameters name="MSP">
<param humanName="Cell count override" name="MSP_OSD_NCELLS" documentation="Used for average cell voltage calculation" user="Standard">
<values>
<value code="0">Auto</value>
<value code="1">1</value>
<value code="2">2</value>
<value code="3">3</value>
<value code="4">4</value>
<value code="5">5</value>
<value code="6">6</value>
<value code="7">7</value>
<value code="8">8</value>
<value code="9">9</value>
<value code="10">10</value>
<value code="11">11</value>
<value code="12">12</value>
<value code="13">13</value>
<value code="14">14</value>
</values>
</param>
<param humanName="MSP OSD Options" name="MSP_OPTIONS" documentation="A bitmask to set some MSP specific options: EnableTelemetryMode-allows "push" mode telemetry when only rx line of OSD ic connected to autopilot, EnableBTFLFonts-uses indexes corresponding to Betaflight fonts if OSD uses those instead of ArduPilot fonts." user="Standard">
<field name="Bitmask">0:EnableTelemetryMode, 1: unused, 2:EnableBTFLFonts</field>
</param>
</parameters>
<parameters name="NET_">
<param humanName="Networking Enable" name="NET_ENABLE" documentation="Networking Enable" user="Advanced">
<values>
<value code="0">Disable</value>
<value code="1">Enable</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="IP Subnet mask" name="NET_NETMASK" documentation="Allows setting static subnet mask. The value is a count of consecutive bits. Examples: 24 = 255.255.255.0, 16 = 255.255.0.0" user="Advanced">
<field name="Range">0 32</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="DHCP client" name="NET_DHCP" documentation="Enable/Disable DHCP client" user="Advanced">
<values>
<value code="0">Disable</value>
<value code="1">Enable</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Test enable flags" name="NET_TESTS" documentation="Enable/Disable networking tests" user="Advanced">
<field name="Bitmask">0:UDP echo test,1:TCP echo test, 2:TCP discard test</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Networking options" name="NET_OPTIONS" documentation="Networking options" user="Advanced">
<field name="Bitmask">0:EnablePPP Ethernet gateway</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="NET_GWADDR">
<param humanName="IPv4 Address 1st byte" name="NET_GWADDR0" documentation="IPv4 address. Example: 192.xxx.xxx.xxx">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="IPv4 Address 2nd byte" name="NET_GWADDR1" documentation="IPv4 address. Example: xxx.168.xxx.xxx">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="IPv4 Address 3rd byte" name="NET_GWADDR2" documentation="IPv4 address. Example: xxx.xxx.13.xxx">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="IPv4 Address 4th byte" name="NET_GWADDR3" documentation="IPv4 address. Example: xxx.xxx.xxx.14">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="NET_IPADDR">
<param humanName="IPv4 Address 1st byte" name="NET_IPADDR0" documentation="IPv4 address. Example: 192.xxx.xxx.xxx">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="IPv4 Address 2nd byte" name="NET_IPADDR1" documentation="IPv4 address. Example: xxx.168.xxx.xxx">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="IPv4 Address 3rd byte" name="NET_IPADDR2" documentation="IPv4 address. Example: xxx.xxx.13.xxx">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="IPv4 Address 4th byte" name="NET_IPADDR3" documentation="IPv4 address. Example: xxx.xxx.xxx.14">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="NET_MACADDR">
<param humanName="MAC Address 1st byte" name="NET_MACADDR0" documentation="MAC address 1st byte" user="Advanced">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="MAC Address 2nd byte" name="NET_MACADDR1" documentation="MAC address 2nd byte" user="Advanced">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="MAC Address 3rd byte" name="NET_MACADDR2" documentation="MAC address 3rd byte" user="Advanced">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="MAC Address 4th byte" name="NET_MACADDR3" documentation="MAC address 4th byte" user="Advanced">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="MAC Address 5th byte" name="NET_MACADDR4" documentation="MAC address 5th byte" user="Advanced">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="MAC Address 6th byte" name="NET_MACADDR5" documentation="MAC address 6th byte" user="Advanced">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="NET_P1_">
<param humanName="Port type" name="NET_P1_TYPE" documentation="Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">UDP client</value>
<value code="2">UDP server</value>
<value code="3">TCP client</value>
<value code="4">TCP server</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Protocol" name="NET_P1_PROTOCOL" documentation="Networked serial port protocol" user="Advanced">
<field name="RebootRequired">True</field>
<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">Gimbal</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>
<value code="18">OpticalFlow</value>
<value code="19">RobotisServo</value>
<value code="20">NMEA Output</value>
<value code="21">WindVane</value>
<value code="22">SLCAN</value>
<value code="23">RCIN</value>
<value code="24">EFI Serial</value>
<value code="25">LTM</value>
<value code="26">RunCam</value>
<value code="27">HottTelem</value>
<value code="28">Scripting</value>
<value code="29">Crossfire VTX</value>
<value code="30">Generator</value>
<value code="31">Winch</value>
<value code="32">MSP</value>
<value code="33">DJI FPV</value>
<value code="34">AirSpeed</value>
<value code="35">ADSB</value>
<value code="36">AHRS</value>
<value code="37">SmartAudio</value>
<value code="38">FETtecOneWire</value>
<value code="39">Torqeedo</value>
<value code="40">AIS</value>
<value code="41">CoDevESC</value>
<value code="42">DisplayPort</value>
<value code="43">MAVLink High Latency</value>
<value code="44">IRC Tramp</value>
<value code="45">DDS XRCE</value>
<value code="46">IMUDATA</value>
</values>
</param>
<param humanName="Port number" name="NET_P1_PORT" documentation="Port number" user="Advanced">
<field name="Range">0 65535</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="NET_P1_IP">
<param humanName="IPv4 Address 1st byte" name="NET_P1_IP0" documentation="IPv4 address. Example: 192.xxx.xxx.xxx">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="IPv4 Address 2nd byte" name="NET_P1_IP1" documentation="IPv4 address. Example: xxx.168.xxx.xxx">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="IPv4 Address 3rd byte" name="NET_P1_IP2" documentation="IPv4 address. Example: xxx.xxx.13.xxx">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="IPv4 Address 4th byte" name="NET_P1_IP3" documentation="IPv4 address. Example: xxx.xxx.xxx.14">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="NET_P2_">
<param humanName="Port type" name="NET_P2_TYPE" documentation="Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">UDP client</value>
<value code="2">UDP server</value>
<value code="3">TCP client</value>
<value code="4">TCP server</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Protocol" name="NET_P2_PROTOCOL" documentation="Networked serial port protocol" user="Advanced">
<field name="RebootRequired">True</field>
<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">Gimbal</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>
<value code="18">OpticalFlow</value>
<value code="19">RobotisServo</value>
<value code="20">NMEA Output</value>
<value code="21">WindVane</value>
<value code="22">SLCAN</value>
<value code="23">RCIN</value>
<value code="24">EFI Serial</value>
<value code="25">LTM</value>
<value code="26">RunCam</value>
<value code="27">HottTelem</value>
<value code="28">Scripting</value>
<value code="29">Crossfire VTX</value>
<value code="30">Generator</value>
<value code="31">Winch</value>
<value code="32">MSP</value>
<value code="33">DJI FPV</value>
<value code="34">AirSpeed</value>
<value code="35">ADSB</value>
<value code="36">AHRS</value>
<value code="37">SmartAudio</value>
<value code="38">FETtecOneWire</value>
<value code="39">Torqeedo</value>
<value code="40">AIS</value>
<value code="41">CoDevESC</value>
<value code="42">DisplayPort</value>
<value code="43">MAVLink High Latency</value>
<value code="44">IRC Tramp</value>
<value code="45">DDS XRCE</value>
<value code="46">IMUDATA</value>
</values>
</param>
<param humanName="Port number" name="NET_P2_PORT" documentation="Port number" user="Advanced">
<field name="Range">0 65535</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="NET_P2_IP">
<param humanName="IPv4 Address 1st byte" name="NET_P2_IP0" documentation="IPv4 address. Example: 192.xxx.xxx.xxx">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="IPv4 Address 2nd byte" name="NET_P2_IP1" documentation="IPv4 address. Example: xxx.168.xxx.xxx">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="IPv4 Address 3rd byte" name="NET_P2_IP2" documentation="IPv4 address. Example: xxx.xxx.13.xxx">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="IPv4 Address 4th byte" name="NET_P2_IP3" documentation="IPv4 address. Example: xxx.xxx.xxx.14">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="NET_P3_">
<param humanName="Port type" name="NET_P3_TYPE" documentation="Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">UDP client</value>
<value code="2">UDP server</value>
<value code="3">TCP client</value>
<value code="4">TCP server</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Protocol" name="NET_P3_PROTOCOL" documentation="Networked serial port protocol" user="Advanced">
<field name="RebootRequired">True</field>
<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">Gimbal</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>
<value code="18">OpticalFlow</value>
<value code="19">RobotisServo</value>
<value code="20">NMEA Output</value>
<value code="21">WindVane</value>
<value code="22">SLCAN</value>
<value code="23">RCIN</value>
<value code="24">EFI Serial</value>
<value code="25">LTM</value>
<value code="26">RunCam</value>
<value code="27">HottTelem</value>
<value code="28">Scripting</value>
<value code="29">Crossfire VTX</value>
<value code="30">Generator</value>
<value code="31">Winch</value>
<value code="32">MSP</value>
<value code="33">DJI FPV</value>
<value code="34">AirSpeed</value>
<value code="35">ADSB</value>
<value code="36">AHRS</value>
<value code="37">SmartAudio</value>
<value code="38">FETtecOneWire</value>
<value code="39">Torqeedo</value>
<value code="40">AIS</value>
<value code="41">CoDevESC</value>
<value code="42">DisplayPort</value>
<value code="43">MAVLink High Latency</value>
<value code="44">IRC Tramp</value>
<value code="45">DDS XRCE</value>
<value code="46">IMUDATA</value>
</values>
</param>
<param humanName="Port number" name="NET_P3_PORT" documentation="Port number" user="Advanced">
<field name="Range">0 65535</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="NET_P3_IP">
<param humanName="IPv4 Address 1st byte" name="NET_P3_IP0" documentation="IPv4 address. Example: 192.xxx.xxx.xxx">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="IPv4 Address 2nd byte" name="NET_P3_IP1" documentation="IPv4 address. Example: xxx.168.xxx.xxx">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="IPv4 Address 3rd byte" name="NET_P3_IP2" documentation="IPv4 address. Example: xxx.xxx.13.xxx">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="IPv4 Address 4th byte" name="NET_P3_IP3" documentation="IPv4 address. Example: xxx.xxx.xxx.14">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="NET_P4_">
<param humanName="Port type" name="NET_P4_TYPE" documentation="Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">UDP client</value>
<value code="2">UDP server</value>
<value code="3">TCP client</value>
<value code="4">TCP server</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Protocol" name="NET_P4_PROTOCOL" documentation="Networked serial port protocol" user="Advanced">
<field name="RebootRequired">True</field>
<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">Gimbal</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>
<value code="18">OpticalFlow</value>
<value code="19">RobotisServo</value>
<value code="20">NMEA Output</value>
<value code="21">WindVane</value>
<value code="22">SLCAN</value>
<value code="23">RCIN</value>
<value code="24">EFI Serial</value>
<value code="25">LTM</value>
<value code="26">RunCam</value>
<value code="27">HottTelem</value>
<value code="28">Scripting</value>
<value code="29">Crossfire VTX</value>
<value code="30">Generator</value>
<value code="31">Winch</value>
<value code="32">MSP</value>
<value code="33">DJI FPV</value>
<value code="34">AirSpeed</value>
<value code="35">ADSB</value>
<value code="36">AHRS</value>
<value code="37">SmartAudio</value>
<value code="38">FETtecOneWire</value>
<value code="39">Torqeedo</value>
<value code="40">AIS</value>
<value code="41">CoDevESC</value>
<value code="42">DisplayPort</value>
<value code="43">MAVLink High Latency</value>
<value code="44">IRC Tramp</value>
<value code="45">DDS XRCE</value>
<value code="46">IMUDATA</value>
</values>
</param>
<param humanName="Port number" name="NET_P4_PORT" documentation="Port number" user="Advanced">
<field name="Range">0 65535</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="NET_P4_IP">
<param humanName="IPv4 Address 1st byte" name="NET_P4_IP0" documentation="IPv4 address. Example: 192.xxx.xxx.xxx">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="IPv4 Address 2nd byte" name="NET_P4_IP1" documentation="IPv4 address. Example: xxx.168.xxx.xxx">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="IPv4 Address 3rd byte" name="NET_P4_IP2" documentation="IPv4 address. Example: xxx.xxx.13.xxx">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="IPv4 Address 4th byte" name="NET_P4_IP3" documentation="IPv4 address. Example: xxx.xxx.xxx.14">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="NET_REMPPP_IP">
<param humanName="IPv4 Address 1st byte" name="NET_REMPPP_IP0" documentation="IPv4 address. Example: 192.xxx.xxx.xxx">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="IPv4 Address 2nd byte" name="NET_REMPPP_IP1" documentation="IPv4 address. Example: xxx.168.xxx.xxx">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="IPv4 Address 3rd byte" name="NET_REMPPP_IP2" documentation="IPv4 address. Example: xxx.xxx.13.xxx">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="IPv4 Address 4th byte" name="NET_REMPPP_IP3" documentation="IPv4 address. Example: xxx.xxx.xxx.14">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="NET_TEST_IP">
<param humanName="IPv4 Address 1st byte" name="NET_TEST_IP0" documentation="IPv4 address. Example: 192.xxx.xxx.xxx">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="IPv4 Address 2nd byte" name="NET_TEST_IP1" documentation="IPv4 address. Example: xxx.168.xxx.xxx">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="IPv4 Address 3rd byte" name="NET_TEST_IP2" documentation="IPv4 address. Example: xxx.xxx.13.xxx">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="IPv4 Address 4th byte" name="NET_TEST_IP3" documentation="IPv4 address. Example: xxx.xxx.xxx.14">
<field name="Range">0 255</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="NMEA_">
<param humanName="NMEA Output rate" name="NMEA_RATE_MS" documentation="NMEA Output rate. This controls the interval at which all the enabled NMEA messages are sent. Most NMEA systems expect 100ms (10Hz) or slower." user="Standard">
<field name="Range">20 2000</field>
<field name="Increment">1</field>
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
</param>
<param humanName="Messages Enable bitmask" name="NMEA_MSG_EN" documentation="This is a bitmask of enabled NMEA messages. All messages will be sent consecutively at the same rate interval" user="Standard">
<field name="Bitmask">0:GPGGA,1:GPRMC,2:PASHR</field>
</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 Driver Types" name="NTF_BUZZ_TYPES" documentation="Controls what types of Buzzer will be enabled" user="Advanced">
<field name="Bitmask">0:Built-in buzzer, 1:DShot, 2:DroneCAN</field>
</param>
<param humanName="Specifies colour source for the RGBLed" name="NTF_LED_OVERRIDE" documentation="Specifies the source for the colours and brightness for the LED. OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially "Green" is disarmed (safe-to-approach), "Red" is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks." user="Advanced">
<values>
<value code="0">Standard</value>
<value code="1">MAVLink/Scripting/AP_Periph</value>
<value code="2">OutbackChallenge</value>
<value code="3">TrafficLight</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>
<value code="10">SITL</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! Some the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Advanced">
<values>
<value code="-1">Disabled</value>
</values>
</param>
<param humanName="LED Driver Types" name="NTF_LED_TYPES" documentation="Controls what types of LEDs will be enabled" user="Advanced">
<field name="Bitmask">0:Built-in LED, 1:Internal ToshibaLED, 2:External ToshibaLED, 3:External PCA9685, 4:Oreo LED, 5:DroneCAN, 6:NCP5623 External, 7:NCP5623 Internal, 8:NeoPixel, 9:ProfiLED, 10:Scripting, 11:DShot, 12:ProfiLED_SPI, 13:LP5562 External, 14: LP5562 Internal, 15:IS31FL3195 External, 16: IS31FL3195 Internal, 17: DiscreteRGB, 18: NeoPixelRGB</field>
</param>
<param humanName="Buzzer-on pin logic level" name="NTF_BUZZ_ON_LVL" documentation="Specifies pin level that indicates buzzer should play" user="Advanced">
<values>
<value code="0">LowIsOn</value>
<value code="1">HighIsOn</value>
</values>
</param>
<param humanName="Buzzer volume" name="NTF_BUZZ_VOLUME" documentation="Control the volume of the buzzer">
<field name="Range">0 100</field>
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="Serial LED String Length" name="NTF_LED_LEN" documentation="The number of Serial LED's to use for notifications (NeoPixel's and ProfiLED)" user="Advanced">
<field name="Range">1 32</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="OA_">
<param humanName="Object Avoidance Path Planning algorithm to use" name="OA_TYPE" documentation="Enabled/disable path planning around obstacles" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">BendyRuler</value>
<value code="2">Dijkstra</value>
<value code="3">Dijkstra with BendyRuler</value>
</values>
</param>
<param humanName="Object Avoidance wide margin distance" name="OA_MARGIN_MAX" documentation="Object Avoidance will ignore objects more than this many meters from vehicle" user="Standard">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0.1 100</field>
<field name="Increment">1</field>
</param>
<param humanName="Options while recovering from Object Avoidance" name="OA_OPTIONS" documentation="Bitmask which will govern vehicles behaviour while recovering from Obstacle Avoidance (i.e Avoidance is turned off after the path ahead is clear). " user="Standard">
<field name="Bitmask">1:log Dijkstra points, 2:Allow fast waypoints (Dijkastras only)</field>
</param>
</parameters>
<parameters name="OA_BR_">
<param humanName="Object Avoidance look ahead distance maximum" name="OA_BR_LOOKAHEAD" documentation="Object Avoidance will look this many meters ahead of vehicle" user="Standard">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">1 100</field>
<field name="Increment">1</field>
</param>
<param humanName="Obstacle Avoidance margin ratio for BendyRuler to change bearing significantly " name="OA_BR_CONT_RATIO" documentation=" BendyRuler will avoid changing bearing unless ratio of previous margin from obstacle (or fence) to present calculated margin is atleast this much." user="Standard">
<field name="Range">1.1 2</field>
<field name="Increment">0.1</field>
</param>
<param humanName="BendyRuler's bearing change resistance threshold angle " name="OA_BR_CONT_ANGLE" documentation=" BendyRuler will resist changing current bearing if the change in bearing is over this angle" user="Standard">
<field name="Range">20 180</field>
<field name="Increment">5</field>
</param>
<param humanName="Type of BendyRuler" name="OA_BR_TYPE" documentation="BendyRuler will search for clear path along the direction defined by this parameter" user="Standard">
<values>
<value code="1">Horizontal search</value>
<value code="2">Vertical search</value>
</values>
</param>
</parameters>
<parameters name="OA_DB_">
<param humanName="OADatabase maximum number of points" name="OA_DB_SIZE" documentation="OADatabase maximum number of points. Set to 0 to disable the OA Database. Larger means more points but is more cpu intensive to process" user="Advanced">
<field name="Range">0 10000</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="OADatabase item timeout" name="OA_DB_EXPIRE" documentation="OADatabase item timeout. The time an item will linger without any updates before it expires. Zero means never expires which is useful for a sent-once static environment but terrible for dynamic ones." user="Advanced">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Range">0 127</field>
<field name="Increment">1</field>
</param>
<param humanName="OADatabase queue maximum number of points" name="OA_DB_QUEUE_SIZE" documentation="OADatabase queue maximum number of points. This in an input buffer size. Larger means it can handle larger bursts of incoming data points to filter into the database. No impact on cpu, only RAM. Recommend larger for faster datalinks or for sensors that generate a lot of data." user="Advanced">
<field name="Range">1 200</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="OADatabase output level" name="OA_DB_OUTPUT" documentation="OADatabase output level to configure which database objects are sent to the ground station. All data is always available internally for avoidance algorithms." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Send only HIGH importance items</value>
<value code="2">Send HIGH and NORMAL importance items</value>
<value code="3">Send all items</value>
</values>
</param>
<param humanName="OADatabase beam width" name="OA_DB_BEAM_WIDTH" documentation="Beam width of incoming lidar data" user="Advanced">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">1 10</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="OADatabase Minimum radius" name="OA_DB_RADIUS_MIN" documentation="Minimum radius of objects held in database" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 10</field>
</param>
<param humanName="OADatabase Distance Maximum" name="OA_DB_DIST_MAX" documentation="Maximum distance of objects held in database. Set to zero to disable the limits" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 10</field>
</param>
<param humanName="OADatabase minimum altitude above home before storing obstacles" name="OA_DB_ALT_MIN" documentation="OADatabase will reject obstacles if vehicle's altitude above home is below this parameter, in a 3 meter radius around home. Set 0 to disable this feature." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 4</field>
</param>
</parameters>
<parameters name="OSD">
<param humanName="OSD type" name="OSD_TYPE" documentation="OSD type. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF." user="Standard">
<values>
<value code="0">None</value>
<value code="1">MAX7456</value>
<value code="2">SITL</value>
<value code="3">MSP</value>
<value code="4">TXONLY</value>
<value code="5">MSP_DISPLAYPORT</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Screen switch transmitter channel" name="OSD_CHAN" documentation="This sets the channel used to switch different OSD screens." user="Standard">
<values>
<value code="0">Disable</value>
<value code="5">Chan5</value>
<value code="6">Chan6</value>
<value code="7">Chan7</value>
<value code="8">Chan8</value>
<value code="9">Chan9</value>
<value code="10">Chan10</value>
<value code="11">Chan11</value>
<value code="12">Chan12</value>
<value code="13">Chan13</value>
<value code="14">Chan14</value>
<value code="15">Chan15</value>
<value code="16">Chan16</value>
</values>
</param>
<param humanName="Screen switch method" name="OSD_SW_METHOD" documentation="This sets the method used to switch different OSD screens." user="Standard">
<values>
<value code="0">switch to next screen if channel value was changed</value>
<value code="1">select screen based on pwm ranges specified for each screen</value>
<value code="2">switch to next screen after low to high transition and every 1s while channel value is high</value>
</values>
</param>
<param humanName="OSD Options" name="OSD_OPTIONS" documentation="This sets options that change the display" user="Standard">
<field name="Bitmask">0:UseDecimalPack, 1:InvertedWindArrow, 2:InvertedAHRoll, 3:Convert feet to miles at 5280ft instead of 10000ft, 4:DisableCrosshair, 5:TranslateArrows, 6:AviationStyleAH, 7:Prefix LQ with RF Mode</field>
</param>
<param humanName="OSD Font" name="OSD_FONT" documentation="This sets which OSD font to use. It is an integer from 0 to the number of fonts available" user="Standard">
<field name="RebootRequired">True</field>
</param>
<param humanName="OSD vertical offset" name="OSD_V_OFFSET" documentation="Sets vertical offset of the osd inside image" user="Standard">
<field name="Range">0 31</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="OSD horizontal offset" name="OSD_H_OFFSET" documentation="Sets horizontal offset of the osd inside image" user="Standard">
<field name="Range">0 63</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="RSSI warn level (in %)" name="OSD_W_RSSI" documentation="Set level at which RSSI item will flash (in positive % or negative dBm values as applicable). 30% or -100dBm are defaults." user="Standard">
<field name="Range">-128 100</field>
</param>
<param humanName="NSAT warn level" name="OSD_W_NSAT" documentation="Set level at which NSAT item will flash" user="Standard">
<field name="Range">1 30</field>
</param>
<param humanName="BAT_VOLT warn level" name="OSD_W_BATVOLT" documentation="Set level at which BAT_VOLT item will flash" user="Standard">
<field name="Range">0 100</field>
</param>
<param humanName="Display Units" name="OSD_UNITS" documentation="Sets the units to use in displaying items" user="Standard">
<values>
<value code="0">Metric</value>
<value code="1">Imperial</value>
<value code="2">SI</value>
<value code="3">Aviation</value>
</values>
</param>
<param humanName="Message display duration in seconds" name="OSD_MSG_TIME" documentation="Sets message duration seconds" user="Standard">
<field name="Range">1 20</field>
</param>
<param humanName="Arm screen" name="OSD_ARM_SCR" documentation="Screen to be shown on Arm event. Zero to disable the feature." user="Standard">
<field name="Range">0 4</field>
</param>
<param humanName="Disarm screen" name="OSD_DSARM_SCR" documentation="Screen to be shown on disarm event. Zero to disable the feature." user="Standard">
<field name="Range">0 4</field>
</param>
<param humanName="Failsafe screen" name="OSD_FS_SCR" documentation="Screen to be shown on failsafe event. Zero to disable the feature." user="Standard">
<field name="Range">0 4</field>
</param>
<param humanName="Button delay" name="OSD_BTN_DELAY" documentation="Debounce time in ms for stick commanded parameter navigation." user="Advanced">
<field name="Range">0 3000</field>
</param>
<param humanName="Terrain warn level" name="OSD_W_TERR" documentation="Set level below which TER_HGT item will flash. -1 disables." user="Standard">
<field name="Range">-1 3000</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="AVGCELLV warn level" name="OSD_W_AVGCELLV" documentation="Set level at which AVGCELLV item will flash" user="Standard">
<field name="Range">0 100</field>
</param>
<param humanName="Battery cell count" name="OSD_CELL_COUNT" documentation="Used for average cell voltage display. -1 disables, 0 uses cell count autodetection for well charged LIPO/LIION batteries at connection, other values manually select cell count used." user="Advanced">
<field name="Increment">1</field>
</param>
<param humanName="RESTVOLT warn level" name="OSD_W_RESTVOLT" documentation="Set level at which RESTVOLT item will flash" user="Standard">
<field name="Range">0 100</field>
</param>
<param humanName="Avg Cell Resting Volt warn level" name="OSD_W_ACRVOLT" documentation="Set level at which ACRVOLT item will flash" user="Standard">
<field name="Range">0 100</field>
</param>
<param humanName="RC link quality warn level (in %)" name="OSD_W_LQ" documentation="Set level at which RC_LQ item will flash (%)" user="Standard">
<field name="Range">0 100</field>
</param>
<param humanName="RC link SNR warn level (in %)" name="OSD_W_SNR" documentation="Set level at which RC_SNR item will flash (in db)" user="Standard">
<field name="Range">-20 10</field>
</param>
<param humanName="OSD type 2" name="OSD_TYPE2" documentation="OSD type 2. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF." user="Standard">
<values>
<value code="0">None</value>
<value code="1">MAX7456</value>
<value code="2">SITL</value>
<value code="3">MSP</value>
<value code="4">TXONLY</value>
<value code="5">MSP_DISPLAYPORT</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="OSD1_">
<param humanName="Enable screen" name="OSD1_ENABLE" documentation="Enable this screen" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Transmitter switch screen minimum pwm" name="OSD1_CHAN_MIN" documentation="This sets the PWM lower limit for this screen" user="Standard">
<field name="Range">900 2100</field>
</param>
<param humanName="Transmitter switch screen maximum pwm" name="OSD1_CHAN_MAX" documentation="This sets the PWM upper limit for this screen" user="Standard">
<field name="Range">900 2100</field>
</param>
<param humanName="ALTITUDE_EN" name="OSD1_ALTITUDE_EN" documentation="Enables display of altitude AGL">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ALTITUDE_X" name="OSD1_ALTITUDE_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ALTITUDE_Y" name="OSD1_ALTITUDE_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="BATVOLT_EN" name="OSD1_BAT_VOLT_EN" documentation="Displays main battery voltage">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BATVOLT_X" name="OSD1_BAT_VOLT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="BATVOLT_Y" name="OSD1_BAT_VOLT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="RSSI_EN" name="OSD1_RSSI_EN" documentation="Displays RC signal strength">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RSSI_X" name="OSD1_RSSI_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="RSSI_Y" name="OSD1_RSSI_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="CURRENT_EN" name="OSD1_CURRENT_EN" documentation="Displays main battery current">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CURRENT_X" name="OSD1_CURRENT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="CURRENT_Y" name="OSD1_CURRENT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="BATUSED_EN" name="OSD1_BATUSED_EN" documentation="Displays primary battery mAh consumed">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BATUSED_X" name="OSD1_BATUSED_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="BATUSED_Y" name="OSD1_BATUSED_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="SATS_EN" name="OSD1_SATS_EN" documentation="Displays number of acquired satellites">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="SATS_X" name="OSD1_SATS_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="SATS_Y" name="OSD1_SATS_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="FLTMODE_EN" name="OSD1_FLTMODE_EN" documentation="Displays flight mode">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="FLTMODE_X" name="OSD1_FLTMODE_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="FLTMODE_Y" name="OSD1_FLTMODE_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="MESSAGE_EN" name="OSD1_MESSAGE_EN" documentation="Displays Mavlink messages">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="MESSAGE_X" name="OSD1_MESSAGE_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="MESSAGE_Y" name="OSD1_MESSAGE_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="GSPEED_EN" name="OSD1_GSPEED_EN" documentation="Displays GPS ground speed">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="GSPEED_X" name="OSD1_GSPEED_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="GSPEED_Y" name="OSD1_GSPEED_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="HORIZON_EN" name="OSD1_HORIZON_EN" documentation="Displays artificial horizon">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HORIZON_X" name="OSD1_HORIZON_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="HORIZON_Y" name="OSD1_HORIZON_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="HOME_EN" name="OSD1_HOME_EN" documentation="Displays distance and relative direction to HOME">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HOME_X" name="OSD1_HOME_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="HOME_Y" name="OSD1_HOME_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="HEADING_EN" name="OSD1_HEADING_EN" documentation="Displays heading">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HEADING_X" name="OSD1_HEADING_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="HEADING_Y" name="OSD1_HEADING_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="THROTTLE_EN" name="OSD1_THROTTLE_EN" documentation="Displays actual throttle percentage being sent to motor(s)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="THROTTLE_X" name="OSD1_THROTTLE_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="THROTTLE_Y" name="OSD1_THROTTLE_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="COMPASS_EN" name="OSD1_COMPASS_EN" documentation="Enables display of compass rose">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="COMPASS_X" name="OSD1_COMPASS_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="COMPASS_Y" name="OSD1_COMPASS_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="WIND_EN" name="OSD1_WIND_EN" documentation="Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="WIND_X" name="OSD1_WIND_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="WIND_Y" name="OSD1_WIND_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ASPEED_EN" name="OSD1_ASPEED_EN" documentation="Displays airspeed value being used by TECS (fused value)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ASPEED_X" name="OSD1_ASPEED_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ASPEED_Y" name="OSD1_ASPEED_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="VSPEED_EN" name="OSD1_VSPEED_EN" documentation="Displays climb rate">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="VSPEED_X" name="OSD1_VSPEED_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="VSPEED_Y" name="OSD1_VSPEED_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ESCTEMP_EN" name="OSD1_ESCTEMP_EN" documentation="Displays first esc's temp">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ESCTEMP_X" name="OSD1_ESCTEMP_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ESCTEMP_Y" name="OSD1_ESCTEMP_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ESCRPM_EN" name="OSD1_ESCRPM_EN" documentation="Displays first esc's rpm">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ESCRPM_X" name="OSD1_ESCRPM_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ESCRPM_Y" name="OSD1_ESCRPM_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ESCAMPS_EN" name="OSD1_ESCAMPS_EN" documentation="Displays first esc's current">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ESCAMPS_X" name="OSD1_ESCAMPS_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ESCAMPS_Y" name="OSD1_ESCAMPS_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="GPSLAT_EN" name="OSD1_GPSLAT_EN" documentation="Displays GPS latitude">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="GPSLAT_X" name="OSD1_GPSLAT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="GPSLAT_Y" name="OSD1_GPSLAT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="GPSLONG_EN" name="OSD1_GPSLONG_EN" documentation="Displays GPS longitude">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="GPSLONG_X" name="OSD1_GPSLONG_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="GPSLONG_Y" name="OSD1_GPSLONG_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ROLL_EN" name="OSD1_ROLL_EN" documentation="Displays degrees of roll from level">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ROLL_X" name="OSD1_ROLL_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ROLL_Y" name="OSD1_ROLL_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="PITCH_EN" name="OSD1_PITCH_EN" documentation="Displays degrees of pitch from level">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="PITCH_X" name="OSD1_PITCH_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="PITCH_Y" name="OSD1_PITCH_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="TEMP_EN" name="OSD1_TEMP_EN" documentation="Displays temperature reported by primary barometer">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="TEMP_X" name="OSD1_TEMP_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="TEMP_Y" name="OSD1_TEMP_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="HDOP_EN" name="OSD1_HDOP_EN" documentation="Displays Horizontal Dilution Of Position">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HDOP_X" name="OSD1_HDOP_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="HDOP_Y" name="OSD1_HDOP_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="WAYPOINT_EN" name="OSD1_WAYPOINT_EN" documentation="Displays bearing and distance to next waypoint">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="WAYPOINT_X" name="OSD1_WAYPOINT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="WAYPOINT_Y" name="OSD1_WAYPOINT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="XTRACK_EN" name="OSD1_XTRACK_EN" documentation="Displays crosstrack error">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="XTRACK_X" name="OSD1_XTRACK_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="XTRACK_Y" name="OSD1_XTRACK_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="DIST_EN" name="OSD1_DIST_EN" documentation="Displays total distance flown">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="DIST_X" name="OSD1_DIST_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="DIST_Y" name="OSD1_DIST_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="STATS_EN" name="OSD1_STATS_EN" documentation="Displays flight stats">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="STATS_X" name="OSD1_STATS_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="STATS_Y" name="OSD1_STATS_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="FLTIME_EN" name="OSD1_FLTIME_EN" documentation="Displays total flight time">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="FLTIME_X" name="OSD1_FLTIME_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="FLTIME_Y" name="OSD1_FLTIME_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="CLIMBEFF_EN" name="OSD1_CLIMBEFF_EN" documentation="Displays climb efficiency (climb rate/current)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CLIMBEFF_X" name="OSD1_CLIMBEFF_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="CLIMBEFF_Y" name="OSD1_CLIMBEFF_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="EFF_EN" name="OSD1_EFF_EN" documentation="Displays flight efficiency (mAh/km or /mi)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="EFF_X" name="OSD1_EFF_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="EFF_Y" name="OSD1_EFF_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="BTEMP_EN" name="OSD1_BTEMP_EN" documentation="Displays temperature reported by secondary barometer">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BTEMP_X" name="OSD1_BTEMP_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="BTEMP_Y" name="OSD1_BTEMP_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ATEMP_EN" name="OSD1_ATEMP_EN" documentation="Displays temperature reported by primary airspeed sensor">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ATEMP_X" name="OSD1_ATEMP_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ATEMP_Y" name="OSD1_ATEMP_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="BAT2VLT_EN" name="OSD1_BAT2_VLT_EN" documentation="Displays battery2 voltage">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BAT2VLT_X" name="OSD1_BAT2_VLT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="BAT2VLT_Y" name="OSD1_BAT2_VLT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="BAT2USED_EN" name="OSD1_BAT2USED_EN" documentation="Displays secondary battery mAh consumed">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BAT2USED_X" name="OSD1_BAT2USED_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="BAT2USED_Y" name="OSD1_BAT2USED_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ASPD2_EN" name="OSD1_ASPD2_EN" documentation="Displays airspeed reported directly from secondary airspeed sensor">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ASPD2_X" name="OSD1_ASPD2_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ASPD2_Y" name="OSD1_ASPD2_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ASPD1_EN" name="OSD1_ASPD1_EN" documentation="Displays airspeed reported directly from primary airspeed sensor">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ASPD1_X" name="OSD1_ASPD1_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ASPD1_Y" name="OSD1_ASPD1_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="CLK_EN" name="OSD1_CLK_EN" documentation="Displays a clock panel based on AP_RTC local time">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CLK_X" name="OSD1_CLK_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="CLK_Y" name="OSD1_CLK_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="SIDEBARS_EN" name="OSD1_SIDEBARS_EN" documentation="Displays artificial horizon side bars">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="SIDEBARS_X" name="OSD1_SIDEBARS_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="SIDEBARS_Y" name="OSD1_SIDEBARS_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="CRSSHAIR_EN" name="OSD1_CRSSHAIR_EN" documentation="Displays artificial horizon crosshair (MSP OSD only)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CRSSHAIR_X" name="OSD1_CRSSHAIR_X" documentation="Horizontal position on screen (MSP OSD only)">
<field name="Range">0 59</field>
</param>
<param humanName="CRSSHAIR_Y" name="OSD1_CRSSHAIR_Y" documentation="Vertical position on screen (MSP OSD only)">
<field name="Range">0 21</field>
</param>
<param humanName="HOMEDIST_EN" name="OSD1_HOMEDIST_EN" documentation="Displays distance from HOME (MSP OSD only)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HOMEDIST_X" name="OSD1_HOMEDIST_X" documentation="Horizontal position on screen (MSP OSD only)">
<field name="Range">0 59</field>
</param>
<param humanName="HOMEDIST_Y" name="OSD1_HOMEDIST_Y" documentation="Vertical position on screen (MSP OSD only)">
<field name="Range">0 21</field>
</param>
<param humanName="HOMEDIR_EN" name="OSD1_HOMEDIR_EN" documentation="Displays relative direction to HOME (MSP OSD only)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HOMEDIR_X" name="OSD1_HOMEDIR_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="HOMEDIR_Y" name="OSD1_HOMEDIR_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="POWER_EN" name="OSD1_POWER_EN" documentation="Displays power (MSP OSD only)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="POWER_X" name="OSD1_POWER_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="POWER_Y" name="OSD1_POWER_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="CELL_VOLT_EN" name="OSD1_CELLVOLT_EN" documentation="Displays average cell voltage (MSP OSD only)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CELL_VOLT_X" name="OSD1_CELLVOLT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="CELL_VOLT_Y" name="OSD1_CELLVOLT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="BATT_BAR_EN" name="OSD1_BATTBAR_EN" documentation="Displays battery usage bar (MSP OSD only)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BATT_BAR_X" name="OSD1_BATTBAR_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="BATT_BAR_Y" name="OSD1_BATTBAR_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ARMING_EN" name="OSD1_ARMING_EN" documentation="Displays arming status (MSP OSD only)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ARMING_X" name="OSD1_ARMING_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ARMING_Y" name="OSD1_ARMING_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="PLUSCODE_EN" name="OSD1_PLUSCODE_EN" documentation="Displays pluscode (OLC) element">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="PLUSCODE_X" name="OSD1_PLUSCODE_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="PLUSCODE_Y" name="OSD1_PLUSCODE_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="CALLSIGN_EN" name="OSD1_CALLSIGN_EN" documentation="Displays callsign from callsign.txt on microSD card">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CALLSIGN_X" name="OSD1_CALLSIGN_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="CALLSIGN_Y" name="OSD1_CALLSIGN_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="CURRENT2_EN" name="OSD1_CURRENT2_EN" documentation="Displays 2nd battery current">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CURRENT2_X" name="OSD1_CURRENT2_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="CURRENT2_Y" name="OSD1_CURRENT2_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="VTX_PWR_EN" name="OSD1_VTX_PWR_EN" documentation="Displays VTX Power">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="VTX_PWR_X" name="OSD1_VTX_PWR_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="VTX_PWR_Y" name="OSD1_VTX_PWR_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="TER_HGT_EN" name="OSD1_TER_HGT_EN" documentation="Displays Height above terrain">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="TER_HGT_X" name="OSD1_TER_HGT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="TER_HGT_Y" name="OSD1_TER_HGT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="AVGCELLV_EN" name="OSD1_AVGCELLV_EN" documentation="Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="AVGCELLV_X" name="OSD1_AVGCELLV_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="AVGCELLV_Y" name="OSD1_AVGCELLV_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="RESTVOLT_EN" name="OSD1_RESTVOLT_EN" documentation="Displays main battery resting voltage">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RESTVOLT_X" name="OSD1_RESTVOLT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="RESTVOLT_Y" name="OSD1_RESTVOLT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="FENCE_EN" name="OSD1_FENCE_EN" documentation="Displays indication of fence enable and breach">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="FENCE_X" name="OSD1_FENCE_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="FENCE_Y" name="OSD1_FENCE_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="RNGF_EN" name="OSD1_RNGF_EN" documentation="Displays a rangefinder's distance in cm">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RNGF_X" name="OSD1_RNGF_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="RNGF_Y" name="OSD1_RNGF_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ACRVOLT_EN" name="OSD1_ACRVOLT_EN" documentation="Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ACRVOLT_X" name="OSD1_ACRVOLT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ACRVOLT_Y" name="OSD1_ACRVOLT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="RPM_EN" name="OSD1_RPM_EN" documentation="Displays main rotor revs/min">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RPM_X" name="OSD1_RPM_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="RPM_Y" name="OSD1_RPM_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="LINK_Q_EN" name="OSD1_LINK_Q_EN" documentation="Displays Receiver link quality">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="LINK_Q_X" name="OSD1_LINK_Q_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="LINK_Q_Y" name="OSD1_LINK_Q_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="Sets the overlay text resolution (MSP DisplayPort only)" name="OSD1_TXT_RES" documentation="Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)" user="Standard">
<values>
<value code="0">30x16</value>
<value code="1">50x18</value>
<value code="2">60x22</value>
</values>
</param>
<param humanName="Sets the font index for this screen (MSP DisplayPort only)" name="OSD1_FONT" documentation="Sets the font index for this screen (MSP DisplayPort only)" user="Standard">
<field name="Range">0 21</field>
</param>
<param humanName="RC_PWR_EN" name="OSD1_RC_PWR_EN" documentation="Displays the RC link transmit (TX) power in mW or W, depending on level">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RC_PWR_X" name="OSD1_RC_PWR_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="RC_PWR_Y" name="OSD1_RC_PWR_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="RSSIDBM_EN" name="OSD1_RSSIDBM_EN" documentation="Displays RC link signal strength in dBm">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RSSIDBM_X" name="OSD1_RSSIDBM_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="RSSIDBM_Y" name="OSD1_RSSIDBM_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="RC_SNR_EN" name="OSD1_RC_SNR_EN" documentation="Displays RC link signal to noise ratio in dB">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RC_SNR_X" name="OSD1_RC_SNR_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="RC_SNR_Y" name="OSD1_RC_SNR_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="RC_ANT_EN" name="OSD1_RC_ANT_EN" documentation="Displays the current RC link active antenna">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RC_ANT_X" name="OSD1_RC_ANT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="RC_ANT_Y" name="OSD1_RC_ANT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="RC_LQ_EN" name="OSD1_RC_LQ_EN" documentation="Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RC_LQ_X" name="OSD1_RC_LQ_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="RC_LQ_Y" name="OSD1_RC_LQ_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
</parameters>
<parameters name="OSD2_">
<param humanName="Enable screen" name="OSD2_ENABLE" documentation="Enable this screen" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Transmitter switch screen minimum pwm" name="OSD2_CHAN_MIN" documentation="This sets the PWM lower limit for this screen" user="Standard">
<field name="Range">900 2100</field>
</param>
<param humanName="Transmitter switch screen maximum pwm" name="OSD2_CHAN_MAX" documentation="This sets the PWM upper limit for this screen" user="Standard">
<field name="Range">900 2100</field>
</param>
<param humanName="ALTITUDE_EN" name="OSD2_ALTITUDE_EN" documentation="Enables display of altitude AGL">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ALTITUDE_X" name="OSD2_ALTITUDE_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ALTITUDE_Y" name="OSD2_ALTITUDE_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="BATVOLT_EN" name="OSD2_BAT_VOLT_EN" documentation="Displays main battery voltage">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BATVOLT_X" name="OSD2_BAT_VOLT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="BATVOLT_Y" name="OSD2_BAT_VOLT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="RSSI_EN" name="OSD2_RSSI_EN" documentation="Displays RC signal strength">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RSSI_X" name="OSD2_RSSI_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="RSSI_Y" name="OSD2_RSSI_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="CURRENT_EN" name="OSD2_CURRENT_EN" documentation="Displays main battery current">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CURRENT_X" name="OSD2_CURRENT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="CURRENT_Y" name="OSD2_CURRENT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="BATUSED_EN" name="OSD2_BATUSED_EN" documentation="Displays primary battery mAh consumed">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BATUSED_X" name="OSD2_BATUSED_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="BATUSED_Y" name="OSD2_BATUSED_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="SATS_EN" name="OSD2_SATS_EN" documentation="Displays number of acquired satellites">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="SATS_X" name="OSD2_SATS_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="SATS_Y" name="OSD2_SATS_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="FLTMODE_EN" name="OSD2_FLTMODE_EN" documentation="Displays flight mode">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="FLTMODE_X" name="OSD2_FLTMODE_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="FLTMODE_Y" name="OSD2_FLTMODE_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="MESSAGE_EN" name="OSD2_MESSAGE_EN" documentation="Displays Mavlink messages">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="MESSAGE_X" name="OSD2_MESSAGE_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="MESSAGE_Y" name="OSD2_MESSAGE_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="GSPEED_EN" name="OSD2_GSPEED_EN" documentation="Displays GPS ground speed">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="GSPEED_X" name="OSD2_GSPEED_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="GSPEED_Y" name="OSD2_GSPEED_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="HORIZON_EN" name="OSD2_HORIZON_EN" documentation="Displays artificial horizon">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HORIZON_X" name="OSD2_HORIZON_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="HORIZON_Y" name="OSD2_HORIZON_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="HOME_EN" name="OSD2_HOME_EN" documentation="Displays distance and relative direction to HOME">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HOME_X" name="OSD2_HOME_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="HOME_Y" name="OSD2_HOME_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="HEADING_EN" name="OSD2_HEADING_EN" documentation="Displays heading">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HEADING_X" name="OSD2_HEADING_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="HEADING_Y" name="OSD2_HEADING_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="THROTTLE_EN" name="OSD2_THROTTLE_EN" documentation="Displays actual throttle percentage being sent to motor(s)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="THROTTLE_X" name="OSD2_THROTTLE_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="THROTTLE_Y" name="OSD2_THROTTLE_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="COMPASS_EN" name="OSD2_COMPASS_EN" documentation="Enables display of compass rose">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="COMPASS_X" name="OSD2_COMPASS_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="COMPASS_Y" name="OSD2_COMPASS_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="WIND_EN" name="OSD2_WIND_EN" documentation="Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="WIND_X" name="OSD2_WIND_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="WIND_Y" name="OSD2_WIND_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ASPEED_EN" name="OSD2_ASPEED_EN" documentation="Displays airspeed value being used by TECS (fused value)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ASPEED_X" name="OSD2_ASPEED_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ASPEED_Y" name="OSD2_ASPEED_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="VSPEED_EN" name="OSD2_VSPEED_EN" documentation="Displays climb rate">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="VSPEED_X" name="OSD2_VSPEED_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="VSPEED_Y" name="OSD2_VSPEED_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ESCTEMP_EN" name="OSD2_ESCTEMP_EN" documentation="Displays first esc's temp">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ESCTEMP_X" name="OSD2_ESCTEMP_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ESCTEMP_Y" name="OSD2_ESCTEMP_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ESCRPM_EN" name="OSD2_ESCRPM_EN" documentation="Displays first esc's rpm">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ESCRPM_X" name="OSD2_ESCRPM_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ESCRPM_Y" name="OSD2_ESCRPM_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ESCAMPS_EN" name="OSD2_ESCAMPS_EN" documentation="Displays first esc's current">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ESCAMPS_X" name="OSD2_ESCAMPS_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ESCAMPS_Y" name="OSD2_ESCAMPS_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="GPSLAT_EN" name="OSD2_GPSLAT_EN" documentation="Displays GPS latitude">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="GPSLAT_X" name="OSD2_GPSLAT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="GPSLAT_Y" name="OSD2_GPSLAT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="GPSLONG_EN" name="OSD2_GPSLONG_EN" documentation="Displays GPS longitude">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="GPSLONG_X" name="OSD2_GPSLONG_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="GPSLONG_Y" name="OSD2_GPSLONG_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ROLL_EN" name="OSD2_ROLL_EN" documentation="Displays degrees of roll from level">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ROLL_X" name="OSD2_ROLL_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ROLL_Y" name="OSD2_ROLL_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="PITCH_EN" name="OSD2_PITCH_EN" documentation="Displays degrees of pitch from level">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="PITCH_X" name="OSD2_PITCH_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="PITCH_Y" name="OSD2_PITCH_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="TEMP_EN" name="OSD2_TEMP_EN" documentation="Displays temperature reported by primary barometer">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="TEMP_X" name="OSD2_TEMP_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="TEMP_Y" name="OSD2_TEMP_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="HDOP_EN" name="OSD2_HDOP_EN" documentation="Displays Horizontal Dilution Of Position">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HDOP_X" name="OSD2_HDOP_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="HDOP_Y" name="OSD2_HDOP_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="WAYPOINT_EN" name="OSD2_WAYPOINT_EN" documentation="Displays bearing and distance to next waypoint">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="WAYPOINT_X" name="OSD2_WAYPOINT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="WAYPOINT_Y" name="OSD2_WAYPOINT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="XTRACK_EN" name="OSD2_XTRACK_EN" documentation="Displays crosstrack error">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="XTRACK_X" name="OSD2_XTRACK_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="XTRACK_Y" name="OSD2_XTRACK_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="DIST_EN" name="OSD2_DIST_EN" documentation="Displays total distance flown">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="DIST_X" name="OSD2_DIST_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="DIST_Y" name="OSD2_DIST_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="STATS_EN" name="OSD2_STATS_EN" documentation="Displays flight stats">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="STATS_X" name="OSD2_STATS_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="STATS_Y" name="OSD2_STATS_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="FLTIME_EN" name="OSD2_FLTIME_EN" documentation="Displays total flight time">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="FLTIME_X" name="OSD2_FLTIME_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="FLTIME_Y" name="OSD2_FLTIME_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="CLIMBEFF_EN" name="OSD2_CLIMBEFF_EN" documentation="Displays climb efficiency (climb rate/current)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CLIMBEFF_X" name="OSD2_CLIMBEFF_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="CLIMBEFF_Y" name="OSD2_CLIMBEFF_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="EFF_EN" name="OSD2_EFF_EN" documentation="Displays flight efficiency (mAh/km or /mi)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="EFF_X" name="OSD2_EFF_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="EFF_Y" name="OSD2_EFF_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="BTEMP_EN" name="OSD2_BTEMP_EN" documentation="Displays temperature reported by secondary barometer">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BTEMP_X" name="OSD2_BTEMP_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="BTEMP_Y" name="OSD2_BTEMP_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ATEMP_EN" name="OSD2_ATEMP_EN" documentation="Displays temperature reported by primary airspeed sensor">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ATEMP_X" name="OSD2_ATEMP_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ATEMP_Y" name="OSD2_ATEMP_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="BAT2VLT_EN" name="OSD2_BAT2_VLT_EN" documentation="Displays battery2 voltage">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BAT2VLT_X" name="OSD2_BAT2_VLT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="BAT2VLT_Y" name="OSD2_BAT2_VLT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="BAT2USED_EN" name="OSD2_BAT2USED_EN" documentation="Displays secondary battery mAh consumed">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BAT2USED_X" name="OSD2_BAT2USED_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="BAT2USED_Y" name="OSD2_BAT2USED_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ASPD2_EN" name="OSD2_ASPD2_EN" documentation="Displays airspeed reported directly from secondary airspeed sensor">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ASPD2_X" name="OSD2_ASPD2_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ASPD2_Y" name="OSD2_ASPD2_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ASPD1_EN" name="OSD2_ASPD1_EN" documentation="Displays airspeed reported directly from primary airspeed sensor">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ASPD1_X" name="OSD2_ASPD1_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ASPD1_Y" name="OSD2_ASPD1_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="CLK_EN" name="OSD2_CLK_EN" documentation="Displays a clock panel based on AP_RTC local time">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CLK_X" name="OSD2_CLK_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="CLK_Y" name="OSD2_CLK_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="SIDEBARS_EN" name="OSD2_SIDEBARS_EN" documentation="Displays artificial horizon side bars">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="SIDEBARS_X" name="OSD2_SIDEBARS_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="SIDEBARS_Y" name="OSD2_SIDEBARS_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="CRSSHAIR_EN" name="OSD2_CRSSHAIR_EN" documentation="Displays artificial horizon crosshair (MSP OSD only)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CRSSHAIR_X" name="OSD2_CRSSHAIR_X" documentation="Horizontal position on screen (MSP OSD only)">
<field name="Range">0 59</field>
</param>
<param humanName="CRSSHAIR_Y" name="OSD2_CRSSHAIR_Y" documentation="Vertical position on screen (MSP OSD only)">
<field name="Range">0 21</field>
</param>
<param humanName="HOMEDIST_EN" name="OSD2_HOMEDIST_EN" documentation="Displays distance from HOME (MSP OSD only)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HOMEDIST_X" name="OSD2_HOMEDIST_X" documentation="Horizontal position on screen (MSP OSD only)">
<field name="Range">0 59</field>
</param>
<param humanName="HOMEDIST_Y" name="OSD2_HOMEDIST_Y" documentation="Vertical position on screen (MSP OSD only)">
<field name="Range">0 21</field>
</param>
<param humanName="HOMEDIR_EN" name="OSD2_HOMEDIR_EN" documentation="Displays relative direction to HOME (MSP OSD only)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HOMEDIR_X" name="OSD2_HOMEDIR_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="HOMEDIR_Y" name="OSD2_HOMEDIR_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="POWER_EN" name="OSD2_POWER_EN" documentation="Displays power (MSP OSD only)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="POWER_X" name="OSD2_POWER_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="POWER_Y" name="OSD2_POWER_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="CELL_VOLT_EN" name="OSD2_CELLVOLT_EN" documentation="Displays average cell voltage (MSP OSD only)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CELL_VOLT_X" name="OSD2_CELLVOLT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="CELL_VOLT_Y" name="OSD2_CELLVOLT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="BATT_BAR_EN" name="OSD2_BATTBAR_EN" documentation="Displays battery usage bar (MSP OSD only)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BATT_BAR_X" name="OSD2_BATTBAR_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="BATT_BAR_Y" name="OSD2_BATTBAR_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ARMING_EN" name="OSD2_ARMING_EN" documentation="Displays arming status (MSP OSD only)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ARMING_X" name="OSD2_ARMING_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ARMING_Y" name="OSD2_ARMING_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="PLUSCODE_EN" name="OSD2_PLUSCODE_EN" documentation="Displays pluscode (OLC) element">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="PLUSCODE_X" name="OSD2_PLUSCODE_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="PLUSCODE_Y" name="OSD2_PLUSCODE_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="CALLSIGN_EN" name="OSD2_CALLSIGN_EN" documentation="Displays callsign from callsign.txt on microSD card">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CALLSIGN_X" name="OSD2_CALLSIGN_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="CALLSIGN_Y" name="OSD2_CALLSIGN_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="CURRENT2_EN" name="OSD2_CURRENT2_EN" documentation="Displays 2nd battery current">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CURRENT2_X" name="OSD2_CURRENT2_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="CURRENT2_Y" name="OSD2_CURRENT2_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="VTX_PWR_EN" name="OSD2_VTX_PWR_EN" documentation="Displays VTX Power">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="VTX_PWR_X" name="OSD2_VTX_PWR_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="VTX_PWR_Y" name="OSD2_VTX_PWR_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="TER_HGT_EN" name="OSD2_TER_HGT_EN" documentation="Displays Height above terrain">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="TER_HGT_X" name="OSD2_TER_HGT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="TER_HGT_Y" name="OSD2_TER_HGT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="AVGCELLV_EN" name="OSD2_AVGCELLV_EN" documentation="Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="AVGCELLV_X" name="OSD2_AVGCELLV_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="AVGCELLV_Y" name="OSD2_AVGCELLV_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="RESTVOLT_EN" name="OSD2_RESTVOLT_EN" documentation="Displays main battery resting voltage">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RESTVOLT_X" name="OSD2_RESTVOLT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="RESTVOLT_Y" name="OSD2_RESTVOLT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="FENCE_EN" name="OSD2_FENCE_EN" documentation="Displays indication of fence enable and breach">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="FENCE_X" name="OSD2_FENCE_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="FENCE_Y" name="OSD2_FENCE_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="RNGF_EN" name="OSD2_RNGF_EN" documentation="Displays a rangefinder's distance in cm">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RNGF_X" name="OSD2_RNGF_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="RNGF_Y" name="OSD2_RNGF_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ACRVOLT_EN" name="OSD2_ACRVOLT_EN" documentation="Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ACRVOLT_X" name="OSD2_ACRVOLT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ACRVOLT_Y" name="OSD2_ACRVOLT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="RPM_EN" name="OSD2_RPM_EN" documentation="Displays main rotor revs/min">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RPM_X" name="OSD2_RPM_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="RPM_Y" name="OSD2_RPM_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="LINK_Q_EN" name="OSD2_LINK_Q_EN" documentation="Displays Receiver link quality">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="LINK_Q_X" name="OSD2_LINK_Q_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="LINK_Q_Y" name="OSD2_LINK_Q_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="Sets the overlay text resolution (MSP DisplayPort only)" name="OSD2_TXT_RES" documentation="Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)" user="Standard">
<values>
<value code="0">30x16</value>
<value code="1">50x18</value>
<value code="2">60x22</value>
</values>
</param>
<param humanName="Sets the font index for this screen (MSP DisplayPort only)" name="OSD2_FONT" documentation="Sets the font index for this screen (MSP DisplayPort only)" user="Standard">
<field name="Range">0 21</field>
</param>
<param humanName="RC_PWR_EN" name="OSD2_RC_PWR_EN" documentation="Displays the RC link transmit (TX) power in mW or W, depending on level">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RC_PWR_X" name="OSD2_RC_PWR_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="RC_PWR_Y" name="OSD2_RC_PWR_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="RSSIDBM_EN" name="OSD2_RSSIDBM_EN" documentation="Displays RC link signal strength in dBm">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RSSIDBM_X" name="OSD2_RSSIDBM_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="RSSIDBM_Y" name="OSD2_RSSIDBM_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="RC_SNR_EN" name="OSD2_RC_SNR_EN" documentation="Displays RC link signal to noise ratio in dB">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RC_SNR_X" name="OSD2_RC_SNR_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="RC_SNR_Y" name="OSD2_RC_SNR_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="RC_ANT_EN" name="OSD2_RC_ANT_EN" documentation="Displays the current RC link active antenna">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RC_ANT_X" name="OSD2_RC_ANT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="RC_ANT_Y" name="OSD2_RC_ANT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="RC_LQ_EN" name="OSD2_RC_LQ_EN" documentation="Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RC_LQ_X" name="OSD2_RC_LQ_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="RC_LQ_Y" name="OSD2_RC_LQ_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
</parameters>
<parameters name="OSD3_">
<param humanName="Enable screen" name="OSD3_ENABLE" documentation="Enable this screen" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Transmitter switch screen minimum pwm" name="OSD3_CHAN_MIN" documentation="This sets the PWM lower limit for this screen" user="Standard">
<field name="Range">900 2100</field>
</param>
<param humanName="Transmitter switch screen maximum pwm" name="OSD3_CHAN_MAX" documentation="This sets the PWM upper limit for this screen" user="Standard">
<field name="Range">900 2100</field>
</param>
<param humanName="ALTITUDE_EN" name="OSD3_ALTITUDE_EN" documentation="Enables display of altitude AGL">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ALTITUDE_X" name="OSD3_ALTITUDE_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ALTITUDE_Y" name="OSD3_ALTITUDE_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="BATVOLT_EN" name="OSD3_BAT_VOLT_EN" documentation="Displays main battery voltage">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BATVOLT_X" name="OSD3_BAT_VOLT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="BATVOLT_Y" name="OSD3_BAT_VOLT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="RSSI_EN" name="OSD3_RSSI_EN" documentation="Displays RC signal strength">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RSSI_X" name="OSD3_RSSI_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="RSSI_Y" name="OSD3_RSSI_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="CURRENT_EN" name="OSD3_CURRENT_EN" documentation="Displays main battery current">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CURRENT_X" name="OSD3_CURRENT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="CURRENT_Y" name="OSD3_CURRENT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="BATUSED_EN" name="OSD3_BATUSED_EN" documentation="Displays primary battery mAh consumed">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BATUSED_X" name="OSD3_BATUSED_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="BATUSED_Y" name="OSD3_BATUSED_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="SATS_EN" name="OSD3_SATS_EN" documentation="Displays number of acquired satellites">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="SATS_X" name="OSD3_SATS_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="SATS_Y" name="OSD3_SATS_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="FLTMODE_EN" name="OSD3_FLTMODE_EN" documentation="Displays flight mode">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="FLTMODE_X" name="OSD3_FLTMODE_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="FLTMODE_Y" name="OSD3_FLTMODE_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="MESSAGE_EN" name="OSD3_MESSAGE_EN" documentation="Displays Mavlink messages">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="MESSAGE_X" name="OSD3_MESSAGE_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="MESSAGE_Y" name="OSD3_MESSAGE_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="GSPEED_EN" name="OSD3_GSPEED_EN" documentation="Displays GPS ground speed">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="GSPEED_X" name="OSD3_GSPEED_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="GSPEED_Y" name="OSD3_GSPEED_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="HORIZON_EN" name="OSD3_HORIZON_EN" documentation="Displays artificial horizon">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HORIZON_X" name="OSD3_HORIZON_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="HORIZON_Y" name="OSD3_HORIZON_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="HOME_EN" name="OSD3_HOME_EN" documentation="Displays distance and relative direction to HOME">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HOME_X" name="OSD3_HOME_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="HOME_Y" name="OSD3_HOME_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="HEADING_EN" name="OSD3_HEADING_EN" documentation="Displays heading">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HEADING_X" name="OSD3_HEADING_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="HEADING_Y" name="OSD3_HEADING_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="THROTTLE_EN" name="OSD3_THROTTLE_EN" documentation="Displays actual throttle percentage being sent to motor(s)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="THROTTLE_X" name="OSD3_THROTTLE_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="THROTTLE_Y" name="OSD3_THROTTLE_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="COMPASS_EN" name="OSD3_COMPASS_EN" documentation="Enables display of compass rose">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="COMPASS_X" name="OSD3_COMPASS_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="COMPASS_Y" name="OSD3_COMPASS_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="WIND_EN" name="OSD3_WIND_EN" documentation="Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="WIND_X" name="OSD3_WIND_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="WIND_Y" name="OSD3_WIND_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ASPEED_EN" name="OSD3_ASPEED_EN" documentation="Displays airspeed value being used by TECS (fused value)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ASPEED_X" name="OSD3_ASPEED_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ASPEED_Y" name="OSD3_ASPEED_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="VSPEED_EN" name="OSD3_VSPEED_EN" documentation="Displays climb rate">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="VSPEED_X" name="OSD3_VSPEED_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="VSPEED_Y" name="OSD3_VSPEED_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ESCTEMP_EN" name="OSD3_ESCTEMP_EN" documentation="Displays first esc's temp">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ESCTEMP_X" name="OSD3_ESCTEMP_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ESCTEMP_Y" name="OSD3_ESCTEMP_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ESCRPM_EN" name="OSD3_ESCRPM_EN" documentation="Displays first esc's rpm">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ESCRPM_X" name="OSD3_ESCRPM_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ESCRPM_Y" name="OSD3_ESCRPM_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ESCAMPS_EN" name="OSD3_ESCAMPS_EN" documentation="Displays first esc's current">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ESCAMPS_X" name="OSD3_ESCAMPS_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ESCAMPS_Y" name="OSD3_ESCAMPS_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="GPSLAT_EN" name="OSD3_GPSLAT_EN" documentation="Displays GPS latitude">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="GPSLAT_X" name="OSD3_GPSLAT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="GPSLAT_Y" name="OSD3_GPSLAT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="GPSLONG_EN" name="OSD3_GPSLONG_EN" documentation="Displays GPS longitude">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="GPSLONG_X" name="OSD3_GPSLONG_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="GPSLONG_Y" name="OSD3_GPSLONG_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ROLL_EN" name="OSD3_ROLL_EN" documentation="Displays degrees of roll from level">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ROLL_X" name="OSD3_ROLL_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ROLL_Y" name="OSD3_ROLL_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="PITCH_EN" name="OSD3_PITCH_EN" documentation="Displays degrees of pitch from level">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="PITCH_X" name="OSD3_PITCH_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="PITCH_Y" name="OSD3_PITCH_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="TEMP_EN" name="OSD3_TEMP_EN" documentation="Displays temperature reported by primary barometer">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="TEMP_X" name="OSD3_TEMP_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="TEMP_Y" name="OSD3_TEMP_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="HDOP_EN" name="OSD3_HDOP_EN" documentation="Displays Horizontal Dilution Of Position">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HDOP_X" name="OSD3_HDOP_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="HDOP_Y" name="OSD3_HDOP_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="WAYPOINT_EN" name="OSD3_WAYPOINT_EN" documentation="Displays bearing and distance to next waypoint">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="WAYPOINT_X" name="OSD3_WAYPOINT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="WAYPOINT_Y" name="OSD3_WAYPOINT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="XTRACK_EN" name="OSD3_XTRACK_EN" documentation="Displays crosstrack error">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="XTRACK_X" name="OSD3_XTRACK_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="XTRACK_Y" name="OSD3_XTRACK_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="DIST_EN" name="OSD3_DIST_EN" documentation="Displays total distance flown">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="DIST_X" name="OSD3_DIST_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="DIST_Y" name="OSD3_DIST_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="STATS_EN" name="OSD3_STATS_EN" documentation="Displays flight stats">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="STATS_X" name="OSD3_STATS_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="STATS_Y" name="OSD3_STATS_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="FLTIME_EN" name="OSD3_FLTIME_EN" documentation="Displays total flight time">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="FLTIME_X" name="OSD3_FLTIME_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="FLTIME_Y" name="OSD3_FLTIME_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="CLIMBEFF_EN" name="OSD3_CLIMBEFF_EN" documentation="Displays climb efficiency (climb rate/current)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CLIMBEFF_X" name="OSD3_CLIMBEFF_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="CLIMBEFF_Y" name="OSD3_CLIMBEFF_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="EFF_EN" name="OSD3_EFF_EN" documentation="Displays flight efficiency (mAh/km or /mi)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="EFF_X" name="OSD3_EFF_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="EFF_Y" name="OSD3_EFF_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="BTEMP_EN" name="OSD3_BTEMP_EN" documentation="Displays temperature reported by secondary barometer">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BTEMP_X" name="OSD3_BTEMP_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="BTEMP_Y" name="OSD3_BTEMP_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ATEMP_EN" name="OSD3_ATEMP_EN" documentation="Displays temperature reported by primary airspeed sensor">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ATEMP_X" name="OSD3_ATEMP_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ATEMP_Y" name="OSD3_ATEMP_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="BAT2VLT_EN" name="OSD3_BAT2_VLT_EN" documentation="Displays battery2 voltage">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BAT2VLT_X" name="OSD3_BAT2_VLT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="BAT2VLT_Y" name="OSD3_BAT2_VLT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="BAT2USED_EN" name="OSD3_BAT2USED_EN" documentation="Displays secondary battery mAh consumed">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BAT2USED_X" name="OSD3_BAT2USED_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="BAT2USED_Y" name="OSD3_BAT2USED_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ASPD2_EN" name="OSD3_ASPD2_EN" documentation="Displays airspeed reported directly from secondary airspeed sensor">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ASPD2_X" name="OSD3_ASPD2_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ASPD2_Y" name="OSD3_ASPD2_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ASPD1_EN" name="OSD3_ASPD1_EN" documentation="Displays airspeed reported directly from primary airspeed sensor">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ASPD1_X" name="OSD3_ASPD1_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ASPD1_Y" name="OSD3_ASPD1_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="CLK_EN" name="OSD3_CLK_EN" documentation="Displays a clock panel based on AP_RTC local time">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CLK_X" name="OSD3_CLK_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="CLK_Y" name="OSD3_CLK_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="SIDEBARS_EN" name="OSD3_SIDEBARS_EN" documentation="Displays artificial horizon side bars">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="SIDEBARS_X" name="OSD3_SIDEBARS_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="SIDEBARS_Y" name="OSD3_SIDEBARS_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="CRSSHAIR_EN" name="OSD3_CRSSHAIR_EN" documentation="Displays artificial horizon crosshair (MSP OSD only)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CRSSHAIR_X" name="OSD3_CRSSHAIR_X" documentation="Horizontal position on screen (MSP OSD only)">
<field name="Range">0 59</field>
</param>
<param humanName="CRSSHAIR_Y" name="OSD3_CRSSHAIR_Y" documentation="Vertical position on screen (MSP OSD only)">
<field name="Range">0 21</field>
</param>
<param humanName="HOMEDIST_EN" name="OSD3_HOMEDIST_EN" documentation="Displays distance from HOME (MSP OSD only)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HOMEDIST_X" name="OSD3_HOMEDIST_X" documentation="Horizontal position on screen (MSP OSD only)">
<field name="Range">0 59</field>
</param>
<param humanName="HOMEDIST_Y" name="OSD3_HOMEDIST_Y" documentation="Vertical position on screen (MSP OSD only)">
<field name="Range">0 21</field>
</param>
<param humanName="HOMEDIR_EN" name="OSD3_HOMEDIR_EN" documentation="Displays relative direction to HOME (MSP OSD only)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HOMEDIR_X" name="OSD3_HOMEDIR_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="HOMEDIR_Y" name="OSD3_HOMEDIR_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="POWER_EN" name="OSD3_POWER_EN" documentation="Displays power (MSP OSD only)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="POWER_X" name="OSD3_POWER_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="POWER_Y" name="OSD3_POWER_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="CELL_VOLT_EN" name="OSD3_CELLVOLT_EN" documentation="Displays average cell voltage (MSP OSD only)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CELL_VOLT_X" name="OSD3_CELLVOLT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="CELL_VOLT_Y" name="OSD3_CELLVOLT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="BATT_BAR_EN" name="OSD3_BATTBAR_EN" documentation="Displays battery usage bar (MSP OSD only)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BATT_BAR_X" name="OSD3_BATTBAR_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="BATT_BAR_Y" name="OSD3_BATTBAR_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ARMING_EN" name="OSD3_ARMING_EN" documentation="Displays arming status (MSP OSD only)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ARMING_X" name="OSD3_ARMING_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ARMING_Y" name="OSD3_ARMING_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="PLUSCODE_EN" name="OSD3_PLUSCODE_EN" documentation="Displays pluscode (OLC) element">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="PLUSCODE_X" name="OSD3_PLUSCODE_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="PLUSCODE_Y" name="OSD3_PLUSCODE_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="CALLSIGN_EN" name="OSD3_CALLSIGN_EN" documentation="Displays callsign from callsign.txt on microSD card">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CALLSIGN_X" name="OSD3_CALLSIGN_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="CALLSIGN_Y" name="OSD3_CALLSIGN_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="CURRENT2_EN" name="OSD3_CURRENT2_EN" documentation="Displays 2nd battery current">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CURRENT2_X" name="OSD3_CURRENT2_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="CURRENT2_Y" name="OSD3_CURRENT2_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="VTX_PWR_EN" name="OSD3_VTX_PWR_EN" documentation="Displays VTX Power">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="VTX_PWR_X" name="OSD3_VTX_PWR_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="VTX_PWR_Y" name="OSD3_VTX_PWR_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="TER_HGT_EN" name="OSD3_TER_HGT_EN" documentation="Displays Height above terrain">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="TER_HGT_X" name="OSD3_TER_HGT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="TER_HGT_Y" name="OSD3_TER_HGT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="AVGCELLV_EN" name="OSD3_AVGCELLV_EN" documentation="Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="AVGCELLV_X" name="OSD3_AVGCELLV_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="AVGCELLV_Y" name="OSD3_AVGCELLV_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="RESTVOLT_EN" name="OSD3_RESTVOLT_EN" documentation="Displays main battery resting voltage">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RESTVOLT_X" name="OSD3_RESTVOLT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="RESTVOLT_Y" name="OSD3_RESTVOLT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="FENCE_EN" name="OSD3_FENCE_EN" documentation="Displays indication of fence enable and breach">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="FENCE_X" name="OSD3_FENCE_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="FENCE_Y" name="OSD3_FENCE_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="RNGF_EN" name="OSD3_RNGF_EN" documentation="Displays a rangefinder's distance in cm">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RNGF_X" name="OSD3_RNGF_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="RNGF_Y" name="OSD3_RNGF_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ACRVOLT_EN" name="OSD3_ACRVOLT_EN" documentation="Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ACRVOLT_X" name="OSD3_ACRVOLT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ACRVOLT_Y" name="OSD3_ACRVOLT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="RPM_EN" name="OSD3_RPM_EN" documentation="Displays main rotor revs/min">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RPM_X" name="OSD3_RPM_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="RPM_Y" name="OSD3_RPM_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="LINK_Q_EN" name="OSD3_LINK_Q_EN" documentation="Displays Receiver link quality">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="LINK_Q_X" name="OSD3_LINK_Q_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="LINK_Q_Y" name="OSD3_LINK_Q_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="Sets the overlay text resolution (MSP DisplayPort only)" name="OSD3_TXT_RES" documentation="Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)" user="Standard">
<values>
<value code="0">30x16</value>
<value code="1">50x18</value>
<value code="2">60x22</value>
</values>
</param>
<param humanName="Sets the font index for this screen (MSP DisplayPort only)" name="OSD3_FONT" documentation="Sets the font index for this screen (MSP DisplayPort only)" user="Standard">
<field name="Range">0 21</field>
</param>
<param humanName="RC_PWR_EN" name="OSD3_RC_PWR_EN" documentation="Displays the RC link transmit (TX) power in mW or W, depending on level">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RC_PWR_X" name="OSD3_RC_PWR_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="RC_PWR_Y" name="OSD3_RC_PWR_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="RSSIDBM_EN" name="OSD3_RSSIDBM_EN" documentation="Displays RC link signal strength in dBm">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RSSIDBM_X" name="OSD3_RSSIDBM_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="RSSIDBM_Y" name="OSD3_RSSIDBM_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="RC_SNR_EN" name="OSD3_RC_SNR_EN" documentation="Displays RC link signal to noise ratio in dB">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RC_SNR_X" name="OSD3_RC_SNR_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="RC_SNR_Y" name="OSD3_RC_SNR_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="RC_ANT_EN" name="OSD3_RC_ANT_EN" documentation="Displays the current RC link active antenna">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RC_ANT_X" name="OSD3_RC_ANT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="RC_ANT_Y" name="OSD3_RC_ANT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="RC_LQ_EN" name="OSD3_RC_LQ_EN" documentation="Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RC_LQ_X" name="OSD3_RC_LQ_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="RC_LQ_Y" name="OSD3_RC_LQ_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
</parameters>
<parameters name="OSD4_">
<param humanName="Enable screen" name="OSD4_ENABLE" documentation="Enable this screen" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Transmitter switch screen minimum pwm" name="OSD4_CHAN_MIN" documentation="This sets the PWM lower limit for this screen" user="Standard">
<field name="Range">900 2100</field>
</param>
<param humanName="Transmitter switch screen maximum pwm" name="OSD4_CHAN_MAX" documentation="This sets the PWM upper limit for this screen" user="Standard">
<field name="Range">900 2100</field>
</param>
<param humanName="ALTITUDE_EN" name="OSD4_ALTITUDE_EN" documentation="Enables display of altitude AGL">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ALTITUDE_X" name="OSD4_ALTITUDE_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ALTITUDE_Y" name="OSD4_ALTITUDE_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="BATVOLT_EN" name="OSD4_BAT_VOLT_EN" documentation="Displays main battery voltage">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BATVOLT_X" name="OSD4_BAT_VOLT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="BATVOLT_Y" name="OSD4_BAT_VOLT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="RSSI_EN" name="OSD4_RSSI_EN" documentation="Displays RC signal strength">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RSSI_X" name="OSD4_RSSI_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="RSSI_Y" name="OSD4_RSSI_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="CURRENT_EN" name="OSD4_CURRENT_EN" documentation="Displays main battery current">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CURRENT_X" name="OSD4_CURRENT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="CURRENT_Y" name="OSD4_CURRENT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="BATUSED_EN" name="OSD4_BATUSED_EN" documentation="Displays primary battery mAh consumed">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BATUSED_X" name="OSD4_BATUSED_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="BATUSED_Y" name="OSD4_BATUSED_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="SATS_EN" name="OSD4_SATS_EN" documentation="Displays number of acquired satellites">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="SATS_X" name="OSD4_SATS_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="SATS_Y" name="OSD4_SATS_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="FLTMODE_EN" name="OSD4_FLTMODE_EN" documentation="Displays flight mode">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="FLTMODE_X" name="OSD4_FLTMODE_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="FLTMODE_Y" name="OSD4_FLTMODE_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="MESSAGE_EN" name="OSD4_MESSAGE_EN" documentation="Displays Mavlink messages">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="MESSAGE_X" name="OSD4_MESSAGE_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="MESSAGE_Y" name="OSD4_MESSAGE_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="GSPEED_EN" name="OSD4_GSPEED_EN" documentation="Displays GPS ground speed">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="GSPEED_X" name="OSD4_GSPEED_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="GSPEED_Y" name="OSD4_GSPEED_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="HORIZON_EN" name="OSD4_HORIZON_EN" documentation="Displays artificial horizon">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HORIZON_X" name="OSD4_HORIZON_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="HORIZON_Y" name="OSD4_HORIZON_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="HOME_EN" name="OSD4_HOME_EN" documentation="Displays distance and relative direction to HOME">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HOME_X" name="OSD4_HOME_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="HOME_Y" name="OSD4_HOME_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="HEADING_EN" name="OSD4_HEADING_EN" documentation="Displays heading">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HEADING_X" name="OSD4_HEADING_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="HEADING_Y" name="OSD4_HEADING_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="THROTTLE_EN" name="OSD4_THROTTLE_EN" documentation="Displays actual throttle percentage being sent to motor(s)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="THROTTLE_X" name="OSD4_THROTTLE_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="THROTTLE_Y" name="OSD4_THROTTLE_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="COMPASS_EN" name="OSD4_COMPASS_EN" documentation="Enables display of compass rose">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="COMPASS_X" name="OSD4_COMPASS_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="COMPASS_Y" name="OSD4_COMPASS_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="WIND_EN" name="OSD4_WIND_EN" documentation="Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="WIND_X" name="OSD4_WIND_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="WIND_Y" name="OSD4_WIND_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ASPEED_EN" name="OSD4_ASPEED_EN" documentation="Displays airspeed value being used by TECS (fused value)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ASPEED_X" name="OSD4_ASPEED_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ASPEED_Y" name="OSD4_ASPEED_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="VSPEED_EN" name="OSD4_VSPEED_EN" documentation="Displays climb rate">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="VSPEED_X" name="OSD4_VSPEED_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="VSPEED_Y" name="OSD4_VSPEED_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ESCTEMP_EN" name="OSD4_ESCTEMP_EN" documentation="Displays first esc's temp">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ESCTEMP_X" name="OSD4_ESCTEMP_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ESCTEMP_Y" name="OSD4_ESCTEMP_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ESCRPM_EN" name="OSD4_ESCRPM_EN" documentation="Displays first esc's rpm">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ESCRPM_X" name="OSD4_ESCRPM_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ESCRPM_Y" name="OSD4_ESCRPM_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ESCAMPS_EN" name="OSD4_ESCAMPS_EN" documentation="Displays first esc's current">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ESCAMPS_X" name="OSD4_ESCAMPS_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ESCAMPS_Y" name="OSD4_ESCAMPS_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="GPSLAT_EN" name="OSD4_GPSLAT_EN" documentation="Displays GPS latitude">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="GPSLAT_X" name="OSD4_GPSLAT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="GPSLAT_Y" name="OSD4_GPSLAT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="GPSLONG_EN" name="OSD4_GPSLONG_EN" documentation="Displays GPS longitude">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="GPSLONG_X" name="OSD4_GPSLONG_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="GPSLONG_Y" name="OSD4_GPSLONG_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ROLL_EN" name="OSD4_ROLL_EN" documentation="Displays degrees of roll from level">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ROLL_X" name="OSD4_ROLL_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ROLL_Y" name="OSD4_ROLL_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="PITCH_EN" name="OSD4_PITCH_EN" documentation="Displays degrees of pitch from level">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="PITCH_X" name="OSD4_PITCH_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="PITCH_Y" name="OSD4_PITCH_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="TEMP_EN" name="OSD4_TEMP_EN" documentation="Displays temperature reported by primary barometer">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="TEMP_X" name="OSD4_TEMP_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="TEMP_Y" name="OSD4_TEMP_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="HDOP_EN" name="OSD4_HDOP_EN" documentation="Displays Horizontal Dilution Of Position">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HDOP_X" name="OSD4_HDOP_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="HDOP_Y" name="OSD4_HDOP_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="WAYPOINT_EN" name="OSD4_WAYPOINT_EN" documentation="Displays bearing and distance to next waypoint">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="WAYPOINT_X" name="OSD4_WAYPOINT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="WAYPOINT_Y" name="OSD4_WAYPOINT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="XTRACK_EN" name="OSD4_XTRACK_EN" documentation="Displays crosstrack error">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="XTRACK_X" name="OSD4_XTRACK_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="XTRACK_Y" name="OSD4_XTRACK_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="DIST_EN" name="OSD4_DIST_EN" documentation="Displays total distance flown">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="DIST_X" name="OSD4_DIST_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="DIST_Y" name="OSD4_DIST_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="STATS_EN" name="OSD4_STATS_EN" documentation="Displays flight stats">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="STATS_X" name="OSD4_STATS_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="STATS_Y" name="OSD4_STATS_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="FLTIME_EN" name="OSD4_FLTIME_EN" documentation="Displays total flight time">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="FLTIME_X" name="OSD4_FLTIME_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="FLTIME_Y" name="OSD4_FLTIME_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="CLIMBEFF_EN" name="OSD4_CLIMBEFF_EN" documentation="Displays climb efficiency (climb rate/current)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CLIMBEFF_X" name="OSD4_CLIMBEFF_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="CLIMBEFF_Y" name="OSD4_CLIMBEFF_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="EFF_EN" name="OSD4_EFF_EN" documentation="Displays flight efficiency (mAh/km or /mi)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="EFF_X" name="OSD4_EFF_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="EFF_Y" name="OSD4_EFF_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="BTEMP_EN" name="OSD4_BTEMP_EN" documentation="Displays temperature reported by secondary barometer">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BTEMP_X" name="OSD4_BTEMP_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="BTEMP_Y" name="OSD4_BTEMP_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ATEMP_EN" name="OSD4_ATEMP_EN" documentation="Displays temperature reported by primary airspeed sensor">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ATEMP_X" name="OSD4_ATEMP_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ATEMP_Y" name="OSD4_ATEMP_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="BAT2VLT_EN" name="OSD4_BAT2_VLT_EN" documentation="Displays battery2 voltage">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BAT2VLT_X" name="OSD4_BAT2_VLT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="BAT2VLT_Y" name="OSD4_BAT2_VLT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="BAT2USED_EN" name="OSD4_BAT2USED_EN" documentation="Displays secondary battery mAh consumed">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BAT2USED_X" name="OSD4_BAT2USED_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="BAT2USED_Y" name="OSD4_BAT2USED_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ASPD2_EN" name="OSD4_ASPD2_EN" documentation="Displays airspeed reported directly from secondary airspeed sensor">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ASPD2_X" name="OSD4_ASPD2_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ASPD2_Y" name="OSD4_ASPD2_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ASPD1_EN" name="OSD4_ASPD1_EN" documentation="Displays airspeed reported directly from primary airspeed sensor">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ASPD1_X" name="OSD4_ASPD1_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ASPD1_Y" name="OSD4_ASPD1_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="CLK_EN" name="OSD4_CLK_EN" documentation="Displays a clock panel based on AP_RTC local time">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CLK_X" name="OSD4_CLK_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="CLK_Y" name="OSD4_CLK_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="SIDEBARS_EN" name="OSD4_SIDEBARS_EN" documentation="Displays artificial horizon side bars">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="SIDEBARS_X" name="OSD4_SIDEBARS_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="SIDEBARS_Y" name="OSD4_SIDEBARS_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="CRSSHAIR_EN" name="OSD4_CRSSHAIR_EN" documentation="Displays artificial horizon crosshair (MSP OSD only)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CRSSHAIR_X" name="OSD4_CRSSHAIR_X" documentation="Horizontal position on screen (MSP OSD only)">
<field name="Range">0 59</field>
</param>
<param humanName="CRSSHAIR_Y" name="OSD4_CRSSHAIR_Y" documentation="Vertical position on screen (MSP OSD only)">
<field name="Range">0 21</field>
</param>
<param humanName="HOMEDIST_EN" name="OSD4_HOMEDIST_EN" documentation="Displays distance from HOME (MSP OSD only)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HOMEDIST_X" name="OSD4_HOMEDIST_X" documentation="Horizontal position on screen (MSP OSD only)">
<field name="Range">0 59</field>
</param>
<param humanName="HOMEDIST_Y" name="OSD4_HOMEDIST_Y" documentation="Vertical position on screen (MSP OSD only)">
<field name="Range">0 21</field>
</param>
<param humanName="HOMEDIR_EN" name="OSD4_HOMEDIR_EN" documentation="Displays relative direction to HOME (MSP OSD only)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="HOMEDIR_X" name="OSD4_HOMEDIR_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="HOMEDIR_Y" name="OSD4_HOMEDIR_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="POWER_EN" name="OSD4_POWER_EN" documentation="Displays power (MSP OSD only)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="POWER_X" name="OSD4_POWER_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="POWER_Y" name="OSD4_POWER_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="CELL_VOLT_EN" name="OSD4_CELLVOLT_EN" documentation="Displays average cell voltage (MSP OSD only)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CELL_VOLT_X" name="OSD4_CELLVOLT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="CELL_VOLT_Y" name="OSD4_CELLVOLT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="BATT_BAR_EN" name="OSD4_BATTBAR_EN" documentation="Displays battery usage bar (MSP OSD only)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="BATT_BAR_X" name="OSD4_BATTBAR_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="BATT_BAR_Y" name="OSD4_BATTBAR_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ARMING_EN" name="OSD4_ARMING_EN" documentation="Displays arming status (MSP OSD only)">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ARMING_X" name="OSD4_ARMING_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ARMING_Y" name="OSD4_ARMING_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="PLUSCODE_EN" name="OSD4_PLUSCODE_EN" documentation="Displays pluscode (OLC) element">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="PLUSCODE_X" name="OSD4_PLUSCODE_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="PLUSCODE_Y" name="OSD4_PLUSCODE_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="CALLSIGN_EN" name="OSD4_CALLSIGN_EN" documentation="Displays callsign from callsign.txt on microSD card">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CALLSIGN_X" name="OSD4_CALLSIGN_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="CALLSIGN_Y" name="OSD4_CALLSIGN_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="CURRENT2_EN" name="OSD4_CURRENT2_EN" documentation="Displays 2nd battery current">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="CURRENT2_X" name="OSD4_CURRENT2_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="CURRENT2_Y" name="OSD4_CURRENT2_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="VTX_PWR_EN" name="OSD4_VTX_PWR_EN" documentation="Displays VTX Power">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="VTX_PWR_X" name="OSD4_VTX_PWR_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="VTX_PWR_Y" name="OSD4_VTX_PWR_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="TER_HGT_EN" name="OSD4_TER_HGT_EN" documentation="Displays Height above terrain">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="TER_HGT_X" name="OSD4_TER_HGT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="TER_HGT_Y" name="OSD4_TER_HGT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="AVGCELLV_EN" name="OSD4_AVGCELLV_EN" documentation="Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="AVGCELLV_X" name="OSD4_AVGCELLV_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="AVGCELLV_Y" name="OSD4_AVGCELLV_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="RESTVOLT_EN" name="OSD4_RESTVOLT_EN" documentation="Displays main battery resting voltage">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RESTVOLT_X" name="OSD4_RESTVOLT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="RESTVOLT_Y" name="OSD4_RESTVOLT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="FENCE_EN" name="OSD4_FENCE_EN" documentation="Displays indication of fence enable and breach">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="FENCE_X" name="OSD4_FENCE_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="FENCE_Y" name="OSD4_FENCE_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="RNGF_EN" name="OSD4_RNGF_EN" documentation="Displays a rangefinder's distance in cm">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RNGF_X" name="OSD4_RNGF_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="RNGF_Y" name="OSD4_RNGF_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="ACRVOLT_EN" name="OSD4_ACRVOLT_EN" documentation="Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="ACRVOLT_X" name="OSD4_ACRVOLT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="ACRVOLT_Y" name="OSD4_ACRVOLT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="RPM_EN" name="OSD4_RPM_EN" documentation="Displays main rotor revs/min">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RPM_X" name="OSD4_RPM_X" documentation="Horizontal position on screen">
<field name="Range">0 29</field>
</param>
<param humanName="RPM_Y" name="OSD4_RPM_Y" documentation="Vertical position on screen">
<field name="Range">0 15</field>
</param>
<param humanName="LINK_Q_EN" name="OSD4_LINK_Q_EN" documentation="Displays Receiver link quality">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="LINK_Q_X" name="OSD4_LINK_Q_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="LINK_Q_Y" name="OSD4_LINK_Q_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="Sets the overlay text resolution (MSP DisplayPort only)" name="OSD4_TXT_RES" documentation="Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)" user="Standard">
<values>
<value code="0">30x16</value>
<value code="1">50x18</value>
<value code="2">60x22</value>
</values>
</param>
<param humanName="Sets the font index for this screen (MSP DisplayPort only)" name="OSD4_FONT" documentation="Sets the font index for this screen (MSP DisplayPort only)" user="Standard">
<field name="Range">0 21</field>
</param>
<param humanName="RC_PWR_EN" name="OSD4_RC_PWR_EN" documentation="Displays the RC link transmit (TX) power in mW or W, depending on level">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RC_PWR_X" name="OSD4_RC_PWR_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="RC_PWR_Y" name="OSD4_RC_PWR_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="RSSIDBM_EN" name="OSD4_RSSIDBM_EN" documentation="Displays RC link signal strength in dBm">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RSSIDBM_X" name="OSD4_RSSIDBM_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="RSSIDBM_Y" name="OSD4_RSSIDBM_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="RC_SNR_EN" name="OSD4_RC_SNR_EN" documentation="Displays RC link signal to noise ratio in dB">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RC_SNR_X" name="OSD4_RC_SNR_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="RC_SNR_Y" name="OSD4_RC_SNR_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="RC_ANT_EN" name="OSD4_RC_ANT_EN" documentation="Displays the current RC link active antenna">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RC_ANT_X" name="OSD4_RC_ANT_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="RC_ANT_Y" name="OSD4_RC_ANT_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
<param humanName="RC_LQ_EN" name="OSD4_RC_LQ_EN" documentation="Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="RC_LQ_X" name="OSD4_RC_LQ_X" documentation="Horizontal position on screen">
<field name="Range">0 59</field>
</param>
<param humanName="RC_LQ_Y" name="OSD4_RC_LQ_Y" documentation="Vertical position on screen">
<field name="Range">0 21</field>
</param>
</parameters>
<parameters name="OSD5_">
<param humanName="Enable screen" name="OSD5_ENABLE" documentation="Enable this screen" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Transmitter switch screen minimum pwm" name="OSD5_CHAN_MIN" documentation="This sets the PWM lower limit for this screen" user="Standard">
<field name="Range">900 2100</field>
</param>
<param humanName="Transmitter switch screen maximum pwm" name="OSD5_CHAN_MAX" documentation="This sets the PWM upper limit for this screen" user="Standard">
<field name="Range">900 2100</field>
</param>
<param humanName="SAVE_X" name="OSD5_SAVE_X" documentation="Horizontal position of Save button on screen" user="Advanced">
<field name="Range">0 25</field>
</param>
<param humanName="SAVE_Y" name="OSD5_SAVE_Y" documentation="Vertical position of Save button on screen" user="Advanced">
<field name="Range">0 15</field>
</param>
</parameters>
<parameters name="OSD5_PARAM1">
<param humanName="Enable" name="OSD5_PARAM1_EN" documentation="Enable setting" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="X position" name="OSD5_PARAM1_X" documentation="Horizontal position on screen" user="Standard">
<field name="Range">0 29</field>
</param>
<param humanName="Y position" name="OSD5_PARAM1_Y" documentation="Vertical position on screen" user="Standard">
<field name="Range">0 15</field>
</param>
<param humanName="Parameter key" name="OSD5_PARAM1_KEY" documentation="Key of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter index" name="OSD5_PARAM1_IDX" documentation="Index of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter group" name="OSD5_PARAM1_GRP" documentation="Group of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter minimum" name="OSD5_PARAM1_MIN" documentation="Minimum value of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter maximum" name="OSD5_PARAM1_MAX" documentation="Maximum of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter increment" name="OSD5_PARAM1_INCR" documentation="Increment of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter type" name="OSD5_PARAM1_TYPE" documentation="Type of the parameter to be displayed and modified" user="Standard">
</param>
</parameters>
<parameters name="OSD5_PARAM2">
<param humanName="Enable" name="OSD5_PARAM2_EN" documentation="Enable setting" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="X position" name="OSD5_PARAM2_X" documentation="Horizontal position on screen" user="Standard">
<field name="Range">0 29</field>
</param>
<param humanName="Y position" name="OSD5_PARAM2_Y" documentation="Vertical position on screen" user="Standard">
<field name="Range">0 15</field>
</param>
<param humanName="Parameter key" name="OSD5_PARAM2_KEY" documentation="Key of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter index" name="OSD5_PARAM2_IDX" documentation="Index of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter group" name="OSD5_PARAM2_GRP" documentation="Group of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter minimum" name="OSD5_PARAM2_MIN" documentation="Minimum value of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter maximum" name="OSD5_PARAM2_MAX" documentation="Maximum of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter increment" name="OSD5_PARAM2_INCR" documentation="Increment of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter type" name="OSD5_PARAM2_TYPE" documentation="Type of the parameter to be displayed and modified" user="Standard">
</param>
</parameters>
<parameters name="OSD5_PARAM3">
<param humanName="Enable" name="OSD5_PARAM3_EN" documentation="Enable setting" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="X position" name="OSD5_PARAM3_X" documentation="Horizontal position on screen" user="Standard">
<field name="Range">0 29</field>
</param>
<param humanName="Y position" name="OSD5_PARAM3_Y" documentation="Vertical position on screen" user="Standard">
<field name="Range">0 15</field>
</param>
<param humanName="Parameter key" name="OSD5_PARAM3_KEY" documentation="Key of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter index" name="OSD5_PARAM3_IDX" documentation="Index of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter group" name="OSD5_PARAM3_GRP" documentation="Group of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter minimum" name="OSD5_PARAM3_MIN" documentation="Minimum value of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter maximum" name="OSD5_PARAM3_MAX" documentation="Maximum of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter increment" name="OSD5_PARAM3_INCR" documentation="Increment of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter type" name="OSD5_PARAM3_TYPE" documentation="Type of the parameter to be displayed and modified" user="Standard">
</param>
</parameters>
<parameters name="OSD5_PARAM4">
<param humanName="Enable" name="OSD5_PARAM4_EN" documentation="Enable setting" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="X position" name="OSD5_PARAM4_X" documentation="Horizontal position on screen" user="Standard">
<field name="Range">0 29</field>
</param>
<param humanName="Y position" name="OSD5_PARAM4_Y" documentation="Vertical position on screen" user="Standard">
<field name="Range">0 15</field>
</param>
<param humanName="Parameter key" name="OSD5_PARAM4_KEY" documentation="Key of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter index" name="OSD5_PARAM4_IDX" documentation="Index of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter group" name="OSD5_PARAM4_GRP" documentation="Group of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter minimum" name="OSD5_PARAM4_MIN" documentation="Minimum value of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter maximum" name="OSD5_PARAM4_MAX" documentation="Maximum of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter increment" name="OSD5_PARAM4_INCR" documentation="Increment of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter type" name="OSD5_PARAM4_TYPE" documentation="Type of the parameter to be displayed and modified" user="Standard">
</param>
</parameters>
<parameters name="OSD5_PARAM5">
<param humanName="Enable" name="OSD5_PARAM5_EN" documentation="Enable setting" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="X position" name="OSD5_PARAM5_X" documentation="Horizontal position on screen" user="Standard">
<field name="Range">0 29</field>
</param>
<param humanName="Y position" name="OSD5_PARAM5_Y" documentation="Vertical position on screen" user="Standard">
<field name="Range">0 15</field>
</param>
<param humanName="Parameter key" name="OSD5_PARAM5_KEY" documentation="Key of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter index" name="OSD5_PARAM5_IDX" documentation="Index of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter group" name="OSD5_PARAM5_GRP" documentation="Group of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter minimum" name="OSD5_PARAM5_MIN" documentation="Minimum value of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter maximum" name="OSD5_PARAM5_MAX" documentation="Maximum of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter increment" name="OSD5_PARAM5_INCR" documentation="Increment of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter type" name="OSD5_PARAM5_TYPE" documentation="Type of the parameter to be displayed and modified" user="Standard">
</param>
</parameters>
<parameters name="OSD5_PARAM6">
<param humanName="Enable" name="OSD5_PARAM6_EN" documentation="Enable setting" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="X position" name="OSD5_PARAM6_X" documentation="Horizontal position on screen" user="Standard">
<field name="Range">0 29</field>
</param>
<param humanName="Y position" name="OSD5_PARAM6_Y" documentation="Vertical position on screen" user="Standard">
<field name="Range">0 15</field>
</param>
<param humanName="Parameter key" name="OSD5_PARAM6_KEY" documentation="Key of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter index" name="OSD5_PARAM6_IDX" documentation="Index of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter group" name="OSD5_PARAM6_GRP" documentation="Group of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter minimum" name="OSD5_PARAM6_MIN" documentation="Minimum value of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter maximum" name="OSD5_PARAM6_MAX" documentation="Maximum of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter increment" name="OSD5_PARAM6_INCR" documentation="Increment of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter type" name="OSD5_PARAM6_TYPE" documentation="Type of the parameter to be displayed and modified" user="Standard">
</param>
</parameters>
<parameters name="OSD5_PARAM7">
<param humanName="Enable" name="OSD5_PARAM7_EN" documentation="Enable setting" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="X position" name="OSD5_PARAM7_X" documentation="Horizontal position on screen" user="Standard">
<field name="Range">0 29</field>
</param>
<param humanName="Y position" name="OSD5_PARAM7_Y" documentation="Vertical position on screen" user="Standard">
<field name="Range">0 15</field>
</param>
<param humanName="Parameter key" name="OSD5_PARAM7_KEY" documentation="Key of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter index" name="OSD5_PARAM7_IDX" documentation="Index of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter group" name="OSD5_PARAM7_GRP" documentation="Group of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter minimum" name="OSD5_PARAM7_MIN" documentation="Minimum value of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter maximum" name="OSD5_PARAM7_MAX" documentation="Maximum of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter increment" name="OSD5_PARAM7_INCR" documentation="Increment of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter type" name="OSD5_PARAM7_TYPE" documentation="Type of the parameter to be displayed and modified" user="Standard">
</param>
</parameters>
<parameters name="OSD5_PARAM8">
<param humanName="Enable" name="OSD5_PARAM8_EN" documentation="Enable setting" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="X position" name="OSD5_PARAM8_X" documentation="Horizontal position on screen" user="Standard">
<field name="Range">0 29</field>
</param>
<param humanName="Y position" name="OSD5_PARAM8_Y" documentation="Vertical position on screen" user="Standard">
<field name="Range">0 15</field>
</param>
<param humanName="Parameter key" name="OSD5_PARAM8_KEY" documentation="Key of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter index" name="OSD5_PARAM8_IDX" documentation="Index of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter group" name="OSD5_PARAM8_GRP" documentation="Group of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter minimum" name="OSD5_PARAM8_MIN" documentation="Minimum value of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter maximum" name="OSD5_PARAM8_MAX" documentation="Maximum of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter increment" name="OSD5_PARAM8_INCR" documentation="Increment of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter type" name="OSD5_PARAM8_TYPE" documentation="Type of the parameter to be displayed and modified" user="Standard">
</param>
</parameters>
<parameters name="OSD5_PARAM9">
<param humanName="Enable" name="OSD5_PARAM9_EN" documentation="Enable setting" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="X position" name="OSD5_PARAM9_X" documentation="Horizontal position on screen" user="Standard">
<field name="Range">0 29</field>
</param>
<param humanName="Y position" name="OSD5_PARAM9_Y" documentation="Vertical position on screen" user="Standard">
<field name="Range">0 15</field>
</param>
<param humanName="Parameter key" name="OSD5_PARAM9_KEY" documentation="Key of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter index" name="OSD5_PARAM9_IDX" documentation="Index of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter group" name="OSD5_PARAM9_GRP" documentation="Group of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter minimum" name="OSD5_PARAM9_MIN" documentation="Minimum value of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter maximum" name="OSD5_PARAM9_MAX" documentation="Maximum of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter increment" name="OSD5_PARAM9_INCR" documentation="Increment of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter type" name="OSD5_PARAM9_TYPE" documentation="Type of the parameter to be displayed and modified" user="Standard">
</param>
</parameters>
<parameters name="OSD6_">
<param humanName="Enable screen" name="OSD6_ENABLE" documentation="Enable this screen" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Transmitter switch screen minimum pwm" name="OSD6_CHAN_MIN" documentation="This sets the PWM lower limit for this screen" user="Standard">
<field name="Range">900 2100</field>
</param>
<param humanName="Transmitter switch screen maximum pwm" name="OSD6_CHAN_MAX" documentation="This sets the PWM upper limit for this screen" user="Standard">
<field name="Range">900 2100</field>
</param>
<param humanName="SAVE_X" name="OSD6_SAVE_X" documentation="Horizontal position of Save button on screen" user="Advanced">
<field name="Range">0 25</field>
</param>
<param humanName="SAVE_Y" name="OSD6_SAVE_Y" documentation="Vertical position of Save button on screen" user="Advanced">
<field name="Range">0 15</field>
</param>
</parameters>
<parameters name="OSD6_PARAM1">
<param humanName="Enable" name="OSD6_PARAM1_EN" documentation="Enable setting" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="X position" name="OSD6_PARAM1_X" documentation="Horizontal position on screen" user="Standard">
<field name="Range">0 29</field>
</param>
<param humanName="Y position" name="OSD6_PARAM1_Y" documentation="Vertical position on screen" user="Standard">
<field name="Range">0 15</field>
</param>
<param humanName="Parameter key" name="OSD6_PARAM1_KEY" documentation="Key of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter index" name="OSD6_PARAM1_IDX" documentation="Index of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter group" name="OSD6_PARAM1_GRP" documentation="Group of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter minimum" name="OSD6_PARAM1_MIN" documentation="Minimum value of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter maximum" name="OSD6_PARAM1_MAX" documentation="Maximum of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter increment" name="OSD6_PARAM1_INCR" documentation="Increment of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter type" name="OSD6_PARAM1_TYPE" documentation="Type of the parameter to be displayed and modified" user="Standard">
</param>
</parameters>
<parameters name="OSD6_PARAM2">
<param humanName="Enable" name="OSD6_PARAM2_EN" documentation="Enable setting" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="X position" name="OSD6_PARAM2_X" documentation="Horizontal position on screen" user="Standard">
<field name="Range">0 29</field>
</param>
<param humanName="Y position" name="OSD6_PARAM2_Y" documentation="Vertical position on screen" user="Standard">
<field name="Range">0 15</field>
</param>
<param humanName="Parameter key" name="OSD6_PARAM2_KEY" documentation="Key of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter index" name="OSD6_PARAM2_IDX" documentation="Index of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter group" name="OSD6_PARAM2_GRP" documentation="Group of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter minimum" name="OSD6_PARAM2_MIN" documentation="Minimum value of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter maximum" name="OSD6_PARAM2_MAX" documentation="Maximum of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter increment" name="OSD6_PARAM2_INCR" documentation="Increment of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter type" name="OSD6_PARAM2_TYPE" documentation="Type of the parameter to be displayed and modified" user="Standard">
</param>
</parameters>
<parameters name="OSD6_PARAM3">
<param humanName="Enable" name="OSD6_PARAM3_EN" documentation="Enable setting" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="X position" name="OSD6_PARAM3_X" documentation="Horizontal position on screen" user="Standard">
<field name="Range">0 29</field>
</param>
<param humanName="Y position" name="OSD6_PARAM3_Y" documentation="Vertical position on screen" user="Standard">
<field name="Range">0 15</field>
</param>
<param humanName="Parameter key" name="OSD6_PARAM3_KEY" documentation="Key of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter index" name="OSD6_PARAM3_IDX" documentation="Index of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter group" name="OSD6_PARAM3_GRP" documentation="Group of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter minimum" name="OSD6_PARAM3_MIN" documentation="Minimum value of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter maximum" name="OSD6_PARAM3_MAX" documentation="Maximum of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter increment" name="OSD6_PARAM3_INCR" documentation="Increment of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter type" name="OSD6_PARAM3_TYPE" documentation="Type of the parameter to be displayed and modified" user="Standard">
</param>
</parameters>
<parameters name="OSD6_PARAM4">
<param humanName="Enable" name="OSD6_PARAM4_EN" documentation="Enable setting" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="X position" name="OSD6_PARAM4_X" documentation="Horizontal position on screen" user="Standard">
<field name="Range">0 29</field>
</param>
<param humanName="Y position" name="OSD6_PARAM4_Y" documentation="Vertical position on screen" user="Standard">
<field name="Range">0 15</field>
</param>
<param humanName="Parameter key" name="OSD6_PARAM4_KEY" documentation="Key of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter index" name="OSD6_PARAM4_IDX" documentation="Index of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter group" name="OSD6_PARAM4_GRP" documentation="Group of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter minimum" name="OSD6_PARAM4_MIN" documentation="Minimum value of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter maximum" name="OSD6_PARAM4_MAX" documentation="Maximum of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter increment" name="OSD6_PARAM4_INCR" documentation="Increment of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter type" name="OSD6_PARAM4_TYPE" documentation="Type of the parameter to be displayed and modified" user="Standard">
</param>
</parameters>
<parameters name="OSD6_PARAM5">
<param humanName="Enable" name="OSD6_PARAM5_EN" documentation="Enable setting" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="X position" name="OSD6_PARAM5_X" documentation="Horizontal position on screen" user="Standard">
<field name="Range">0 29</field>
</param>
<param humanName="Y position" name="OSD6_PARAM5_Y" documentation="Vertical position on screen" user="Standard">
<field name="Range">0 15</field>
</param>
<param humanName="Parameter key" name="OSD6_PARAM5_KEY" documentation="Key of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter index" name="OSD6_PARAM5_IDX" documentation="Index of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter group" name="OSD6_PARAM5_GRP" documentation="Group of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter minimum" name="OSD6_PARAM5_MIN" documentation="Minimum value of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter maximum" name="OSD6_PARAM5_MAX" documentation="Maximum of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter increment" name="OSD6_PARAM5_INCR" documentation="Increment of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter type" name="OSD6_PARAM5_TYPE" documentation="Type of the parameter to be displayed and modified" user="Standard">
</param>
</parameters>
<parameters name="OSD6_PARAM6">
<param humanName="Enable" name="OSD6_PARAM6_EN" documentation="Enable setting" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="X position" name="OSD6_PARAM6_X" documentation="Horizontal position on screen" user="Standard">
<field name="Range">0 29</field>
</param>
<param humanName="Y position" name="OSD6_PARAM6_Y" documentation="Vertical position on screen" user="Standard">
<field name="Range">0 15</field>
</param>
<param humanName="Parameter key" name="OSD6_PARAM6_KEY" documentation="Key of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter index" name="OSD6_PARAM6_IDX" documentation="Index of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter group" name="OSD6_PARAM6_GRP" documentation="Group of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter minimum" name="OSD6_PARAM6_MIN" documentation="Minimum value of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter maximum" name="OSD6_PARAM6_MAX" documentation="Maximum of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter increment" name="OSD6_PARAM6_INCR" documentation="Increment of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter type" name="OSD6_PARAM6_TYPE" documentation="Type of the parameter to be displayed and modified" user="Standard">
</param>
</parameters>
<parameters name="OSD6_PARAM7">
<param humanName="Enable" name="OSD6_PARAM7_EN" documentation="Enable setting" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="X position" name="OSD6_PARAM7_X" documentation="Horizontal position on screen" user="Standard">
<field name="Range">0 29</field>
</param>
<param humanName="Y position" name="OSD6_PARAM7_Y" documentation="Vertical position on screen" user="Standard">
<field name="Range">0 15</field>
</param>
<param humanName="Parameter key" name="OSD6_PARAM7_KEY" documentation="Key of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter index" name="OSD6_PARAM7_IDX" documentation="Index of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter group" name="OSD6_PARAM7_GRP" documentation="Group of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter minimum" name="OSD6_PARAM7_MIN" documentation="Minimum value of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter maximum" name="OSD6_PARAM7_MAX" documentation="Maximum of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter increment" name="OSD6_PARAM7_INCR" documentation="Increment of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter type" name="OSD6_PARAM7_TYPE" documentation="Type of the parameter to be displayed and modified" user="Standard">
</param>
</parameters>
<parameters name="OSD6_PARAM8">
<param humanName="Enable" name="OSD6_PARAM8_EN" documentation="Enable setting" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="X position" name="OSD6_PARAM8_X" documentation="Horizontal position on screen" user="Standard">
<field name="Range">0 29</field>
</param>
<param humanName="Y position" name="OSD6_PARAM8_Y" documentation="Vertical position on screen" user="Standard">
<field name="Range">0 15</field>
</param>
<param humanName="Parameter key" name="OSD6_PARAM8_KEY" documentation="Key of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter index" name="OSD6_PARAM8_IDX" documentation="Index of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter group" name="OSD6_PARAM8_GRP" documentation="Group of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter minimum" name="OSD6_PARAM8_MIN" documentation="Minimum value of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter maximum" name="OSD6_PARAM8_MAX" documentation="Maximum of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter increment" name="OSD6_PARAM8_INCR" documentation="Increment of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter type" name="OSD6_PARAM8_TYPE" documentation="Type of the parameter to be displayed and modified" user="Standard">
</param>
</parameters>
<parameters name="OSD6_PARAM9">
<param humanName="Enable" name="OSD6_PARAM9_EN" documentation="Enable setting" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="X position" name="OSD6_PARAM9_X" documentation="Horizontal position on screen" user="Standard">
<field name="Range">0 29</field>
</param>
<param humanName="Y position" name="OSD6_PARAM9_Y" documentation="Vertical position on screen" user="Standard">
<field name="Range">0 15</field>
</param>
<param humanName="Parameter key" name="OSD6_PARAM9_KEY" documentation="Key of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter index" name="OSD6_PARAM9_IDX" documentation="Index of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter group" name="OSD6_PARAM9_GRP" documentation="Group of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter minimum" name="OSD6_PARAM9_MIN" documentation="Minimum value of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter maximum" name="OSD6_PARAM9_MAX" documentation="Maximum of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter increment" name="OSD6_PARAM9_INCR" documentation="Increment of the parameter to be displayed and modified" user="Standard">
</param>
<param humanName="Parameter type" name="OSD6_PARAM9_TYPE" documentation="Type of the parameter to be displayed and modified" user="Standard">
</param>
</parameters>
<parameters name="PLND_">
<param humanName="Precision Land enabled/disabled" name="PLND_ENABLED" documentation="Precision Land enabled/disabled" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</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 36000</field>
<field name="Increment">10</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="Advanced">
<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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</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>
<param humanName="Precision Landing sensor lag" name="PLND_LAG" documentation="Precision Landing sensor lag, to cope with variable landing_target latency" user="Advanced">
<field name="Range">0.02 0.250</field>
<field name="Increment">1</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Precision Landing maximum distance to target before descending" name="PLND_XY_DIST_MAX" documentation="The vehicle will not start descending if the landing target is detected and it is further than this many meters away. Set 0 to always descend." user="Advanced">
<field name="Range">0 10</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="PrecLand strictness" name="PLND_STRICT" documentation="How strictly should the vehicle land on the target if target is lost">
<values>
<value code="0">Land Vertically (Not strict)</value>
<value code="1">Retry Landing(Normal Strictness)</value>
<value code="2">Do not land (just Hover) (Very Strict)</value>
</values>
</param>
<param humanName="PrecLand Maximum number of retires for a failed landing" name="PLND_RET_MAX" documentation="PrecLand Maximum number of retires for a failed landing. Set to zero to disable landing retry.">
<field name="Range">0 10</field>
<field name="Increment">1</field>
</param>
<param humanName="PrecLand retry timeout" name="PLND_TIMEOUT" documentation="Time for which vehicle continues descend even if target is lost. After this time period, vehicle will attempt a landing retry depending on PLND_STRICT parameter.">
<field name="Range">0 20</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="PrecLand retry behaviour" name="PLND_RET_BEHAVE" documentation="Prec Land will do the action selected by this parameter if a retry to a landing is needed">
<values>
<value code="0">Go to the last location where landing target was detected</value>
<value code="1">Go towards the approximate location of the detected landing target</value>
</values>
</param>
<param humanName="PrecLand minimum alt for retry" name="PLND_ALT_MIN" documentation="Vehicle will continue landing vertically even if target is lost below this height. This needs a rangefinder to work. Set to zero to disable this.">
<field name="Range">0 5</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="PrecLand maximum alt for retry" name="PLND_ALT_MAX" documentation="Vehicle will continue landing vertically until this height if target is not found. Below this height if landing target is not found, landing retry/failsafe might be attempted. This needs a rangefinder to work. Set to zero to disable this.">
<field name="Range">0 50</field>
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Precision Landing Extra Options" name="PLND_OPTIONS" documentation="Precision Landing Extra Options" user="Advanced">
<field name="Bitmask">0: Moving Landing Target, 1: Allow Precision Landing after manual reposition, 2: Maintain high speed in final descent</field>
</param>
<param humanName="Camera Orientation" name="PLND_ORIENT" documentation="Orientation of camera/sensor on body" user="Advanced">
<values>
<value code="0">Forward</value>
<value code="4">Back</value>
<value code="25">Down</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="PRX">
<param humanName="Proximity sensor land detection" name="PRX_IGN_GND" documentation="Ignore proximity data that is within 1 meter of the ground below the vehicle. This requires a downward facing rangefinder" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Proximity raw distances log" name="PRX_LOG_RAW" documentation="Set this parameter to one if logging unfiltered(raw) distances from sensor should be enabled" user="Advanced">
<values>
<value code="0">Off</value>
<value code="1">On</value>
</values>
</param>
<param humanName="Proximity filter cutoff frequency" name="PRX_FILT" documentation="Cutoff frequency for low pass filter applied to each face in the proximity boundary" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 20</field>
</param>
<param humanName="Proximity lowest altitude." name="PRX_ALT_MIN" documentation="Minimum altitude below which proximity should not work." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 10</field>
</param>
</parameters>
<parameters name="PRX1">
<param humanName="Proximity type" name="PRX1_TYPE" documentation="What type of proximity sensor is connected" user="Standard">
<values>
<value code="0">None</value>
<value code="7">LightwareSF40c</value>
<value code="2">MAVLink</value>
<value code="3">TeraRangerTower</value>
<value code="4">RangeFinder</value>
<value code="5">RPLidarA2</value>
<value code="6">TeraRangerTowerEvo</value>
<value code="8">LightwareSF45B</value>
<value code="10">SITL</value>
<value code="12">AirSimSITL</value>
<value code="13">CygbotD1</value>
<value code="14">DroneCAN</value>
<value code="15">Scripting</value>
<value code="16">LD06</value>
<value code="17">MR72_CAN</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Proximity sensor orientation" name="PRX1_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="PRX1_YAW_CORR" documentation="Proximity sensor yaw correction" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">-180 180</field>
</param>
<param humanName="Proximity sensor ignore angle 1" name="PRX1_IGN_ANG1" documentation="Proximity sensor ignore angle 1" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 360</field>
</param>
<param humanName="Proximity sensor ignore width 1" name="PRX1_IGN_WID1" documentation="Proximity sensor ignore width 1" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 127</field>
</param>
<param humanName="Proximity sensor ignore angle 2" name="PRX1_IGN_ANG2" documentation="Proximity sensor ignore angle 2" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 360</field>
</param>
<param humanName="Proximity sensor ignore width 2" name="PRX1_IGN_WID2" documentation="Proximity sensor ignore width 2" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 127</field>
</param>
<param humanName="Proximity sensor ignore angle 3" name="PRX1_IGN_ANG3" documentation="Proximity sensor ignore angle 3" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 360</field>
</param>
<param humanName="Proximity sensor ignore width 3" name="PRX1_IGN_WID3" documentation="Proximity sensor ignore width 3" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 127</field>
</param>
<param humanName="Proximity sensor ignore angle 4" name="PRX1_IGN_ANG4" documentation="Proximity sensor ignore angle 4" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 360</field>
</param>
<param humanName="Proximity sensor ignore width 4" name="PRX1_IGN_WID4" documentation="Proximity sensor ignore width 4" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 127</field>
</param>
<param humanName="Proximity minimum range" name="PRX1_MIN" documentation="Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 500</field>
</param>
<param humanName="Proximity maximum range" name="PRX1_MAX" documentation="Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 500</field>
</param>
<param humanName="Bus address of sensor" name="PRX1_ADDR" documentation="The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses." user="Standard">
<field name="Range">0 127</field>
<field name="Increment">1</field>
</param>
</parameters>
<parameters name="PRX1_">
<param humanName="CAN receive ID" name="PRX1_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
<field name="Range">0 65535</field>
</param>
</parameters>
<parameters name="PRX2">
<param humanName="Proximity type" name="PRX2_TYPE" documentation="What type of proximity sensor is connected" user="Standard">
<values>
<value code="0">None</value>
<value code="7">LightwareSF40c</value>
<value code="2">MAVLink</value>
<value code="3">TeraRangerTower</value>
<value code="4">RangeFinder</value>
<value code="5">RPLidarA2</value>
<value code="6">TeraRangerTowerEvo</value>
<value code="8">LightwareSF45B</value>
<value code="10">SITL</value>
<value code="12">AirSimSITL</value>
<value code="13">CygbotD1</value>
<value code="14">DroneCAN</value>
<value code="15">Scripting</value>
<value code="16">LD06</value>
<value code="17">MR72_CAN</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Proximity sensor orientation" name="PRX2_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="PRX2_YAW_CORR" documentation="Proximity sensor yaw correction" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">-180 180</field>
</param>
<param humanName="Proximity sensor ignore angle 1" name="PRX2_IGN_ANG1" documentation="Proximity sensor ignore angle 1" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 360</field>
</param>
<param humanName="Proximity sensor ignore width 1" name="PRX2_IGN_WID1" documentation="Proximity sensor ignore width 1" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 127</field>
</param>
<param humanName="Proximity sensor ignore angle 2" name="PRX2_IGN_ANG2" documentation="Proximity sensor ignore angle 2" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 360</field>
</param>
<param humanName="Proximity sensor ignore width 2" name="PRX2_IGN_WID2" documentation="Proximity sensor ignore width 2" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 127</field>
</param>
<param humanName="Proximity sensor ignore angle 3" name="PRX2_IGN_ANG3" documentation="Proximity sensor ignore angle 3" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 360</field>
</param>
<param humanName="Proximity sensor ignore width 3" name="PRX2_IGN_WID3" documentation="Proximity sensor ignore width 3" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 127</field>
</param>
<param humanName="Proximity sensor ignore angle 4" name="PRX2_IGN_ANG4" documentation="Proximity sensor ignore angle 4" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 360</field>
</param>
<param humanName="Proximity sensor ignore width 4" name="PRX2_IGN_WID4" documentation="Proximity sensor ignore width 4" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 127</field>
</param>
<param humanName="Proximity minimum range" name="PRX2_MIN" documentation="Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 500</field>
</param>
<param humanName="Proximity maximum range" name="PRX2_MAX" documentation="Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 500</field>
</param>
<param humanName="Bus address of sensor" name="PRX2_ADDR" documentation="The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses." user="Standard">
<field name="Range">0 127</field>
<field name="Increment">1</field>
</param>
</parameters>
<parameters name="PRX2_">
<param humanName="CAN receive ID" name="PRX2_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
<field name="Range">0 65535</field>
</param>
</parameters>
<parameters name="PRX3">
<param humanName="Proximity type" name="PRX3_TYPE" documentation="What type of proximity sensor is connected" user="Standard">
<values>
<value code="0">None</value>
<value code="7">LightwareSF40c</value>
<value code="2">MAVLink</value>
<value code="3">TeraRangerTower</value>
<value code="4">RangeFinder</value>
<value code="5">RPLidarA2</value>
<value code="6">TeraRangerTowerEvo</value>
<value code="8">LightwareSF45B</value>
<value code="10">SITL</value>
<value code="12">AirSimSITL</value>
<value code="13">CygbotD1</value>
<value code="14">DroneCAN</value>
<value code="15">Scripting</value>
<value code="16">LD06</value>
<value code="17">MR72_CAN</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Proximity sensor orientation" name="PRX3_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="PRX3_YAW_CORR" documentation="Proximity sensor yaw correction" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">-180 180</field>
</param>
<param humanName="Proximity sensor ignore angle 1" name="PRX3_IGN_ANG1" documentation="Proximity sensor ignore angle 1" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 360</field>
</param>
<param humanName="Proximity sensor ignore width 1" name="PRX3_IGN_WID1" documentation="Proximity sensor ignore width 1" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 127</field>
</param>
<param humanName="Proximity sensor ignore angle 2" name="PRX3_IGN_ANG2" documentation="Proximity sensor ignore angle 2" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 360</field>
</param>
<param humanName="Proximity sensor ignore width 2" name="PRX3_IGN_WID2" documentation="Proximity sensor ignore width 2" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 127</field>
</param>
<param humanName="Proximity sensor ignore angle 3" name="PRX3_IGN_ANG3" documentation="Proximity sensor ignore angle 3" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 360</field>
</param>
<param humanName="Proximity sensor ignore width 3" name="PRX3_IGN_WID3" documentation="Proximity sensor ignore width 3" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 127</field>
</param>
<param humanName="Proximity sensor ignore angle 4" name="PRX3_IGN_ANG4" documentation="Proximity sensor ignore angle 4" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 360</field>
</param>
<param humanName="Proximity sensor ignore width 4" name="PRX3_IGN_WID4" documentation="Proximity sensor ignore width 4" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 127</field>
</param>
<param humanName="Proximity minimum range" name="PRX3_MIN" documentation="Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 500</field>
</param>
<param humanName="Proximity maximum range" name="PRX3_MAX" documentation="Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 500</field>
</param>
<param humanName="Bus address of sensor" name="PRX3_ADDR" documentation="The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses." user="Standard">
<field name="Range">0 127</field>
<field name="Increment">1</field>
</param>
</parameters>
<parameters name="PRX3_">
<param humanName="CAN receive ID" name="PRX3_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
<field name="Range">0 65535</field>
</param>
</parameters>
<parameters name="PRX4">
<param humanName="Proximity type" name="PRX4_TYPE" documentation="What type of proximity sensor is connected" user="Standard">
<values>
<value code="0">None</value>
<value code="7">LightwareSF40c</value>
<value code="2">MAVLink</value>
<value code="3">TeraRangerTower</value>
<value code="4">RangeFinder</value>
<value code="5">RPLidarA2</value>
<value code="6">TeraRangerTowerEvo</value>
<value code="8">LightwareSF45B</value>
<value code="10">SITL</value>
<value code="12">AirSimSITL</value>
<value code="13">CygbotD1</value>
<value code="14">DroneCAN</value>
<value code="15">Scripting</value>
<value code="16">LD06</value>
<value code="17">MR72_CAN</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Proximity sensor orientation" name="PRX4_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="PRX4_YAW_CORR" documentation="Proximity sensor yaw correction" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">-180 180</field>
</param>
<param humanName="Proximity sensor ignore angle 1" name="PRX4_IGN_ANG1" documentation="Proximity sensor ignore angle 1" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 360</field>
</param>
<param humanName="Proximity sensor ignore width 1" name="PRX4_IGN_WID1" documentation="Proximity sensor ignore width 1" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 127</field>
</param>
<param humanName="Proximity sensor ignore angle 2" name="PRX4_IGN_ANG2" documentation="Proximity sensor ignore angle 2" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 360</field>
</param>
<param humanName="Proximity sensor ignore width 2" name="PRX4_IGN_WID2" documentation="Proximity sensor ignore width 2" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 127</field>
</param>
<param humanName="Proximity sensor ignore angle 3" name="PRX4_IGN_ANG3" documentation="Proximity sensor ignore angle 3" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 360</field>
</param>
<param humanName="Proximity sensor ignore width 3" name="PRX4_IGN_WID3" documentation="Proximity sensor ignore width 3" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 127</field>
</param>
<param humanName="Proximity sensor ignore angle 4" name="PRX4_IGN_ANG4" documentation="Proximity sensor ignore angle 4" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 360</field>
</param>
<param humanName="Proximity sensor ignore width 4" name="PRX4_IGN_WID4" documentation="Proximity sensor ignore width 4" user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 127</field>
</param>
<param humanName="Proximity minimum range" name="PRX4_MIN" documentation="Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 500</field>
</param>
<param humanName="Proximity maximum range" name="PRX4_MAX" documentation="Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 500</field>
</param>
<param humanName="Bus address of sensor" name="PRX4_ADDR" documentation="The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses." user="Standard">
<field name="Range">0 127</field>
<field name="Increment">1</field>
</param>
</parameters>
<parameters name="PRX4_">
<param humanName="CAN receive ID" name="PRX4_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
<field name="Range">0 65535</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="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0.5 5</field>
<field name="Increment">0.1</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="Velocity (vertical) controller I gain" name="PSC_VELZ_I" documentation="Velocity (vertical) controller 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 (vertical) controller I gain maximum" name="PSC_VELZ_IMAX" documentation="Velocity (vertical) controller I gain maximum. Constrains the target acceleration that the I gain will output" user="Standard">
<field name="Range">1.000 8.000</field>
</param>
<param humanName="Velocity (vertical) controller D gain" name="PSC_VELZ_D" documentation="Velocity (vertical) controller 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 (vertical) controller Feed Forward gain" name="PSC_VELZ_FF" documentation="Velocity (vertical) controller Feed Forward gain. Produces an output that is proportional to the magnitude of the target" user="Advanced">
<field name="Range">0 1</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Velocity (vertical) error filter" name="PSC_VELZ_FLTE" documentation="Velocity (vertical) error 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 (vertical) input filter for D term" name="PSC_VELZ_FLTD" documentation="Velocity (vertical) input filter for D term. This filter (in Hz) is applied to the input for D terms" user="Advanced">
<field name="Range">0 100</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</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">0.200 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 feed forward" name="PSC_ACCZ_FF" documentation="Acceleration (vertical) controller feed forward" user="Standard">
<field name="Range">0 0.5</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Acceleration (vertical) controller target frequency in Hz" name="PSC_ACCZ_FLTT" documentation="Acceleration (vertical) controller target frequency in Hz" user="Standard">
<field name="Range">1 50</field>
<field name="Increment">1</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Acceleration (vertical) controller error frequency in Hz" name="PSC_ACCZ_FLTE" documentation="Acceleration (vertical) controller error 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="Acceleration (vertical) controller derivative frequency in Hz" name="PSC_ACCZ_FLTD" documentation="Acceleration (vertical) controller derivative 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="Accel (vertical) slew rate limit" name="PSC_ACCZ_SMAX" documentation="Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature." user="Advanced">
<field name="Range">0 200</field>
<field name="Increment">0.5</field>
</param>
<param humanName="Acceleration (vertical) controller PD sum maximum" name="PSC_ACCZ_PDMX" documentation="Acceleration (vertical) controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output">
<field name="Range">0 1000</field>
<field name="Units">d%</field>
<field name="UnitText">decipercent</field>
</param>
<param humanName="Accel (vertical) Derivative FeedForward Gain" name="PSC_ACCZ_D_FF" documentation="FF D Gain which produces an output that is proportional to the rate of change of the target" user="Advanced">
<field name="Range">0 0.02</field>
<field name="Increment">0.0001</field>
</param>
<param humanName="Accel (vertical) Target notch filter index" name="PSC_ACCZ_NTF" documentation="Accel (vertical) Target notch filter index" user="Advanced">
<field name="Range">1 8</field>
</param>
<param humanName="Accel (vertical) Error notch filter index" name="PSC_ACCZ_NEF" documentation="Accel (vertical) Error notch filter index" user="Advanced">
<field name="Range">1 8</field>
</param>
<param humanName="Position (horizontal) 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 and actual 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 between desired and actual 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_FLTE" 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_FLTD" documentation="Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for D term" user="Advanced">
<field name="Range">0 100</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Velocity (horizontal) feed forward gain" name="PSC_VELXY_FF" documentation="Velocity (horizontal) feed forward gain. Converts the difference between desired velocity to a target acceleration" user="Advanced">
<field name="Range">0 6</field>
<field name="Increment">0.01</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="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 45</field>
<field name="Increment">1</field>
</param>
<param humanName="Jerk limit for the horizontal kinematic input shaping" name="PSC_JERK_XY" documentation="Jerk limit of the horizontal kinematic path generation used to determine how quickly the aircraft varies the acceleration target" user="Advanced">
<field name="Units">m/s/s/s</field>
<field name="UnitText">meters per cubic second</field>
<field name="Range">1 20</field>
<field name="Increment">1</field>
</param>
<param humanName="Jerk limit for the vertical kinematic input shaping" name="PSC_JERK_Z" documentation="Jerk limit of the vertical kinematic path generation used to determine how quickly the aircraft varies the acceleration target" user="Advanced">
<field name="Units">m/s/s/s</field>
<field name="UnitText">meters per cubic second</field>
<field name="Range">5 50</field>
<field name="Increment">1</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="Units">km</field>
<field name="UnitText">kilometers</field>
<field name="Increment">0.1</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="RC">
<param humanName="RC override timeout" name="RC_OVERRIDE_TIME" documentation="Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled" user="Advanced">
<field name="Range">0.0 120.0</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="RC options" name="RC_OPTIONS" documentation="RC input options" user="Advanced">
<field name="Bitmask">0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yaw sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems,10:Enable multiple receiver support, 11:Use Link Quality for RSSI with CRSF, 12:Annotate CRSF flight mode with * on disarm, 13: Use 420kbaud for ELRS protocol</field>
</param>
<param humanName="RC protocols enabled" name="RC_PROTOCOLS" documentation="Bitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols." user="Advanced">
<field name="Bitmask">0:All,1:PPM,2:IBUS,3:SBUS,4:SBUS_NI,5:DSM,6:SUMD,7:SRXL,8:SRXL2,9:CRSF,10:ST24,11:FPORT,12:FPORT2,13:FastSBUS,14:DroneCAN,15:Ghost,16:MAVRadio</field>
</param>
<param humanName="RC Failsafe timeout" name="RC_FS_TIMEOUT" documentation="RC failsafe will trigger this many seconds after loss of RC" user="Standard">
<field name="Range">0.5 10.0</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">0 200</field>
</param>
<param humanName="RC input option" name="RC10_OPTION" documentation="Function assigned to this RC channel" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code="52">ACRO Mode</value>
<value code="38">ADSB Avoidance Enable</value>
<value code="70">ALTHOLD Mode</value>
<value code="16">AUTO Mode</value>
<value code="99">AUTO RTL</value>
<value code="17">AUTOTUNE Mode</value>
<value code="14">Acro Trainer</value>
<value code="84">AirMode</value>
<value code="165">Arm/Emergency Motor Stop</value>
<value code="41">ArmDisarm (4.1 and lower)</value>
<value code="153">ArmDisarm (4.2 and higher)</value>
<value code="154">ArmDisarm with AirMode (4.2 and higher)</value>
<value code="26">AttCon Accel Limits</value>
<value code="25">AttCon Feed Forward</value>
<value code="24">Auto Mission Reset</value>
<value code="33">BRAKE Mode</value>
<value code="172">Battery MPPT Enable</value>
<value code="72">CIRCLE Mode</value>
<value code="171">Calibrate Compasses</value>
<value code="169">Camera Auto Focus</value>
<value code="174">Camera Image Tracking</value>
<value code="175">Camera Lens</value>
<value code="168">Camera Manual Focus</value>
<value code="102">Camera Mode Toggle</value>
<value code="166">Camera Record Video</value>
<value code="9">Camera Trigger</value>
<value code="167">Camera Zoom</value>
<value code="58">Clear Waypoints</value>
<value code="62">Compass Learn</value>
<value code="73">DRIFT Mode</value>
<value code="81">Disarm</value>
<value code="90">EKF Pos Source</value>
<value code="162">FFT Tune</value>
<value code="2">FLIP Mode</value>
<value code="71">FLOWHOLD Mode</value>
<value code="57">FOLLOW Mode</value>
<value code="11">Fence Enable</value>
<value code="159">Force IS_Flying</value>
<value code="65">GPS Disable</value>
<value code="105">GPS Disable Yaw</value>
<value code="55">GUIDED Mode</value>
<value code="85">Generator</value>
<value code="19">Gripper Release</value>
<value code="43">InvertedFlight Enable</value>
<value code="100">KillIMU1</value>
<value code="101">KillIMU2</value>
<value code="110">KillIMU3</value>
<value code="18">LAND Mode</value>
<value code="56">LOITER Mode</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="177">Mount LRF enable</value>
<value code="163">Mount Lock</value>
<value code="213">Mount1 Pitch</value>
<value code="212">Mount1 Roll</value>
<value code="214">Mount1 Yaw</value>
<value code="216">Mount2 Pitch</value>
<value code="215">Mount2 Roll</value>
<value code="217">Mount2 Yaw</value>
<value code="158">Optflow Calibration</value>
<value code="69">POSHOLD Mode</value>
<value code="23">Parachute 3pos</value>
<value code="21">Parachute Enable</value>
<value code="22">Parachute Release</value>
<value code="164">Pause Stream Logging</value>
<value code="39">PrecLoiter Enable</value>
<value code="40">Proximity Avoidance Enable</value>
<value code="46">RC Override Enable</value>
<value code="4">RTL</value>
<value code="10">RangeFinder Enable</value>
<value code="28">Relay1 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="66">Relay5 On/Off</value>
<value code="67">Relay6 On/Off</value>
<value code="27">Retract Mount1</value>
<value code="78">RunCam Control</value>
<value code="79">RunCam OSD Control</value>
<value code="152">SIMPLE heading reset</value>
<value code="42">SMARTRTL Mode</value>
<value code="68">STABILIZE Mode</value>
<value code="76">STANDBY Mode</value>
<value code="5">Save Trim</value>
<value code="7">Save WP</value>
<value code="300">Scripting1</value>
<value code="301">Scripting2</value>
<value code="302">Scripting3</value>
<value code="303">Scripting4</value>
<value code="304">Scripting5</value>
<value code="305">Scripting6</value>
<value code="306">Scripting7</value>
<value code="307">Scripting8</value>
<value code="3">Simple Mode</value>
<value code="15">Sprayer Enable</value>
<value code="13">Super Simple Mode</value>
<value code="75">SurfaceTrackingUpDown</value>
<value code="112">SwitchExternalAHRS</value>
<value code="37">THROW Mode</value>
<value code="151">TURTLE Mode</value>
<value code="161">Turbine Start(heli)</value>
<value code="47">User Function 1</value>
<value code="48">User Function 2</value>
<value code="49">User Function 3</value>
<value code="94">VTX Power</value>
<value code="80">VisOdom Align</value>
<value code="45">Winch Control</value>
<value code="44">Winch Enable</value>
<value code="83">ZigZag Auto</value>
<value code="60">ZigZag Mode</value>
<value code="61">ZigZag SaveWP</value>
<value code="109">use Custom Controller</value>
</values>
</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">0 200</field>
</param>
<param humanName="RC input option" name="RC11_OPTION" documentation="Function assigned to this RC channel" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code="52">ACRO Mode</value>
<value code="38">ADSB Avoidance Enable</value>
<value code="70">ALTHOLD Mode</value>
<value code="16">AUTO Mode</value>
<value code="99">AUTO RTL</value>
<value code="17">AUTOTUNE Mode</value>
<value code="14">Acro Trainer</value>
<value code="84">AirMode</value>
<value code="165">Arm/Emergency Motor Stop</value>
<value code="41">ArmDisarm (4.1 and lower)</value>
<value code="153">ArmDisarm (4.2 and higher)</value>
<value code="154">ArmDisarm with AirMode (4.2 and higher)</value>
<value code="26">AttCon Accel Limits</value>
<value code="25">AttCon Feed Forward</value>
<value code="24">Auto Mission Reset</value>
<value code="33">BRAKE Mode</value>
<value code="172">Battery MPPT Enable</value>
<value code="72">CIRCLE Mode</value>
<value code="171">Calibrate Compasses</value>
<value code="169">Camera Auto Focus</value>
<value code="174">Camera Image Tracking</value>
<value code="175">Camera Lens</value>
<value code="168">Camera Manual Focus</value>
<value code="102">Camera Mode Toggle</value>
<value code="166">Camera Record Video</value>
<value code="9">Camera Trigger</value>
<value code="167">Camera Zoom</value>
<value code="58">Clear Waypoints</value>
<value code="62">Compass Learn</value>
<value code="73">DRIFT Mode</value>
<value code="81">Disarm</value>
<value code="90">EKF Pos Source</value>
<value code="162">FFT Tune</value>
<value code="2">FLIP Mode</value>
<value code="71">FLOWHOLD Mode</value>
<value code="57">FOLLOW Mode</value>
<value code="11">Fence Enable</value>
<value code="159">Force IS_Flying</value>
<value code="65">GPS Disable</value>
<value code="105">GPS Disable Yaw</value>
<value code="55">GUIDED Mode</value>
<value code="85">Generator</value>
<value code="19">Gripper Release</value>
<value code="43">InvertedFlight Enable</value>
<value code="100">KillIMU1</value>
<value code="101">KillIMU2</value>
<value code="110">KillIMU3</value>
<value code="18">LAND Mode</value>
<value code="56">LOITER Mode</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="177">Mount LRF enable</value>
<value code="163">Mount Lock</value>
<value code="213">Mount1 Pitch</value>
<value code="212">Mount1 Roll</value>
<value code="214">Mount1 Yaw</value>
<value code="216">Mount2 Pitch</value>
<value code="215">Mount2 Roll</value>
<value code="217">Mount2 Yaw</value>
<value code="158">Optflow Calibration</value>
<value code="69">POSHOLD Mode</value>
<value code="23">Parachute 3pos</value>
<value code="21">Parachute Enable</value>
<value code="22">Parachute Release</value>
<value code="164">Pause Stream Logging</value>
<value code="39">PrecLoiter Enable</value>
<value code="40">Proximity Avoidance Enable</value>
<value code="46">RC Override Enable</value>
<value code="4">RTL</value>
<value code="10">RangeFinder Enable</value>
<value code="28">Relay1 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="66">Relay5 On/Off</value>
<value code="67">Relay6 On/Off</value>
<value code="27">Retract Mount1</value>
<value code="78">RunCam Control</value>
<value code="79">RunCam OSD Control</value>
<value code="152">SIMPLE heading reset</value>
<value code="42">SMARTRTL Mode</value>
<value code="68">STABILIZE Mode</value>
<value code="76">STANDBY Mode</value>
<value code="5">Save Trim</value>
<value code="7">Save WP</value>
<value code="300">Scripting1</value>
<value code="301">Scripting2</value>
<value code="302">Scripting3</value>
<value code="303">Scripting4</value>
<value code="304">Scripting5</value>
<value code="305">Scripting6</value>
<value code="306">Scripting7</value>
<value code="307">Scripting8</value>
<value code="3">Simple Mode</value>
<value code="15">Sprayer Enable</value>
<value code="13">Super Simple Mode</value>
<value code="75">SurfaceTrackingUpDown</value>
<value code="112">SwitchExternalAHRS</value>
<value code="37">THROW Mode</value>
<value code="151">TURTLE Mode</value>
<value code="161">Turbine Start(heli)</value>
<value code="47">User Function 1</value>
<value code="48">User Function 2</value>
<value code="49">User Function 3</value>
<value code="94">VTX Power</value>
<value code="80">VisOdom Align</value>
<value code="45">Winch Control</value>
<value code="44">Winch Enable</value>
<value code="83">ZigZag Auto</value>
<value code="60">ZigZag Mode</value>
<value code="61">ZigZag SaveWP</value>
<value code="109">use Custom Controller</value>
</values>
</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">0 200</field>
</param>
<param humanName="RC input option" name="RC12_OPTION" documentation="Function assigned to this RC channel" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code="52">ACRO Mode</value>
<value code="38">ADSB Avoidance Enable</value>
<value code="70">ALTHOLD Mode</value>
<value code="16">AUTO Mode</value>
<value code="99">AUTO RTL</value>
<value code="17">AUTOTUNE Mode</value>
<value code="14">Acro Trainer</value>
<value code="84">AirMode</value>
<value code="165">Arm/Emergency Motor Stop</value>
<value code="41">ArmDisarm (4.1 and lower)</value>
<value code="153">ArmDisarm (4.2 and higher)</value>
<value code="154">ArmDisarm with AirMode (4.2 and higher)</value>
<value code="26">AttCon Accel Limits</value>
<value code="25">AttCon Feed Forward</value>
<value code="24">Auto Mission Reset</value>
<value code="33">BRAKE Mode</value>
<value code="172">Battery MPPT Enable</value>
<value code="72">CIRCLE Mode</value>
<value code="171">Calibrate Compasses</value>
<value code="169">Camera Auto Focus</value>
<value code="174">Camera Image Tracking</value>
<value code="175">Camera Lens</value>
<value code="168">Camera Manual Focus</value>
<value code="102">Camera Mode Toggle</value>
<value code="166">Camera Record Video</value>
<value code="9">Camera Trigger</value>
<value code="167">Camera Zoom</value>
<value code="58">Clear Waypoints</value>
<value code="62">Compass Learn</value>
<value code="73">DRIFT Mode</value>
<value code="81">Disarm</value>
<value code="90">EKF Pos Source</value>
<value code="162">FFT Tune</value>
<value code="2">FLIP Mode</value>
<value code="71">FLOWHOLD Mode</value>
<value code="57">FOLLOW Mode</value>
<value code="11">Fence Enable</value>
<value code="159">Force IS_Flying</value>
<value code="65">GPS Disable</value>
<value code="105">GPS Disable Yaw</value>
<value code="55">GUIDED Mode</value>
<value code="85">Generator</value>
<value code="19">Gripper Release</value>
<value code="43">InvertedFlight Enable</value>
<value code="100">KillIMU1</value>
<value code="101">KillIMU2</value>
<value code="110">KillIMU3</value>
<value code="18">LAND Mode</value>
<value code="56">LOITER Mode</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="177">Mount LRF enable</value>
<value code="163">Mount Lock</value>
<value code="213">Mount1 Pitch</value>
<value code="212">Mount1 Roll</value>
<value code="214">Mount1 Yaw</value>
<value code="216">Mount2 Pitch</value>
<value code="215">Mount2 Roll</value>
<value code="217">Mount2 Yaw</value>
<value code="158">Optflow Calibration</value>
<value code="69">POSHOLD Mode</value>
<value code="23">Parachute 3pos</value>
<value code="21">Parachute Enable</value>
<value code="22">Parachute Release</value>
<value code="164">Pause Stream Logging</value>
<value code="39">PrecLoiter Enable</value>
<value code="40">Proximity Avoidance Enable</value>
<value code="46">RC Override Enable</value>
<value code="4">RTL</value>
<value code="10">RangeFinder Enable</value>
<value code="28">Relay1 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="66">Relay5 On/Off</value>
<value code="67">Relay6 On/Off</value>
<value code="27">Retract Mount1</value>
<value code="78">RunCam Control</value>
<value code="79">RunCam OSD Control</value>
<value code="152">SIMPLE heading reset</value>
<value code="42">SMARTRTL Mode</value>
<value code="68">STABILIZE Mode</value>
<value code="76">STANDBY Mode</value>
<value code="5">Save Trim</value>
<value code="7">Save WP</value>
<value code="300">Scripting1</value>
<value code="301">Scripting2</value>
<value code="302">Scripting3</value>
<value code="303">Scripting4</value>
<value code="304">Scripting5</value>
<value code="305">Scripting6</value>
<value code="306">Scripting7</value>
<value code="307">Scripting8</value>
<value code="3">Simple Mode</value>
<value code="15">Sprayer Enable</value>
<value code="13">Super Simple Mode</value>
<value code="75">SurfaceTrackingUpDown</value>
<value code="112">SwitchExternalAHRS</value>
<value code="37">THROW Mode</value>
<value code="151">TURTLE Mode</value>
<value code="161">Turbine Start(heli)</value>
<value code="47">User Function 1</value>
<value code="48">User Function 2</value>
<value code="49">User Function 3</value>
<value code="94">VTX Power</value>
<value code="80">VisOdom Align</value>
<value code="45">Winch Control</value>
<value code="44">Winch Enable</value>
<value code="83">ZigZag Auto</value>
<value code="60">ZigZag Mode</value>
<value code="61">ZigZag SaveWP</value>
<value code="109">use Custom Controller</value>
</values>
</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">0 200</field>
</param>
<param humanName="RC input option" name="RC13_OPTION" documentation="Function assigned to this RC channel" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code="52">ACRO Mode</value>
<value code="38">ADSB Avoidance Enable</value>
<value code="70">ALTHOLD Mode</value>
<value code="16">AUTO Mode</value>
<value code="99">AUTO RTL</value>
<value code="17">AUTOTUNE Mode</value>
<value code="14">Acro Trainer</value>
<value code="84">AirMode</value>
<value code="165">Arm/Emergency Motor Stop</value>
<value code="41">ArmDisarm (4.1 and lower)</value>
<value code="153">ArmDisarm (4.2 and higher)</value>
<value code="154">ArmDisarm with AirMode (4.2 and higher)</value>
<value code="26">AttCon Accel Limits</value>
<value code="25">AttCon Feed Forward</value>
<value code="24">Auto Mission Reset</value>
<value code="33">BRAKE Mode</value>
<value code="172">Battery MPPT Enable</value>
<value code="72">CIRCLE Mode</value>
<value code="171">Calibrate Compasses</value>
<value code="169">Camera Auto Focus</value>
<value code="174">Camera Image Tracking</value>
<value code="175">Camera Lens</value>
<value code="168">Camera Manual Focus</value>
<value code="102">Camera Mode Toggle</value>
<value code="166">Camera Record Video</value>
<value code="9">Camera Trigger</value>
<value code="167">Camera Zoom</value>
<value code="58">Clear Waypoints</value>
<value code="62">Compass Learn</value>
<value code="73">DRIFT Mode</value>
<value code="81">Disarm</value>
<value code="90">EKF Pos Source</value>
<value code="162">FFT Tune</value>
<value code="2">FLIP Mode</value>
<value code="71">FLOWHOLD Mode</value>
<value code="57">FOLLOW Mode</value>
<value code="11">Fence Enable</value>
<value code="159">Force IS_Flying</value>
<value code="65">GPS Disable</value>
<value code="105">GPS Disable Yaw</value>
<value code="55">GUIDED Mode</value>
<value code="85">Generator</value>
<value code="19">Gripper Release</value>
<value code="43">InvertedFlight Enable</value>
<value code="100">KillIMU1</value>
<value code="101">KillIMU2</value>
<value code="110">KillIMU3</value>
<value code="18">LAND Mode</value>
<value code="56">LOITER Mode</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="177">Mount LRF enable</value>
<value code="163">Mount Lock</value>
<value code="213">Mount1 Pitch</value>
<value code="212">Mount1 Roll</value>
<value code="214">Mount1 Yaw</value>
<value code="216">Mount2 Pitch</value>
<value code="215">Mount2 Roll</value>
<value code="217">Mount2 Yaw</value>
<value code="158">Optflow Calibration</value>
<value code="69">POSHOLD Mode</value>
<value code="23">Parachute 3pos</value>
<value code="21">Parachute Enable</value>
<value code="22">Parachute Release</value>
<value code="164">Pause Stream Logging</value>
<value code="39">PrecLoiter Enable</value>
<value code="40">Proximity Avoidance Enable</value>
<value code="46">RC Override Enable</value>
<value code="4">RTL</value>
<value code="10">RangeFinder Enable</value>
<value code="28">Relay1 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="66">Relay5 On/Off</value>
<value code="67">Relay6 On/Off</value>
<value code="27">Retract Mount1</value>
<value code="78">RunCam Control</value>
<value code="79">RunCam OSD Control</value>
<value code="152">SIMPLE heading reset</value>
<value code="42">SMARTRTL Mode</value>
<value code="68">STABILIZE Mode</value>
<value code="76">STANDBY Mode</value>
<value code="5">Save Trim</value>
<value code="7">Save WP</value>
<value code="300">Scripting1</value>
<value code="301">Scripting2</value>
<value code="302">Scripting3</value>
<value code="303">Scripting4</value>
<value code="304">Scripting5</value>
<value code="305">Scripting6</value>
<value code="306">Scripting7</value>
<value code="307">Scripting8</value>
<value code="3">Simple Mode</value>
<value code="15">Sprayer Enable</value>
<value code="13">Super Simple Mode</value>
<value code="75">SurfaceTrackingUpDown</value>
<value code="112">SwitchExternalAHRS</value>
<value code="37">THROW Mode</value>
<value code="151">TURTLE Mode</value>
<value code="161">Turbine Start(heli)</value>
<value code="47">User Function 1</value>
<value code="48">User Function 2</value>
<value code="49">User Function 3</value>
<value code="94">VTX Power</value>
<value code="80">VisOdom Align</value>
<value code="45">Winch Control</value>
<value code="44">Winch Enable</value>
<value code="83">ZigZag Auto</value>
<value code="60">ZigZag Mode</value>
<value code="61">ZigZag SaveWP</value>
<value code="109">use Custom Controller</value>
</values>
</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">0 200</field>
</param>
<param humanName="RC input option" name="RC14_OPTION" documentation="Function assigned to this RC channel" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code="52">ACRO Mode</value>
<value code="38">ADSB Avoidance Enable</value>
<value code="70">ALTHOLD Mode</value>
<value code="16">AUTO Mode</value>
<value code="99">AUTO RTL</value>
<value code="17">AUTOTUNE Mode</value>
<value code="14">Acro Trainer</value>
<value code="84">AirMode</value>
<value code="165">Arm/Emergency Motor Stop</value>
<value code="41">ArmDisarm (4.1 and lower)</value>
<value code="153">ArmDisarm (4.2 and higher)</value>
<value code="154">ArmDisarm with AirMode (4.2 and higher)</value>
<value code="26">AttCon Accel Limits</value>
<value code="25">AttCon Feed Forward</value>
<value code="24">Auto Mission Reset</value>
<value code="33">BRAKE Mode</value>
<value code="172">Battery MPPT Enable</value>
<value code="72">CIRCLE Mode</value>
<value code="171">Calibrate Compasses</value>
<value code="169">Camera Auto Focus</value>
<value code="174">Camera Image Tracking</value>
<value code="175">Camera Lens</value>
<value code="168">Camera Manual Focus</value>
<value code="102">Camera Mode Toggle</value>
<value code="166">Camera Record Video</value>
<value code="9">Camera Trigger</value>
<value code="167">Camera Zoom</value>
<value code="58">Clear Waypoints</value>
<value code="62">Compass Learn</value>
<value code="73">DRIFT Mode</value>
<value code="81">Disarm</value>
<value code="90">EKF Pos Source</value>
<value code="162">FFT Tune</value>
<value code="2">FLIP Mode</value>
<value code="71">FLOWHOLD Mode</value>
<value code="57">FOLLOW Mode</value>
<value code="11">Fence Enable</value>
<value code="159">Force IS_Flying</value>
<value code="65">GPS Disable</value>
<value code="105">GPS Disable Yaw</value>
<value code="55">GUIDED Mode</value>
<value code="85">Generator</value>
<value code="19">Gripper Release</value>
<value code="43">InvertedFlight Enable</value>
<value code="100">KillIMU1</value>
<value code="101">KillIMU2</value>
<value code="110">KillIMU3</value>
<value code="18">LAND Mode</value>
<value code="56">LOITER Mode</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="177">Mount LRF enable</value>
<value code="163">Mount Lock</value>
<value code="213">Mount1 Pitch</value>
<value code="212">Mount1 Roll</value>
<value code="214">Mount1 Yaw</value>
<value code="216">Mount2 Pitch</value>
<value code="215">Mount2 Roll</value>
<value code="217">Mount2 Yaw</value>
<value code="158">Optflow Calibration</value>
<value code="69">POSHOLD Mode</value>
<value code="23">Parachute 3pos</value>
<value code="21">Parachute Enable</value>
<value code="22">Parachute Release</value>
<value code="164">Pause Stream Logging</value>
<value code="39">PrecLoiter Enable</value>
<value code="40">Proximity Avoidance Enable</value>
<value code="46">RC Override Enable</value>
<value code="4">RTL</value>
<value code="10">RangeFinder Enable</value>
<value code="28">Relay1 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="66">Relay5 On/Off</value>
<value code="67">Relay6 On/Off</value>
<value code="27">Retract Mount1</value>
<value code="78">RunCam Control</value>
<value code="79">RunCam OSD Control</value>
<value code="152">SIMPLE heading reset</value>
<value code="42">SMARTRTL Mode</value>
<value code="68">STABILIZE Mode</value>
<value code="76">STANDBY Mode</value>
<value code="5">Save Trim</value>
<value code="7">Save WP</value>
<value code="300">Scripting1</value>
<value code="301">Scripting2</value>
<value code="302">Scripting3</value>
<value code="303">Scripting4</value>
<value code="304">Scripting5</value>
<value code="305">Scripting6</value>
<value code="306">Scripting7</value>
<value code="307">Scripting8</value>
<value code="3">Simple Mode</value>
<value code="15">Sprayer Enable</value>
<value code="13">Super Simple Mode</value>
<value code="75">SurfaceTrackingUpDown</value>
<value code="112">SwitchExternalAHRS</value>
<value code="37">THROW Mode</value>
<value code="151">TURTLE Mode</value>
<value code="161">Turbine Start(heli)</value>
<value code="47">User Function 1</value>
<value code="48">User Function 2</value>
<value code="49">User Function 3</value>
<value code="94">VTX Power</value>
<value code="80">VisOdom Align</value>
<value code="45">Winch Control</value>
<value code="44">Winch Enable</value>
<value code="83">ZigZag Auto</value>
<value code="60">ZigZag Mode</value>
<value code="61">ZigZag SaveWP</value>
<value code="109">use Custom Controller</value>
</values>
</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">0 200</field>
</param>
<param humanName="RC input option" name="RC15_OPTION" documentation="Function assigned to this RC channel" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code="52">ACRO Mode</value>
<value code="38">ADSB Avoidance Enable</value>
<value code="70">ALTHOLD Mode</value>
<value code="16">AUTO Mode</value>
<value code="99">AUTO RTL</value>
<value code="17">AUTOTUNE Mode</value>
<value code="14">Acro Trainer</value>
<value code="84">AirMode</value>
<value code="165">Arm/Emergency Motor Stop</value>
<value code="41">ArmDisarm (4.1 and lower)</value>
<value code="153">ArmDisarm (4.2 and higher)</value>
<value code="154">ArmDisarm with AirMode (4.2 and higher)</value>
<value code="26">AttCon Accel Limits</value>
<value code="25">AttCon Feed Forward</value>
<value code="24">Auto Mission Reset</value>
<value code="33">BRAKE Mode</value>
<value code="172">Battery MPPT Enable</value>
<value code="72">CIRCLE Mode</value>
<value code="171">Calibrate Compasses</value>
<value code="169">Camera Auto Focus</value>
<value code="174">Camera Image Tracking</value>
<value code="175">Camera Lens</value>
<value code="168">Camera Manual Focus</value>
<value code="102">Camera Mode Toggle</value>
<value code="166">Camera Record Video</value>
<value code="9">Camera Trigger</value>
<value code="167">Camera Zoom</value>
<value code="58">Clear Waypoints</value>
<value code="62">Compass Learn</value>
<value code="73">DRIFT Mode</value>
<value code="81">Disarm</value>
<value code="90">EKF Pos Source</value>
<value code="162">FFT Tune</value>
<value code="2">FLIP Mode</value>
<value code="71">FLOWHOLD Mode</value>
<value code="57">FOLLOW Mode</value>
<value code="11">Fence Enable</value>
<value code="159">Force IS_Flying</value>
<value code="65">GPS Disable</value>
<value code="105">GPS Disable Yaw</value>
<value code="55">GUIDED Mode</value>
<value code="85">Generator</value>
<value code="19">Gripper Release</value>
<value code="43">InvertedFlight Enable</value>
<value code="100">KillIMU1</value>
<value code="101">KillIMU2</value>
<value code="110">KillIMU3</value>
<value code="18">LAND Mode</value>
<value code="56">LOITER Mode</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="177">Mount LRF enable</value>
<value code="163">Mount Lock</value>
<value code="213">Mount1 Pitch</value>
<value code="212">Mount1 Roll</value>
<value code="214">Mount1 Yaw</value>
<value code="216">Mount2 Pitch</value>
<value code="215">Mount2 Roll</value>
<value code="217">Mount2 Yaw</value>
<value code="158">Optflow Calibration</value>
<value code="69">POSHOLD Mode</value>
<value code="23">Parachute 3pos</value>
<value code="21">Parachute Enable</value>
<value code="22">Parachute Release</value>
<value code="164">Pause Stream Logging</value>
<value code="39">PrecLoiter Enable</value>
<value code="40">Proximity Avoidance Enable</value>
<value code="46">RC Override Enable</value>
<value code="4">RTL</value>
<value code="10">RangeFinder Enable</value>
<value code="28">Relay1 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="66">Relay5 On/Off</value>
<value code="67">Relay6 On/Off</value>
<value code="27">Retract Mount1</value>
<value code="78">RunCam Control</value>
<value code="79">RunCam OSD Control</value>
<value code="152">SIMPLE heading reset</value>
<value code="42">SMARTRTL Mode</value>
<value code="68">STABILIZE Mode</value>
<value code="76">STANDBY Mode</value>
<value code="5">Save Trim</value>
<value code="7">Save WP</value>
<value code="300">Scripting1</value>
<value code="301">Scripting2</value>
<value code="302">Scripting3</value>
<value code="303">Scripting4</value>
<value code="304">Scripting5</value>
<value code="305">Scripting6</value>
<value code="306">Scripting7</value>
<value code="307">Scripting8</value>
<value code="3">Simple Mode</value>
<value code="15">Sprayer Enable</value>
<value code="13">Super Simple Mode</value>
<value code="75">SurfaceTrackingUpDown</value>
<value code="112">SwitchExternalAHRS</value>
<value code="37">THROW Mode</value>
<value code="151">TURTLE Mode</value>
<value code="161">Turbine Start(heli)</value>
<value code="47">User Function 1</value>
<value code="48">User Function 2</value>
<value code="49">User Function 3</value>
<value code="94">VTX Power</value>
<value code="80">VisOdom Align</value>
<value code="45">Winch Control</value>
<value code="44">Winch Enable</value>
<value code="83">ZigZag Auto</value>
<value code="60">ZigZag Mode</value>
<value code="61">ZigZag SaveWP</value>
<value code="109">use Custom Controller</value>
</values>
</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">0 200</field>
</param>
<param humanName="RC input option" name="RC16_OPTION" documentation="Function assigned to this RC channel" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code="52">ACRO Mode</value>
<value code="38">ADSB Avoidance Enable</value>
<value code="70">ALTHOLD Mode</value>
<value code="16">AUTO Mode</value>
<value code="99">AUTO RTL</value>
<value code="17">AUTOTUNE Mode</value>
<value code="14">Acro Trainer</value>
<value code="84">AirMode</value>
<value code="165">Arm/Emergency Motor Stop</value>
<value code="41">ArmDisarm (4.1 and lower)</value>
<value code="153">ArmDisarm (4.2 and higher)</value>
<value code="154">ArmDisarm with AirMode (4.2 and higher)</value>
<value code="26">AttCon Accel Limits</value>
<value code="25">AttCon Feed Forward</value>
<value code="24">Auto Mission Reset</value>
<value code="33">BRAKE Mode</value>
<value code="172">Battery MPPT Enable</value>
<value code="72">CIRCLE Mode</value>
<value code="171">Calibrate Compasses</value>
<value code="169">Camera Auto Focus</value>
<value code="174">Camera Image Tracking</value>
<value code="175">Camera Lens</value>
<value code="168">Camera Manual Focus</value>
<value code="102">Camera Mode Toggle</value>
<value code="166">Camera Record Video</value>
<value code="9">Camera Trigger</value>
<value code="167">Camera Zoom</value>
<value code="58">Clear Waypoints</value>
<value code="62">Compass Learn</value>
<value code="73">DRIFT Mode</value>
<value code="81">Disarm</value>
<value code="90">EKF Pos Source</value>
<value code="162">FFT Tune</value>
<value code="2">FLIP Mode</value>
<value code="71">FLOWHOLD Mode</value>
<value code="57">FOLLOW Mode</value>
<value code="11">Fence Enable</value>
<value code="159">Force IS_Flying</value>
<value code="65">GPS Disable</value>
<value code="105">GPS Disable Yaw</value>
<value code="55">GUIDED Mode</value>
<value code="85">Generator</value>
<value code="19">Gripper Release</value>
<value code="43">InvertedFlight Enable</value>
<value code="100">KillIMU1</value>
<value code="101">KillIMU2</value>
<value code="110">KillIMU3</value>
<value code="18">LAND Mode</value>
<value code="56">LOITER Mode</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="177">Mount LRF enable</value>
<value code="163">Mount Lock</value>
<value code="213">Mount1 Pitch</value>
<value code="212">Mount1 Roll</value>
<value code="214">Mount1 Yaw</value>
<value code="216">Mount2 Pitch</value>
<value code="215">Mount2 Roll</value>
<value code="217">Mount2 Yaw</value>
<value code="158">Optflow Calibration</value>
<value code="69">POSHOLD Mode</value>
<value code="23">Parachute 3pos</value>
<value code="21">Parachute Enable</value>
<value code="22">Parachute Release</value>
<value code="164">Pause Stream Logging</value>
<value code="39">PrecLoiter Enable</value>
<value code="40">Proximity Avoidance Enable</value>
<value code="46">RC Override Enable</value>
<value code="4">RTL</value>
<value code="10">RangeFinder Enable</value>
<value code="28">Relay1 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="66">Relay5 On/Off</value>
<value code="67">Relay6 On/Off</value>
<value code="27">Retract Mount1</value>
<value code="78">RunCam Control</value>
<value code="79">RunCam OSD Control</value>
<value code="152">SIMPLE heading reset</value>
<value code="42">SMARTRTL Mode</value>
<value code="68">STABILIZE Mode</value>
<value code="76">STANDBY Mode</value>
<value code="5">Save Trim</value>
<value code="7">Save WP</value>
<value code="300">Scripting1</value>
<value code="301">Scripting2</value>
<value code="302">Scripting3</value>
<value code="303">Scripting4</value>
<value code="304">Scripting5</value>
<value code="305">Scripting6</value>
<value code="306">Scripting7</value>
<value code="307">Scripting8</value>
<value code="3">Simple Mode</value>
<value code="15">Sprayer Enable</value>
<value code="13">Super Simple Mode</value>
<value code="75">SurfaceTrackingUpDown</value>
<value code="112">SwitchExternalAHRS</value>
<value code="37">THROW Mode</value>
<value code="151">TURTLE Mode</value>
<value code="161">Turbine Start(heli)</value>
<value code="47">User Function 1</value>
<value code="48">User Function 2</value>
<value code="49">User Function 3</value>
<value code="94">VTX Power</value>
<value code="80">VisOdom Align</value>
<value code="45">Winch Control</value>
<value code="44">Winch Enable</value>
<value code="83">ZigZag Auto</value>
<value code="60">ZigZag Mode</value>
<value code="61">ZigZag SaveWP</value>
<value code="109">use Custom Controller</value>
</values>
</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">0 200</field>
</param>
<param humanName="RC input option" name="RC1_OPTION" documentation="Function assigned to this RC channel" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code="52">ACRO Mode</value>
<value code="38">ADSB Avoidance Enable</value>
<value code="70">ALTHOLD Mode</value>
<value code="16">AUTO Mode</value>
<value code="99">AUTO RTL</value>
<value code="17">AUTOTUNE Mode</value>
<value code="14">Acro Trainer</value>
<value code="84">AirMode</value>
<value code="165">Arm/Emergency Motor Stop</value>
<value code="41">ArmDisarm (4.1 and lower)</value>
<value code="153">ArmDisarm (4.2 and higher)</value>
<value code="154">ArmDisarm with AirMode (4.2 and higher)</value>
<value code="26">AttCon Accel Limits</value>
<value code="25">AttCon Feed Forward</value>
<value code="24">Auto Mission Reset</value>
<value code="33">BRAKE Mode</value>
<value code="172">Battery MPPT Enable</value>
<value code="72">CIRCLE Mode</value>
<value code="171">Calibrate Compasses</value>
<value code="169">Camera Auto Focus</value>
<value code="174">Camera Image Tracking</value>
<value code="175">Camera Lens</value>
<value code="168">Camera Manual Focus</value>
<value code="102">Camera Mode Toggle</value>
<value code="166">Camera Record Video</value>
<value code="9">Camera Trigger</value>
<value code="167">Camera Zoom</value>
<value code="58">Clear Waypoints</value>
<value code="62">Compass Learn</value>
<value code="73">DRIFT Mode</value>
<value code="81">Disarm</value>
<value code="90">EKF Pos Source</value>
<value code="162">FFT Tune</value>
<value code="2">FLIP Mode</value>
<value code="71">FLOWHOLD Mode</value>
<value code="57">FOLLOW Mode</value>
<value code="11">Fence Enable</value>
<value code="159">Force IS_Flying</value>
<value code="65">GPS Disable</value>
<value code="105">GPS Disable Yaw</value>
<value code="55">GUIDED Mode</value>
<value code="85">Generator</value>
<value code="19">Gripper Release</value>
<value code="43">InvertedFlight Enable</value>
<value code="100">KillIMU1</value>
<value code="101">KillIMU2</value>
<value code="110">KillIMU3</value>
<value code="18">LAND Mode</value>
<value code="56">LOITER Mode</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="177">Mount LRF enable</value>
<value code="163">Mount Lock</value>
<value code="213">Mount1 Pitch</value>
<value code="212">Mount1 Roll</value>
<value code="214">Mount1 Yaw</value>
<value code="216">Mount2 Pitch</value>
<value code="215">Mount2 Roll</value>
<value code="217">Mount2 Yaw</value>
<value code="158">Optflow Calibration</value>
<value code="69">POSHOLD Mode</value>
<value code="23">Parachute 3pos</value>
<value code="21">Parachute Enable</value>
<value code="22">Parachute Release</value>
<value code="164">Pause Stream Logging</value>
<value code="39">PrecLoiter Enable</value>
<value code="40">Proximity Avoidance Enable</value>
<value code="46">RC Override Enable</value>
<value code="4">RTL</value>
<value code="10">RangeFinder Enable</value>
<value code="28">Relay1 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="66">Relay5 On/Off</value>
<value code="67">Relay6 On/Off</value>
<value code="27">Retract Mount1</value>
<value code="78">RunCam Control</value>
<value code="79">RunCam OSD Control</value>
<value code="152">SIMPLE heading reset</value>
<value code="42">SMARTRTL Mode</value>
<value code="68">STABILIZE Mode</value>
<value code="76">STANDBY Mode</value>
<value code="5">Save Trim</value>
<value code="7">Save WP</value>
<value code="300">Scripting1</value>
<value code="301">Scripting2</value>
<value code="302">Scripting3</value>
<value code="303">Scripting4</value>
<value code="304">Scripting5</value>
<value code="305">Scripting6</value>
<value code="306">Scripting7</value>
<value code="307">Scripting8</value>
<value code="3">Simple Mode</value>
<value code="15">Sprayer Enable</value>
<value code="13">Super Simple Mode</value>
<value code="75">SurfaceTrackingUpDown</value>
<value code="112">SwitchExternalAHRS</value>
<value code="37">THROW Mode</value>
<value code="151">TURTLE Mode</value>
<value code="161">Turbine Start(heli)</value>
<value code="47">User Function 1</value>
<value code="48">User Function 2</value>
<value code="49">User Function 3</value>
<value code="94">VTX Power</value>
<value code="80">VisOdom Align</value>
<value code="45">Winch Control</value>
<value code="44">Winch Enable</value>
<value code="83">ZigZag Auto</value>
<value code="60">ZigZag Mode</value>
<value code="61">ZigZag SaveWP</value>
<value code="109">use Custom Controller</value>
</values>
</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">0 200</field>
</param>
<param humanName="RC input option" name="RC2_OPTION" documentation="Function assigned to this RC channel" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code="52">ACRO Mode</value>
<value code="38">ADSB Avoidance Enable</value>
<value code="70">ALTHOLD Mode</value>
<value code="16">AUTO Mode</value>
<value code="99">AUTO RTL</value>
<value code="17">AUTOTUNE Mode</value>
<value code="14">Acro Trainer</value>
<value code="84">AirMode</value>
<value code="165">Arm/Emergency Motor Stop</value>
<value code="41">ArmDisarm (4.1 and lower)</value>
<value code="153">ArmDisarm (4.2 and higher)</value>
<value code="154">ArmDisarm with AirMode (4.2 and higher)</value>
<value code="26">AttCon Accel Limits</value>
<value code="25">AttCon Feed Forward</value>
<value code="24">Auto Mission Reset</value>
<value code="33">BRAKE Mode</value>
<value code="172">Battery MPPT Enable</value>
<value code="72">CIRCLE Mode</value>
<value code="171">Calibrate Compasses</value>
<value code="169">Camera Auto Focus</value>
<value code="174">Camera Image Tracking</value>
<value code="175">Camera Lens</value>
<value code="168">Camera Manual Focus</value>
<value code="102">Camera Mode Toggle</value>
<value code="166">Camera Record Video</value>
<value code="9">Camera Trigger</value>
<value code="167">Camera Zoom</value>
<value code="58">Clear Waypoints</value>
<value code="62">Compass Learn</value>
<value code="73">DRIFT Mode</value>
<value code="81">Disarm</value>
<value code="90">EKF Pos Source</value>
<value code="162">FFT Tune</value>
<value code="2">FLIP Mode</value>
<value code="71">FLOWHOLD Mode</value>
<value code="57">FOLLOW Mode</value>
<value code="11">Fence Enable</value>
<value code="159">Force IS_Flying</value>
<value code="65">GPS Disable</value>
<value code="105">GPS Disable Yaw</value>
<value code="55">GUIDED Mode</value>
<value code="85">Generator</value>
<value code="19">Gripper Release</value>
<value code="43">InvertedFlight Enable</value>
<value code="100">KillIMU1</value>
<value code="101">KillIMU2</value>
<value code="110">KillIMU3</value>
<value code="18">LAND Mode</value>
<value code="56">LOITER Mode</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="177">Mount LRF enable</value>
<value code="163">Mount Lock</value>
<value code="213">Mount1 Pitch</value>
<value code="212">Mount1 Roll</value>
<value code="214">Mount1 Yaw</value>
<value code="216">Mount2 Pitch</value>
<value code="215">Mount2 Roll</value>
<value code="217">Mount2 Yaw</value>
<value code="158">Optflow Calibration</value>
<value code="69">POSHOLD Mode</value>
<value code="23">Parachute 3pos</value>
<value code="21">Parachute Enable</value>
<value code="22">Parachute Release</value>
<value code="164">Pause Stream Logging</value>
<value code="39">PrecLoiter Enable</value>
<value code="40">Proximity Avoidance Enable</value>
<value code="46">RC Override Enable</value>
<value code="4">RTL</value>
<value code="10">RangeFinder Enable</value>
<value code="28">Relay1 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="66">Relay5 On/Off</value>
<value code="67">Relay6 On/Off</value>
<value code="27">Retract Mount1</value>
<value code="78">RunCam Control</value>
<value code="79">RunCam OSD Control</value>
<value code="152">SIMPLE heading reset</value>
<value code="42">SMARTRTL Mode</value>
<value code="68">STABILIZE Mode</value>
<value code="76">STANDBY Mode</value>
<value code="5">Save Trim</value>
<value code="7">Save WP</value>
<value code="300">Scripting1</value>
<value code="301">Scripting2</value>
<value code="302">Scripting3</value>
<value code="303">Scripting4</value>
<value code="304">Scripting5</value>
<value code="305">Scripting6</value>
<value code="306">Scripting7</value>
<value code="307">Scripting8</value>
<value code="3">Simple Mode</value>
<value code="15">Sprayer Enable</value>
<value code="13">Super Simple Mode</value>
<value code="75">SurfaceTrackingUpDown</value>
<value code="112">SwitchExternalAHRS</value>
<value code="37">THROW Mode</value>
<value code="151">TURTLE Mode</value>
<value code="161">Turbine Start(heli)</value>
<value code="47">User Function 1</value>
<value code="48">User Function 2</value>
<value code="49">User Function 3</value>
<value code="94">VTX Power</value>
<value code="80">VisOdom Align</value>
<value code="45">Winch Control</value>
<value code="44">Winch Enable</value>
<value code="83">ZigZag Auto</value>
<value code="60">ZigZag Mode</value>
<value code="61">ZigZag SaveWP</value>
<value code="109">use Custom Controller</value>
</values>
</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">0 200</field>
</param>
<param humanName="RC input option" name="RC3_OPTION" documentation="Function assigned to this RC channel" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code="52">ACRO Mode</value>
<value code="38">ADSB Avoidance Enable</value>
<value code="70">ALTHOLD Mode</value>
<value code="16">AUTO Mode</value>
<value code="99">AUTO RTL</value>
<value code="17">AUTOTUNE Mode</value>
<value code="14">Acro Trainer</value>
<value code="84">AirMode</value>
<value code="165">Arm/Emergency Motor Stop</value>
<value code="41">ArmDisarm (4.1 and lower)</value>
<value code="153">ArmDisarm (4.2 and higher)</value>
<value code="154">ArmDisarm with AirMode (4.2 and higher)</value>
<value code="26">AttCon Accel Limits</value>
<value code="25">AttCon Feed Forward</value>
<value code="24">Auto Mission Reset</value>
<value code="33">BRAKE Mode</value>
<value code="172">Battery MPPT Enable</value>
<value code="72">CIRCLE Mode</value>
<value code="171">Calibrate Compasses</value>
<value code="169">Camera Auto Focus</value>
<value code="174">Camera Image Tracking</value>
<value code="175">Camera Lens</value>
<value code="168">Camera Manual Focus</value>
<value code="102">Camera Mode Toggle</value>
<value code="166">Camera Record Video</value>
<value code="9">Camera Trigger</value>
<value code="167">Camera Zoom</value>
<value code="58">Clear Waypoints</value>
<value code="62">Compass Learn</value>
<value code="73">DRIFT Mode</value>
<value code="81">Disarm</value>
<value code="90">EKF Pos Source</value>
<value code="162">FFT Tune</value>
<value code="2">FLIP Mode</value>
<value code="71">FLOWHOLD Mode</value>
<value code="57">FOLLOW Mode</value>
<value code="11">Fence Enable</value>
<value code="159">Force IS_Flying</value>
<value code="65">GPS Disable</value>
<value code="105">GPS Disable Yaw</value>
<value code="55">GUIDED Mode</value>
<value code="85">Generator</value>
<value code="19">Gripper Release</value>
<value code="43">InvertedFlight Enable</value>
<value code="100">KillIMU1</value>
<value code="101">KillIMU2</value>
<value code="110">KillIMU3</value>
<value code="18">LAND Mode</value>
<value code="56">LOITER Mode</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="177">Mount LRF enable</value>
<value code="163">Mount Lock</value>
<value code="213">Mount1 Pitch</value>
<value code="212">Mount1 Roll</value>
<value code="214">Mount1 Yaw</value>
<value code="216">Mount2 Pitch</value>
<value code="215">Mount2 Roll</value>
<value code="217">Mount2 Yaw</value>
<value code="158">Optflow Calibration</value>
<value code="69">POSHOLD Mode</value>
<value code="23">Parachute 3pos</value>
<value code="21">Parachute Enable</value>
<value code="22">Parachute Release</value>
<value code="164">Pause Stream Logging</value>
<value code="39">PrecLoiter Enable</value>
<value code="40">Proximity Avoidance Enable</value>
<value code="46">RC Override Enable</value>
<value code="4">RTL</value>
<value code="10">RangeFinder Enable</value>
<value code="28">Relay1 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="66">Relay5 On/Off</value>
<value code="67">Relay6 On/Off</value>
<value code="27">Retract Mount1</value>
<value code="78">RunCam Control</value>
<value code="79">RunCam OSD Control</value>
<value code="152">SIMPLE heading reset</value>
<value code="42">SMARTRTL Mode</value>
<value code="68">STABILIZE Mode</value>
<value code="76">STANDBY Mode</value>
<value code="5">Save Trim</value>
<value code="7">Save WP</value>
<value code="300">Scripting1</value>
<value code="301">Scripting2</value>
<value code="302">Scripting3</value>
<value code="303">Scripting4</value>
<value code="304">Scripting5</value>
<value code="305">Scripting6</value>
<value code="306">Scripting7</value>
<value code="307">Scripting8</value>
<value code="3">Simple Mode</value>
<value code="15">Sprayer Enable</value>
<value code="13">Super Simple Mode</value>
<value code="75">SurfaceTrackingUpDown</value>
<value code="112">SwitchExternalAHRS</value>
<value code="37">THROW Mode</value>
<value code="151">TURTLE Mode</value>
<value code="161">Turbine Start(heli)</value>
<value code="47">User Function 1</value>
<value code="48">User Function 2</value>
<value code="49">User Function 3</value>
<value code="94">VTX Power</value>
<value code="80">VisOdom Align</value>
<value code="45">Winch Control</value>
<value code="44">Winch Enable</value>
<value code="83">ZigZag Auto</value>
<value code="60">ZigZag Mode</value>
<value code="61">ZigZag SaveWP</value>
<value code="109">use Custom Controller</value>
</values>
</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">0 200</field>
</param>
<param humanName="RC input option" name="RC4_OPTION" documentation="Function assigned to this RC channel" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code="52">ACRO Mode</value>
<value code="38">ADSB Avoidance Enable</value>
<value code="70">ALTHOLD Mode</value>
<value code="16">AUTO Mode</value>
<value code="99">AUTO RTL</value>
<value code="17">AUTOTUNE Mode</value>
<value code="14">Acro Trainer</value>
<value code="84">AirMode</value>
<value code="165">Arm/Emergency Motor Stop</value>
<value code="41">ArmDisarm (4.1 and lower)</value>
<value code="153">ArmDisarm (4.2 and higher)</value>
<value code="154">ArmDisarm with AirMode (4.2 and higher)</value>
<value code="26">AttCon Accel Limits</value>
<value code="25">AttCon Feed Forward</value>
<value code="24">Auto Mission Reset</value>
<value code="33">BRAKE Mode</value>
<value code="172">Battery MPPT Enable</value>
<value code="72">CIRCLE Mode</value>
<value code="171">Calibrate Compasses</value>
<value code="169">Camera Auto Focus</value>
<value code="174">Camera Image Tracking</value>
<value code="175">Camera Lens</value>
<value code="168">Camera Manual Focus</value>
<value code="102">Camera Mode Toggle</value>
<value code="166">Camera Record Video</value>
<value code="9">Camera Trigger</value>
<value code="167">Camera Zoom</value>
<value code="58">Clear Waypoints</value>
<value code="62">Compass Learn</value>
<value code="73">DRIFT Mode</value>
<value code="81">Disarm</value>
<value code="90">EKF Pos Source</value>
<value code="162">FFT Tune</value>
<value code="2">FLIP Mode</value>
<value code="71">FLOWHOLD Mode</value>
<value code="57">FOLLOW Mode</value>
<value code="11">Fence Enable</value>
<value code="159">Force IS_Flying</value>
<value code="65">GPS Disable</value>
<value code="105">GPS Disable Yaw</value>
<value code="55">GUIDED Mode</value>
<value code="85">Generator</value>
<value code="19">Gripper Release</value>
<value code="43">InvertedFlight Enable</value>
<value code="100">KillIMU1</value>
<value code="101">KillIMU2</value>
<value code="110">KillIMU3</value>
<value code="18">LAND Mode</value>
<value code="56">LOITER Mode</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="177">Mount LRF enable</value>
<value code="163">Mount Lock</value>
<value code="213">Mount1 Pitch</value>
<value code="212">Mount1 Roll</value>
<value code="214">Mount1 Yaw</value>
<value code="216">Mount2 Pitch</value>
<value code="215">Mount2 Roll</value>
<value code="217">Mount2 Yaw</value>
<value code="158">Optflow Calibration</value>
<value code="69">POSHOLD Mode</value>
<value code="23">Parachute 3pos</value>
<value code="21">Parachute Enable</value>
<value code="22">Parachute Release</value>
<value code="164">Pause Stream Logging</value>
<value code="39">PrecLoiter Enable</value>
<value code="40">Proximity Avoidance Enable</value>
<value code="46">RC Override Enable</value>
<value code="4">RTL</value>
<value code="10">RangeFinder Enable</value>
<value code="28">Relay1 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="66">Relay5 On/Off</value>
<value code="67">Relay6 On/Off</value>
<value code="27">Retract Mount1</value>
<value code="78">RunCam Control</value>
<value code="79">RunCam OSD Control</value>
<value code="152">SIMPLE heading reset</value>
<value code="42">SMARTRTL Mode</value>
<value code="68">STABILIZE Mode</value>
<value code="76">STANDBY Mode</value>
<value code="5">Save Trim</value>
<value code="7">Save WP</value>
<value code="300">Scripting1</value>
<value code="301">Scripting2</value>
<value code="302">Scripting3</value>
<value code="303">Scripting4</value>
<value code="304">Scripting5</value>
<value code="305">Scripting6</value>
<value code="306">Scripting7</value>
<value code="307">Scripting8</value>
<value code="3">Simple Mode</value>
<value code="15">Sprayer Enable</value>
<value code="13">Super Simple Mode</value>
<value code="75">SurfaceTrackingUpDown</value>
<value code="112">SwitchExternalAHRS</value>
<value code="37">THROW Mode</value>
<value code="151">TURTLE Mode</value>
<value code="161">Turbine Start(heli)</value>
<value code="47">User Function 1</value>
<value code="48">User Function 2</value>
<value code="49">User Function 3</value>
<value code="94">VTX Power</value>
<value code="80">VisOdom Align</value>
<value code="45">Winch Control</value>
<value code="44">Winch Enable</value>
<value code="83">ZigZag Auto</value>
<value code="60">ZigZag Mode</value>
<value code="61">ZigZag SaveWP</value>
<value code="109">use Custom Controller</value>
</values>
</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">0 200</field>
</param>
<param humanName="RC input option" name="RC5_OPTION" documentation="Function assigned to this RC channel" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code="52">ACRO Mode</value>
<value code="38">ADSB Avoidance Enable</value>
<value code="70">ALTHOLD Mode</value>
<value code="16">AUTO Mode</value>
<value code="99">AUTO RTL</value>
<value code="17">AUTOTUNE Mode</value>
<value code="14">Acro Trainer</value>
<value code="84">AirMode</value>
<value code="165">Arm/Emergency Motor Stop</value>
<value code="41">ArmDisarm (4.1 and lower)</value>
<value code="153">ArmDisarm (4.2 and higher)</value>
<value code="154">ArmDisarm with AirMode (4.2 and higher)</value>
<value code="26">AttCon Accel Limits</value>
<value code="25">AttCon Feed Forward</value>
<value code="24">Auto Mission Reset</value>
<value code="33">BRAKE Mode</value>
<value code="172">Battery MPPT Enable</value>
<value code="72">CIRCLE Mode</value>
<value code="171">Calibrate Compasses</value>
<value code="169">Camera Auto Focus</value>
<value code="174">Camera Image Tracking</value>
<value code="175">Camera Lens</value>
<value code="168">Camera Manual Focus</value>
<value code="102">Camera Mode Toggle</value>
<value code="166">Camera Record Video</value>
<value code="9">Camera Trigger</value>
<value code="167">Camera Zoom</value>
<value code="58">Clear Waypoints</value>
<value code="62">Compass Learn</value>
<value code="73">DRIFT Mode</value>
<value code="81">Disarm</value>
<value code="90">EKF Pos Source</value>
<value code="162">FFT Tune</value>
<value code="2">FLIP Mode</value>
<value code="71">FLOWHOLD Mode</value>
<value code="57">FOLLOW Mode</value>
<value code="11">Fence Enable</value>
<value code="159">Force IS_Flying</value>
<value code="65">GPS Disable</value>
<value code="105">GPS Disable Yaw</value>
<value code="55">GUIDED Mode</value>
<value code="85">Generator</value>
<value code="19">Gripper Release</value>
<value code="43">InvertedFlight Enable</value>
<value code="100">KillIMU1</value>
<value code="101">KillIMU2</value>
<value code="110">KillIMU3</value>
<value code="18">LAND Mode</value>
<value code="56">LOITER Mode</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="177">Mount LRF enable</value>
<value code="163">Mount Lock</value>
<value code="213">Mount1 Pitch</value>
<value code="212">Mount1 Roll</value>
<value code="214">Mount1 Yaw</value>
<value code="216">Mount2 Pitch</value>
<value code="215">Mount2 Roll</value>
<value code="217">Mount2 Yaw</value>
<value code="158">Optflow Calibration</value>
<value code="69">POSHOLD Mode</value>
<value code="23">Parachute 3pos</value>
<value code="21">Parachute Enable</value>
<value code="22">Parachute Release</value>
<value code="164">Pause Stream Logging</value>
<value code="39">PrecLoiter Enable</value>
<value code="40">Proximity Avoidance Enable</value>
<value code="46">RC Override Enable</value>
<value code="4">RTL</value>
<value code="10">RangeFinder Enable</value>
<value code="28">Relay1 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="66">Relay5 On/Off</value>
<value code="67">Relay6 On/Off</value>
<value code="27">Retract Mount1</value>
<value code="78">RunCam Control</value>
<value code="79">RunCam OSD Control</value>
<value code="152">SIMPLE heading reset</value>
<value code="42">SMARTRTL Mode</value>
<value code="68">STABILIZE Mode</value>
<value code="76">STANDBY Mode</value>
<value code="5">Save Trim</value>
<value code="7">Save WP</value>
<value code="300">Scripting1</value>
<value code="301">Scripting2</value>
<value code="302">Scripting3</value>
<value code="303">Scripting4</value>
<value code="304">Scripting5</value>
<value code="305">Scripting6</value>
<value code="306">Scripting7</value>
<value code="307">Scripting8</value>
<value code="3">Simple Mode</value>
<value code="15">Sprayer Enable</value>
<value code="13">Super Simple Mode</value>
<value code="75">SurfaceTrackingUpDown</value>
<value code="112">SwitchExternalAHRS</value>
<value code="37">THROW Mode</value>
<value code="151">TURTLE Mode</value>
<value code="161">Turbine Start(heli)</value>
<value code="47">User Function 1</value>
<value code="48">User Function 2</value>
<value code="49">User Function 3</value>
<value code="94">VTX Power</value>
<value code="80">VisOdom Align</value>
<value code="45">Winch Control</value>
<value code="44">Winch Enable</value>
<value code="83">ZigZag Auto</value>
<value code="60">ZigZag Mode</value>
<value code="61">ZigZag SaveWP</value>
<value code="109">use Custom Controller</value>
</values>
</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">0 200</field>
</param>
<param humanName="RC input option" name="RC6_OPTION" documentation="Function assigned to this RC channel" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code="52">ACRO Mode</value>
<value code="38">ADSB Avoidance Enable</value>
<value code="70">ALTHOLD Mode</value>
<value code="16">AUTO Mode</value>
<value code="99">AUTO RTL</value>
<value code="17">AUTOTUNE Mode</value>
<value code="14">Acro Trainer</value>
<value code="84">AirMode</value>
<value code="165">Arm/Emergency Motor Stop</value>
<value code="41">ArmDisarm (4.1 and lower)</value>
<value code="153">ArmDisarm (4.2 and higher)</value>
<value code="154">ArmDisarm with AirMode (4.2 and higher)</value>
<value code="26">AttCon Accel Limits</value>
<value code="25">AttCon Feed Forward</value>
<value code="24">Auto Mission Reset</value>
<value code="33">BRAKE Mode</value>
<value code="172">Battery MPPT Enable</value>
<value code="72">CIRCLE Mode</value>
<value code="171">Calibrate Compasses</value>
<value code="169">Camera Auto Focus</value>
<value code="174">Camera Image Tracking</value>
<value code="175">Camera Lens</value>
<value code="168">Camera Manual Focus</value>
<value code="102">Camera Mode Toggle</value>
<value code="166">Camera Record Video</value>
<value code="9">Camera Trigger</value>
<value code="167">Camera Zoom</value>
<value code="58">Clear Waypoints</value>
<value code="62">Compass Learn</value>
<value code="73">DRIFT Mode</value>
<value code="81">Disarm</value>
<value code="90">EKF Pos Source</value>
<value code="162">FFT Tune</value>
<value code="2">FLIP Mode</value>
<value code="71">FLOWHOLD Mode</value>
<value code="57">FOLLOW Mode</value>
<value code="11">Fence Enable</value>
<value code="159">Force IS_Flying</value>
<value code="65">GPS Disable</value>
<value code="105">GPS Disable Yaw</value>
<value code="55">GUIDED Mode</value>
<value code="85">Generator</value>
<value code="19">Gripper Release</value>
<value code="43">InvertedFlight Enable</value>
<value code="100">KillIMU1</value>
<value code="101">KillIMU2</value>
<value code="110">KillIMU3</value>
<value code="18">LAND Mode</value>
<value code="56">LOITER Mode</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="177">Mount LRF enable</value>
<value code="163">Mount Lock</value>
<value code="213">Mount1 Pitch</value>
<value code="212">Mount1 Roll</value>
<value code="214">Mount1 Yaw</value>
<value code="216">Mount2 Pitch</value>
<value code="215">Mount2 Roll</value>
<value code="217">Mount2 Yaw</value>
<value code="158">Optflow Calibration</value>
<value code="69">POSHOLD Mode</value>
<value code="23">Parachute 3pos</value>
<value code="21">Parachute Enable</value>
<value code="22">Parachute Release</value>
<value code="164">Pause Stream Logging</value>
<value code="39">PrecLoiter Enable</value>
<value code="40">Proximity Avoidance Enable</value>
<value code="46">RC Override Enable</value>
<value code="4">RTL</value>
<value code="10">RangeFinder Enable</value>
<value code="28">Relay1 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="66">Relay5 On/Off</value>
<value code="67">Relay6 On/Off</value>
<value code="27">Retract Mount1</value>
<value code="78">RunCam Control</value>
<value code="79">RunCam OSD Control</value>
<value code="152">SIMPLE heading reset</value>
<value code="42">SMARTRTL Mode</value>
<value code="68">STABILIZE Mode</value>
<value code="76">STANDBY Mode</value>
<value code="5">Save Trim</value>
<value code="7">Save WP</value>
<value code="300">Scripting1</value>
<value code="301">Scripting2</value>
<value code="302">Scripting3</value>
<value code="303">Scripting4</value>
<value code="304">Scripting5</value>
<value code="305">Scripting6</value>
<value code="306">Scripting7</value>
<value code="307">Scripting8</value>
<value code="3">Simple Mode</value>
<value code="15">Sprayer Enable</value>
<value code="13">Super Simple Mode</value>
<value code="75">SurfaceTrackingUpDown</value>
<value code="112">SwitchExternalAHRS</value>
<value code="37">THROW Mode</value>
<value code="151">TURTLE Mode</value>
<value code="161">Turbine Start(heli)</value>
<value code="47">User Function 1</value>
<value code="48">User Function 2</value>
<value code="49">User Function 3</value>
<value code="94">VTX Power</value>
<value code="80">VisOdom Align</value>
<value code="45">Winch Control</value>
<value code="44">Winch Enable</value>
<value code="83">ZigZag Auto</value>
<value code="60">ZigZag Mode</value>
<value code="61">ZigZag SaveWP</value>
<value code="109">use Custom Controller</value>
</values>
</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">0 200</field>
</param>
<param humanName="RC input option" name="RC7_OPTION" documentation="Function assigned to this RC channel" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code="52">ACRO Mode</value>
<value code="38">ADSB Avoidance Enable</value>
<value code="70">ALTHOLD Mode</value>
<value code="16">AUTO Mode</value>
<value code="99">AUTO RTL</value>
<value code="17">AUTOTUNE Mode</value>
<value code="14">Acro Trainer</value>
<value code="84">AirMode</value>
<value code="165">Arm/Emergency Motor Stop</value>
<value code="41">ArmDisarm (4.1 and lower)</value>
<value code="153">ArmDisarm (4.2 and higher)</value>
<value code="154">ArmDisarm with AirMode (4.2 and higher)</value>
<value code="26">AttCon Accel Limits</value>
<value code="25">AttCon Feed Forward</value>
<value code="24">Auto Mission Reset</value>
<value code="33">BRAKE Mode</value>
<value code="172">Battery MPPT Enable</value>
<value code="72">CIRCLE Mode</value>
<value code="171">Calibrate Compasses</value>
<value code="169">Camera Auto Focus</value>
<value code="174">Camera Image Tracking</value>
<value code="175">Camera Lens</value>
<value code="168">Camera Manual Focus</value>
<value code="102">Camera Mode Toggle</value>
<value code="166">Camera Record Video</value>
<value code="9">Camera Trigger</value>
<value code="167">Camera Zoom</value>
<value code="58">Clear Waypoints</value>
<value code="62">Compass Learn</value>
<value code="73">DRIFT Mode</value>
<value code="81">Disarm</value>
<value code="90">EKF Pos Source</value>
<value code="162">FFT Tune</value>
<value code="2">FLIP Mode</value>
<value code="71">FLOWHOLD Mode</value>
<value code="57">FOLLOW Mode</value>
<value code="11">Fence Enable</value>
<value code="159">Force IS_Flying</value>
<value code="65">GPS Disable</value>
<value code="105">GPS Disable Yaw</value>
<value code="55">GUIDED Mode</value>
<value code="85">Generator</value>
<value code="19">Gripper Release</value>
<value code="43">InvertedFlight Enable</value>
<value code="100">KillIMU1</value>
<value code="101">KillIMU2</value>
<value code="110">KillIMU3</value>
<value code="18">LAND Mode</value>
<value code="56">LOITER Mode</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="177">Mount LRF enable</value>
<value code="163">Mount Lock</value>
<value code="213">Mount1 Pitch</value>
<value code="212">Mount1 Roll</value>
<value code="214">Mount1 Yaw</value>
<value code="216">Mount2 Pitch</value>
<value code="215">Mount2 Roll</value>
<value code="217">Mount2 Yaw</value>
<value code="158">Optflow Calibration</value>
<value code="69">POSHOLD Mode</value>
<value code="23">Parachute 3pos</value>
<value code="21">Parachute Enable</value>
<value code="22">Parachute Release</value>
<value code="164">Pause Stream Logging</value>
<value code="39">PrecLoiter Enable</value>
<value code="40">Proximity Avoidance Enable</value>
<value code="46">RC Override Enable</value>
<value code="4">RTL</value>
<value code="10">RangeFinder Enable</value>
<value code="28">Relay1 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="66">Relay5 On/Off</value>
<value code="67">Relay6 On/Off</value>
<value code="27">Retract Mount1</value>
<value code="78">RunCam Control</value>
<value code="79">RunCam OSD Control</value>
<value code="152">SIMPLE heading reset</value>
<value code="42">SMARTRTL Mode</value>
<value code="68">STABILIZE Mode</value>
<value code="76">STANDBY Mode</value>
<value code="5">Save Trim</value>
<value code="7">Save WP</value>
<value code="300">Scripting1</value>
<value code="301">Scripting2</value>
<value code="302">Scripting3</value>
<value code="303">Scripting4</value>
<value code="304">Scripting5</value>
<value code="305">Scripting6</value>
<value code="306">Scripting7</value>
<value code="307">Scripting8</value>
<value code="3">Simple Mode</value>
<value code="15">Sprayer Enable</value>
<value code="13">Super Simple Mode</value>
<value code="75">SurfaceTrackingUpDown</value>
<value code="112">SwitchExternalAHRS</value>
<value code="37">THROW Mode</value>
<value code="151">TURTLE Mode</value>
<value code="161">Turbine Start(heli)</value>
<value code="47">User Function 1</value>
<value code="48">User Function 2</value>
<value code="49">User Function 3</value>
<value code="94">VTX Power</value>
<value code="80">VisOdom Align</value>
<value code="45">Winch Control</value>
<value code="44">Winch Enable</value>
<value code="83">ZigZag Auto</value>
<value code="60">ZigZag Mode</value>
<value code="61">ZigZag SaveWP</value>
<value code="109">use Custom Controller</value>
</values>
</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">0 200</field>
</param>
<param humanName="RC input option" name="RC8_OPTION" documentation="Function assigned to this RC channel" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code="52">ACRO Mode</value>
<value code="38">ADSB Avoidance Enable</value>
<value code="70">ALTHOLD Mode</value>
<value code="16">AUTO Mode</value>
<value code="99">AUTO RTL</value>
<value code="17">AUTOTUNE Mode</value>
<value code="14">Acro Trainer</value>
<value code="84">AirMode</value>
<value code="165">Arm/Emergency Motor Stop</value>
<value code="41">ArmDisarm (4.1 and lower)</value>
<value code="153">ArmDisarm (4.2 and higher)</value>
<value code="154">ArmDisarm with AirMode (4.2 and higher)</value>
<value code="26">AttCon Accel Limits</value>
<value code="25">AttCon Feed Forward</value>
<value code="24">Auto Mission Reset</value>
<value code="33">BRAKE Mode</value>
<value code="172">Battery MPPT Enable</value>
<value code="72">CIRCLE Mode</value>
<value code="171">Calibrate Compasses</value>
<value code="169">Camera Auto Focus</value>
<value code="174">Camera Image Tracking</value>
<value code="175">Camera Lens</value>
<value code="168">Camera Manual Focus</value>
<value code="102">Camera Mode Toggle</value>
<value code="166">Camera Record Video</value>
<value code="9">Camera Trigger</value>
<value code="167">Camera Zoom</value>
<value code="58">Clear Waypoints</value>
<value code="62">Compass Learn</value>
<value code="73">DRIFT Mode</value>
<value code="81">Disarm</value>
<value code="90">EKF Pos Source</value>
<value code="162">FFT Tune</value>
<value code="2">FLIP Mode</value>
<value code="71">FLOWHOLD Mode</value>
<value code="57">FOLLOW Mode</value>
<value code="11">Fence Enable</value>
<value code="159">Force IS_Flying</value>
<value code="65">GPS Disable</value>
<value code="105">GPS Disable Yaw</value>
<value code="55">GUIDED Mode</value>
<value code="85">Generator</value>
<value code="19">Gripper Release</value>
<value code="43">InvertedFlight Enable</value>
<value code="100">KillIMU1</value>
<value code="101">KillIMU2</value>
<value code="110">KillIMU3</value>
<value code="18">LAND Mode</value>
<value code="56">LOITER Mode</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="177">Mount LRF enable</value>
<value code="163">Mount Lock</value>
<value code="213">Mount1 Pitch</value>
<value code="212">Mount1 Roll</value>
<value code="214">Mount1 Yaw</value>
<value code="216">Mount2 Pitch</value>
<value code="215">Mount2 Roll</value>
<value code="217">Mount2 Yaw</value>
<value code="158">Optflow Calibration</value>
<value code="69">POSHOLD Mode</value>
<value code="23">Parachute 3pos</value>
<value code="21">Parachute Enable</value>
<value code="22">Parachute Release</value>
<value code="164">Pause Stream Logging</value>
<value code="39">PrecLoiter Enable</value>
<value code="40">Proximity Avoidance Enable</value>
<value code="46">RC Override Enable</value>
<value code="4">RTL</value>
<value code="10">RangeFinder Enable</value>
<value code="28">Relay1 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="66">Relay5 On/Off</value>
<value code="67">Relay6 On/Off</value>
<value code="27">Retract Mount1</value>
<value code="78">RunCam Control</value>
<value code="79">RunCam OSD Control</value>
<value code="152">SIMPLE heading reset</value>
<value code="42">SMARTRTL Mode</value>
<value code="68">STABILIZE Mode</value>
<value code="76">STANDBY Mode</value>
<value code="5">Save Trim</value>
<value code="7">Save WP</value>
<value code="300">Scripting1</value>
<value code="301">Scripting2</value>
<value code="302">Scripting3</value>
<value code="303">Scripting4</value>
<value code="304">Scripting5</value>
<value code="305">Scripting6</value>
<value code="306">Scripting7</value>
<value code="307">Scripting8</value>
<value code="3">Simple Mode</value>
<value code="15">Sprayer Enable</value>
<value code="13">Super Simple Mode</value>
<value code="75">SurfaceTrackingUpDown</value>
<value code="112">SwitchExternalAHRS</value>
<value code="37">THROW Mode</value>
<value code="151">TURTLE Mode</value>
<value code="161">Turbine Start(heli)</value>
<value code="47">User Function 1</value>
<value code="48">User Function 2</value>
<value code="49">User Function 3</value>
<value code="94">VTX Power</value>
<value code="80">VisOdom Align</value>
<value code="45">Winch Control</value>
<value code="44">Winch Enable</value>
<value code="83">ZigZag Auto</value>
<value code="60">ZigZag Mode</value>
<value code="61">ZigZag SaveWP</value>
<value code="109">use Custom Controller</value>
</values>
</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">0 200</field>
</param>
<param humanName="RC input option" name="RC9_OPTION" documentation="Function assigned to this RC channel" user="Standard">
<values>
<value code="0">Do Nothing</value>
<value code="52">ACRO Mode</value>
<value code="38">ADSB Avoidance Enable</value>
<value code="70">ALTHOLD Mode</value>
<value code="16">AUTO Mode</value>
<value code="99">AUTO RTL</value>
<value code="17">AUTOTUNE Mode</value>
<value code="14">Acro Trainer</value>
<value code="84">AirMode</value>
<value code="165">Arm/Emergency Motor Stop</value>
<value code="41">ArmDisarm (4.1 and lower)</value>
<value code="153">ArmDisarm (4.2 and higher)</value>
<value code="154">ArmDisarm with AirMode (4.2 and higher)</value>
<value code="26">AttCon Accel Limits</value>
<value code="25">AttCon Feed Forward</value>
<value code="24">Auto Mission Reset</value>
<value code="33">BRAKE Mode</value>
<value code="172">Battery MPPT Enable</value>
<value code="72">CIRCLE Mode</value>
<value code="171">Calibrate Compasses</value>
<value code="169">Camera Auto Focus</value>
<value code="174">Camera Image Tracking</value>
<value code="175">Camera Lens</value>
<value code="168">Camera Manual Focus</value>
<value code="102">Camera Mode Toggle</value>
<value code="166">Camera Record Video</value>
<value code="9">Camera Trigger</value>
<value code="167">Camera Zoom</value>
<value code="58">Clear Waypoints</value>
<value code="62">Compass Learn</value>
<value code="73">DRIFT Mode</value>
<value code="81">Disarm</value>
<value code="90">EKF Pos Source</value>
<value code="162">FFT Tune</value>
<value code="2">FLIP Mode</value>
<value code="71">FLOWHOLD Mode</value>
<value code="57">FOLLOW Mode</value>
<value code="11">Fence Enable</value>
<value code="159">Force IS_Flying</value>
<value code="65">GPS Disable</value>
<value code="105">GPS Disable Yaw</value>
<value code="55">GUIDED Mode</value>
<value code="85">Generator</value>
<value code="19">Gripper Release</value>
<value code="43">InvertedFlight Enable</value>
<value code="100">KillIMU1</value>
<value code="101">KillIMU2</value>
<value code="110">KillIMU3</value>
<value code="18">LAND Mode</value>
<value code="56">LOITER Mode</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="177">Mount LRF enable</value>
<value code="163">Mount Lock</value>
<value code="213">Mount1 Pitch</value>
<value code="212">Mount1 Roll</value>
<value code="214">Mount1 Yaw</value>
<value code="216">Mount2 Pitch</value>
<value code="215">Mount2 Roll</value>
<value code="217">Mount2 Yaw</value>
<value code="158">Optflow Calibration</value>
<value code="69">POSHOLD Mode</value>
<value code="23">Parachute 3pos</value>
<value code="21">Parachute Enable</value>
<value code="22">Parachute Release</value>
<value code="164">Pause Stream Logging</value>
<value code="39">PrecLoiter Enable</value>
<value code="40">Proximity Avoidance Enable</value>
<value code="46">RC Override Enable</value>
<value code="4">RTL</value>
<value code="10">RangeFinder Enable</value>
<value code="28">Relay1 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="66">Relay5 On/Off</value>
<value code="67">Relay6 On/Off</value>
<value code="27">Retract Mount1</value>
<value code="78">RunCam Control</value>
<value code="79">RunCam OSD Control</value>
<value code="152">SIMPLE heading reset</value>
<value code="42">SMARTRTL Mode</value>
<value code="68">STABILIZE Mode</value>
<value code="76">STANDBY Mode</value>
<value code="5">Save Trim</value>
<value code="7">Save WP</value>
<value code="300">Scripting1</value>
<value code="301">Scripting2</value>
<value code="302">Scripting3</value>
<value code="303">Scripting4</value>
<value code="304">Scripting5</value>
<value code="305">Scripting6</value>
<value code="306">Scripting7</value>
<value code="307">Scripting8</value>
<value code="3">Simple Mode</value>
<value code="15">Sprayer Enable</value>
<value code="13">Super Simple Mode</value>
<value code="75">SurfaceTrackingUpDown</value>
<value code="112">SwitchExternalAHRS</value>
<value code="37">THROW Mode</value>
<value code="151">TURTLE Mode</value>
<value code="161">Turbine Start(heli)</value>
<value code="47">User Function 1</value>
<value code="48">User Function 2</value>
<value code="49">User Function 3</value>
<value code="94">VTX Power</value>
<value code="80">VisOdom Align</value>
<value code="45">Winch Control</value>
<value code="44">Winch Enable</value>
<value code="83">ZigZag Auto</value>
<value code="60">ZigZag Mode</value>
<value code="61">ZigZag SaveWP</value>
<value code="109">use Custom Controller</value>
</values>
</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 16</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 16</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. Reboot is required for changes to take effect." user="Advanced">
<field name="Range">1 16</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 16</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="RELAY10_">
<param humanName="Relay function" name="RELAY10_FUNCTION" documentation="The function the relay channel is mapped to.">
<values>
<value code="0">None</value>
<value code="1">Relay</value>
<value code="3">Parachute</value>
<value code="4">Camera</value>
</values>
</param>
<param humanName="Relay pin" name="RELAY10_PIN" documentation="Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="113">BB Blue GP0 pin 6</value>
<value code="116">BB Blue GP0 pin 5</value>
<value code="62">BBBMini Pin P8.13</value>
<value code="101">MainOut1</value>
<value code="102">MainOut2</value>
<value code="103">MainOut3</value>
<value code="104">MainOut4</value>
<value code="105">MainOut5</value>
<value code="106">MainOut6</value>
<value code="107">MainOut7</value>
<value code="108">MainOut8</value>
<value code="1000">DroneCAN Hardpoint ID 0</value>
<value code="1001">DroneCAN Hardpoint ID 1</value>
<value code="1002">DroneCAN Hardpoint ID 2</value>
<value code="1003">DroneCAN Hardpoint ID 3</value>
<value code="1004">DroneCAN Hardpoint ID 4</value>
<value code="1005">DroneCAN Hardpoint ID 5</value>
<value code="1006">DroneCAN Hardpoint ID 6</value>
<value code="1007">DroneCAN Hardpoint ID 7</value>
<value code="1008">DroneCAN Hardpoint ID 8</value>
<value code="1009">DroneCAN Hardpoint ID 9</value>
<value code="1010">DroneCAN Hardpoint ID 10</value>
<value code="1011">DroneCAN Hardpoint ID 11</value>
<value code="1012">DroneCAN Hardpoint ID 12</value>
<value code="1013">DroneCAN Hardpoint ID 13</value>
<value code="1014">DroneCAN Hardpoint ID 14</value>
<value code="1015">DroneCAN Hardpoint ID 15</value>
</values>
</param>
<param humanName="Relay default state" name="RELAY10_DEFAULT" documentation="Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters." user="Standard">
<values>
<value code="0">Off</value>
<value code="1">On</value>
<value code="2">NoChange</value>
</values>
</param>
</parameters>
<parameters name="RELAY11_">
<param humanName="Relay function" name="RELAY11_FUNCTION" documentation="The function the relay channel is mapped to.">
<values>
<value code="0">None</value>
<value code="1">Relay</value>
<value code="3">Parachute</value>
<value code="4">Camera</value>
</values>
</param>
<param humanName="Relay pin" name="RELAY11_PIN" documentation="Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="113">BB Blue GP0 pin 6</value>
<value code="116">BB Blue GP0 pin 5</value>
<value code="62">BBBMini Pin P8.13</value>
<value code="101">MainOut1</value>
<value code="102">MainOut2</value>
<value code="103">MainOut3</value>
<value code="104">MainOut4</value>
<value code="105">MainOut5</value>
<value code="106">MainOut6</value>
<value code="107">MainOut7</value>
<value code="108">MainOut8</value>
<value code="1000">DroneCAN Hardpoint ID 0</value>
<value code="1001">DroneCAN Hardpoint ID 1</value>
<value code="1002">DroneCAN Hardpoint ID 2</value>
<value code="1003">DroneCAN Hardpoint ID 3</value>
<value code="1004">DroneCAN Hardpoint ID 4</value>
<value code="1005">DroneCAN Hardpoint ID 5</value>
<value code="1006">DroneCAN Hardpoint ID 6</value>
<value code="1007">DroneCAN Hardpoint ID 7</value>
<value code="1008">DroneCAN Hardpoint ID 8</value>
<value code="1009">DroneCAN Hardpoint ID 9</value>
<value code="1010">DroneCAN Hardpoint ID 10</value>
<value code="1011">DroneCAN Hardpoint ID 11</value>
<value code="1012">DroneCAN Hardpoint ID 12</value>
<value code="1013">DroneCAN Hardpoint ID 13</value>
<value code="1014">DroneCAN Hardpoint ID 14</value>
<value code="1015">DroneCAN Hardpoint ID 15</value>
</values>
</param>
<param humanName="Relay default state" name="RELAY11_DEFAULT" documentation="Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters." user="Standard">
<values>
<value code="0">Off</value>
<value code="1">On</value>
<value code="2">NoChange</value>
</values>
</param>
</parameters>
<parameters name="RELAY12_">
<param humanName="Relay function" name="RELAY12_FUNCTION" documentation="The function the relay channel is mapped to.">
<values>
<value code="0">None</value>
<value code="1">Relay</value>
<value code="3">Parachute</value>
<value code="4">Camera</value>
</values>
</param>
<param humanName="Relay pin" name="RELAY12_PIN" documentation="Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="113">BB Blue GP0 pin 6</value>
<value code="116">BB Blue GP0 pin 5</value>
<value code="62">BBBMini Pin P8.13</value>
<value code="101">MainOut1</value>
<value code="102">MainOut2</value>
<value code="103">MainOut3</value>
<value code="104">MainOut4</value>
<value code="105">MainOut5</value>
<value code="106">MainOut6</value>
<value code="107">MainOut7</value>
<value code="108">MainOut8</value>
<value code="1000">DroneCAN Hardpoint ID 0</value>
<value code="1001">DroneCAN Hardpoint ID 1</value>
<value code="1002">DroneCAN Hardpoint ID 2</value>
<value code="1003">DroneCAN Hardpoint ID 3</value>
<value code="1004">DroneCAN Hardpoint ID 4</value>
<value code="1005">DroneCAN Hardpoint ID 5</value>
<value code="1006">DroneCAN Hardpoint ID 6</value>
<value code="1007">DroneCAN Hardpoint ID 7</value>
<value code="1008">DroneCAN Hardpoint ID 8</value>
<value code="1009">DroneCAN Hardpoint ID 9</value>
<value code="1010">DroneCAN Hardpoint ID 10</value>
<value code="1011">DroneCAN Hardpoint ID 11</value>
<value code="1012">DroneCAN Hardpoint ID 12</value>
<value code="1013">DroneCAN Hardpoint ID 13</value>
<value code="1014">DroneCAN Hardpoint ID 14</value>
<value code="1015">DroneCAN Hardpoint ID 15</value>
</values>
</param>
<param humanName="Relay default state" name="RELAY12_DEFAULT" documentation="Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters." user="Standard">
<values>
<value code="0">Off</value>
<value code="1">On</value>
<value code="2">NoChange</value>
</values>
</param>
</parameters>
<parameters name="RELAY13_">
<param humanName="Relay function" name="RELAY13_FUNCTION" documentation="The function the relay channel is mapped to.">
<values>
<value code="0">None</value>
<value code="1">Relay</value>
<value code="3">Parachute</value>
<value code="4">Camera</value>
</values>
</param>
<param humanName="Relay pin" name="RELAY13_PIN" documentation="Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="113">BB Blue GP0 pin 6</value>
<value code="116">BB Blue GP0 pin 5</value>
<value code="62">BBBMini Pin P8.13</value>
<value code="101">MainOut1</value>
<value code="102">MainOut2</value>
<value code="103">MainOut3</value>
<value code="104">MainOut4</value>
<value code="105">MainOut5</value>
<value code="106">MainOut6</value>
<value code="107">MainOut7</value>
<value code="108">MainOut8</value>
<value code="1000">DroneCAN Hardpoint ID 0</value>
<value code="1001">DroneCAN Hardpoint ID 1</value>
<value code="1002">DroneCAN Hardpoint ID 2</value>
<value code="1003">DroneCAN Hardpoint ID 3</value>
<value code="1004">DroneCAN Hardpoint ID 4</value>
<value code="1005">DroneCAN Hardpoint ID 5</value>
<value code="1006">DroneCAN Hardpoint ID 6</value>
<value code="1007">DroneCAN Hardpoint ID 7</value>
<value code="1008">DroneCAN Hardpoint ID 8</value>
<value code="1009">DroneCAN Hardpoint ID 9</value>
<value code="1010">DroneCAN Hardpoint ID 10</value>
<value code="1011">DroneCAN Hardpoint ID 11</value>
<value code="1012">DroneCAN Hardpoint ID 12</value>
<value code="1013">DroneCAN Hardpoint ID 13</value>
<value code="1014">DroneCAN Hardpoint ID 14</value>
<value code="1015">DroneCAN Hardpoint ID 15</value>
</values>
</param>
<param humanName="Relay default state" name="RELAY13_DEFAULT" documentation="Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters." user="Standard">
<values>
<value code="0">Off</value>
<value code="1">On</value>
<value code="2">NoChange</value>
</values>
</param>
</parameters>
<parameters name="RELAY14_">
<param humanName="Relay function" name="RELAY14_FUNCTION" documentation="The function the relay channel is mapped to.">
<values>
<value code="0">None</value>
<value code="1">Relay</value>
<value code="3">Parachute</value>
<value code="4">Camera</value>
</values>
</param>
<param humanName="Relay pin" name="RELAY14_PIN" documentation="Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="113">BB Blue GP0 pin 6</value>
<value code="116">BB Blue GP0 pin 5</value>
<value code="62">BBBMini Pin P8.13</value>
<value code="101">MainOut1</value>
<value code="102">MainOut2</value>
<value code="103">MainOut3</value>
<value code="104">MainOut4</value>
<value code="105">MainOut5</value>
<value code="106">MainOut6</value>
<value code="107">MainOut7</value>
<value code="108">MainOut8</value>
<value code="1000">DroneCAN Hardpoint ID 0</value>
<value code="1001">DroneCAN Hardpoint ID 1</value>
<value code="1002">DroneCAN Hardpoint ID 2</value>
<value code="1003">DroneCAN Hardpoint ID 3</value>
<value code="1004">DroneCAN Hardpoint ID 4</value>
<value code="1005">DroneCAN Hardpoint ID 5</value>
<value code="1006">DroneCAN Hardpoint ID 6</value>
<value code="1007">DroneCAN Hardpoint ID 7</value>
<value code="1008">DroneCAN Hardpoint ID 8</value>
<value code="1009">DroneCAN Hardpoint ID 9</value>
<value code="1010">DroneCAN Hardpoint ID 10</value>
<value code="1011">DroneCAN Hardpoint ID 11</value>
<value code="1012">DroneCAN Hardpoint ID 12</value>
<value code="1013">DroneCAN Hardpoint ID 13</value>
<value code="1014">DroneCAN Hardpoint ID 14</value>
<value code="1015">DroneCAN Hardpoint ID 15</value>
</values>
</param>
<param humanName="Relay default state" name="RELAY14_DEFAULT" documentation="Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters." user="Standard">
<values>
<value code="0">Off</value>
<value code="1">On</value>
<value code="2">NoChange</value>
</values>
</param>
</parameters>
<parameters name="RELAY15_">
<param humanName="Relay function" name="RELAY15_FUNCTION" documentation="The function the relay channel is mapped to.">
<values>
<value code="0">None</value>
<value code="1">Relay</value>
<value code="3">Parachute</value>
<value code="4">Camera</value>
</values>
</param>
<param humanName="Relay pin" name="RELAY15_PIN" documentation="Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="113">BB Blue GP0 pin 6</value>
<value code="116">BB Blue GP0 pin 5</value>
<value code="62">BBBMini Pin P8.13</value>
<value code="101">MainOut1</value>
<value code="102">MainOut2</value>
<value code="103">MainOut3</value>
<value code="104">MainOut4</value>
<value code="105">MainOut5</value>
<value code="106">MainOut6</value>
<value code="107">MainOut7</value>
<value code="108">MainOut8</value>
<value code="1000">DroneCAN Hardpoint ID 0</value>
<value code="1001">DroneCAN Hardpoint ID 1</value>
<value code="1002">DroneCAN Hardpoint ID 2</value>
<value code="1003">DroneCAN Hardpoint ID 3</value>
<value code="1004">DroneCAN Hardpoint ID 4</value>
<value code="1005">DroneCAN Hardpoint ID 5</value>
<value code="1006">DroneCAN Hardpoint ID 6</value>
<value code="1007">DroneCAN Hardpoint ID 7</value>
<value code="1008">DroneCAN Hardpoint ID 8</value>
<value code="1009">DroneCAN Hardpoint ID 9</value>
<value code="1010">DroneCAN Hardpoint ID 10</value>
<value code="1011">DroneCAN Hardpoint ID 11</value>
<value code="1012">DroneCAN Hardpoint ID 12</value>
<value code="1013">DroneCAN Hardpoint ID 13</value>
<value code="1014">DroneCAN Hardpoint ID 14</value>
<value code="1015">DroneCAN Hardpoint ID 15</value>
</values>
</param>
<param humanName="Relay default state" name="RELAY15_DEFAULT" documentation="Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters." user="Standard">
<values>
<value code="0">Off</value>
<value code="1">On</value>
<value code="2">NoChange</value>
</values>
</param>
</parameters>
<parameters name="RELAY16_">
<param humanName="Relay function" name="RELAY16_FUNCTION" documentation="The function the relay channel is mapped to.">
<values>
<value code="0">None</value>
<value code="1">Relay</value>
<value code="3">Parachute</value>
<value code="4">Camera</value>
</values>
</param>
<param humanName="Relay pin" name="RELAY16_PIN" documentation="Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="113">BB Blue GP0 pin 6</value>
<value code="116">BB Blue GP0 pin 5</value>
<value code="62">BBBMini Pin P8.13</value>
<value code="101">MainOut1</value>
<value code="102">MainOut2</value>
<value code="103">MainOut3</value>
<value code="104">MainOut4</value>
<value code="105">MainOut5</value>
<value code="106">MainOut6</value>
<value code="107">MainOut7</value>
<value code="108">MainOut8</value>
<value code="1000">DroneCAN Hardpoint ID 0</value>
<value code="1001">DroneCAN Hardpoint ID 1</value>
<value code="1002">DroneCAN Hardpoint ID 2</value>
<value code="1003">DroneCAN Hardpoint ID 3</value>
<value code="1004">DroneCAN Hardpoint ID 4</value>
<value code="1005">DroneCAN Hardpoint ID 5</value>
<value code="1006">DroneCAN Hardpoint ID 6</value>
<value code="1007">DroneCAN Hardpoint ID 7</value>
<value code="1008">DroneCAN Hardpoint ID 8</value>
<value code="1009">DroneCAN Hardpoint ID 9</value>
<value code="1010">DroneCAN Hardpoint ID 10</value>
<value code="1011">DroneCAN Hardpoint ID 11</value>
<value code="1012">DroneCAN Hardpoint ID 12</value>
<value code="1013">DroneCAN Hardpoint ID 13</value>
<value code="1014">DroneCAN Hardpoint ID 14</value>
<value code="1015">DroneCAN Hardpoint ID 15</value>
</values>
</param>
<param humanName="Relay default state" name="RELAY16_DEFAULT" documentation="Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters." user="Standard">
<values>
<value code="0">Off</value>
<value code="1">On</value>
<value code="2">NoChange</value>
</values>
</param>
</parameters>
<parameters name="RELAY1_">
<param humanName="Relay function" name="RELAY1_FUNCTION" documentation="The function the relay channel is mapped to.">
<values>
<value code="0">None</value>
<value code="1">Relay</value>
<value code="3">Parachute</value>
<value code="4">Camera</value>
</values>
</param>
<param humanName="Relay pin" name="RELAY1_PIN" documentation="Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="113">BB Blue GP0 pin 6</value>
<value code="116">BB Blue GP0 pin 5</value>
<value code="62">BBBMini Pin P8.13</value>
<value code="101">MainOut1</value>
<value code="102">MainOut2</value>
<value code="103">MainOut3</value>
<value code="104">MainOut4</value>
<value code="105">MainOut5</value>
<value code="106">MainOut6</value>
<value code="107">MainOut7</value>
<value code="108">MainOut8</value>
<value code="1000">DroneCAN Hardpoint ID 0</value>
<value code="1001">DroneCAN Hardpoint ID 1</value>
<value code="1002">DroneCAN Hardpoint ID 2</value>
<value code="1003">DroneCAN Hardpoint ID 3</value>
<value code="1004">DroneCAN Hardpoint ID 4</value>
<value code="1005">DroneCAN Hardpoint ID 5</value>
<value code="1006">DroneCAN Hardpoint ID 6</value>
<value code="1007">DroneCAN Hardpoint ID 7</value>
<value code="1008">DroneCAN Hardpoint ID 8</value>
<value code="1009">DroneCAN Hardpoint ID 9</value>
<value code="1010">DroneCAN Hardpoint ID 10</value>
<value code="1011">DroneCAN Hardpoint ID 11</value>
<value code="1012">DroneCAN Hardpoint ID 12</value>
<value code="1013">DroneCAN Hardpoint ID 13</value>
<value code="1014">DroneCAN Hardpoint ID 14</value>
<value code="1015">DroneCAN Hardpoint ID 15</value>
</values>
</param>
<param humanName="Relay default state" name="RELAY1_DEFAULT" documentation="Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters." user="Standard">
<values>
<value code="0">Off</value>
<value code="1">On</value>
<value code="2">NoChange</value>
</values>
</param>
</parameters>
<parameters name="RELAY2_">
<param humanName="Relay function" name="RELAY2_FUNCTION" documentation="The function the relay channel is mapped to.">
<values>
<value code="0">None</value>
<value code="1">Relay</value>
<value code="3">Parachute</value>
<value code="4">Camera</value>
</values>
</param>
<param humanName="Relay pin" name="RELAY2_PIN" documentation="Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="113">BB Blue GP0 pin 6</value>
<value code="116">BB Blue GP0 pin 5</value>
<value code="62">BBBMini Pin P8.13</value>
<value code="101">MainOut1</value>
<value code="102">MainOut2</value>
<value code="103">MainOut3</value>
<value code="104">MainOut4</value>
<value code="105">MainOut5</value>
<value code="106">MainOut6</value>
<value code="107">MainOut7</value>
<value code="108">MainOut8</value>
<value code="1000">DroneCAN Hardpoint ID 0</value>
<value code="1001">DroneCAN Hardpoint ID 1</value>
<value code="1002">DroneCAN Hardpoint ID 2</value>
<value code="1003">DroneCAN Hardpoint ID 3</value>
<value code="1004">DroneCAN Hardpoint ID 4</value>
<value code="1005">DroneCAN Hardpoint ID 5</value>
<value code="1006">DroneCAN Hardpoint ID 6</value>
<value code="1007">DroneCAN Hardpoint ID 7</value>
<value code="1008">DroneCAN Hardpoint ID 8</value>
<value code="1009">DroneCAN Hardpoint ID 9</value>
<value code="1010">DroneCAN Hardpoint ID 10</value>
<value code="1011">DroneCAN Hardpoint ID 11</value>
<value code="1012">DroneCAN Hardpoint ID 12</value>
<value code="1013">DroneCAN Hardpoint ID 13</value>
<value code="1014">DroneCAN Hardpoint ID 14</value>
<value code="1015">DroneCAN Hardpoint ID 15</value>
</values>
</param>
<param humanName="Relay default state" name="RELAY2_DEFAULT" documentation="Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters." user="Standard">
<values>
<value code="0">Off</value>
<value code="1">On</value>
<value code="2">NoChange</value>
</values>
</param>
</parameters>
<parameters name="RELAY3_">
<param humanName="Relay function" name="RELAY3_FUNCTION" documentation="The function the relay channel is mapped to.">
<values>
<value code="0">None</value>
<value code="1">Relay</value>
<value code="3">Parachute</value>
<value code="4">Camera</value>
</values>
</param>
<param humanName="Relay pin" name="RELAY3_PIN" documentation="Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="113">BB Blue GP0 pin 6</value>
<value code="116">BB Blue GP0 pin 5</value>
<value code="62">BBBMini Pin P8.13</value>
<value code="101">MainOut1</value>
<value code="102">MainOut2</value>
<value code="103">MainOut3</value>
<value code="104">MainOut4</value>
<value code="105">MainOut5</value>
<value code="106">MainOut6</value>
<value code="107">MainOut7</value>
<value code="108">MainOut8</value>
<value code="1000">DroneCAN Hardpoint ID 0</value>
<value code="1001">DroneCAN Hardpoint ID 1</value>
<value code="1002">DroneCAN Hardpoint ID 2</value>
<value code="1003">DroneCAN Hardpoint ID 3</value>
<value code="1004">DroneCAN Hardpoint ID 4</value>
<value code="1005">DroneCAN Hardpoint ID 5</value>
<value code="1006">DroneCAN Hardpoint ID 6</value>
<value code="1007">DroneCAN Hardpoint ID 7</value>
<value code="1008">DroneCAN Hardpoint ID 8</value>
<value code="1009">DroneCAN Hardpoint ID 9</value>
<value code="1010">DroneCAN Hardpoint ID 10</value>
<value code="1011">DroneCAN Hardpoint ID 11</value>
<value code="1012">DroneCAN Hardpoint ID 12</value>
<value code="1013">DroneCAN Hardpoint ID 13</value>
<value code="1014">DroneCAN Hardpoint ID 14</value>
<value code="1015">DroneCAN Hardpoint ID 15</value>
</values>
</param>
<param humanName="Relay default state" name="RELAY3_DEFAULT" documentation="Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters." user="Standard">
<values>
<value code="0">Off</value>
<value code="1">On</value>
<value code="2">NoChange</value>
</values>
</param>
</parameters>
<parameters name="RELAY4_">
<param humanName="Relay function" name="RELAY4_FUNCTION" documentation="The function the relay channel is mapped to.">
<values>
<value code="0">None</value>
<value code="1">Relay</value>
<value code="3">Parachute</value>
<value code="4">Camera</value>
</values>
</param>
<param humanName="Relay pin" name="RELAY4_PIN" documentation="Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="113">BB Blue GP0 pin 6</value>
<value code="116">BB Blue GP0 pin 5</value>
<value code="62">BBBMini Pin P8.13</value>
<value code="101">MainOut1</value>
<value code="102">MainOut2</value>
<value code="103">MainOut3</value>
<value code="104">MainOut4</value>
<value code="105">MainOut5</value>
<value code="106">MainOut6</value>
<value code="107">MainOut7</value>
<value code="108">MainOut8</value>
<value code="1000">DroneCAN Hardpoint ID 0</value>
<value code="1001">DroneCAN Hardpoint ID 1</value>
<value code="1002">DroneCAN Hardpoint ID 2</value>
<value code="1003">DroneCAN Hardpoint ID 3</value>
<value code="1004">DroneCAN Hardpoint ID 4</value>
<value code="1005">DroneCAN Hardpoint ID 5</value>
<value code="1006">DroneCAN Hardpoint ID 6</value>
<value code="1007">DroneCAN Hardpoint ID 7</value>
<value code="1008">DroneCAN Hardpoint ID 8</value>
<value code="1009">DroneCAN Hardpoint ID 9</value>
<value code="1010">DroneCAN Hardpoint ID 10</value>
<value code="1011">DroneCAN Hardpoint ID 11</value>
<value code="1012">DroneCAN Hardpoint ID 12</value>
<value code="1013">DroneCAN Hardpoint ID 13</value>
<value code="1014">DroneCAN Hardpoint ID 14</value>
<value code="1015">DroneCAN Hardpoint ID 15</value>
</values>
</param>
<param humanName="Relay default state" name="RELAY4_DEFAULT" documentation="Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters." user="Standard">
<values>
<value code="0">Off</value>
<value code="1">On</value>
<value code="2">NoChange</value>
</values>
</param>
</parameters>
<parameters name="RELAY5_">
<param humanName="Relay function" name="RELAY5_FUNCTION" documentation="The function the relay channel is mapped to.">
<values>
<value code="0">None</value>
<value code="1">Relay</value>
<value code="3">Parachute</value>
<value code="4">Camera</value>
</values>
</param>
<param humanName="Relay pin" name="RELAY5_PIN" documentation="Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="113">BB Blue GP0 pin 6</value>
<value code="116">BB Blue GP0 pin 5</value>
<value code="62">BBBMini Pin P8.13</value>
<value code="101">MainOut1</value>
<value code="102">MainOut2</value>
<value code="103">MainOut3</value>
<value code="104">MainOut4</value>
<value code="105">MainOut5</value>
<value code="106">MainOut6</value>
<value code="107">MainOut7</value>
<value code="108">MainOut8</value>
<value code="1000">DroneCAN Hardpoint ID 0</value>
<value code="1001">DroneCAN Hardpoint ID 1</value>
<value code="1002">DroneCAN Hardpoint ID 2</value>
<value code="1003">DroneCAN Hardpoint ID 3</value>
<value code="1004">DroneCAN Hardpoint ID 4</value>
<value code="1005">DroneCAN Hardpoint ID 5</value>
<value code="1006">DroneCAN Hardpoint ID 6</value>
<value code="1007">DroneCAN Hardpoint ID 7</value>
<value code="1008">DroneCAN Hardpoint ID 8</value>
<value code="1009">DroneCAN Hardpoint ID 9</value>
<value code="1010">DroneCAN Hardpoint ID 10</value>
<value code="1011">DroneCAN Hardpoint ID 11</value>
<value code="1012">DroneCAN Hardpoint ID 12</value>
<value code="1013">DroneCAN Hardpoint ID 13</value>
<value code="1014">DroneCAN Hardpoint ID 14</value>
<value code="1015">DroneCAN Hardpoint ID 15</value>
</values>
</param>
<param humanName="Relay default state" name="RELAY5_DEFAULT" documentation="Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters." user="Standard">
<values>
<value code="0">Off</value>
<value code="1">On</value>
<value code="2">NoChange</value>
</values>
</param>
</parameters>
<parameters name="RELAY6_">
<param humanName="Relay function" name="RELAY6_FUNCTION" documentation="The function the relay channel is mapped to.">
<values>
<value code="0">None</value>
<value code="1">Relay</value>
<value code="3">Parachute</value>
<value code="4">Camera</value>
</values>
</param>
<param humanName="Relay pin" name="RELAY6_PIN" documentation="Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="113">BB Blue GP0 pin 6</value>
<value code="116">BB Blue GP0 pin 5</value>
<value code="62">BBBMini Pin P8.13</value>
<value code="101">MainOut1</value>
<value code="102">MainOut2</value>
<value code="103">MainOut3</value>
<value code="104">MainOut4</value>
<value code="105">MainOut5</value>
<value code="106">MainOut6</value>
<value code="107">MainOut7</value>
<value code="108">MainOut8</value>
<value code="1000">DroneCAN Hardpoint ID 0</value>
<value code="1001">DroneCAN Hardpoint ID 1</value>
<value code="1002">DroneCAN Hardpoint ID 2</value>
<value code="1003">DroneCAN Hardpoint ID 3</value>
<value code="1004">DroneCAN Hardpoint ID 4</value>
<value code="1005">DroneCAN Hardpoint ID 5</value>
<value code="1006">DroneCAN Hardpoint ID 6</value>
<value code="1007">DroneCAN Hardpoint ID 7</value>
<value code="1008">DroneCAN Hardpoint ID 8</value>
<value code="1009">DroneCAN Hardpoint ID 9</value>
<value code="1010">DroneCAN Hardpoint ID 10</value>
<value code="1011">DroneCAN Hardpoint ID 11</value>
<value code="1012">DroneCAN Hardpoint ID 12</value>
<value code="1013">DroneCAN Hardpoint ID 13</value>
<value code="1014">DroneCAN Hardpoint ID 14</value>
<value code="1015">DroneCAN Hardpoint ID 15</value>
</values>
</param>
<param humanName="Relay default state" name="RELAY6_DEFAULT" documentation="Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters." user="Standard">
<values>
<value code="0">Off</value>
<value code="1">On</value>
<value code="2">NoChange</value>
</values>
</param>
</parameters>
<parameters name="RELAY7_">
<param humanName="Relay function" name="RELAY7_FUNCTION" documentation="The function the relay channel is mapped to.">
<values>
<value code="0">None</value>
<value code="1">Relay</value>
<value code="3">Parachute</value>
<value code="4">Camera</value>
</values>
</param>
<param humanName="Relay pin" name="RELAY7_PIN" documentation="Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="113">BB Blue GP0 pin 6</value>
<value code="116">BB Blue GP0 pin 5</value>
<value code="62">BBBMini Pin P8.13</value>
<value code="101">MainOut1</value>
<value code="102">MainOut2</value>
<value code="103">MainOut3</value>
<value code="104">MainOut4</value>
<value code="105">MainOut5</value>
<value code="106">MainOut6</value>
<value code="107">MainOut7</value>
<value code="108">MainOut8</value>
<value code="1000">DroneCAN Hardpoint ID 0</value>
<value code="1001">DroneCAN Hardpoint ID 1</value>
<value code="1002">DroneCAN Hardpoint ID 2</value>
<value code="1003">DroneCAN Hardpoint ID 3</value>
<value code="1004">DroneCAN Hardpoint ID 4</value>
<value code="1005">DroneCAN Hardpoint ID 5</value>
<value code="1006">DroneCAN Hardpoint ID 6</value>
<value code="1007">DroneCAN Hardpoint ID 7</value>
<value code="1008">DroneCAN Hardpoint ID 8</value>
<value code="1009">DroneCAN Hardpoint ID 9</value>
<value code="1010">DroneCAN Hardpoint ID 10</value>
<value code="1011">DroneCAN Hardpoint ID 11</value>
<value code="1012">DroneCAN Hardpoint ID 12</value>
<value code="1013">DroneCAN Hardpoint ID 13</value>
<value code="1014">DroneCAN Hardpoint ID 14</value>
<value code="1015">DroneCAN Hardpoint ID 15</value>
</values>
</param>
<param humanName="Relay default state" name="RELAY7_DEFAULT" documentation="Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters." user="Standard">
<values>
<value code="0">Off</value>
<value code="1">On</value>
<value code="2">NoChange</value>
</values>
</param>
</parameters>
<parameters name="RELAY8_">
<param humanName="Relay function" name="RELAY8_FUNCTION" documentation="The function the relay channel is mapped to.">
<values>
<value code="0">None</value>
<value code="1">Relay</value>
<value code="3">Parachute</value>
<value code="4">Camera</value>
</values>
</param>
<param humanName="Relay pin" name="RELAY8_PIN" documentation="Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="113">BB Blue GP0 pin 6</value>
<value code="116">BB Blue GP0 pin 5</value>
<value code="62">BBBMini Pin P8.13</value>
<value code="101">MainOut1</value>
<value code="102">MainOut2</value>
<value code="103">MainOut3</value>
<value code="104">MainOut4</value>
<value code="105">MainOut5</value>
<value code="106">MainOut6</value>
<value code="107">MainOut7</value>
<value code="108">MainOut8</value>
<value code="1000">DroneCAN Hardpoint ID 0</value>
<value code="1001">DroneCAN Hardpoint ID 1</value>
<value code="1002">DroneCAN Hardpoint ID 2</value>
<value code="1003">DroneCAN Hardpoint ID 3</value>
<value code="1004">DroneCAN Hardpoint ID 4</value>
<value code="1005">DroneCAN Hardpoint ID 5</value>
<value code="1006">DroneCAN Hardpoint ID 6</value>
<value code="1007">DroneCAN Hardpoint ID 7</value>
<value code="1008">DroneCAN Hardpoint ID 8</value>
<value code="1009">DroneCAN Hardpoint ID 9</value>
<value code="1010">DroneCAN Hardpoint ID 10</value>
<value code="1011">DroneCAN Hardpoint ID 11</value>
<value code="1012">DroneCAN Hardpoint ID 12</value>
<value code="1013">DroneCAN Hardpoint ID 13</value>
<value code="1014">DroneCAN Hardpoint ID 14</value>
<value code="1015">DroneCAN Hardpoint ID 15</value>
</values>
</param>
<param humanName="Relay default state" name="RELAY8_DEFAULT" documentation="Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters." user="Standard">
<values>
<value code="0">Off</value>
<value code="1">On</value>
<value code="2">NoChange</value>
</values>
</param>
</parameters>
<parameters name="RELAY9_">
<param humanName="Relay function" name="RELAY9_FUNCTION" documentation="The function the relay channel is mapped to.">
<values>
<value code="0">None</value>
<value code="1">Relay</value>
<value code="3">Parachute</value>
<value code="4">Camera</value>
</values>
</param>
<param humanName="Relay pin" name="RELAY9_PIN" documentation="Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="49">BB Blue GP0 pin 4</value>
<value code="50">AUXOUT1</value>
<value code="51">AUXOUT2</value>
<value code="52">AUXOUT3</value>
<value code="53">AUXOUT4</value>
<value code="54">AUXOUT5</value>
<value code="55">AUXOUT6</value>
<value code="57">BB Blue GP0 pin 3</value>
<value code="113">BB Blue GP0 pin 6</value>
<value code="116">BB Blue GP0 pin 5</value>
<value code="62">BBBMini Pin P8.13</value>
<value code="101">MainOut1</value>
<value code="102">MainOut2</value>
<value code="103">MainOut3</value>
<value code="104">MainOut4</value>
<value code="105">MainOut5</value>
<value code="106">MainOut6</value>
<value code="107">MainOut7</value>
<value code="108">MainOut8</value>
<value code="1000">DroneCAN Hardpoint ID 0</value>
<value code="1001">DroneCAN Hardpoint ID 1</value>
<value code="1002">DroneCAN Hardpoint ID 2</value>
<value code="1003">DroneCAN Hardpoint ID 3</value>
<value code="1004">DroneCAN Hardpoint ID 4</value>
<value code="1005">DroneCAN Hardpoint ID 5</value>
<value code="1006">DroneCAN Hardpoint ID 6</value>
<value code="1007">DroneCAN Hardpoint ID 7</value>
<value code="1008">DroneCAN Hardpoint ID 8</value>
<value code="1009">DroneCAN Hardpoint ID 9</value>
<value code="1010">DroneCAN Hardpoint ID 10</value>
<value code="1011">DroneCAN Hardpoint ID 11</value>
<value code="1012">DroneCAN Hardpoint ID 12</value>
<value code="1013">DroneCAN Hardpoint ID 13</value>
<value code="1014">DroneCAN Hardpoint ID 14</value>
<value code="1015">DroneCAN Hardpoint ID 15</value>
</values>
</param>
<param humanName="Relay default state" name="RELAY9_DEFAULT" documentation="Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters." user="Standard">
<values>
<value code="0">Off</value>
<value code="1">On</value>
<value code="2">NoChange</value>
</values>
</param>
</parameters>
<parameters name="RNGFND1_">
<param humanName="Rangefinder type" name="RNGFND1_TYPE" documentation="Type of connected rangefinder" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Analog</value>
<value code="2">MaxbotixI2C</value>
<value code="3">LidarLite-I2C</value>
<value code="5">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">USD1_Serial</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 or VL53L1X</value>
<value code="17">NMEA</value>
<value code="18">WASP-LRF</value>
<value code="19">BenewakeTF02</value>
<value code="20">Benewake-Serial</value>
<value code="21">LidarLightV3HP</value>
<value code="22">PWM</value>
<value code="23">BlueRoboticsPing</value>
<value code="24">DroneCAN</value>
<value code="25">BenewakeTFminiPlus-I2C</value>
<value code="26">LanbaoPSK-CM8JL65-CC5</value>
<value code="27">BenewakeTF03</value>
<value code="28">VL53L1X-ShortRange</value>
<value code="29">LeddarVu8-Serial</value>
<value code="30">HC-SR04</value>
<value code="31">GYUS42v2</value>
<value code="32">MSP</value>
<value code="33">USD1_CAN</value>
<value code="34">Benewake_CAN</value>
<value code="35">TeraRangerSerial</value>
<value code="36">Lua_Scripting</value>
<value code="37">NoopLoop_TOFSense</value>
<value code="38">NoopLoop_TOFSense_CAN</value>
<value code="39">NRA24_CAN</value>
<value code="40">NoopLoop_TOFSenseF_I2C</value>
<value code="41">JRE_Serial</value>
<value code="42">Ainstein_LR_D1</value>
<value code="43">RDS02UF</value>
<value code="100">SITL</value>
</values>
</param>
<param humanName="Rangefinder pin" name="RNGFND1_PIN" documentation="Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input. When using analog pin 103, the maximum value of the input in 3.3V. For PWM input, the pin must be configured as a digital GPIO, see the Wiki's "GPIOs" section for details." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code="11">Pixracer</value>
<value code="13">Pixhawk ADC4</value>
<value code="14">Pixhawk ADC3</value>
<value code="15">Pixhawk ADC6/Pixhawk2 ADC</value>
<value code="50">AUX1</value>
<value code="51">AUX2</value>
<value code="52">AUX3</value>
<value code="53">AUX4</value>
<value code="54">AUX5</value>
<value code="55">AUX6</value>
<value code="103">Pixhawk SBUS</value>
</values>
</param>
<param humanName="Rangefinder scaling" name="RNGFND1_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. For Maxbotix serial sonar this is unit conversion to meters." user="Standard">
<field name="Units">m/V</field>
<field name="UnitText">meters per volt</field>
<field name="Increment">0.001</field>
</param>
<param humanName="rangefinder offset" name="RNGFND1_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars" user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Rangefinder function" name="RNGFND1_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="RNGFND1_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Increment">1</field>
</param>
<param humanName="Rangefinder maximum distance" name="RNGFND1_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Increment">1</field>
</param>
<param humanName="Rangefinder stop pin" name="RNGFND1_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code="50">AUX1</value>
<value code="51">AUX2</value>
<value code="52">AUX3</value>
<value code="53">AUX4</value>
<value code="54">AUX5</value>
<value code="55">AUX6</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="Ratiometric" name="RNGFND1_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="RNGFND1_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="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 32767</field>
</param>
<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND1_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="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Range">5 127</field>
<field name="Increment">1</field>
</param>
<param humanName="Bus address of sensor" name="RNGFND1_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses." user="Standard">
<field name="Range">0 127</field>
<field name="Increment">1</field>
</param>
<param humanName=" X position offset" name="RNGFND1_POS_X" documentation="X position of the 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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Y position offset" name="RNGFND1_POS_Y" documentation="Y position of the 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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Z position offset" name="RNGFND1_POS_Z" documentation="Z position of the 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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Rangefinder orientation" name="RNGFND1_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="Moving Average Range" name="RNGFND1_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Moving Median Filter" name="RNGFND1_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Frequency" name="RNGFND1_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
<field name="Range">0 10000</field>
</param>
<param humanName="Multi-pulse averages" name="RNGFND1_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Sensitivity threshold" name="RNGFND1_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
<field name="Range">-1 255</field>
</param>
<param humanName="Baud rate" name="RNGFND1_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
<values>
<value code="0">Low Speed</value>
<value code="1">High Speed</value>
</values>
</param>
<param humanName="RangeFinder CAN receive ID" name="RNGFND1_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
<field name="Range">0 65535</field>
</param>
<param humanName="RangeFinder Minimum signal strength" name="RNGFND1_SNR_MIN" documentation="RangeFinder Minimum signal strength (SNR) to accept distance" user="Advanced">
<field name="Range">0 65535</field>
</param>
</parameters>
<parameters name="RNGFND2_">
<param humanName="Rangefinder type" name="RNGFND2_TYPE" documentation="Type of connected rangefinder" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Analog</value>
<value code="2">MaxbotixI2C</value>
<value code="3">LidarLite-I2C</value>
<value code="5">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">USD1_Serial</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 or VL53L1X</value>
<value code="17">NMEA</value>
<value code="18">WASP-LRF</value>
<value code="19">BenewakeTF02</value>
<value code="20">Benewake-Serial</value>
<value code="21">LidarLightV3HP</value>
<value code="22">PWM</value>
<value code="23">BlueRoboticsPing</value>
<value code="24">DroneCAN</value>
<value code="25">BenewakeTFminiPlus-I2C</value>
<value code="26">LanbaoPSK-CM8JL65-CC5</value>
<value code="27">BenewakeTF03</value>
<value code="28">VL53L1X-ShortRange</value>
<value code="29">LeddarVu8-Serial</value>
<value code="30">HC-SR04</value>
<value code="31">GYUS42v2</value>
<value code="32">MSP</value>
<value code="33">USD1_CAN</value>
<value code="34">Benewake_CAN</value>
<value code="35">TeraRangerSerial</value>
<value code="36">Lua_Scripting</value>
<value code="37">NoopLoop_TOFSense</value>
<value code="38">NoopLoop_TOFSense_CAN</value>
<value code="39">NRA24_CAN</value>
<value code="40">NoopLoop_TOFSenseF_I2C</value>
<value code="41">JRE_Serial</value>
<value code="42">Ainstein_LR_D1</value>
<value code="43">RDS02UF</value>
<value code="100">SITL</value>
</values>
</param>
<param humanName="Rangefinder pin" name="RNGFND2_PIN" documentation="Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input. When using analog pin 103, the maximum value of the input in 3.3V. For PWM input, the pin must be configured as a digital GPIO, see the Wiki's "GPIOs" section for details." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code="11">Pixracer</value>
<value code="13">Pixhawk ADC4</value>
<value code="14">Pixhawk ADC3</value>
<value code="15">Pixhawk ADC6/Pixhawk2 ADC</value>
<value code="50">AUX1</value>
<value code="51">AUX2</value>
<value code="52">AUX3</value>
<value code="53">AUX4</value>
<value code="54">AUX5</value>
<value code="55">AUX6</value>
<value code="103">Pixhawk SBUS</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. For Maxbotix serial sonar this is unit conversion to meters." user="Standard">
<field name="Units">m/V</field>
<field name="UnitText">meters per volt</field>
<field name="Increment">0.001</field>
</param>
<param humanName="rangefinder offset" name="RNGFND2_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars" user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.001</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="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="RNGFND2_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Increment">1</field>
</param>
<param humanName="Rangefinder maximum distance" name="RNGFND2_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Increment">1</field>
</param>
<param humanName="Rangefinder stop pin" name="RNGFND2_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code="50">AUX1</value>
<value code="51">AUX2</value>
<value code="52">AUX3</value>
<value code="53">AUX4</value>
<value code="54">AUX5</value>
<value code="55">AUX6</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="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="Standard">
<values>
<value code="0">No</value>
<value code="1">Yes</value>
</values>
</param>
<param humanName="Powersave range" name="RNGFND2_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="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 32767</field>
</param>
<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND2_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="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Range">5 127</field>
<field name="Increment">1</field>
</param>
<param humanName="Bus address of sensor" name="RNGFND2_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses." user="Standard">
<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 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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Y position offset" name="RNGFND2_POS_Y" documentation="Y position of the 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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Z position offset" name="RNGFND2_POS_Z" documentation="Z position of the 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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Rangefinder orientation" name="RNGFND2_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="Moving Average Range" name="RNGFND2_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Moving Median Filter" name="RNGFND2_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Frequency" name="RNGFND2_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
<field name="Range">0 10000</field>
</param>
<param humanName="Multi-pulse averages" name="RNGFND2_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Sensitivity threshold" name="RNGFND2_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
<field name="Range">-1 255</field>
</param>
<param humanName="Baud rate" name="RNGFND2_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
<values>
<value code="0">Low Speed</value>
<value code="1">High Speed</value>
</values>
</param>
<param humanName="RangeFinder CAN receive ID" name="RNGFND2_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
<field name="Range">0 65535</field>
</param>
<param humanName="RangeFinder Minimum signal strength" name="RNGFND2_SNR_MIN" documentation="RangeFinder Minimum signal strength (SNR) to accept distance" user="Advanced">
<field name="Range">0 65535</field>
</param>
</parameters>
<parameters name="RNGFND3_">
<param humanName="Rangefinder type" name="RNGFND3_TYPE" documentation="Type of connected rangefinder" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Analog</value>
<value code="2">MaxbotixI2C</value>
<value code="3">LidarLite-I2C</value>
<value code="5">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">USD1_Serial</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 or VL53L1X</value>
<value code="17">NMEA</value>
<value code="18">WASP-LRF</value>
<value code="19">BenewakeTF02</value>
<value code="20">Benewake-Serial</value>
<value code="21">LidarLightV3HP</value>
<value code="22">PWM</value>
<value code="23">BlueRoboticsPing</value>
<value code="24">DroneCAN</value>
<value code="25">BenewakeTFminiPlus-I2C</value>
<value code="26">LanbaoPSK-CM8JL65-CC5</value>
<value code="27">BenewakeTF03</value>
<value code="28">VL53L1X-ShortRange</value>
<value code="29">LeddarVu8-Serial</value>
<value code="30">HC-SR04</value>
<value code="31">GYUS42v2</value>
<value code="32">MSP</value>
<value code="33">USD1_CAN</value>
<value code="34">Benewake_CAN</value>
<value code="35">TeraRangerSerial</value>
<value code="36">Lua_Scripting</value>
<value code="37">NoopLoop_TOFSense</value>
<value code="38">NoopLoop_TOFSense_CAN</value>
<value code="39">NRA24_CAN</value>
<value code="40">NoopLoop_TOFSenseF_I2C</value>
<value code="41">JRE_Serial</value>
<value code="42">Ainstein_LR_D1</value>
<value code="43">RDS02UF</value>
<value code="100">SITL</value>
</values>
</param>
<param humanName="Rangefinder pin" name="RNGFND3_PIN" documentation="Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input. When using analog pin 103, the maximum value of the input in 3.3V. For PWM input, the pin must be configured as a digital GPIO, see the Wiki's "GPIOs" section for details." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code="11">Pixracer</value>
<value code="13">Pixhawk ADC4</value>
<value code="14">Pixhawk ADC3</value>
<value code="15">Pixhawk ADC6/Pixhawk2 ADC</value>
<value code="50">AUX1</value>
<value code="51">AUX2</value>
<value code="52">AUX3</value>
<value code="53">AUX4</value>
<value code="54">AUX5</value>
<value code="55">AUX6</value>
<value code="103">Pixhawk SBUS</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. For Maxbotix serial sonar this is unit conversion to meters." user="Standard">
<field name="Units">m/V</field>
<field name="UnitText">meters per volt</field>
<field name="Increment">0.001</field>
</param>
<param humanName="rangefinder offset" name="RNGFND3_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars" user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.001</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="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="RNGFND3_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Increment">1</field>
</param>
<param humanName="Rangefinder maximum distance" name="RNGFND3_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Increment">1</field>
</param>
<param humanName="Rangefinder stop pin" name="RNGFND3_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code="50">AUX1</value>
<value code="51">AUX2</value>
<value code="52">AUX3</value>
<value code="53">AUX4</value>
<value code="54">AUX5</value>
<value code="55">AUX6</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="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="Standard">
<values>
<value code="0">No</value>
<value code="1">Yes</value>
</values>
</param>
<param humanName="Powersave range" name="RNGFND3_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="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 32767</field>
</param>
<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND3_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="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Range">5 127</field>
<field name="Increment">1</field>
</param>
<param humanName="Bus address of sensor" name="RNGFND3_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses." user="Standard">
<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 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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Y position offset" name="RNGFND3_POS_Y" documentation="Y position of the 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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Z position offset" name="RNGFND3_POS_Z" documentation="Z position of the 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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Rangefinder orientation" name="RNGFND3_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="Moving Average Range" name="RNGFND3_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Moving Median Filter" name="RNGFND3_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Frequency" name="RNGFND3_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
<field name="Range">0 10000</field>
</param>
<param humanName="Multi-pulse averages" name="RNGFND3_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Sensitivity threshold" name="RNGFND3_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
<field name="Range">-1 255</field>
</param>
<param humanName="Baud rate" name="RNGFND3_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
<values>
<value code="0">Low Speed</value>
<value code="1">High Speed</value>
</values>
</param>
<param humanName="RangeFinder CAN receive ID" name="RNGFND3_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
<field name="Range">0 65535</field>
</param>
<param humanName="RangeFinder Minimum signal strength" name="RNGFND3_SNR_MIN" documentation="RangeFinder Minimum signal strength (SNR) to accept distance" user="Advanced">
<field name="Range">0 65535</field>
</param>
</parameters>
<parameters name="RNGFND4_">
<param humanName="Rangefinder type" name="RNGFND4_TYPE" documentation="Type of connected rangefinder" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Analog</value>
<value code="2">MaxbotixI2C</value>
<value code="3">LidarLite-I2C</value>
<value code="5">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">USD1_Serial</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 or VL53L1X</value>
<value code="17">NMEA</value>
<value code="18">WASP-LRF</value>
<value code="19">BenewakeTF02</value>
<value code="20">Benewake-Serial</value>
<value code="21">LidarLightV3HP</value>
<value code="22">PWM</value>
<value code="23">BlueRoboticsPing</value>
<value code="24">DroneCAN</value>
<value code="25">BenewakeTFminiPlus-I2C</value>
<value code="26">LanbaoPSK-CM8JL65-CC5</value>
<value code="27">BenewakeTF03</value>
<value code="28">VL53L1X-ShortRange</value>
<value code="29">LeddarVu8-Serial</value>
<value code="30">HC-SR04</value>
<value code="31">GYUS42v2</value>
<value code="32">MSP</value>
<value code="33">USD1_CAN</value>
<value code="34">Benewake_CAN</value>
<value code="35">TeraRangerSerial</value>
<value code="36">Lua_Scripting</value>
<value code="37">NoopLoop_TOFSense</value>
<value code="38">NoopLoop_TOFSense_CAN</value>
<value code="39">NRA24_CAN</value>
<value code="40">NoopLoop_TOFSenseF_I2C</value>
<value code="41">JRE_Serial</value>
<value code="42">Ainstein_LR_D1</value>
<value code="43">RDS02UF</value>
<value code="100">SITL</value>
</values>
</param>
<param humanName="Rangefinder pin" name="RNGFND4_PIN" documentation="Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input. When using analog pin 103, the maximum value of the input in 3.3V. For PWM input, the pin must be configured as a digital GPIO, see the Wiki's "GPIOs" section for details." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code="11">Pixracer</value>
<value code="13">Pixhawk ADC4</value>
<value code="14">Pixhawk ADC3</value>
<value code="15">Pixhawk ADC6/Pixhawk2 ADC</value>
<value code="50">AUX1</value>
<value code="51">AUX2</value>
<value code="52">AUX3</value>
<value code="53">AUX4</value>
<value code="54">AUX5</value>
<value code="55">AUX6</value>
<value code="103">Pixhawk SBUS</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. For Maxbotix serial sonar this is unit conversion to meters." user="Standard">
<field name="Units">m/V</field>
<field name="UnitText">meters per volt</field>
<field name="Increment">0.001</field>
</param>
<param humanName="rangefinder offset" name="RNGFND4_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars" user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.001</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="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="RNGFND4_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Increment">1</field>
</param>
<param humanName="Rangefinder maximum distance" name="RNGFND4_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Increment">1</field>
</param>
<param humanName="Rangefinder stop pin" name="RNGFND4_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code="50">AUX1</value>
<value code="51">AUX2</value>
<value code="52">AUX3</value>
<value code="53">AUX4</value>
<value code="54">AUX5</value>
<value code="55">AUX6</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="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="Standard">
<values>
<value code="0">No</value>
<value code="1">Yes</value>
</values>
</param>
<param humanName="Powersave range" name="RNGFND4_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="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 32767</field>
</param>
<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND4_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="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Range">5 127</field>
<field name="Increment">1</field>
</param>
<param humanName="Bus address of sensor" name="RNGFND4_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses." user="Standard">
<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 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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Y position offset" name="RNGFND4_POS_Y" documentation="Y position of the 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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Z position offset" name="RNGFND4_POS_Z" documentation="Z position of the 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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Rangefinder orientation" name="RNGFND4_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="Moving Average Range" name="RNGFND4_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Moving Median Filter" name="RNGFND4_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Frequency" name="RNGFND4_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
<field name="Range">0 10000</field>
</param>
<param humanName="Multi-pulse averages" name="RNGFND4_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Sensitivity threshold" name="RNGFND4_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
<field name="Range">-1 255</field>
</param>
<param humanName="Baud rate" name="RNGFND4_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
<values>
<value code="0">Low Speed</value>
<value code="1">High Speed</value>
</values>
</param>
<param humanName="RangeFinder CAN receive ID" name="RNGFND4_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
<field name="Range">0 65535</field>
</param>
<param humanName="RangeFinder Minimum signal strength" name="RNGFND4_SNR_MIN" documentation="RangeFinder Minimum signal strength (SNR) to accept distance" user="Advanced">
<field name="Range">0 65535</field>
</param>
</parameters>
<parameters name="RNGFND5_">
<param humanName="Rangefinder type" name="RNGFND5_TYPE" documentation="Type of connected rangefinder" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Analog</value>
<value code="2">MaxbotixI2C</value>
<value code="3">LidarLite-I2C</value>
<value code="5">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">USD1_Serial</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 or VL53L1X</value>
<value code="17">NMEA</value>
<value code="18">WASP-LRF</value>
<value code="19">BenewakeTF02</value>
<value code="20">Benewake-Serial</value>
<value code="21">LidarLightV3HP</value>
<value code="22">PWM</value>
<value code="23">BlueRoboticsPing</value>
<value code="24">DroneCAN</value>
<value code="25">BenewakeTFminiPlus-I2C</value>
<value code="26">LanbaoPSK-CM8JL65-CC5</value>
<value code="27">BenewakeTF03</value>
<value code="28">VL53L1X-ShortRange</value>
<value code="29">LeddarVu8-Serial</value>
<value code="30">HC-SR04</value>
<value code="31">GYUS42v2</value>
<value code="32">MSP</value>
<value code="33">USD1_CAN</value>
<value code="34">Benewake_CAN</value>
<value code="35">TeraRangerSerial</value>
<value code="36">Lua_Scripting</value>
<value code="37">NoopLoop_TOFSense</value>
<value code="38">NoopLoop_TOFSense_CAN</value>
<value code="39">NRA24_CAN</value>
<value code="40">NoopLoop_TOFSenseF_I2C</value>
<value code="41">JRE_Serial</value>
<value code="42">Ainstein_LR_D1</value>
<value code="43">RDS02UF</value>
<value code="100">SITL</value>
</values>
</param>
<param humanName="Rangefinder pin" name="RNGFND5_PIN" documentation="Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input. When using analog pin 103, the maximum value of the input in 3.3V. For PWM input, the pin must be configured as a digital GPIO, see the Wiki's "GPIOs" section for details." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code="11">Pixracer</value>
<value code="13">Pixhawk ADC4</value>
<value code="14">Pixhawk ADC3</value>
<value code="15">Pixhawk ADC6/Pixhawk2 ADC</value>
<value code="50">AUX1</value>
<value code="51">AUX2</value>
<value code="52">AUX3</value>
<value code="53">AUX4</value>
<value code="54">AUX5</value>
<value code="55">AUX6</value>
<value code="103">Pixhawk SBUS</value>
</values>
</param>
<param humanName="Rangefinder scaling" name="RNGFND5_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. For Maxbotix serial sonar this is unit conversion to meters." user="Standard">
<field name="Units">m/V</field>
<field name="UnitText">meters per volt</field>
<field name="Increment">0.001</field>
</param>
<param humanName="rangefinder offset" name="RNGFND5_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars" user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Rangefinder function" name="RNGFND5_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="RNGFND5_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Increment">1</field>
</param>
<param humanName="Rangefinder maximum distance" name="RNGFND5_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Increment">1</field>
</param>
<param humanName="Rangefinder stop pin" name="RNGFND5_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code="50">AUX1</value>
<value code="51">AUX2</value>
<value code="52">AUX3</value>
<value code="53">AUX4</value>
<value code="54">AUX5</value>
<value code="55">AUX6</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="Ratiometric" name="RNGFND5_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="RNGFND5_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="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 32767</field>
</param>
<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND5_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="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Range">5 127</field>
<field name="Increment">1</field>
</param>
<param humanName="Bus address of sensor" name="RNGFND5_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses." user="Standard">
<field name="Range">0 127</field>
<field name="Increment">1</field>
</param>
<param humanName=" X position offset" name="RNGFND5_POS_X" documentation="X position of the 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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Y position offset" name="RNGFND5_POS_Y" documentation="Y position of the 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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Z position offset" name="RNGFND5_POS_Z" documentation="Z position of the 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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Rangefinder orientation" name="RNGFND5_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="Moving Average Range" name="RNGFND5_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Moving Median Filter" name="RNGFND5_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Frequency" name="RNGFND5_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
<field name="Range">0 10000</field>
</param>
<param humanName="Multi-pulse averages" name="RNGFND5_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Sensitivity threshold" name="RNGFND5_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
<field name="Range">-1 255</field>
</param>
<param humanName="Baud rate" name="RNGFND5_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
<values>
<value code="0">Low Speed</value>
<value code="1">High Speed</value>
</values>
</param>
<param humanName="RangeFinder CAN receive ID" name="RNGFND5_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
<field name="Range">0 65535</field>
</param>
<param humanName="RangeFinder Minimum signal strength" name="RNGFND5_SNR_MIN" documentation="RangeFinder Minimum signal strength (SNR) to accept distance" user="Advanced">
<field name="Range">0 65535</field>
</param>
</parameters>
<parameters name="RNGFND6_">
<param humanName="Rangefinder type" name="RNGFND6_TYPE" documentation="Type of connected rangefinder" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Analog</value>
<value code="2">MaxbotixI2C</value>
<value code="3">LidarLite-I2C</value>
<value code="5">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">USD1_Serial</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 or VL53L1X</value>
<value code="17">NMEA</value>
<value code="18">WASP-LRF</value>
<value code="19">BenewakeTF02</value>
<value code="20">Benewake-Serial</value>
<value code="21">LidarLightV3HP</value>
<value code="22">PWM</value>
<value code="23">BlueRoboticsPing</value>
<value code="24">DroneCAN</value>
<value code="25">BenewakeTFminiPlus-I2C</value>
<value code="26">LanbaoPSK-CM8JL65-CC5</value>
<value code="27">BenewakeTF03</value>
<value code="28">VL53L1X-ShortRange</value>
<value code="29">LeddarVu8-Serial</value>
<value code="30">HC-SR04</value>
<value code="31">GYUS42v2</value>
<value code="32">MSP</value>
<value code="33">USD1_CAN</value>
<value code="34">Benewake_CAN</value>
<value code="35">TeraRangerSerial</value>
<value code="36">Lua_Scripting</value>
<value code="37">NoopLoop_TOFSense</value>
<value code="38">NoopLoop_TOFSense_CAN</value>
<value code="39">NRA24_CAN</value>
<value code="40">NoopLoop_TOFSenseF_I2C</value>
<value code="41">JRE_Serial</value>
<value code="42">Ainstein_LR_D1</value>
<value code="43">RDS02UF</value>
<value code="100">SITL</value>
</values>
</param>
<param humanName="Rangefinder pin" name="RNGFND6_PIN" documentation="Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input. When using analog pin 103, the maximum value of the input in 3.3V. For PWM input, the pin must be configured as a digital GPIO, see the Wiki's "GPIOs" section for details." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code="11">Pixracer</value>
<value code="13">Pixhawk ADC4</value>
<value code="14">Pixhawk ADC3</value>
<value code="15">Pixhawk ADC6/Pixhawk2 ADC</value>
<value code="50">AUX1</value>
<value code="51">AUX2</value>
<value code="52">AUX3</value>
<value code="53">AUX4</value>
<value code="54">AUX5</value>
<value code="55">AUX6</value>
<value code="103">Pixhawk SBUS</value>
</values>
</param>
<param humanName="Rangefinder scaling" name="RNGFND6_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. For Maxbotix serial sonar this is unit conversion to meters." user="Standard">
<field name="Units">m/V</field>
<field name="UnitText">meters per volt</field>
<field name="Increment">0.001</field>
</param>
<param humanName="rangefinder offset" name="RNGFND6_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars" user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Rangefinder function" name="RNGFND6_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="RNGFND6_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Increment">1</field>
</param>
<param humanName="Rangefinder maximum distance" name="RNGFND6_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Increment">1</field>
</param>
<param humanName="Rangefinder stop pin" name="RNGFND6_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code="50">AUX1</value>
<value code="51">AUX2</value>
<value code="52">AUX3</value>
<value code="53">AUX4</value>
<value code="54">AUX5</value>
<value code="55">AUX6</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="Ratiometric" name="RNGFND6_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="RNGFND6_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="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 32767</field>
</param>
<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND6_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="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Range">5 127</field>
<field name="Increment">1</field>
</param>
<param humanName="Bus address of sensor" name="RNGFND6_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses." user="Standard">
<field name="Range">0 127</field>
<field name="Increment">1</field>
</param>
<param humanName=" X position offset" name="RNGFND6_POS_X" documentation="X position of the 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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Y position offset" name="RNGFND6_POS_Y" documentation="Y position of the 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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Z position offset" name="RNGFND6_POS_Z" documentation="Z position of the 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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Rangefinder orientation" name="RNGFND6_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="Moving Average Range" name="RNGFND6_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Moving Median Filter" name="RNGFND6_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Frequency" name="RNGFND6_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
<field name="Range">0 10000</field>
</param>
<param humanName="Multi-pulse averages" name="RNGFND6_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Sensitivity threshold" name="RNGFND6_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
<field name="Range">-1 255</field>
</param>
<param humanName="Baud rate" name="RNGFND6_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
<values>
<value code="0">Low Speed</value>
<value code="1">High Speed</value>
</values>
</param>
<param humanName="RangeFinder CAN receive ID" name="RNGFND6_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
<field name="Range">0 65535</field>
</param>
<param humanName="RangeFinder Minimum signal strength" name="RNGFND6_SNR_MIN" documentation="RangeFinder Minimum signal strength (SNR) to accept distance" user="Advanced">
<field name="Range">0 65535</field>
</param>
</parameters>
<parameters name="RNGFND7_">
<param humanName="Rangefinder type" name="RNGFND7_TYPE" documentation="Type of connected rangefinder" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Analog</value>
<value code="2">MaxbotixI2C</value>
<value code="3">LidarLite-I2C</value>
<value code="5">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">USD1_Serial</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 or VL53L1X</value>
<value code="17">NMEA</value>
<value code="18">WASP-LRF</value>
<value code="19">BenewakeTF02</value>
<value code="20">Benewake-Serial</value>
<value code="21">LidarLightV3HP</value>
<value code="22">PWM</value>
<value code="23">BlueRoboticsPing</value>
<value code="24">DroneCAN</value>
<value code="25">BenewakeTFminiPlus-I2C</value>
<value code="26">LanbaoPSK-CM8JL65-CC5</value>
<value code="27">BenewakeTF03</value>
<value code="28">VL53L1X-ShortRange</value>
<value code="29">LeddarVu8-Serial</value>
<value code="30">HC-SR04</value>
<value code="31">GYUS42v2</value>
<value code="32">MSP</value>
<value code="33">USD1_CAN</value>
<value code="34">Benewake_CAN</value>
<value code="35">TeraRangerSerial</value>
<value code="36">Lua_Scripting</value>
<value code="37">NoopLoop_TOFSense</value>
<value code="38">NoopLoop_TOFSense_CAN</value>
<value code="39">NRA24_CAN</value>
<value code="40">NoopLoop_TOFSenseF_I2C</value>
<value code="41">JRE_Serial</value>
<value code="42">Ainstein_LR_D1</value>
<value code="43">RDS02UF</value>
<value code="100">SITL</value>
</values>
</param>
<param humanName="Rangefinder pin" name="RNGFND7_PIN" documentation="Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input. When using analog pin 103, the maximum value of the input in 3.3V. For PWM input, the pin must be configured as a digital GPIO, see the Wiki's "GPIOs" section for details." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code="11">Pixracer</value>
<value code="13">Pixhawk ADC4</value>
<value code="14">Pixhawk ADC3</value>
<value code="15">Pixhawk ADC6/Pixhawk2 ADC</value>
<value code="50">AUX1</value>
<value code="51">AUX2</value>
<value code="52">AUX3</value>
<value code="53">AUX4</value>
<value code="54">AUX5</value>
<value code="55">AUX6</value>
<value code="103">Pixhawk SBUS</value>
</values>
</param>
<param humanName="Rangefinder scaling" name="RNGFND7_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. For Maxbotix serial sonar this is unit conversion to meters." user="Standard">
<field name="Units">m/V</field>
<field name="UnitText">meters per volt</field>
<field name="Increment">0.001</field>
</param>
<param humanName="rangefinder offset" name="RNGFND7_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars" user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Rangefinder function" name="RNGFND7_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="RNGFND7_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Increment">1</field>
</param>
<param humanName="Rangefinder maximum distance" name="RNGFND7_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Increment">1</field>
</param>
<param humanName="Rangefinder stop pin" name="RNGFND7_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code="50">AUX1</value>
<value code="51">AUX2</value>
<value code="52">AUX3</value>
<value code="53">AUX4</value>
<value code="54">AUX5</value>
<value code="55">AUX6</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="Ratiometric" name="RNGFND7_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="RNGFND7_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="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 32767</field>
</param>
<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND7_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="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Range">5 127</field>
<field name="Increment">1</field>
</param>
<param humanName="Bus address of sensor" name="RNGFND7_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses." user="Standard">
<field name="Range">0 127</field>
<field name="Increment">1</field>
</param>
<param humanName=" X position offset" name="RNGFND7_POS_X" documentation="X position of the 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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Y position offset" name="RNGFND7_POS_Y" documentation="Y position of the 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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Z position offset" name="RNGFND7_POS_Z" documentation="Z position of the 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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Rangefinder orientation" name="RNGFND7_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="Moving Average Range" name="RNGFND7_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Moving Median Filter" name="RNGFND7_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Frequency" name="RNGFND7_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
<field name="Range">0 10000</field>
</param>
<param humanName="Multi-pulse averages" name="RNGFND7_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Sensitivity threshold" name="RNGFND7_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
<field name="Range">-1 255</field>
</param>
<param humanName="Baud rate" name="RNGFND7_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
<values>
<value code="0">Low Speed</value>
<value code="1">High Speed</value>
</values>
</param>
<param humanName="RangeFinder CAN receive ID" name="RNGFND7_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
<field name="Range">0 65535</field>
</param>
<param humanName="RangeFinder Minimum signal strength" name="RNGFND7_SNR_MIN" documentation="RangeFinder Minimum signal strength (SNR) to accept distance" user="Advanced">
<field name="Range">0 65535</field>
</param>
</parameters>
<parameters name="RNGFND8_">
<param humanName="Rangefinder type" name="RNGFND8_TYPE" documentation="Type of connected rangefinder" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Analog</value>
<value code="2">MaxbotixI2C</value>
<value code="3">LidarLite-I2C</value>
<value code="5">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">USD1_Serial</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 or VL53L1X</value>
<value code="17">NMEA</value>
<value code="18">WASP-LRF</value>
<value code="19">BenewakeTF02</value>
<value code="20">Benewake-Serial</value>
<value code="21">LidarLightV3HP</value>
<value code="22">PWM</value>
<value code="23">BlueRoboticsPing</value>
<value code="24">DroneCAN</value>
<value code="25">BenewakeTFminiPlus-I2C</value>
<value code="26">LanbaoPSK-CM8JL65-CC5</value>
<value code="27">BenewakeTF03</value>
<value code="28">VL53L1X-ShortRange</value>
<value code="29">LeddarVu8-Serial</value>
<value code="30">HC-SR04</value>
<value code="31">GYUS42v2</value>
<value code="32">MSP</value>
<value code="33">USD1_CAN</value>
<value code="34">Benewake_CAN</value>
<value code="35">TeraRangerSerial</value>
<value code="36">Lua_Scripting</value>
<value code="37">NoopLoop_TOFSense</value>
<value code="38">NoopLoop_TOFSense_CAN</value>
<value code="39">NRA24_CAN</value>
<value code="40">NoopLoop_TOFSenseF_I2C</value>
<value code="41">JRE_Serial</value>
<value code="42">Ainstein_LR_D1</value>
<value code="43">RDS02UF</value>
<value code="100">SITL</value>
</values>
</param>
<param humanName="Rangefinder pin" name="RNGFND8_PIN" documentation="Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input. When using analog pin 103, the maximum value of the input in 3.3V. For PWM input, the pin must be configured as a digital GPIO, see the Wiki's "GPIOs" section for details." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code="11">Pixracer</value>
<value code="13">Pixhawk ADC4</value>
<value code="14">Pixhawk ADC3</value>
<value code="15">Pixhawk ADC6/Pixhawk2 ADC</value>
<value code="50">AUX1</value>
<value code="51">AUX2</value>
<value code="52">AUX3</value>
<value code="53">AUX4</value>
<value code="54">AUX5</value>
<value code="55">AUX6</value>
<value code="103">Pixhawk SBUS</value>
</values>
</param>
<param humanName="Rangefinder scaling" name="RNGFND8_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. For Maxbotix serial sonar this is unit conversion to meters." user="Standard">
<field name="Units">m/V</field>
<field name="UnitText">meters per volt</field>
<field name="Increment">0.001</field>
</param>
<param humanName="rangefinder offset" name="RNGFND8_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars" user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Rangefinder function" name="RNGFND8_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="RNGFND8_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Increment">1</field>
</param>
<param humanName="Rangefinder maximum distance" name="RNGFND8_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Increment">1</field>
</param>
<param humanName="Rangefinder stop pin" name="RNGFND8_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code="50">AUX1</value>
<value code="51">AUX2</value>
<value code="52">AUX3</value>
<value code="53">AUX4</value>
<value code="54">AUX5</value>
<value code="55">AUX6</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="Ratiometric" name="RNGFND8_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="RNGFND8_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="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 32767</field>
</param>
<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND8_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="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Range">5 127</field>
<field name="Increment">1</field>
</param>
<param humanName="Bus address of sensor" name="RNGFND8_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses." user="Standard">
<field name="Range">0 127</field>
<field name="Increment">1</field>
</param>
<param humanName=" X position offset" name="RNGFND8_POS_X" documentation="X position of the 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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Y position offset" name="RNGFND8_POS_Y" documentation="Y position of the 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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Z position offset" name="RNGFND8_POS_Z" documentation="Z position of the 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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Rangefinder orientation" name="RNGFND8_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="Moving Average Range" name="RNGFND8_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Moving Median Filter" name="RNGFND8_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Frequency" name="RNGFND8_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
<field name="Range">0 10000</field>
</param>
<param humanName="Multi-pulse averages" name="RNGFND8_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Sensitivity threshold" name="RNGFND8_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
<field name="Range">-1 255</field>
</param>
<param humanName="Baud rate" name="RNGFND8_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
<values>
<value code="0">Low Speed</value>
<value code="1">High Speed</value>
</values>
</param>
<param humanName="RangeFinder CAN receive ID" name="RNGFND8_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
<field name="Range">0 65535</field>
</param>
<param humanName="RangeFinder Minimum signal strength" name="RNGFND8_SNR_MIN" documentation="RangeFinder Minimum signal strength (SNR) to accept distance" user="Advanced">
<field name="Range">0 65535</field>
</param>
</parameters>
<parameters name="RNGFND9_">
<param humanName="Rangefinder type" name="RNGFND9_TYPE" documentation="Type of connected rangefinder" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Analog</value>
<value code="2">MaxbotixI2C</value>
<value code="3">LidarLite-I2C</value>
<value code="5">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">USD1_Serial</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 or VL53L1X</value>
<value code="17">NMEA</value>
<value code="18">WASP-LRF</value>
<value code="19">BenewakeTF02</value>
<value code="20">Benewake-Serial</value>
<value code="21">LidarLightV3HP</value>
<value code="22">PWM</value>
<value code="23">BlueRoboticsPing</value>
<value code="24">DroneCAN</value>
<value code="25">BenewakeTFminiPlus-I2C</value>
<value code="26">LanbaoPSK-CM8JL65-CC5</value>
<value code="27">BenewakeTF03</value>
<value code="28">VL53L1X-ShortRange</value>
<value code="29">LeddarVu8-Serial</value>
<value code="30">HC-SR04</value>
<value code="31">GYUS42v2</value>
<value code="32">MSP</value>
<value code="33">USD1_CAN</value>
<value code="34">Benewake_CAN</value>
<value code="35">TeraRangerSerial</value>
<value code="36">Lua_Scripting</value>
<value code="37">NoopLoop_TOFSense</value>
<value code="38">NoopLoop_TOFSense_CAN</value>
<value code="39">NRA24_CAN</value>
<value code="40">NoopLoop_TOFSenseF_I2C</value>
<value code="41">JRE_Serial</value>
<value code="42">Ainstein_LR_D1</value>
<value code="43">RDS02UF</value>
<value code="100">SITL</value>
</values>
</param>
<param humanName="Rangefinder pin" name="RNGFND9_PIN" documentation="Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input. When using analog pin 103, the maximum value of the input in 3.3V. For PWM input, the pin must be configured as a digital GPIO, see the Wiki's "GPIOs" section for details." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code="11">Pixracer</value>
<value code="13">Pixhawk ADC4</value>
<value code="14">Pixhawk ADC3</value>
<value code="15">Pixhawk ADC6/Pixhawk2 ADC</value>
<value code="50">AUX1</value>
<value code="51">AUX2</value>
<value code="52">AUX3</value>
<value code="53">AUX4</value>
<value code="54">AUX5</value>
<value code="55">AUX6</value>
<value code="103">Pixhawk SBUS</value>
</values>
</param>
<param humanName="Rangefinder scaling" name="RNGFND9_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. For Maxbotix serial sonar this is unit conversion to meters." user="Standard">
<field name="Units">m/V</field>
<field name="UnitText">meters per volt</field>
<field name="Increment">0.001</field>
</param>
<param humanName="rangefinder offset" name="RNGFND9_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars" user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Rangefinder function" name="RNGFND9_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="RNGFND9_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Increment">1</field>
</param>
<param humanName="Rangefinder maximum distance" name="RNGFND9_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Increment">1</field>
</param>
<param humanName="Rangefinder stop pin" name="RNGFND9_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code="50">AUX1</value>
<value code="51">AUX2</value>
<value code="52">AUX3</value>
<value code="53">AUX4</value>
<value code="54">AUX5</value>
<value code="55">AUX6</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="Ratiometric" name="RNGFND9_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="RNGFND9_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="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 32767</field>
</param>
<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFND9_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="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Range">5 127</field>
<field name="Increment">1</field>
</param>
<param humanName="Bus address of sensor" name="RNGFND9_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses." user="Standard">
<field name="Range">0 127</field>
<field name="Increment">1</field>
</param>
<param humanName=" X position offset" name="RNGFND9_POS_X" documentation="X position of the 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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Y position offset" name="RNGFND9_POS_Y" documentation="Y position of the 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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Z position offset" name="RNGFND9_POS_Z" documentation="Z position of the 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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Rangefinder orientation" name="RNGFND9_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="Moving Average Range" name="RNGFND9_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Moving Median Filter" name="RNGFND9_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Frequency" name="RNGFND9_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
<field name="Range">0 10000</field>
</param>
<param humanName="Multi-pulse averages" name="RNGFND9_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Sensitivity threshold" name="RNGFND9_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
<field name="Range">-1 255</field>
</param>
<param humanName="Baud rate" name="RNGFND9_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
<values>
<value code="0">Low Speed</value>
<value code="1">High Speed</value>
</values>
</param>
<param humanName="RangeFinder CAN receive ID" name="RNGFND9_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
<field name="Range">0 65535</field>
</param>
<param humanName="RangeFinder Minimum signal strength" name="RNGFND9_SNR_MIN" documentation="RangeFinder Minimum signal strength (SNR) to accept distance" user="Advanced">
<field name="Range">0 65535</field>
</param>
</parameters>
<parameters name="RNGFNDA_">
<param humanName="Rangefinder type" name="RNGFNDA_TYPE" documentation="Type of connected rangefinder" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Analog</value>
<value code="2">MaxbotixI2C</value>
<value code="3">LidarLite-I2C</value>
<value code="5">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">USD1_Serial</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 or VL53L1X</value>
<value code="17">NMEA</value>
<value code="18">WASP-LRF</value>
<value code="19">BenewakeTF02</value>
<value code="20">Benewake-Serial</value>
<value code="21">LidarLightV3HP</value>
<value code="22">PWM</value>
<value code="23">BlueRoboticsPing</value>
<value code="24">DroneCAN</value>
<value code="25">BenewakeTFminiPlus-I2C</value>
<value code="26">LanbaoPSK-CM8JL65-CC5</value>
<value code="27">BenewakeTF03</value>
<value code="28">VL53L1X-ShortRange</value>
<value code="29">LeddarVu8-Serial</value>
<value code="30">HC-SR04</value>
<value code="31">GYUS42v2</value>
<value code="32">MSP</value>
<value code="33">USD1_CAN</value>
<value code="34">Benewake_CAN</value>
<value code="35">TeraRangerSerial</value>
<value code="36">Lua_Scripting</value>
<value code="37">NoopLoop_TOFSense</value>
<value code="38">NoopLoop_TOFSense_CAN</value>
<value code="39">NRA24_CAN</value>
<value code="40">NoopLoop_TOFSenseF_I2C</value>
<value code="41">JRE_Serial</value>
<value code="42">Ainstein_LR_D1</value>
<value code="43">RDS02UF</value>
<value code="100">SITL</value>
</values>
</param>
<param humanName="Rangefinder pin" name="RNGFNDA_PIN" documentation="Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input. When using analog pin 103, the maximum value of the input in 3.3V. For PWM input, the pin must be configured as a digital GPIO, see the Wiki's "GPIOs" section for details." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code="11">Pixracer</value>
<value code="13">Pixhawk ADC4</value>
<value code="14">Pixhawk ADC3</value>
<value code="15">Pixhawk ADC6/Pixhawk2 ADC</value>
<value code="50">AUX1</value>
<value code="51">AUX2</value>
<value code="52">AUX3</value>
<value code="53">AUX4</value>
<value code="54">AUX5</value>
<value code="55">AUX6</value>
<value code="103">Pixhawk SBUS</value>
</values>
</param>
<param humanName="Rangefinder scaling" name="RNGFNDA_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. For Maxbotix serial sonar this is unit conversion to meters." user="Standard">
<field name="Units">m/V</field>
<field name="UnitText">meters per volt</field>
<field name="Increment">0.001</field>
</param>
<param humanName="rangefinder offset" name="RNGFNDA_OFFSET" documentation="Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars" user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.001</field>
</param>
<param humanName="Rangefinder function" name="RNGFNDA_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="RNGFNDA_MIN_CM" documentation="Minimum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Increment">1</field>
</param>
<param humanName="Rangefinder maximum distance" name="RNGFNDA_MAX_CM" documentation="Maximum distance in centimeters that rangefinder can reliably read" user="Standard">
<field name="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Increment">1</field>
</param>
<param humanName="Rangefinder stop pin" name="RNGFNDA_STOP_PIN" documentation="Digital pin that enables/disables rangefinder measurement for the pwm 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 is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Not Used</value>
<value code="50">AUX1</value>
<value code="51">AUX2</value>
<value code="52">AUX3</value>
<value code="53">AUX4</value>
<value code="54">AUX5</value>
<value code="55">AUX6</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="Ratiometric" name="RNGFNDA_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="RNGFNDA_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="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 32767</field>
</param>
<param humanName="Distance (in cm) from the range finder to the ground" name="RNGFNDA_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="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Range">5 127</field>
<field name="Increment">1</field>
</param>
<param humanName="Bus address of sensor" name="RNGFNDA_ADDR" documentation="This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses." user="Standard">
<field name="Range">0 127</field>
<field name="Increment">1</field>
</param>
<param humanName=" X position offset" name="RNGFNDA_POS_X" documentation="X position of the 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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Y position offset" name="RNGFNDA_POS_Y" documentation="Y position of the 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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Z position offset" name="RNGFNDA_POS_Z" documentation="Z position of the 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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</field>
</param>
<param humanName="Rangefinder orientation" name="RNGFNDA_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="Moving Average Range" name="RNGFNDA_WSP_MAVG" documentation="Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Moving Median Filter" name="RNGFNDA_WSP_MEDF" documentation="Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Frequency" name="RNGFNDA_WSP_FRQ" documentation="Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers." user="Advanced">
<field name="Range">0 10000</field>
</param>
<param humanName="Multi-pulse averages" name="RNGFNDA_WSP_AVG" documentation="Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement" user="Advanced">
<field name="Range">0 255</field>
</param>
<param humanName="Sensitivity threshold" name="RNGFNDA_WSP_THR" documentation="Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments" user="Advanced">
<field name="Range">-1 255</field>
</param>
<param humanName="Baud rate" name="RNGFNDA_WSP_BAUD" documentation="Desired baud rate" user="Advanced">
<values>
<value code="0">Low Speed</value>
<value code="1">High Speed</value>
</values>
</param>
<param humanName="RangeFinder CAN receive ID" name="RNGFNDA_RECV_ID" documentation="The receive ID of the CAN frames. A value of zero means all IDs are accepted." user="Advanced">
<field name="Range">0 65535</field>
</param>
<param humanName="RangeFinder Minimum signal strength" name="RNGFNDA_SNR_MIN" documentation="RangeFinder Minimum signal strength (SNR) to accept distance" user="Advanced">
<field name="Range">0 65535</field>
</param>
</parameters>
<parameters name="RPM1_">
<param humanName="RPM type" name="RPM1_TYPE" documentation="What type of RPM sensor is connected" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Not Used</value>
<value code="2">GPIO</value>
<value code="3">EFI</value>
<value code="4">Harmonic Notch</value>
<value code="5">ESC Telemetry Motors Bitmask</value>
<value code="6">Generator</value>
</values>
</param>
<param humanName="RPM scaling" name="RPM1_SCALING" documentation="Scaling factor between sensor reading and RPM." user="Standard">
<field name="Increment">0.001</field>
</param>
<param humanName="Maximum RPM" name="RPM1_MAX" documentation="Maximum RPM to report. Only used on type = GPIO." user="Standard">
<field name="Increment">1</field>
</param>
<param humanName="Minimum RPM" name="RPM1_MIN" documentation="Minimum RPM to report. Only used on type = GPIO." user="Standard">
<field name="Increment">1</field>
</param>
<param humanName="Minimum Quality" name="RPM1_MIN_QUAL" documentation="Minimum data quality to be used" user="Advanced">
<field name="Increment">0.1</field>
</param>
<param humanName="Input pin number" name="RPM1_PIN" documentation="Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">AUX1</value>
<value code="51">AUX2</value>
<value code="52">AUX3</value>
<value code="53">AUX4</value>
<value code="54">AUX5</value>
<value code="55">AUX6</value>
</values>
</param>
<param humanName="Bitmask of ESC telemetry channels to average" name="RPM1_ESC_MASK" documentation="Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged" 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="ESC Telemetry Index to write RPM to" name="RPM1_ESC_INDEX" documentation="ESC Telemetry Index to write RPM to. Use 0 to disable." user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
</param>
</parameters>
<parameters name="RPM2_">
<param humanName="RPM type" name="RPM2_TYPE" documentation="What type of RPM sensor is connected" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Not Used</value>
<value code="2">GPIO</value>
<value code="3">EFI</value>
<value code="4">Harmonic Notch</value>
<value code="5">ESC Telemetry Motors Bitmask</value>
<value code="6">Generator</value>
</values>
</param>
<param humanName="RPM scaling" name="RPM2_SCALING" documentation="Scaling factor between sensor reading and RPM." user="Standard">
<field name="Increment">0.001</field>
</param>
<param humanName="Maximum RPM" name="RPM2_MAX" documentation="Maximum RPM to report. Only used on type = GPIO." user="Standard">
<field name="Increment">1</field>
</param>
<param humanName="Minimum RPM" name="RPM2_MIN" documentation="Minimum RPM to report. Only used on type = GPIO." user="Standard">
<field name="Increment">1</field>
</param>
<param humanName="Minimum Quality" name="RPM2_MIN_QUAL" documentation="Minimum data quality to be used" user="Advanced">
<field name="Increment">0.1</field>
</param>
<param humanName="Input pin number" name="RPM2_PIN" documentation="Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="50">AUX1</value>
<value code="51">AUX2</value>
<value code="52">AUX3</value>
<value code="53">AUX4</value>
<value code="54">AUX5</value>
<value code="55">AUX6</value>
</values>
</param>
<param humanName="Bitmask of ESC telemetry channels to average" name="RPM2_ESC_MASK" documentation="Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged" 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="ESC Telemetry Index to write RPM to" name="RPM2_ESC_INDEX" documentation="ESC Telemetry Index to write RPM to. Use 0 to disable." user="Advanced">
<field name="Range">0 10</field>
<field name="Increment">1</field>
</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>
<value code="4">PWMInputPin</value>
<value code="5">TelemetryRadioRSSI</value>
</values>
</param>
<param humanName="Receiver RSSI sensing pin" name="RSSI_ANA_PIN" documentation="Pin used to read the RSSI voltage or PWM value" user="Standard">
<values>
<value code="8">V5 Nano</value>
<value code="11">Pixracer</value>
<value code="13">Pixhawk ADC4</value>
<value code="14">Pixhawk ADC3</value>
<value code="15">Pixhawk ADC6/Pixhawk2 ADC</value>
<value code="50">AUX1</value>
<value code="51">AUX2</value>
<value code="52">AUX3</value>
<value code="53">AUX4</value>
<value code="54">AUX5</value>
<value code="55">AUX6</value>
<value code="103">Pixhawk SBUS</value>
</values>
</param>
<param humanName="RSSI pin's lowest voltage" name="RSSI_PIN_LOW" documentation="RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers put out inverted values so this value may be higher than RSSI_PIN_HIGH. When using pin 103, the maximum value of the parameter is 3.3V." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.01</field>
<field name="Range">0 5.0</field>
</param>
<param humanName="RSSI pin's highest voltage" name="RSSI_PIN_HIGH" documentation="RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers put out inverted values so this value may be lower than RSSI_PIN_LOW. When using pin 103, the maximum value of the parameter is 3.3V." user="Standard">
<field name="Units">V</field>
<field name="UnitText">volt</field>
<field name="Increment">0.01</field>
<field name="Range">0 5.0</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">
<field name="Range">0 16</field>
</param>
<param humanName="RSSI PWM low value" name="RSSI_CHAN_LOW" documentation="PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers output inverted values so this value may be lower than RSSI_CHAN_HIGH" user="Standard">
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">0 2000</field>
</param>
<param humanName="Receiver RSSI PWM high value" name="RSSI_CHAN_HIGH" documentation="PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers output inverted values so this value may be higher than RSSI_CHAN_LOW" user="Standard">
<field name="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">0 2000</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>
<param humanName="Scheduling options" name="SCHED_OPTIONS" documentation="This controls optional aspects of the scheduler." user="Advanced">
<field name="Bitmask">0:Enable per-task perf info</field>
</param>
</parameters>
<parameters name="SCR_">
<param humanName="Enable Scripting" name="SCR_ENABLE" documentation="Controls if scripting is enabled" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">Lua Scripts</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Scripting Virtual Machine Instruction Count" name="SCR_VM_I_COUNT" documentation="The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time" user="Advanced">
<field name="Range">1000 1000000</field>
<field name="Increment">10000</field>
</param>
<param humanName="Scripting Heap Size" name="SCR_HEAP_SIZE" documentation="Amount of memory available for scripting" user="Advanced">
<field name="Range">1024 1048576</field>
<field name="Increment">1024</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Scripting Debug Level" name="SCR_DEBUG_OPTS" documentation="Debugging options" user="Advanced">
<field name="Bitmask">0: No Scripts to run message if all scripts have stopped, 1: Runtime messages for memory usage and execution time, 2: Suppress logging scripts to dataflash, 3: log runtime memory usage and execution time, 4: Disable pre-arm check, 5: Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm</field>
</param>
<param humanName="Scripting User Parameter1" name="SCR_USER1" documentation="General purpose user variable input for scripts" user="Standard">
</param>
<param humanName="Scripting User Parameter2" name="SCR_USER2" documentation="General purpose user variable input for scripts" user="Standard">
</param>
<param humanName="Scripting User Parameter3" name="SCR_USER3" documentation="General purpose user variable input for scripts" user="Standard">
</param>
<param humanName="Scripting User Parameter4" name="SCR_USER4" documentation="General purpose user variable input for scripts" user="Standard">
</param>
<param humanName="Scripting User Parameter5" name="SCR_USER5" documentation="General purpose user variable input for scripts" user="Standard">
</param>
<param humanName="Scripting User Parameter6" name="SCR_USER6" documentation="General purpose user variable input for scripts" user="Standard">
</param>
<param humanName="Directory disable" name="SCR_DIR_DISABLE" documentation="This will stop scripts being loaded from the given locations" user="Advanced">
<field name="Bitmask">0:ROMFS, 1:APM/scripts</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Loaded script checksum" name="SCR_LD_CHECKSUM" documentation="Required XOR of CRC32 checksum of loaded scripts, vehicle will not arm with incorrect scripts loaded, -1 disables" user="Advanced">
</param>
<param humanName="Running script checksum" name="SCR_RUN_CHECKSUM" documentation="Required XOR of CRC32 checksum of running scripts, vehicle will not arm with incorrect scripts running, -1 disables" user="Advanced">
</param>
<param humanName="Scripting thread priority" name="SCR_THD_PRIORITY" documentation="This sets the priority of the scripting thread. This is normally set to a low priority to prevent scripts from interfering with other parts of the system. Advanced users can change this priority if scripting needs to be prioritised for realtime applications. WARNING: changing this parameter can impact the stability of your flight controller. The scipting thread priority in this parameter is chosen based on a set of system level priorities for other subsystems. It is strongly recommended that you use the lowest priority that is sufficient for your application. Note that all scripts run at the same priority, so if you raise this priority you must carefully audit all lua scripts for behaviour that does not interfere with the operation of the system." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">IO Priority</value>
<value code="2">Storage Priority</value>
<value code="3">UART Priority</value>
<value code="4">I2C Priority</value>
<value code="5">SPI Priority</value>
<value code="6">Timer Priority</value>
<value code="7">Main Priority</value>
<value code="8">Boost Priority</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. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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="230">230400</value>
<value code="256">256000</value>
<value code="460">460800</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
<value code="2000">2000000</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">Gimbal</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>
<value code="18">OpticalFlow</value>
<value code="19">RobotisServo</value>
<value code="20">NMEA Output</value>
<value code="21">WindVane</value>
<value code="22">SLCAN</value>
<value code="23">RCIN</value>
<value code="24">EFI Serial</value>
<value code="25">LTM</value>
<value code="26">RunCam</value>
<value code="27">HottTelem</value>
<value code="28">Scripting</value>
<value code="29">Crossfire VTX</value>
<value code="30">Generator</value>
<value code="31">Winch</value>
<value code="32">MSP</value>
<value code="33">DJI FPV</value>
<value code="34">AirSpeed</value>
<value code="35">ADSB</value>
<value code="36">AHRS</value>
<value code="37">SmartAudio</value>
<value code="38">FETtecOneWire</value>
<value code="39">Torqeedo</value>
<value code="40">AIS</value>
<value code="41">CoDevESC</value>
<value code="42">DisplayPort</value>
<value code="43">MAVLink High Latency</value>
<value code="44">IRC Tramp</value>
<value code="45">DDS XRCE</value>
<value code="46">IMUDATA</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. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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="230">230400</value>
<value code="256">256000</value>
<value code="460">460800</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
<value code="2000">2000000</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">
<field name="RebootRequired">True</field>
<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">Gimbal</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>
<value code="18">OpticalFlow</value>
<value code="19">RobotisServo</value>
<value code="20">NMEA Output</value>
<value code="21">WindVane</value>
<value code="22">SLCAN</value>
<value code="23">RCIN</value>
<value code="24">EFI Serial</value>
<value code="25">LTM</value>
<value code="26">RunCam</value>
<value code="27">HottTelem</value>
<value code="28">Scripting</value>
<value code="29">Crossfire VTX</value>
<value code="30">Generator</value>
<value code="31">Winch</value>
<value code="32">MSP</value>
<value code="33">DJI FPV</value>
<value code="34">AirSpeed</value>
<value code="35">ADSB</value>
<value code="36">AHRS</value>
<value code="37">SmartAudio</value>
<value code="38">FETtecOneWire</value>
<value code="39">Torqeedo</value>
<value code="40">AIS</value>
<value code="41">CoDevESC</value>
<value code="42">DisplayPort</value>
<value code="43">MAVLink High Latency</value>
<value code="44">IRC Tramp</value>
<value code="45">DDS XRCE</value>
<value code="46">IMUDATA</value>
</values>
</param>
<param humanName="Telemetry 2 Baud Rate" name="SERIAL2_BAUD" documentation="The baud rate of the Telem2 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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="230">230400</value>
<value code="256">256000</value>
<value code="460">460800</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
<value code="2000">2000000</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">
<field name="RebootRequired">True</field>
<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">Gimbal</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>
<value code="18">OpticalFlow</value>
<value code="19">RobotisServo</value>
<value code="20">NMEA Output</value>
<value code="21">WindVane</value>
<value code="22">SLCAN</value>
<value code="23">RCIN</value>
<value code="24">EFI Serial</value>
<value code="25">LTM</value>
<value code="26">RunCam</value>
<value code="27">HottTelem</value>
<value code="28">Scripting</value>
<value code="29">Crossfire VTX</value>
<value code="30">Generator</value>
<value code="31">Winch</value>
<value code="32">MSP</value>
<value code="33">DJI FPV</value>
<value code="34">AirSpeed</value>
<value code="35">ADSB</value>
<value code="36">AHRS</value>
<value code="37">SmartAudio</value>
<value code="38">FETtecOneWire</value>
<value code="39">Torqeedo</value>
<value code="40">AIS</value>
<value code="41">CoDevESC</value>
<value code="42">DisplayPort</value>
<value code="43">MAVLink High Latency</value>
<value code="44">IRC Tramp</value>
<value code="45">DDS XRCE</value>
<value code="46">IMUDATA</value>
</values>
</param>
<param humanName="Serial 3 (GPS) Baud Rate" name="SERIAL3_BAUD" documentation="The baud rate used for the Serial 3 (GPS). Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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="230">230400</value>
<value code="256">256000</value>
<value code="460">460800</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
<value code="2000">2000000</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">
<field name="RebootRequired">True</field>
<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">Gimbal</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>
<value code="18">OpticalFlow</value>
<value code="19">RobotisServo</value>
<value code="20">NMEA Output</value>
<value code="21">WindVane</value>
<value code="22">SLCAN</value>
<value code="23">RCIN</value>
<value code="24">EFI Serial</value>
<value code="25">LTM</value>
<value code="26">RunCam</value>
<value code="27">HottTelem</value>
<value code="28">Scripting</value>
<value code="29">Crossfire VTX</value>
<value code="30">Generator</value>
<value code="31">Winch</value>
<value code="32">MSP</value>
<value code="33">DJI FPV</value>
<value code="34">AirSpeed</value>
<value code="35">ADSB</value>
<value code="36">AHRS</value>
<value code="37">SmartAudio</value>
<value code="38">FETtecOneWire</value>
<value code="39">Torqeedo</value>
<value code="40">AIS</value>
<value code="41">CoDevESC</value>
<value code="42">DisplayPort</value>
<value code="43">MAVLink High Latency</value>
<value code="44">IRC Tramp</value>
<value code="45">DDS XRCE</value>
<value code="46">IMUDATA</value>
</values>
</param>
<param humanName="Serial 4 Baud Rate" name="SERIAL4_BAUD" documentation="The baud rate used for Serial4. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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="230">230400</value>
<value code="256">256000</value>
<value code="460">460800</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
<value code="2000">2000000</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">
<field name="RebootRequired">True</field>
<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">Gimbal</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>
<value code="18">OpticalFlow</value>
<value code="19">RobotisServo</value>
<value code="20">NMEA Output</value>
<value code="21">WindVane</value>
<value code="22">SLCAN</value>
<value code="23">RCIN</value>
<value code="24">EFI Serial</value>
<value code="25">LTM</value>
<value code="26">RunCam</value>
<value code="27">HottTelem</value>
<value code="28">Scripting</value>
<value code="29">Crossfire VTX</value>
<value code="30">Generator</value>
<value code="31">Winch</value>
<value code="32">MSP</value>
<value code="33">DJI FPV</value>
<value code="34">AirSpeed</value>
<value code="35">ADSB</value>
<value code="36">AHRS</value>
<value code="37">SmartAudio</value>
<value code="38">FETtecOneWire</value>
<value code="39">Torqeedo</value>
<value code="40">AIS</value>
<value code="41">CoDevESC</value>
<value code="42">DisplayPort</value>
<value code="43">MAVLink High Latency</value>
<value code="44">IRC Tramp</value>
<value code="45">DDS XRCE</value>
<value code="46">IMUDATA</value>
</values>
</param>
<param humanName="Serial 5 Baud Rate" name="SERIAL5_BAUD" documentation="The baud rate used for Serial5. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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="230">230400</value>
<value code="256">256000</value>
<value code="460">460800</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
<value code="2000">2000000</value>
</values>
</param>
<param humanName="Serial6 protocol selection" name="SERIAL6_PROTOCOL" documentation="Control what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
<field name="RebootRequired">True</field>
<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">Gimbal</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>
<value code="18">OpticalFlow</value>
<value code="19">RobotisServo</value>
<value code="20">NMEA Output</value>
<value code="21">WindVane</value>
<value code="22">SLCAN</value>
<value code="23">RCIN</value>
<value code="24">EFI Serial</value>
<value code="25">LTM</value>
<value code="26">RunCam</value>
<value code="27">HottTelem</value>
<value code="28">Scripting</value>
<value code="29">Crossfire VTX</value>
<value code="30">Generator</value>
<value code="31">Winch</value>
<value code="32">MSP</value>
<value code="33">DJI FPV</value>
<value code="34">AirSpeed</value>
<value code="35">ADSB</value>
<value code="36">AHRS</value>
<value code="37">SmartAudio</value>
<value code="38">FETtecOneWire</value>
<value code="39">Torqeedo</value>
<value code="40">AIS</value>
<value code="41">CoDevESC</value>
<value code="42">DisplayPort</value>
<value code="43">MAVLink High Latency</value>
<value code="44">IRC Tramp</value>
<value code="45">DDS XRCE</value>
<value code="46">IMUDATA</value>
</values>
</param>
<param humanName="Serial 6 Baud Rate" name="SERIAL6_BAUD" documentation="The baud rate used for Serial6. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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="230">230400</value>
<value code="256">256000</value>
<value code="460">460800</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
<value code="2000">2000000</value>
</values>
</param>
<param humanName="Telem1 options" name="SERIAL1_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards." user="Advanced">
<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Telem2 options" name="SERIAL2_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards." user="Advanced">
<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial3 options" name="SERIAL3_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards." user="Advanced">
<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial4 options" name="SERIAL4_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards." user="Advanced">
<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial5 options" name="SERIAL5_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards." user="Advanced">
<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial6 options" name="SERIAL6_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards." user="Advanced">
<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial passthru first port" name="SERIAL_PASS1" documentation="This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port" user="Advanced">
<values>
<value code="-1">Disabled</value>
<value code="0">Serial0</value>
<value code="1">Serial1</value>
<value code="2">Serial2</value>
<value code="3">Serial3</value>
<value code="4">Serial4</value>
<value code="5">Serial5</value>
<value code="6">Serial6</value>
</values>
</param>
<param humanName="Serial passthru second port" name="SERIAL_PASS2" documentation="This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port" user="Advanced">
<values>
<value code="-1">Disabled</value>
<value code="0">Serial0</value>
<value code="1">Serial1</value>
<value code="2">Serial2</value>
<value code="3">Serial3</value>
<value code="4">Serial4</value>
<value code="5">Serial5</value>
<value code="6">Serial6</value>
</values>
</param>
<param humanName="Serial passthru timeout" name="SERIAL_PASSTIMO" documentation="This sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout." user="Advanced">
<field name="Range">0 120</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="Serial7 protocol selection" name="SERIAL7_PROTOCOL" documentation="Control what protocol Serial7 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
<field name="RebootRequired">True</field>
<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">Gimbal</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>
<value code="18">OpticalFlow</value>
<value code="19">RobotisServo</value>
<value code="20">NMEA Output</value>
<value code="21">WindVane</value>
<value code="22">SLCAN</value>
<value code="23">RCIN</value>
<value code="24">EFI Serial</value>
<value code="25">LTM</value>
<value code="26">RunCam</value>
<value code="27">HottTelem</value>
<value code="28">Scripting</value>
<value code="29">Crossfire VTX</value>
<value code="30">Generator</value>
<value code="31">Winch</value>
<value code="32">MSP</value>
<value code="33">DJI FPV</value>
<value code="34">AirSpeed</value>
<value code="35">ADSB</value>
<value code="36">AHRS</value>
<value code="37">SmartAudio</value>
<value code="38">FETtecOneWire</value>
<value code="39">Torqeedo</value>
<value code="40">AIS</value>
<value code="41">CoDevESC</value>
<value code="42">DisplayPort</value>
<value code="43">MAVLink High Latency</value>
<value code="44">IRC Tramp</value>
<value code="45">DDS XRCE</value>
<value code="46">IMUDATA</value>
</values>
</param>
<param humanName="Serial 7 Baud Rate" name="SERIAL7_BAUD" documentation="The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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="230">230400</value>
<value code="256">256000</value>
<value code="460">460800</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
<value code="2000">2000000</value>
</values>
</param>
<param humanName="Serial7 options" name="SERIAL7_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards." user="Advanced">
<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial8 protocol selection" name="SERIAL8_PROTOCOL" documentation="Control what protocol Serial8 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
<field name="RebootRequired">True</field>
<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">Gimbal</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>
<value code="18">OpticalFlow</value>
<value code="19">RobotisServo</value>
<value code="20">NMEA Output</value>
<value code="21">WindVane</value>
<value code="22">SLCAN</value>
<value code="23">RCIN</value>
<value code="24">EFI Serial</value>
<value code="25">LTM</value>
<value code="26">RunCam</value>
<value code="27">HottTelem</value>
<value code="28">Scripting</value>
<value code="29">Crossfire VTX</value>
<value code="30">Generator</value>
<value code="31">Winch</value>
<value code="32">MSP</value>
<value code="33">DJI FPV</value>
<value code="34">AirSpeed</value>
<value code="35">ADSB</value>
<value code="36">AHRS</value>
<value code="37">SmartAudio</value>
<value code="38">FETtecOneWire</value>
<value code="39">Torqeedo</value>
<value code="40">AIS</value>
<value code="41">CoDevESC</value>
<value code="42">DisplayPort</value>
<value code="43">MAVLink High Latency</value>
<value code="44">IRC Tramp</value>
<value code="45">DDS XRCE</value>
<value code="46">IMUDATA</value>
</values>
</param>
<param humanName="Serial 8 Baud Rate" name="SERIAL8_BAUD" documentation="The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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="230">230400</value>
<value code="256">256000</value>
<value code="460">460800</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
<value code="2000">2000000</value>
</values>
</param>
<param humanName="Serial8 options" name="SERIAL8_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards." user="Advanced">
<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Serial9 protocol selection" name="SERIAL9_PROTOCOL" documentation="Control what protocol Serial9 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details." user="Standard">
<field name="RebootRequired">True</field>
<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">Gimbal</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>
<value code="18">OpticalFlow</value>
<value code="19">RobotisServo</value>
<value code="20">NMEA Output</value>
<value code="21">WindVane</value>
<value code="22">SLCAN</value>
<value code="23">RCIN</value>
<value code="24">EFI Serial</value>
<value code="25">LTM</value>
<value code="26">RunCam</value>
<value code="27">HottTelem</value>
<value code="28">Scripting</value>
<value code="29">Crossfire VTX</value>
<value code="30">Generator</value>
<value code="31">Winch</value>
<value code="32">MSP</value>
<value code="33">DJI FPV</value>
<value code="34">AirSpeed</value>
<value code="35">ADSB</value>
<value code="36">AHRS</value>
<value code="37">SmartAudio</value>
<value code="38">FETtecOneWire</value>
<value code="39">Torqeedo</value>
<value code="40">AIS</value>
<value code="41">CoDevESC</value>
<value code="42">DisplayPort</value>
<value code="43">MAVLink High Latency</value>
<value code="44">IRC Tramp</value>
<value code="45">DDS XRCE</value>
<value code="46">IMUDATA</value>
</values>
</param>
<param humanName="Serial 9 Baud Rate" name="SERIAL9_BAUD" documentation="The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support 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="230">230400</value>
<value code="256">256000</value>
<value code="460">460800</value>
<value code="500">500000</value>
<value code="921">921600</value>
<value code="1500">1500000</value>
<value code="2000">2000000</value>
</values>
</param>
<param humanName="Serial9 options" name="SERIAL9_OPTIONS" documentation="Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards." user="Advanced">
<field name="Bitmask">0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="SERVO">
<param humanName="Servo default output rate" name="SERVO_RATE" documentation="Default output rate in Hz for all PWM outputs." user="Advanced">
<field name="Range">25 400</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Servo DShot output rate" name="SERVO_DSHOT_RATE" documentation="DShot output rate for all outputs as a multiple of the loop rate. 0 sets the output rate to be fixed at 1Khz for low loop rates. This value should never be set below 500Hz." user="Advanced">
<values>
<value code="0">1Khz</value>
<value code="1">loop-rate</value>
<value code="2">double loop-rate</value>
<value code="3">triple loop-rate</value>
<value code="4">quadruple loop rate</value>
</values>
</param>
<param humanName="Servo DShot ESC type" name="SERVO_DSHOT_ESC" documentation="DShot ESC type for all outputs. The ESC type affects the range of DShot commands available and the bit widths used. None means that no dshot commands will be executed. Some ESC types support Extended DShot Telemetry (EDT) which allows telemetry other than RPM data to be returned when using bi-directional dshot. If you enable EDT you must install EDT capable firmware for correct operation." user="Advanced">
<values>
<value code="0">None</value>
<value code="1">BLHeli32/Kiss</value>
<value code="2">BLHeli_S</value>
<value code="3">BLHeli32/Kiss+EDT</value>
<value code="4">BLHeli_S+EDT</value>
</values>
</param>
<param humanName="Servo GPIO mask" name="SERVO_GPIO_MASK" documentation="Bitmask of outputs which will be available as GPIOs. Any output with either the function set to -1 or with the corresponding bit set in this mask will be available for use as a GPIO pin" 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, 15:Servo 16, 16:Servo 17, 17:Servo 18, 18:Servo 19, 19:Servo 20, 20:Servo 21, 21:Servo 22, 22:Servo 23, 23:Servo 24, 24:Servo 25, 25:Servo 26, 26:Servo 27, 27:Servo 28, 28:Servo 29, 29:Servo 30, 30:Servo 31, 31:Servo 32</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Servo RC Failsafe Mask" name="SERVO_RC_FS_MSK" documentation="Bitmask of scaled passthru output channels which will be set to their trim value during rc failsafe instead of holding their last position before failsafe." user="Advanced">
<field name="Bitmask">0:RCIN1Scaled, 1:RCIN2Scaled, 2:RCIN3Scaled, 3:RCIN4Scaled, 4:RCIN5Scaled, 5:RCIN6Scaled, 6:RCIN7Scaled, 7:RCIN8Scaled, 8:RCIN9Scaled, 9:RCIN10Scaled, 10:RCIN11Scaled, 11:SRCIN12Scaled, 12:RCIN13Scaled, 13:RCIN14Scaled, 14:RCIN15Scaled, 15:RCIN16Scaled</field>
</param>
<param humanName="Enable outputs 17 to 31" name="SERVO_32_ENABLE" documentation="This allows for up to 32 outputs, enabling parameters for outputs above 16" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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. Setting 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="-1">GPIO</value>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="6">Mount1Yaw</value>
<value code="7">Mount1Pitch</value>
<value code="8">Mount1Roll</value>
<value code="9">Mount1Retract</value>
<value code="10">CameraTrigger</value>
<value code="12">Mount2Yaw</value>
<value code="13">Mount2Pitch</value>
<value code="14">Mount2Roll</value>
<value code="15">Mount2Retract</value>
<value code="22">SprayerPump</value>
<value code="23">SprayerSpinner</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">TiltMotorFrontLeft</value>
<value code="76">TiltMotorFrontRight</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>
<value code="90">CameraISO</value>
<value code="91">CameraAperture</value>
<value code="92">CameraFocus</value>
<value code="93">CameraShutterSpeed</value>
<value code="94">Script1</value>
<value code="95">Script2</value>
<value code="96">Script3</value>
<value code="97">Script4</value>
<value code="98">Script5</value>
<value code="99">Script6</value>
<value code="100">Script7</value>
<value code="101">Script8</value>
<value code="102">Script9</value>
<value code="103">Script10</value>
<value code="104">Script11</value>
<value code="105">Script12</value>
<value code="106">Script13</value>
<value code="107">Script14</value>
<value code="108">Script15</value>
<value code="109">Script16</value>
<value code="120">NeoPixel1</value>
<value code="121">NeoPixel2</value>
<value code="122">NeoPixel3</value>
<value code="123">NeoPixel4</value>
<value code="124">RateRoll</value>
<value code="125">RatePitch</value>
<value code="126">RateThrust</value>
<value code="127">RateYaw</value>
<value code="129">ProfiLED1</value>
<value code="130">ProfiLED2</value>
<value code="131">ProfiLED3</value>
<value code="132">ProfiLEDClock</value>
<value code="133">Winch Clutch</value>
<value code="134">SERVOn_MIN</value>
<value code="135">SERVOn_TRIM</value>
<value code="136">SERVOn_MAX</value>
<value code="138">Alarm</value>
<value code="139">Alarm Inverted</value>
<value code="140">RCIN1Scaled</value>
<value code="141">RCIN2Scaled</value>
<value code="142">RCIN3Scaled</value>
<value code="143">RCIN4Scaled</value>
<value code="144">RCIN5Scaled</value>
<value code="145">RCIN6Scaled</value>
<value code="146">RCIN7Scaled</value>
<value code="147">RCIN8Scaled</value>
<value code="148">RCIN9Scaled</value>
<value code="149">RCIN10Scaled</value>
<value code="150">RCIN11Scaled</value>
<value code="151">RCIN12Scaled</value>
<value code="152">RCIN13Scaled</value>
<value code="153">RCIN14Scaled</value>
<value code="154">RCIN15Scaled</value>
<value code="155">RCIN16Scaled</value>
</values>
<field name="RebootRequired">True</field>
</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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. Setting 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="-1">GPIO</value>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="6">Mount1Yaw</value>
<value code="7">Mount1Pitch</value>
<value code="8">Mount1Roll</value>
<value code="9">Mount1Retract</value>
<value code="10">CameraTrigger</value>
<value code="12">Mount2Yaw</value>
<value code="13">Mount2Pitch</value>
<value code="14">Mount2Roll</value>
<value code="15">Mount2Retract</value>
<value code="22">SprayerPump</value>
<value code="23">SprayerSpinner</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">TiltMotorFrontLeft</value>
<value code="76">TiltMotorFrontRight</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>
<value code="90">CameraISO</value>
<value code="91">CameraAperture</value>
<value code="92">CameraFocus</value>
<value code="93">CameraShutterSpeed</value>
<value code="94">Script1</value>
<value code="95">Script2</value>
<value code="96">Script3</value>
<value code="97">Script4</value>
<value code="98">Script5</value>
<value code="99">Script6</value>
<value code="100">Script7</value>
<value code="101">Script8</value>
<value code="102">Script9</value>
<value code="103">Script10</value>
<value code="104">Script11</value>
<value code="105">Script12</value>
<value code="106">Script13</value>
<value code="107">Script14</value>
<value code="108">Script15</value>
<value code="109">Script16</value>
<value code="120">NeoPixel1</value>
<value code="121">NeoPixel2</value>
<value code="122">NeoPixel3</value>
<value code="123">NeoPixel4</value>
<value code="124">RateRoll</value>
<value code="125">RatePitch</value>
<value code="126">RateThrust</value>
<value code="127">RateYaw</value>
<value code="129">ProfiLED1</value>
<value code="130">ProfiLED2</value>
<value code="131">ProfiLED3</value>
<value code="132">ProfiLEDClock</value>
<value code="133">Winch Clutch</value>
<value code="134">SERVOn_MIN</value>
<value code="135">SERVOn_TRIM</value>
<value code="136">SERVOn_MAX</value>
<value code="138">Alarm</value>
<value code="139">Alarm Inverted</value>
<value code="140">RCIN1Scaled</value>
<value code="141">RCIN2Scaled</value>
<value code="142">RCIN3Scaled</value>
<value code="143">RCIN4Scaled</value>
<value code="144">RCIN5Scaled</value>
<value code="145">RCIN6Scaled</value>
<value code="146">RCIN7Scaled</value>
<value code="147">RCIN8Scaled</value>
<value code="148">RCIN9Scaled</value>
<value code="149">RCIN10Scaled</value>
<value code="150">RCIN11Scaled</value>
<value code="151">RCIN12Scaled</value>
<value code="152">RCIN13Scaled</value>
<value code="153">RCIN14Scaled</value>
<value code="154">RCIN15Scaled</value>
<value code="155">RCIN16Scaled</value>
</values>
<field name="RebootRequired">True</field>
</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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. Setting 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="-1">GPIO</value>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="6">Mount1Yaw</value>
<value code="7">Mount1Pitch</value>
<value code="8">Mount1Roll</value>
<value code="9">Mount1Retract</value>
<value code="10">CameraTrigger</value>
<value code="12">Mount2Yaw</value>
<value code="13">Mount2Pitch</value>
<value code="14">Mount2Roll</value>
<value code="15">Mount2Retract</value>
<value code="22">SprayerPump</value>
<value code="23">SprayerSpinner</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">TiltMotorFrontLeft</value>
<value code="76">TiltMotorFrontRight</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>
<value code="90">CameraISO</value>
<value code="91">CameraAperture</value>
<value code="92">CameraFocus</value>
<value code="93">CameraShutterSpeed</value>
<value code="94">Script1</value>
<value code="95">Script2</value>
<value code="96">Script3</value>
<value code="97">Script4</value>
<value code="98">Script5</value>
<value code="99">Script6</value>
<value code="100">Script7</value>
<value code="101">Script8</value>
<value code="102">Script9</value>
<value code="103">Script10</value>
<value code="104">Script11</value>
<value code="105">Script12</value>
<value code="106">Script13</value>
<value code="107">Script14</value>
<value code="108">Script15</value>
<value code="109">Script16</value>
<value code="120">NeoPixel1</value>
<value code="121">NeoPixel2</value>
<value code="122">NeoPixel3</value>
<value code="123">NeoPixel4</value>
<value code="124">RateRoll</value>
<value code="125">RatePitch</value>
<value code="126">RateThrust</value>
<value code="127">RateYaw</value>
<value code="129">ProfiLED1</value>
<value code="130">ProfiLED2</value>
<value code="131">ProfiLED3</value>
<value code="132">ProfiLEDClock</value>
<value code="133">Winch Clutch</value>
<value code="134">SERVOn_MIN</value>
<value code="135">SERVOn_TRIM</value>
<value code="136">SERVOn_MAX</value>
<value code="138">Alarm</value>
<value code="139">Alarm Inverted</value>
<value code="140">RCIN1Scaled</value>
<value code="141">RCIN2Scaled</value>
<value code="142">RCIN3Scaled</value>
<value code="143">RCIN4Scaled</value>
<value code="144">RCIN5Scaled</value>
<value code="145">RCIN6Scaled</value>
<value code="146">RCIN7Scaled</value>
<value code="147">RCIN8Scaled</value>
<value code="148">RCIN9Scaled</value>
<value code="149">RCIN10Scaled</value>
<value code="150">RCIN11Scaled</value>
<value code="151">RCIN12Scaled</value>
<value code="152">RCIN13Scaled</value>
<value code="153">RCIN14Scaled</value>
<value code="154">RCIN15Scaled</value>
<value code="155">RCIN16Scaled</value>
</values>
<field name="RebootRequired">True</field>
</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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. Setting 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="-1">GPIO</value>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="6">Mount1Yaw</value>
<value code="7">Mount1Pitch</value>
<value code="8">Mount1Roll</value>
<value code="9">Mount1Retract</value>
<value code="10">CameraTrigger</value>
<value code="12">Mount2Yaw</value>
<value code="13">Mount2Pitch</value>
<value code="14">Mount2Roll</value>
<value code="15">Mount2Retract</value>
<value code="22">SprayerPump</value>
<value code="23">SprayerSpinner</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">TiltMotorFrontLeft</value>
<value code="76">TiltMotorFrontRight</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>
<value code="90">CameraISO</value>
<value code="91">CameraAperture</value>
<value code="92">CameraFocus</value>
<value code="93">CameraShutterSpeed</value>
<value code="94">Script1</value>
<value code="95">Script2</value>
<value code="96">Script3</value>
<value code="97">Script4</value>
<value code="98">Script5</value>
<value code="99">Script6</value>
<value code="100">Script7</value>
<value code="101">Script8</value>
<value code="102">Script9</value>
<value code="103">Script10</value>
<value code="104">Script11</value>
<value code="105">Script12</value>
<value code="106">Script13</value>
<value code="107">Script14</value>
<value code="108">Script15</value>
<value code="109">Script16</value>
<value code="120">NeoPixel1</value>
<value code="121">NeoPixel2</value>
<value code="122">NeoPixel3</value>
<value code="123">NeoPixel4</value>
<value code="124">RateRoll</value>
<value code="125">RatePitch</value>
<value code="126">RateThrust</value>
<value code="127">RateYaw</value>
<value code="129">ProfiLED1</value>
<value code="130">ProfiLED2</value>
<value code="131">ProfiLED3</value>
<value code="132">ProfiLEDClock</value>
<value code="133">Winch Clutch</value>
<value code="134">SERVOn_MIN</value>
<value code="135">SERVOn_TRIM</value>
<value code="136">SERVOn_MAX</value>
<value code="138">Alarm</value>
<value code="139">Alarm Inverted</value>
<value code="140">RCIN1Scaled</value>
<value code="141">RCIN2Scaled</value>
<value code="142">RCIN3Scaled</value>
<value code="143">RCIN4Scaled</value>
<value code="144">RCIN5Scaled</value>
<value code="145">RCIN6Scaled</value>
<value code="146">RCIN7Scaled</value>
<value code="147">RCIN8Scaled</value>
<value code="148">RCIN9Scaled</value>
<value code="149">RCIN10Scaled</value>
<value code="150">RCIN11Scaled</value>
<value code="151">RCIN12Scaled</value>
<value code="152">RCIN13Scaled</value>
<value code="153">RCIN14Scaled</value>
<value code="154">RCIN15Scaled</value>
<value code="155">RCIN16Scaled</value>
</values>
<field name="RebootRequired">True</field>
</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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. Setting 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="-1">GPIO</value>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="6">Mount1Yaw</value>
<value code="7">Mount1Pitch</value>
<value code="8">Mount1Roll</value>
<value code="9">Mount1Retract</value>
<value code="10">CameraTrigger</value>
<value code="12">Mount2Yaw</value>
<value code="13">Mount2Pitch</value>
<value code="14">Mount2Roll</value>
<value code="15">Mount2Retract</value>
<value code="22">SprayerPump</value>
<value code="23">SprayerSpinner</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">TiltMotorFrontLeft</value>
<value code="76">TiltMotorFrontRight</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>
<value code="90">CameraISO</value>
<value code="91">CameraAperture</value>
<value code="92">CameraFocus</value>
<value code="93">CameraShutterSpeed</value>
<value code="94">Script1</value>
<value code="95">Script2</value>
<value code="96">Script3</value>
<value code="97">Script4</value>
<value code="98">Script5</value>
<value code="99">Script6</value>
<value code="100">Script7</value>
<value code="101">Script8</value>
<value code="102">Script9</value>
<value code="103">Script10</value>
<value code="104">Script11</value>
<value code="105">Script12</value>
<value code="106">Script13</value>
<value code="107">Script14</value>
<value code="108">Script15</value>
<value code="109">Script16</value>
<value code="120">NeoPixel1</value>
<value code="121">NeoPixel2</value>
<value code="122">NeoPixel3</value>
<value code="123">NeoPixel4</value>
<value code="124">RateRoll</value>
<value code="125">RatePitch</value>
<value code="126">RateThrust</value>
<value code="127">RateYaw</value>
<value code="129">ProfiLED1</value>
<value code="130">ProfiLED2</value>
<value code="131">ProfiLED3</value>
<value code="132">ProfiLEDClock</value>
<value code="133">Winch Clutch</value>
<value code="134">SERVOn_MIN</value>
<value code="135">SERVOn_TRIM</value>
<value code="136">SERVOn_MAX</value>
<value code="138">Alarm</value>
<value code="139">Alarm Inverted</value>
<value code="140">RCIN1Scaled</value>
<value code="141">RCIN2Scaled</value>
<value code="142">RCIN3Scaled</value>
<value code="143">RCIN4Scaled</value>
<value code="144">RCIN5Scaled</value>
<value code="145">RCIN6Scaled</value>
<value code="146">RCIN7Scaled</value>
<value code="147">RCIN8Scaled</value>
<value code="148">RCIN9Scaled</value>
<value code="149">RCIN10Scaled</value>
<value code="150">RCIN11Scaled</value>
<value code="151">RCIN12Scaled</value>
<value code="152">RCIN13Scaled</value>
<value code="153">RCIN14Scaled</value>
<value code="154">RCIN15Scaled</value>
<value code="155">RCIN16Scaled</value>
</values>
<field name="RebootRequired">True</field>
</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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. Setting 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="-1">GPIO</value>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="6">Mount1Yaw</value>
<value code="7">Mount1Pitch</value>
<value code="8">Mount1Roll</value>
<value code="9">Mount1Retract</value>
<value code="10">CameraTrigger</value>
<value code="12">Mount2Yaw</value>
<value code="13">Mount2Pitch</value>
<value code="14">Mount2Roll</value>
<value code="15">Mount2Retract</value>
<value code="22">SprayerPump</value>
<value code="23">SprayerSpinner</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">TiltMotorFrontLeft</value>
<value code="76">TiltMotorFrontRight</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>
<value code="90">CameraISO</value>
<value code="91">CameraAperture</value>
<value code="92">CameraFocus</value>
<value code="93">CameraShutterSpeed</value>
<value code="94">Script1</value>
<value code="95">Script2</value>
<value code="96">Script3</value>
<value code="97">Script4</value>
<value code="98">Script5</value>
<value code="99">Script6</value>
<value code="100">Script7</value>
<value code="101">Script8</value>
<value code="102">Script9</value>
<value code="103">Script10</value>
<value code="104">Script11</value>
<value code="105">Script12</value>
<value code="106">Script13</value>
<value code="107">Script14</value>
<value code="108">Script15</value>
<value code="109">Script16</value>
<value code="120">NeoPixel1</value>
<value code="121">NeoPixel2</value>
<value code="122">NeoPixel3</value>
<value code="123">NeoPixel4</value>
<value code="124">RateRoll</value>
<value code="125">RatePitch</value>
<value code="126">RateThrust</value>
<value code="127">RateYaw</value>
<value code="129">ProfiLED1</value>
<value code="130">ProfiLED2</value>
<value code="131">ProfiLED3</value>
<value code="132">ProfiLEDClock</value>
<value code="133">Winch Clutch</value>
<value code="134">SERVOn_MIN</value>
<value code="135">SERVOn_TRIM</value>
<value code="136">SERVOn_MAX</value>
<value code="138">Alarm</value>
<value code="139">Alarm Inverted</value>
<value code="140">RCIN1Scaled</value>
<value code="141">RCIN2Scaled</value>
<value code="142">RCIN3Scaled</value>
<value code="143">RCIN4Scaled</value>
<value code="144">RCIN5Scaled</value>
<value code="145">RCIN6Scaled</value>
<value code="146">RCIN7Scaled</value>
<value code="147">RCIN8Scaled</value>
<value code="148">RCIN9Scaled</value>
<value code="149">RCIN10Scaled</value>
<value code="150">RCIN11Scaled</value>
<value code="151">RCIN12Scaled</value>
<value code="152">RCIN13Scaled</value>
<value code="153">RCIN14Scaled</value>
<value code="154">RCIN15Scaled</value>
<value code="155">RCIN16Scaled</value>
</values>
<field name="RebootRequired">True</field>
</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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. Setting 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="-1">GPIO</value>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="6">Mount1Yaw</value>
<value code="7">Mount1Pitch</value>
<value code="8">Mount1Roll</value>
<value code="9">Mount1Retract</value>
<value code="10">CameraTrigger</value>
<value code="12">Mount2Yaw</value>
<value code="13">Mount2Pitch</value>
<value code="14">Mount2Roll</value>
<value code="15">Mount2Retract</value>
<value code="22">SprayerPump</value>
<value code="23">SprayerSpinner</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">TiltMotorFrontLeft</value>
<value code="76">TiltMotorFrontRight</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>
<value code="90">CameraISO</value>
<value code="91">CameraAperture</value>
<value code="92">CameraFocus</value>
<value code="93">CameraShutterSpeed</value>
<value code="94">Script1</value>
<value code="95">Script2</value>
<value code="96">Script3</value>
<value code="97">Script4</value>
<value code="98">Script5</value>
<value code="99">Script6</value>
<value code="100">Script7</value>
<value code="101">Script8</value>
<value code="102">Script9</value>
<value code="103">Script10</value>
<value code="104">Script11</value>
<value code="105">Script12</value>
<value code="106">Script13</value>
<value code="107">Script14</value>
<value code="108">Script15</value>
<value code="109">Script16</value>
<value code="120">NeoPixel1</value>
<value code="121">NeoPixel2</value>
<value code="122">NeoPixel3</value>
<value code="123">NeoPixel4</value>
<value code="124">RateRoll</value>
<value code="125">RatePitch</value>
<value code="126">RateThrust</value>
<value code="127">RateYaw</value>
<value code="129">ProfiLED1</value>
<value code="130">ProfiLED2</value>
<value code="131">ProfiLED3</value>
<value code="132">ProfiLEDClock</value>
<value code="133">Winch Clutch</value>
<value code="134">SERVOn_MIN</value>
<value code="135">SERVOn_TRIM</value>
<value code="136">SERVOn_MAX</value>
<value code="138">Alarm</value>
<value code="139">Alarm Inverted</value>
<value code="140">RCIN1Scaled</value>
<value code="141">RCIN2Scaled</value>
<value code="142">RCIN3Scaled</value>
<value code="143">RCIN4Scaled</value>
<value code="144">RCIN5Scaled</value>
<value code="145">RCIN6Scaled</value>
<value code="146">RCIN7Scaled</value>
<value code="147">RCIN8Scaled</value>
<value code="148">RCIN9Scaled</value>
<value code="149">RCIN10Scaled</value>
<value code="150">RCIN11Scaled</value>
<value code="151">RCIN12Scaled</value>
<value code="152">RCIN13Scaled</value>
<value code="153">RCIN14Scaled</value>
<value code="154">RCIN15Scaled</value>
<value code="155">RCIN16Scaled</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="SERVO17_">
<param humanName="Minimum PWM" name="SERVO17_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Maximum PWM" name="SERVO17_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Trim PWM" name="SERVO17_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Servo reverse" name="SERVO17_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="SERVO17_FUNCTION" documentation="Function assigned to this servo. Setting 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="-1">GPIO</value>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="6">Mount1Yaw</value>
<value code="7">Mount1Pitch</value>
<value code="8">Mount1Roll</value>
<value code="9">Mount1Retract</value>
<value code="10">CameraTrigger</value>
<value code="12">Mount2Yaw</value>
<value code="13">Mount2Pitch</value>
<value code="14">Mount2Roll</value>
<value code="15">Mount2Retract</value>
<value code="22">SprayerPump</value>
<value code="23">SprayerSpinner</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">TiltMotorFrontLeft</value>
<value code="76">TiltMotorFrontRight</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>
<value code="90">CameraISO</value>
<value code="91">CameraAperture</value>
<value code="92">CameraFocus</value>
<value code="93">CameraShutterSpeed</value>
<value code="94">Script1</value>
<value code="95">Script2</value>
<value code="96">Script3</value>
<value code="97">Script4</value>
<value code="98">Script5</value>
<value code="99">Script6</value>
<value code="100">Script7</value>
<value code="101">Script8</value>
<value code="102">Script9</value>
<value code="103">Script10</value>
<value code="104">Script11</value>
<value code="105">Script12</value>
<value code="106">Script13</value>
<value code="107">Script14</value>
<value code="108">Script15</value>
<value code="109">Script16</value>
<value code="120">NeoPixel1</value>
<value code="121">NeoPixel2</value>
<value code="122">NeoPixel3</value>
<value code="123">NeoPixel4</value>
<value code="124">RateRoll</value>
<value code="125">RatePitch</value>
<value code="126">RateThrust</value>
<value code="127">RateYaw</value>
<value code="129">ProfiLED1</value>
<value code="130">ProfiLED2</value>
<value code="131">ProfiLED3</value>
<value code="132">ProfiLEDClock</value>
<value code="133">Winch Clutch</value>
<value code="134">SERVOn_MIN</value>
<value code="135">SERVOn_TRIM</value>
<value code="136">SERVOn_MAX</value>
<value code="138">Alarm</value>
<value code="139">Alarm Inverted</value>
<value code="140">RCIN1Scaled</value>
<value code="141">RCIN2Scaled</value>
<value code="142">RCIN3Scaled</value>
<value code="143">RCIN4Scaled</value>
<value code="144">RCIN5Scaled</value>
<value code="145">RCIN6Scaled</value>
<value code="146">RCIN7Scaled</value>
<value code="147">RCIN8Scaled</value>
<value code="148">RCIN9Scaled</value>
<value code="149">RCIN10Scaled</value>
<value code="150">RCIN11Scaled</value>
<value code="151">RCIN12Scaled</value>
<value code="152">RCIN13Scaled</value>
<value code="153">RCIN14Scaled</value>
<value code="154">RCIN15Scaled</value>
<value code="155">RCIN16Scaled</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="SERVO18_">
<param humanName="Minimum PWM" name="SERVO18_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Maximum PWM" name="SERVO18_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Trim PWM" name="SERVO18_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Servo reverse" name="SERVO18_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="SERVO18_FUNCTION" documentation="Function assigned to this servo. Setting 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="-1">GPIO</value>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="6">Mount1Yaw</value>
<value code="7">Mount1Pitch</value>
<value code="8">Mount1Roll</value>
<value code="9">Mount1Retract</value>
<value code="10">CameraTrigger</value>
<value code="12">Mount2Yaw</value>
<value code="13">Mount2Pitch</value>
<value code="14">Mount2Roll</value>
<value code="15">Mount2Retract</value>
<value code="22">SprayerPump</value>
<value code="23">SprayerSpinner</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">TiltMotorFrontLeft</value>
<value code="76">TiltMotorFrontRight</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>
<value code="90">CameraISO</value>
<value code="91">CameraAperture</value>
<value code="92">CameraFocus</value>
<value code="93">CameraShutterSpeed</value>
<value code="94">Script1</value>
<value code="95">Script2</value>
<value code="96">Script3</value>
<value code="97">Script4</value>
<value code="98">Script5</value>
<value code="99">Script6</value>
<value code="100">Script7</value>
<value code="101">Script8</value>
<value code="102">Script9</value>
<value code="103">Script10</value>
<value code="104">Script11</value>
<value code="105">Script12</value>
<value code="106">Script13</value>
<value code="107">Script14</value>
<value code="108">Script15</value>
<value code="109">Script16</value>
<value code="120">NeoPixel1</value>
<value code="121">NeoPixel2</value>
<value code="122">NeoPixel3</value>
<value code="123">NeoPixel4</value>
<value code="124">RateRoll</value>
<value code="125">RatePitch</value>
<value code="126">RateThrust</value>
<value code="127">RateYaw</value>
<value code="129">ProfiLED1</value>
<value code="130">ProfiLED2</value>
<value code="131">ProfiLED3</value>
<value code="132">ProfiLEDClock</value>
<value code="133">Winch Clutch</value>
<value code="134">SERVOn_MIN</value>
<value code="135">SERVOn_TRIM</value>
<value code="136">SERVOn_MAX</value>
<value code="138">Alarm</value>
<value code="139">Alarm Inverted</value>
<value code="140">RCIN1Scaled</value>
<value code="141">RCIN2Scaled</value>
<value code="142">RCIN3Scaled</value>
<value code="143">RCIN4Scaled</value>
<value code="144">RCIN5Scaled</value>
<value code="145">RCIN6Scaled</value>
<value code="146">RCIN7Scaled</value>
<value code="147">RCIN8Scaled</value>
<value code="148">RCIN9Scaled</value>
<value code="149">RCIN10Scaled</value>
<value code="150">RCIN11Scaled</value>
<value code="151">RCIN12Scaled</value>
<value code="152">RCIN13Scaled</value>
<value code="153">RCIN14Scaled</value>
<value code="154">RCIN15Scaled</value>
<value code="155">RCIN16Scaled</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="SERVO19_">
<param humanName="Minimum PWM" name="SERVO19_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Maximum PWM" name="SERVO19_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Trim PWM" name="SERVO19_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Servo reverse" name="SERVO19_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="SERVO19_FUNCTION" documentation="Function assigned to this servo. Setting 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="-1">GPIO</value>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="6">Mount1Yaw</value>
<value code="7">Mount1Pitch</value>
<value code="8">Mount1Roll</value>
<value code="9">Mount1Retract</value>
<value code="10">CameraTrigger</value>
<value code="12">Mount2Yaw</value>
<value code="13">Mount2Pitch</value>
<value code="14">Mount2Roll</value>
<value code="15">Mount2Retract</value>
<value code="22">SprayerPump</value>
<value code="23">SprayerSpinner</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">TiltMotorFrontLeft</value>
<value code="76">TiltMotorFrontRight</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>
<value code="90">CameraISO</value>
<value code="91">CameraAperture</value>
<value code="92">CameraFocus</value>
<value code="93">CameraShutterSpeed</value>
<value code="94">Script1</value>
<value code="95">Script2</value>
<value code="96">Script3</value>
<value code="97">Script4</value>
<value code="98">Script5</value>
<value code="99">Script6</value>
<value code="100">Script7</value>
<value code="101">Script8</value>
<value code="102">Script9</value>
<value code="103">Script10</value>
<value code="104">Script11</value>
<value code="105">Script12</value>
<value code="106">Script13</value>
<value code="107">Script14</value>
<value code="108">Script15</value>
<value code="109">Script16</value>
<value code="120">NeoPixel1</value>
<value code="121">NeoPixel2</value>
<value code="122">NeoPixel3</value>
<value code="123">NeoPixel4</value>
<value code="124">RateRoll</value>
<value code="125">RatePitch</value>
<value code="126">RateThrust</value>
<value code="127">RateYaw</value>
<value code="129">ProfiLED1</value>
<value code="130">ProfiLED2</value>
<value code="131">ProfiLED3</value>
<value code="132">ProfiLEDClock</value>
<value code="133">Winch Clutch</value>
<value code="134">SERVOn_MIN</value>
<value code="135">SERVOn_TRIM</value>
<value code="136">SERVOn_MAX</value>
<value code="138">Alarm</value>
<value code="139">Alarm Inverted</value>
<value code="140">RCIN1Scaled</value>
<value code="141">RCIN2Scaled</value>
<value code="142">RCIN3Scaled</value>
<value code="143">RCIN4Scaled</value>
<value code="144">RCIN5Scaled</value>
<value code="145">RCIN6Scaled</value>
<value code="146">RCIN7Scaled</value>
<value code="147">RCIN8Scaled</value>
<value code="148">RCIN9Scaled</value>
<value code="149">RCIN10Scaled</value>
<value code="150">RCIN11Scaled</value>
<value code="151">RCIN12Scaled</value>
<value code="152">RCIN13Scaled</value>
<value code="153">RCIN14Scaled</value>
<value code="154">RCIN15Scaled</value>
<value code="155">RCIN16Scaled</value>
</values>
<field name="RebootRequired">True</field>
</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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. Setting 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="-1">GPIO</value>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="6">Mount1Yaw</value>
<value code="7">Mount1Pitch</value>
<value code="8">Mount1Roll</value>
<value code="9">Mount1Retract</value>
<value code="10">CameraTrigger</value>
<value code="12">Mount2Yaw</value>
<value code="13">Mount2Pitch</value>
<value code="14">Mount2Roll</value>
<value code="15">Mount2Retract</value>
<value code="22">SprayerPump</value>
<value code="23">SprayerSpinner</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">TiltMotorFrontLeft</value>
<value code="76">TiltMotorFrontRight</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>
<value code="90">CameraISO</value>
<value code="91">CameraAperture</value>
<value code="92">CameraFocus</value>
<value code="93">CameraShutterSpeed</value>
<value code="94">Script1</value>
<value code="95">Script2</value>
<value code="96">Script3</value>
<value code="97">Script4</value>
<value code="98">Script5</value>
<value code="99">Script6</value>
<value code="100">Script7</value>
<value code="101">Script8</value>
<value code="102">Script9</value>
<value code="103">Script10</value>
<value code="104">Script11</value>
<value code="105">Script12</value>
<value code="106">Script13</value>
<value code="107">Script14</value>
<value code="108">Script15</value>
<value code="109">Script16</value>
<value code="120">NeoPixel1</value>
<value code="121">NeoPixel2</value>
<value code="122">NeoPixel3</value>
<value code="123">NeoPixel4</value>
<value code="124">RateRoll</value>
<value code="125">RatePitch</value>
<value code="126">RateThrust</value>
<value code="127">RateYaw</value>
<value code="129">ProfiLED1</value>
<value code="130">ProfiLED2</value>
<value code="131">ProfiLED3</value>
<value code="132">ProfiLEDClock</value>
<value code="133">Winch Clutch</value>
<value code="134">SERVOn_MIN</value>
<value code="135">SERVOn_TRIM</value>
<value code="136">SERVOn_MAX</value>
<value code="138">Alarm</value>
<value code="139">Alarm Inverted</value>
<value code="140">RCIN1Scaled</value>
<value code="141">RCIN2Scaled</value>
<value code="142">RCIN3Scaled</value>
<value code="143">RCIN4Scaled</value>
<value code="144">RCIN5Scaled</value>
<value code="145">RCIN6Scaled</value>
<value code="146">RCIN7Scaled</value>
<value code="147">RCIN8Scaled</value>
<value code="148">RCIN9Scaled</value>
<value code="149">RCIN10Scaled</value>
<value code="150">RCIN11Scaled</value>
<value code="151">RCIN12Scaled</value>
<value code="152">RCIN13Scaled</value>
<value code="153">RCIN14Scaled</value>
<value code="154">RCIN15Scaled</value>
<value code="155">RCIN16Scaled</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="SERVO20_">
<param humanName="Minimum PWM" name="SERVO20_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Maximum PWM" name="SERVO20_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Trim PWM" name="SERVO20_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Servo reverse" name="SERVO20_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="SERVO20_FUNCTION" documentation="Function assigned to this servo. Setting 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="-1">GPIO</value>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="6">Mount1Yaw</value>
<value code="7">Mount1Pitch</value>
<value code="8">Mount1Roll</value>
<value code="9">Mount1Retract</value>
<value code="10">CameraTrigger</value>
<value code="12">Mount2Yaw</value>
<value code="13">Mount2Pitch</value>
<value code="14">Mount2Roll</value>
<value code="15">Mount2Retract</value>
<value code="22">SprayerPump</value>
<value code="23">SprayerSpinner</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">TiltMotorFrontLeft</value>
<value code="76">TiltMotorFrontRight</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>
<value code="90">CameraISO</value>
<value code="91">CameraAperture</value>
<value code="92">CameraFocus</value>
<value code="93">CameraShutterSpeed</value>
<value code="94">Script1</value>
<value code="95">Script2</value>
<value code="96">Script3</value>
<value code="97">Script4</value>
<value code="98">Script5</value>
<value code="99">Script6</value>
<value code="100">Script7</value>
<value code="101">Script8</value>
<value code="102">Script9</value>
<value code="103">Script10</value>
<value code="104">Script11</value>
<value code="105">Script12</value>
<value code="106">Script13</value>
<value code="107">Script14</value>
<value code="108">Script15</value>
<value code="109">Script16</value>
<value code="120">NeoPixel1</value>
<value code="121">NeoPixel2</value>
<value code="122">NeoPixel3</value>
<value code="123">NeoPixel4</value>
<value code="124">RateRoll</value>
<value code="125">RatePitch</value>
<value code="126">RateThrust</value>
<value code="127">RateYaw</value>
<value code="129">ProfiLED1</value>
<value code="130">ProfiLED2</value>
<value code="131">ProfiLED3</value>
<value code="132">ProfiLEDClock</value>
<value code="133">Winch Clutch</value>
<value code="134">SERVOn_MIN</value>
<value code="135">SERVOn_TRIM</value>
<value code="136">SERVOn_MAX</value>
<value code="138">Alarm</value>
<value code="139">Alarm Inverted</value>
<value code="140">RCIN1Scaled</value>
<value code="141">RCIN2Scaled</value>
<value code="142">RCIN3Scaled</value>
<value code="143">RCIN4Scaled</value>
<value code="144">RCIN5Scaled</value>
<value code="145">RCIN6Scaled</value>
<value code="146">RCIN7Scaled</value>
<value code="147">RCIN8Scaled</value>
<value code="148">RCIN9Scaled</value>
<value code="149">RCIN10Scaled</value>
<value code="150">RCIN11Scaled</value>
<value code="151">RCIN12Scaled</value>
<value code="152">RCIN13Scaled</value>
<value code="153">RCIN14Scaled</value>
<value code="154">RCIN15Scaled</value>
<value code="155">RCIN16Scaled</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="SERVO21_">
<param humanName="Minimum PWM" name="SERVO21_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Maximum PWM" name="SERVO21_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Trim PWM" name="SERVO21_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Servo reverse" name="SERVO21_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="SERVO21_FUNCTION" documentation="Function assigned to this servo. Setting 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="-1">GPIO</value>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="6">Mount1Yaw</value>
<value code="7">Mount1Pitch</value>
<value code="8">Mount1Roll</value>
<value code="9">Mount1Retract</value>
<value code="10">CameraTrigger</value>
<value code="12">Mount2Yaw</value>
<value code="13">Mount2Pitch</value>
<value code="14">Mount2Roll</value>
<value code="15">Mount2Retract</value>
<value code="22">SprayerPump</value>
<value code="23">SprayerSpinner</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">TiltMotorFrontLeft</value>
<value code="76">TiltMotorFrontRight</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>
<value code="90">CameraISO</value>
<value code="91">CameraAperture</value>
<value code="92">CameraFocus</value>
<value code="93">CameraShutterSpeed</value>
<value code="94">Script1</value>
<value code="95">Script2</value>
<value code="96">Script3</value>
<value code="97">Script4</value>
<value code="98">Script5</value>
<value code="99">Script6</value>
<value code="100">Script7</value>
<value code="101">Script8</value>
<value code="102">Script9</value>
<value code="103">Script10</value>
<value code="104">Script11</value>
<value code="105">Script12</value>
<value code="106">Script13</value>
<value code="107">Script14</value>
<value code="108">Script15</value>
<value code="109">Script16</value>
<value code="120">NeoPixel1</value>
<value code="121">NeoPixel2</value>
<value code="122">NeoPixel3</value>
<value code="123">NeoPixel4</value>
<value code="124">RateRoll</value>
<value code="125">RatePitch</value>
<value code="126">RateThrust</value>
<value code="127">RateYaw</value>
<value code="129">ProfiLED1</value>
<value code="130">ProfiLED2</value>
<value code="131">ProfiLED3</value>
<value code="132">ProfiLEDClock</value>
<value code="133">Winch Clutch</value>
<value code="134">SERVOn_MIN</value>
<value code="135">SERVOn_TRIM</value>
<value code="136">SERVOn_MAX</value>
<value code="138">Alarm</value>
<value code="139">Alarm Inverted</value>
<value code="140">RCIN1Scaled</value>
<value code="141">RCIN2Scaled</value>
<value code="142">RCIN3Scaled</value>
<value code="143">RCIN4Scaled</value>
<value code="144">RCIN5Scaled</value>
<value code="145">RCIN6Scaled</value>
<value code="146">RCIN7Scaled</value>
<value code="147">RCIN8Scaled</value>
<value code="148">RCIN9Scaled</value>
<value code="149">RCIN10Scaled</value>
<value code="150">RCIN11Scaled</value>
<value code="151">RCIN12Scaled</value>
<value code="152">RCIN13Scaled</value>
<value code="153">RCIN14Scaled</value>
<value code="154">RCIN15Scaled</value>
<value code="155">RCIN16Scaled</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="SERVO22_">
<param humanName="Minimum PWM" name="SERVO22_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Maximum PWM" name="SERVO22_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Trim PWM" name="SERVO22_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Servo reverse" name="SERVO22_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="SERVO22_FUNCTION" documentation="Function assigned to this servo. Setting 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="-1">GPIO</value>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="6">Mount1Yaw</value>
<value code="7">Mount1Pitch</value>
<value code="8">Mount1Roll</value>
<value code="9">Mount1Retract</value>
<value code="10">CameraTrigger</value>
<value code="12">Mount2Yaw</value>
<value code="13">Mount2Pitch</value>
<value code="14">Mount2Roll</value>
<value code="15">Mount2Retract</value>
<value code="22">SprayerPump</value>
<value code="23">SprayerSpinner</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">TiltMotorFrontLeft</value>
<value code="76">TiltMotorFrontRight</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>
<value code="90">CameraISO</value>
<value code="91">CameraAperture</value>
<value code="92">CameraFocus</value>
<value code="93">CameraShutterSpeed</value>
<value code="94">Script1</value>
<value code="95">Script2</value>
<value code="96">Script3</value>
<value code="97">Script4</value>
<value code="98">Script5</value>
<value code="99">Script6</value>
<value code="100">Script7</value>
<value code="101">Script8</value>
<value code="102">Script9</value>
<value code="103">Script10</value>
<value code="104">Script11</value>
<value code="105">Script12</value>
<value code="106">Script13</value>
<value code="107">Script14</value>
<value code="108">Script15</value>
<value code="109">Script16</value>
<value code="120">NeoPixel1</value>
<value code="121">NeoPixel2</value>
<value code="122">NeoPixel3</value>
<value code="123">NeoPixel4</value>
<value code="124">RateRoll</value>
<value code="125">RatePitch</value>
<value code="126">RateThrust</value>
<value code="127">RateYaw</value>
<value code="129">ProfiLED1</value>
<value code="130">ProfiLED2</value>
<value code="131">ProfiLED3</value>
<value code="132">ProfiLEDClock</value>
<value code="133">Winch Clutch</value>
<value code="134">SERVOn_MIN</value>
<value code="135">SERVOn_TRIM</value>
<value code="136">SERVOn_MAX</value>
<value code="138">Alarm</value>
<value code="139">Alarm Inverted</value>
<value code="140">RCIN1Scaled</value>
<value code="141">RCIN2Scaled</value>
<value code="142">RCIN3Scaled</value>
<value code="143">RCIN4Scaled</value>
<value code="144">RCIN5Scaled</value>
<value code="145">RCIN6Scaled</value>
<value code="146">RCIN7Scaled</value>
<value code="147">RCIN8Scaled</value>
<value code="148">RCIN9Scaled</value>
<value code="149">RCIN10Scaled</value>
<value code="150">RCIN11Scaled</value>
<value code="151">RCIN12Scaled</value>
<value code="152">RCIN13Scaled</value>
<value code="153">RCIN14Scaled</value>
<value code="154">RCIN15Scaled</value>
<value code="155">RCIN16Scaled</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="SERVO23_">
<param humanName="Minimum PWM" name="SERVO23_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Maximum PWM" name="SERVO23_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Trim PWM" name="SERVO23_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Servo reverse" name="SERVO23_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="SERVO23_FUNCTION" documentation="Function assigned to this servo. Setting 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="-1">GPIO</value>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="6">Mount1Yaw</value>
<value code="7">Mount1Pitch</value>
<value code="8">Mount1Roll</value>
<value code="9">Mount1Retract</value>
<value code="10">CameraTrigger</value>
<value code="12">Mount2Yaw</value>
<value code="13">Mount2Pitch</value>
<value code="14">Mount2Roll</value>
<value code="15">Mount2Retract</value>
<value code="22">SprayerPump</value>
<value code="23">SprayerSpinner</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">TiltMotorFrontLeft</value>
<value code="76">TiltMotorFrontRight</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>
<value code="90">CameraISO</value>
<value code="91">CameraAperture</value>
<value code="92">CameraFocus</value>
<value code="93">CameraShutterSpeed</value>
<value code="94">Script1</value>
<value code="95">Script2</value>
<value code="96">Script3</value>
<value code="97">Script4</value>
<value code="98">Script5</value>
<value code="99">Script6</value>
<value code="100">Script7</value>
<value code="101">Script8</value>
<value code="102">Script9</value>
<value code="103">Script10</value>
<value code="104">Script11</value>
<value code="105">Script12</value>
<value code="106">Script13</value>
<value code="107">Script14</value>
<value code="108">Script15</value>
<value code="109">Script16</value>
<value code="120">NeoPixel1</value>
<value code="121">NeoPixel2</value>
<value code="122">NeoPixel3</value>
<value code="123">NeoPixel4</value>
<value code="124">RateRoll</value>
<value code="125">RatePitch</value>
<value code="126">RateThrust</value>
<value code="127">RateYaw</value>
<value code="129">ProfiLED1</value>
<value code="130">ProfiLED2</value>
<value code="131">ProfiLED3</value>
<value code="132">ProfiLEDClock</value>
<value code="133">Winch Clutch</value>
<value code="134">SERVOn_MIN</value>
<value code="135">SERVOn_TRIM</value>
<value code="136">SERVOn_MAX</value>
<value code="138">Alarm</value>
<value code="139">Alarm Inverted</value>
<value code="140">RCIN1Scaled</value>
<value code="141">RCIN2Scaled</value>
<value code="142">RCIN3Scaled</value>
<value code="143">RCIN4Scaled</value>
<value code="144">RCIN5Scaled</value>
<value code="145">RCIN6Scaled</value>
<value code="146">RCIN7Scaled</value>
<value code="147">RCIN8Scaled</value>
<value code="148">RCIN9Scaled</value>
<value code="149">RCIN10Scaled</value>
<value code="150">RCIN11Scaled</value>
<value code="151">RCIN12Scaled</value>
<value code="152">RCIN13Scaled</value>
<value code="153">RCIN14Scaled</value>
<value code="154">RCIN15Scaled</value>
<value code="155">RCIN16Scaled</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="SERVO24_">
<param humanName="Minimum PWM" name="SERVO24_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Maximum PWM" name="SERVO24_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Trim PWM" name="SERVO24_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Servo reverse" name="SERVO24_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="SERVO24_FUNCTION" documentation="Function assigned to this servo. Setting 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="-1">GPIO</value>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="6">Mount1Yaw</value>
<value code="7">Mount1Pitch</value>
<value code="8">Mount1Roll</value>
<value code="9">Mount1Retract</value>
<value code="10">CameraTrigger</value>
<value code="12">Mount2Yaw</value>
<value code="13">Mount2Pitch</value>
<value code="14">Mount2Roll</value>
<value code="15">Mount2Retract</value>
<value code="22">SprayerPump</value>
<value code="23">SprayerSpinner</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">TiltMotorFrontLeft</value>
<value code="76">TiltMotorFrontRight</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>
<value code="90">CameraISO</value>
<value code="91">CameraAperture</value>
<value code="92">CameraFocus</value>
<value code="93">CameraShutterSpeed</value>
<value code="94">Script1</value>
<value code="95">Script2</value>
<value code="96">Script3</value>
<value code="97">Script4</value>
<value code="98">Script5</value>
<value code="99">Script6</value>
<value code="100">Script7</value>
<value code="101">Script8</value>
<value code="102">Script9</value>
<value code="103">Script10</value>
<value code="104">Script11</value>
<value code="105">Script12</value>
<value code="106">Script13</value>
<value code="107">Script14</value>
<value code="108">Script15</value>
<value code="109">Script16</value>
<value code="120">NeoPixel1</value>
<value code="121">NeoPixel2</value>
<value code="122">NeoPixel3</value>
<value code="123">NeoPixel4</value>
<value code="124">RateRoll</value>
<value code="125">RatePitch</value>
<value code="126">RateThrust</value>
<value code="127">RateYaw</value>
<value code="129">ProfiLED1</value>
<value code="130">ProfiLED2</value>
<value code="131">ProfiLED3</value>
<value code="132">ProfiLEDClock</value>
<value code="133">Winch Clutch</value>
<value code="134">SERVOn_MIN</value>
<value code="135">SERVOn_TRIM</value>
<value code="136">SERVOn_MAX</value>
<value code="138">Alarm</value>
<value code="139">Alarm Inverted</value>
<value code="140">RCIN1Scaled</value>
<value code="141">RCIN2Scaled</value>
<value code="142">RCIN3Scaled</value>
<value code="143">RCIN4Scaled</value>
<value code="144">RCIN5Scaled</value>
<value code="145">RCIN6Scaled</value>
<value code="146">RCIN7Scaled</value>
<value code="147">RCIN8Scaled</value>
<value code="148">RCIN9Scaled</value>
<value code="149">RCIN10Scaled</value>
<value code="150">RCIN11Scaled</value>
<value code="151">RCIN12Scaled</value>
<value code="152">RCIN13Scaled</value>
<value code="153">RCIN14Scaled</value>
<value code="154">RCIN15Scaled</value>
<value code="155">RCIN16Scaled</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="SERVO25_">
<param humanName="Minimum PWM" name="SERVO25_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Maximum PWM" name="SERVO25_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Trim PWM" name="SERVO25_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Servo reverse" name="SERVO25_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="SERVO25_FUNCTION" documentation="Function assigned to this servo. Setting 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="-1">GPIO</value>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="6">Mount1Yaw</value>
<value code="7">Mount1Pitch</value>
<value code="8">Mount1Roll</value>
<value code="9">Mount1Retract</value>
<value code="10">CameraTrigger</value>
<value code="12">Mount2Yaw</value>
<value code="13">Mount2Pitch</value>
<value code="14">Mount2Roll</value>
<value code="15">Mount2Retract</value>
<value code="22">SprayerPump</value>
<value code="23">SprayerSpinner</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">TiltMotorFrontLeft</value>
<value code="76">TiltMotorFrontRight</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>
<value code="90">CameraISO</value>
<value code="91">CameraAperture</value>
<value code="92">CameraFocus</value>
<value code="93">CameraShutterSpeed</value>
<value code="94">Script1</value>
<value code="95">Script2</value>
<value code="96">Script3</value>
<value code="97">Script4</value>
<value code="98">Script5</value>
<value code="99">Script6</value>
<value code="100">Script7</value>
<value code="101">Script8</value>
<value code="102">Script9</value>
<value code="103">Script10</value>
<value code="104">Script11</value>
<value code="105">Script12</value>
<value code="106">Script13</value>
<value code="107">Script14</value>
<value code="108">Script15</value>
<value code="109">Script16</value>
<value code="120">NeoPixel1</value>
<value code="121">NeoPixel2</value>
<value code="122">NeoPixel3</value>
<value code="123">NeoPixel4</value>
<value code="124">RateRoll</value>
<value code="125">RatePitch</value>
<value code="126">RateThrust</value>
<value code="127">RateYaw</value>
<value code="129">ProfiLED1</value>
<value code="130">ProfiLED2</value>
<value code="131">ProfiLED3</value>
<value code="132">ProfiLEDClock</value>
<value code="133">Winch Clutch</value>
<value code="134">SERVOn_MIN</value>
<value code="135">SERVOn_TRIM</value>
<value code="136">SERVOn_MAX</value>
<value code="138">Alarm</value>
<value code="139">Alarm Inverted</value>
<value code="140">RCIN1Scaled</value>
<value code="141">RCIN2Scaled</value>
<value code="142">RCIN3Scaled</value>
<value code="143">RCIN4Scaled</value>
<value code="144">RCIN5Scaled</value>
<value code="145">RCIN6Scaled</value>
<value code="146">RCIN7Scaled</value>
<value code="147">RCIN8Scaled</value>
<value code="148">RCIN9Scaled</value>
<value code="149">RCIN10Scaled</value>
<value code="150">RCIN11Scaled</value>
<value code="151">RCIN12Scaled</value>
<value code="152">RCIN13Scaled</value>
<value code="153">RCIN14Scaled</value>
<value code="154">RCIN15Scaled</value>
<value code="155">RCIN16Scaled</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="SERVO26_">
<param humanName="Minimum PWM" name="SERVO26_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Maximum PWM" name="SERVO26_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Trim PWM" name="SERVO26_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Servo reverse" name="SERVO26_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="SERVO26_FUNCTION" documentation="Function assigned to this servo. Setting 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="-1">GPIO</value>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="6">Mount1Yaw</value>
<value code="7">Mount1Pitch</value>
<value code="8">Mount1Roll</value>
<value code="9">Mount1Retract</value>
<value code="10">CameraTrigger</value>
<value code="12">Mount2Yaw</value>
<value code="13">Mount2Pitch</value>
<value code="14">Mount2Roll</value>
<value code="15">Mount2Retract</value>
<value code="22">SprayerPump</value>
<value code="23">SprayerSpinner</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">TiltMotorFrontLeft</value>
<value code="76">TiltMotorFrontRight</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>
<value code="90">CameraISO</value>
<value code="91">CameraAperture</value>
<value code="92">CameraFocus</value>
<value code="93">CameraShutterSpeed</value>
<value code="94">Script1</value>
<value code="95">Script2</value>
<value code="96">Script3</value>
<value code="97">Script4</value>
<value code="98">Script5</value>
<value code="99">Script6</value>
<value code="100">Script7</value>
<value code="101">Script8</value>
<value code="102">Script9</value>
<value code="103">Script10</value>
<value code="104">Script11</value>
<value code="105">Script12</value>
<value code="106">Script13</value>
<value code="107">Script14</value>
<value code="108">Script15</value>
<value code="109">Script16</value>
<value code="120">NeoPixel1</value>
<value code="121">NeoPixel2</value>
<value code="122">NeoPixel3</value>
<value code="123">NeoPixel4</value>
<value code="124">RateRoll</value>
<value code="125">RatePitch</value>
<value code="126">RateThrust</value>
<value code="127">RateYaw</value>
<value code="129">ProfiLED1</value>
<value code="130">ProfiLED2</value>
<value code="131">ProfiLED3</value>
<value code="132">ProfiLEDClock</value>
<value code="133">Winch Clutch</value>
<value code="134">SERVOn_MIN</value>
<value code="135">SERVOn_TRIM</value>
<value code="136">SERVOn_MAX</value>
<value code="138">Alarm</value>
<value code="139">Alarm Inverted</value>
<value code="140">RCIN1Scaled</value>
<value code="141">RCIN2Scaled</value>
<value code="142">RCIN3Scaled</value>
<value code="143">RCIN4Scaled</value>
<value code="144">RCIN5Scaled</value>
<value code="145">RCIN6Scaled</value>
<value code="146">RCIN7Scaled</value>
<value code="147">RCIN8Scaled</value>
<value code="148">RCIN9Scaled</value>
<value code="149">RCIN10Scaled</value>
<value code="150">RCIN11Scaled</value>
<value code="151">RCIN12Scaled</value>
<value code="152">RCIN13Scaled</value>
<value code="153">RCIN14Scaled</value>
<value code="154">RCIN15Scaled</value>
<value code="155">RCIN16Scaled</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="SERVO27_">
<param humanName="Minimum PWM" name="SERVO27_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Maximum PWM" name="SERVO27_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Trim PWM" name="SERVO27_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Servo reverse" name="SERVO27_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="SERVO27_FUNCTION" documentation="Function assigned to this servo. Setting 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="-1">GPIO</value>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="6">Mount1Yaw</value>
<value code="7">Mount1Pitch</value>
<value code="8">Mount1Roll</value>
<value code="9">Mount1Retract</value>
<value code="10">CameraTrigger</value>
<value code="12">Mount2Yaw</value>
<value code="13">Mount2Pitch</value>
<value code="14">Mount2Roll</value>
<value code="15">Mount2Retract</value>
<value code="22">SprayerPump</value>
<value code="23">SprayerSpinner</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">TiltMotorFrontLeft</value>
<value code="76">TiltMotorFrontRight</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>
<value code="90">CameraISO</value>
<value code="91">CameraAperture</value>
<value code="92">CameraFocus</value>
<value code="93">CameraShutterSpeed</value>
<value code="94">Script1</value>
<value code="95">Script2</value>
<value code="96">Script3</value>
<value code="97">Script4</value>
<value code="98">Script5</value>
<value code="99">Script6</value>
<value code="100">Script7</value>
<value code="101">Script8</value>
<value code="102">Script9</value>
<value code="103">Script10</value>
<value code="104">Script11</value>
<value code="105">Script12</value>
<value code="106">Script13</value>
<value code="107">Script14</value>
<value code="108">Script15</value>
<value code="109">Script16</value>
<value code="120">NeoPixel1</value>
<value code="121">NeoPixel2</value>
<value code="122">NeoPixel3</value>
<value code="123">NeoPixel4</value>
<value code="124">RateRoll</value>
<value code="125">RatePitch</value>
<value code="126">RateThrust</value>
<value code="127">RateYaw</value>
<value code="129">ProfiLED1</value>
<value code="130">ProfiLED2</value>
<value code="131">ProfiLED3</value>
<value code="132">ProfiLEDClock</value>
<value code="133">Winch Clutch</value>
<value code="134">SERVOn_MIN</value>
<value code="135">SERVOn_TRIM</value>
<value code="136">SERVOn_MAX</value>
<value code="138">Alarm</value>
<value code="139">Alarm Inverted</value>
<value code="140">RCIN1Scaled</value>
<value code="141">RCIN2Scaled</value>
<value code="142">RCIN3Scaled</value>
<value code="143">RCIN4Scaled</value>
<value code="144">RCIN5Scaled</value>
<value code="145">RCIN6Scaled</value>
<value code="146">RCIN7Scaled</value>
<value code="147">RCIN8Scaled</value>
<value code="148">RCIN9Scaled</value>
<value code="149">RCIN10Scaled</value>
<value code="150">RCIN11Scaled</value>
<value code="151">RCIN12Scaled</value>
<value code="152">RCIN13Scaled</value>
<value code="153">RCIN14Scaled</value>
<value code="154">RCIN15Scaled</value>
<value code="155">RCIN16Scaled</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="SERVO28_">
<param humanName="Minimum PWM" name="SERVO28_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Maximum PWM" name="SERVO28_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Trim PWM" name="SERVO28_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Servo reverse" name="SERVO28_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="SERVO28_FUNCTION" documentation="Function assigned to this servo. Setting 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="-1">GPIO</value>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="6">Mount1Yaw</value>
<value code="7">Mount1Pitch</value>
<value code="8">Mount1Roll</value>
<value code="9">Mount1Retract</value>
<value code="10">CameraTrigger</value>
<value code="12">Mount2Yaw</value>
<value code="13">Mount2Pitch</value>
<value code="14">Mount2Roll</value>
<value code="15">Mount2Retract</value>
<value code="22">SprayerPump</value>
<value code="23">SprayerSpinner</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">TiltMotorFrontLeft</value>
<value code="76">TiltMotorFrontRight</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>
<value code="90">CameraISO</value>
<value code="91">CameraAperture</value>
<value code="92">CameraFocus</value>
<value code="93">CameraShutterSpeed</value>
<value code="94">Script1</value>
<value code="95">Script2</value>
<value code="96">Script3</value>
<value code="97">Script4</value>
<value code="98">Script5</value>
<value code="99">Script6</value>
<value code="100">Script7</value>
<value code="101">Script8</value>
<value code="102">Script9</value>
<value code="103">Script10</value>
<value code="104">Script11</value>
<value code="105">Script12</value>
<value code="106">Script13</value>
<value code="107">Script14</value>
<value code="108">Script15</value>
<value code="109">Script16</value>
<value code="120">NeoPixel1</value>
<value code="121">NeoPixel2</value>
<value code="122">NeoPixel3</value>
<value code="123">NeoPixel4</value>
<value code="124">RateRoll</value>
<value code="125">RatePitch</value>
<value code="126">RateThrust</value>
<value code="127">RateYaw</value>
<value code="129">ProfiLED1</value>
<value code="130">ProfiLED2</value>
<value code="131">ProfiLED3</value>
<value code="132">ProfiLEDClock</value>
<value code="133">Winch Clutch</value>
<value code="134">SERVOn_MIN</value>
<value code="135">SERVOn_TRIM</value>
<value code="136">SERVOn_MAX</value>
<value code="138">Alarm</value>
<value code="139">Alarm Inverted</value>
<value code="140">RCIN1Scaled</value>
<value code="141">RCIN2Scaled</value>
<value code="142">RCIN3Scaled</value>
<value code="143">RCIN4Scaled</value>
<value code="144">RCIN5Scaled</value>
<value code="145">RCIN6Scaled</value>
<value code="146">RCIN7Scaled</value>
<value code="147">RCIN8Scaled</value>
<value code="148">RCIN9Scaled</value>
<value code="149">RCIN10Scaled</value>
<value code="150">RCIN11Scaled</value>
<value code="151">RCIN12Scaled</value>
<value code="152">RCIN13Scaled</value>
<value code="153">RCIN14Scaled</value>
<value code="154">RCIN15Scaled</value>
<value code="155">RCIN16Scaled</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="SERVO29_">
<param humanName="Minimum PWM" name="SERVO29_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Maximum PWM" name="SERVO29_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Trim PWM" name="SERVO29_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Servo reverse" name="SERVO29_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="SERVO29_FUNCTION" documentation="Function assigned to this servo. Setting 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="-1">GPIO</value>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="6">Mount1Yaw</value>
<value code="7">Mount1Pitch</value>
<value code="8">Mount1Roll</value>
<value code="9">Mount1Retract</value>
<value code="10">CameraTrigger</value>
<value code="12">Mount2Yaw</value>
<value code="13">Mount2Pitch</value>
<value code="14">Mount2Roll</value>
<value code="15">Mount2Retract</value>
<value code="22">SprayerPump</value>
<value code="23">SprayerSpinner</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">TiltMotorFrontLeft</value>
<value code="76">TiltMotorFrontRight</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>
<value code="90">CameraISO</value>
<value code="91">CameraAperture</value>
<value code="92">CameraFocus</value>
<value code="93">CameraShutterSpeed</value>
<value code="94">Script1</value>
<value code="95">Script2</value>
<value code="96">Script3</value>
<value code="97">Script4</value>
<value code="98">Script5</value>
<value code="99">Script6</value>
<value code="100">Script7</value>
<value code="101">Script8</value>
<value code="102">Script9</value>
<value code="103">Script10</value>
<value code="104">Script11</value>
<value code="105">Script12</value>
<value code="106">Script13</value>
<value code="107">Script14</value>
<value code="108">Script15</value>
<value code="109">Script16</value>
<value code="120">NeoPixel1</value>
<value code="121">NeoPixel2</value>
<value code="122">NeoPixel3</value>
<value code="123">NeoPixel4</value>
<value code="124">RateRoll</value>
<value code="125">RatePitch</value>
<value code="126">RateThrust</value>
<value code="127">RateYaw</value>
<value code="129">ProfiLED1</value>
<value code="130">ProfiLED2</value>
<value code="131">ProfiLED3</value>
<value code="132">ProfiLEDClock</value>
<value code="133">Winch Clutch</value>
<value code="134">SERVOn_MIN</value>
<value code="135">SERVOn_TRIM</value>
<value code="136">SERVOn_MAX</value>
<value code="138">Alarm</value>
<value code="139">Alarm Inverted</value>
<value code="140">RCIN1Scaled</value>
<value code="141">RCIN2Scaled</value>
<value code="142">RCIN3Scaled</value>
<value code="143">RCIN4Scaled</value>
<value code="144">RCIN5Scaled</value>
<value code="145">RCIN6Scaled</value>
<value code="146">RCIN7Scaled</value>
<value code="147">RCIN8Scaled</value>
<value code="148">RCIN9Scaled</value>
<value code="149">RCIN10Scaled</value>
<value code="150">RCIN11Scaled</value>
<value code="151">RCIN12Scaled</value>
<value code="152">RCIN13Scaled</value>
<value code="153">RCIN14Scaled</value>
<value code="154">RCIN15Scaled</value>
<value code="155">RCIN16Scaled</value>
</values>
<field name="RebootRequired">True</field>
</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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. Setting 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="-1">GPIO</value>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="6">Mount1Yaw</value>
<value code="7">Mount1Pitch</value>
<value code="8">Mount1Roll</value>
<value code="9">Mount1Retract</value>
<value code="10">CameraTrigger</value>
<value code="12">Mount2Yaw</value>
<value code="13">Mount2Pitch</value>
<value code="14">Mount2Roll</value>
<value code="15">Mount2Retract</value>
<value code="22">SprayerPump</value>
<value code="23">SprayerSpinner</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">TiltMotorFrontLeft</value>
<value code="76">TiltMotorFrontRight</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>
<value code="90">CameraISO</value>
<value code="91">CameraAperture</value>
<value code="92">CameraFocus</value>
<value code="93">CameraShutterSpeed</value>
<value code="94">Script1</value>
<value code="95">Script2</value>
<value code="96">Script3</value>
<value code="97">Script4</value>
<value code="98">Script5</value>
<value code="99">Script6</value>
<value code="100">Script7</value>
<value code="101">Script8</value>
<value code="102">Script9</value>
<value code="103">Script10</value>
<value code="104">Script11</value>
<value code="105">Script12</value>
<value code="106">Script13</value>
<value code="107">Script14</value>
<value code="108">Script15</value>
<value code="109">Script16</value>
<value code="120">NeoPixel1</value>
<value code="121">NeoPixel2</value>
<value code="122">NeoPixel3</value>
<value code="123">NeoPixel4</value>
<value code="124">RateRoll</value>
<value code="125">RatePitch</value>
<value code="126">RateThrust</value>
<value code="127">RateYaw</value>
<value code="129">ProfiLED1</value>
<value code="130">ProfiLED2</value>
<value code="131">ProfiLED3</value>
<value code="132">ProfiLEDClock</value>
<value code="133">Winch Clutch</value>
<value code="134">SERVOn_MIN</value>
<value code="135">SERVOn_TRIM</value>
<value code="136">SERVOn_MAX</value>
<value code="138">Alarm</value>
<value code="139">Alarm Inverted</value>
<value code="140">RCIN1Scaled</value>
<value code="141">RCIN2Scaled</value>
<value code="142">RCIN3Scaled</value>
<value code="143">RCIN4Scaled</value>
<value code="144">RCIN5Scaled</value>
<value code="145">RCIN6Scaled</value>
<value code="146">RCIN7Scaled</value>
<value code="147">RCIN8Scaled</value>
<value code="148">RCIN9Scaled</value>
<value code="149">RCIN10Scaled</value>
<value code="150">RCIN11Scaled</value>
<value code="151">RCIN12Scaled</value>
<value code="152">RCIN13Scaled</value>
<value code="153">RCIN14Scaled</value>
<value code="154">RCIN15Scaled</value>
<value code="155">RCIN16Scaled</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="SERVO30_">
<param humanName="Minimum PWM" name="SERVO30_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Maximum PWM" name="SERVO30_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Trim PWM" name="SERVO30_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Servo reverse" name="SERVO30_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="SERVO30_FUNCTION" documentation="Function assigned to this servo. Setting 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="-1">GPIO</value>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="6">Mount1Yaw</value>
<value code="7">Mount1Pitch</value>
<value code="8">Mount1Roll</value>
<value code="9">Mount1Retract</value>
<value code="10">CameraTrigger</value>
<value code="12">Mount2Yaw</value>
<value code="13">Mount2Pitch</value>
<value code="14">Mount2Roll</value>
<value code="15">Mount2Retract</value>
<value code="22">SprayerPump</value>
<value code="23">SprayerSpinner</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">TiltMotorFrontLeft</value>
<value code="76">TiltMotorFrontRight</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>
<value code="90">CameraISO</value>
<value code="91">CameraAperture</value>
<value code="92">CameraFocus</value>
<value code="93">CameraShutterSpeed</value>
<value code="94">Script1</value>
<value code="95">Script2</value>
<value code="96">Script3</value>
<value code="97">Script4</value>
<value code="98">Script5</value>
<value code="99">Script6</value>
<value code="100">Script7</value>
<value code="101">Script8</value>
<value code="102">Script9</value>
<value code="103">Script10</value>
<value code="104">Script11</value>
<value code="105">Script12</value>
<value code="106">Script13</value>
<value code="107">Script14</value>
<value code="108">Script15</value>
<value code="109">Script16</value>
<value code="120">NeoPixel1</value>
<value code="121">NeoPixel2</value>
<value code="122">NeoPixel3</value>
<value code="123">NeoPixel4</value>
<value code="124">RateRoll</value>
<value code="125">RatePitch</value>
<value code="126">RateThrust</value>
<value code="127">RateYaw</value>
<value code="129">ProfiLED1</value>
<value code="130">ProfiLED2</value>
<value code="131">ProfiLED3</value>
<value code="132">ProfiLEDClock</value>
<value code="133">Winch Clutch</value>
<value code="134">SERVOn_MIN</value>
<value code="135">SERVOn_TRIM</value>
<value code="136">SERVOn_MAX</value>
<value code="138">Alarm</value>
<value code="139">Alarm Inverted</value>
<value code="140">RCIN1Scaled</value>
<value code="141">RCIN2Scaled</value>
<value code="142">RCIN3Scaled</value>
<value code="143">RCIN4Scaled</value>
<value code="144">RCIN5Scaled</value>
<value code="145">RCIN6Scaled</value>
<value code="146">RCIN7Scaled</value>
<value code="147">RCIN8Scaled</value>
<value code="148">RCIN9Scaled</value>
<value code="149">RCIN10Scaled</value>
<value code="150">RCIN11Scaled</value>
<value code="151">RCIN12Scaled</value>
<value code="152">RCIN13Scaled</value>
<value code="153">RCIN14Scaled</value>
<value code="154">RCIN15Scaled</value>
<value code="155">RCIN16Scaled</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="SERVO31_">
<param humanName="Minimum PWM" name="SERVO31_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Maximum PWM" name="SERVO31_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Trim PWM" name="SERVO31_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Servo reverse" name="SERVO31_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="SERVO31_FUNCTION" documentation="Function assigned to this servo. Setting 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="-1">GPIO</value>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="6">Mount1Yaw</value>
<value code="7">Mount1Pitch</value>
<value code="8">Mount1Roll</value>
<value code="9">Mount1Retract</value>
<value code="10">CameraTrigger</value>
<value code="12">Mount2Yaw</value>
<value code="13">Mount2Pitch</value>
<value code="14">Mount2Roll</value>
<value code="15">Mount2Retract</value>
<value code="22">SprayerPump</value>
<value code="23">SprayerSpinner</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">TiltMotorFrontLeft</value>
<value code="76">TiltMotorFrontRight</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>
<value code="90">CameraISO</value>
<value code="91">CameraAperture</value>
<value code="92">CameraFocus</value>
<value code="93">CameraShutterSpeed</value>
<value code="94">Script1</value>
<value code="95">Script2</value>
<value code="96">Script3</value>
<value code="97">Script4</value>
<value code="98">Script5</value>
<value code="99">Script6</value>
<value code="100">Script7</value>
<value code="101">Script8</value>
<value code="102">Script9</value>
<value code="103">Script10</value>
<value code="104">Script11</value>
<value code="105">Script12</value>
<value code="106">Script13</value>
<value code="107">Script14</value>
<value code="108">Script15</value>
<value code="109">Script16</value>
<value code="120">NeoPixel1</value>
<value code="121">NeoPixel2</value>
<value code="122">NeoPixel3</value>
<value code="123">NeoPixel4</value>
<value code="124">RateRoll</value>
<value code="125">RatePitch</value>
<value code="126">RateThrust</value>
<value code="127">RateYaw</value>
<value code="129">ProfiLED1</value>
<value code="130">ProfiLED2</value>
<value code="131">ProfiLED3</value>
<value code="132">ProfiLEDClock</value>
<value code="133">Winch Clutch</value>
<value code="134">SERVOn_MIN</value>
<value code="135">SERVOn_TRIM</value>
<value code="136">SERVOn_MAX</value>
<value code="138">Alarm</value>
<value code="139">Alarm Inverted</value>
<value code="140">RCIN1Scaled</value>
<value code="141">RCIN2Scaled</value>
<value code="142">RCIN3Scaled</value>
<value code="143">RCIN4Scaled</value>
<value code="144">RCIN5Scaled</value>
<value code="145">RCIN6Scaled</value>
<value code="146">RCIN7Scaled</value>
<value code="147">RCIN8Scaled</value>
<value code="148">RCIN9Scaled</value>
<value code="149">RCIN10Scaled</value>
<value code="150">RCIN11Scaled</value>
<value code="151">RCIN12Scaled</value>
<value code="152">RCIN13Scaled</value>
<value code="153">RCIN14Scaled</value>
<value code="154">RCIN15Scaled</value>
<value code="155">RCIN16Scaled</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="SERVO32_">
<param humanName="Minimum PWM" name="SERVO32_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Maximum PWM" name="SERVO32_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Trim PWM" name="SERVO32_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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</field>
</param>
<param humanName="Servo reverse" name="SERVO32_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="SERVO32_FUNCTION" documentation="Function assigned to this servo. Setting 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="-1">GPIO</value>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="6">Mount1Yaw</value>
<value code="7">Mount1Pitch</value>
<value code="8">Mount1Roll</value>
<value code="9">Mount1Retract</value>
<value code="10">CameraTrigger</value>
<value code="12">Mount2Yaw</value>
<value code="13">Mount2Pitch</value>
<value code="14">Mount2Roll</value>
<value code="15">Mount2Retract</value>
<value code="22">SprayerPump</value>
<value code="23">SprayerSpinner</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">TiltMotorFrontLeft</value>
<value code="76">TiltMotorFrontRight</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>
<value code="90">CameraISO</value>
<value code="91">CameraAperture</value>
<value code="92">CameraFocus</value>
<value code="93">CameraShutterSpeed</value>
<value code="94">Script1</value>
<value code="95">Script2</value>
<value code="96">Script3</value>
<value code="97">Script4</value>
<value code="98">Script5</value>
<value code="99">Script6</value>
<value code="100">Script7</value>
<value code="101">Script8</value>
<value code="102">Script9</value>
<value code="103">Script10</value>
<value code="104">Script11</value>
<value code="105">Script12</value>
<value code="106">Script13</value>
<value code="107">Script14</value>
<value code="108">Script15</value>
<value code="109">Script16</value>
<value code="120">NeoPixel1</value>
<value code="121">NeoPixel2</value>
<value code="122">NeoPixel3</value>
<value code="123">NeoPixel4</value>
<value code="124">RateRoll</value>
<value code="125">RatePitch</value>
<value code="126">RateThrust</value>
<value code="127">RateYaw</value>
<value code="129">ProfiLED1</value>
<value code="130">ProfiLED2</value>
<value code="131">ProfiLED3</value>
<value code="132">ProfiLEDClock</value>
<value code="133">Winch Clutch</value>
<value code="134">SERVOn_MIN</value>
<value code="135">SERVOn_TRIM</value>
<value code="136">SERVOn_MAX</value>
<value code="138">Alarm</value>
<value code="139">Alarm Inverted</value>
<value code="140">RCIN1Scaled</value>
<value code="141">RCIN2Scaled</value>
<value code="142">RCIN3Scaled</value>
<value code="143">RCIN4Scaled</value>
<value code="144">RCIN5Scaled</value>
<value code="145">RCIN6Scaled</value>
<value code="146">RCIN7Scaled</value>
<value code="147">RCIN8Scaled</value>
<value code="148">RCIN9Scaled</value>
<value code="149">RCIN10Scaled</value>
<value code="150">RCIN11Scaled</value>
<value code="151">RCIN12Scaled</value>
<value code="152">RCIN13Scaled</value>
<value code="153">RCIN14Scaled</value>
<value code="154">RCIN15Scaled</value>
<value code="155">RCIN16Scaled</value>
</values>
<field name="RebootRequired">True</field>
</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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. Setting 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="-1">GPIO</value>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="6">Mount1Yaw</value>
<value code="7">Mount1Pitch</value>
<value code="8">Mount1Roll</value>
<value code="9">Mount1Retract</value>
<value code="10">CameraTrigger</value>
<value code="12">Mount2Yaw</value>
<value code="13">Mount2Pitch</value>
<value code="14">Mount2Roll</value>
<value code="15">Mount2Retract</value>
<value code="22">SprayerPump</value>
<value code="23">SprayerSpinner</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">TiltMotorFrontLeft</value>
<value code="76">TiltMotorFrontRight</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>
<value code="90">CameraISO</value>
<value code="91">CameraAperture</value>
<value code="92">CameraFocus</value>
<value code="93">CameraShutterSpeed</value>
<value code="94">Script1</value>
<value code="95">Script2</value>
<value code="96">Script3</value>
<value code="97">Script4</value>
<value code="98">Script5</value>
<value code="99">Script6</value>
<value code="100">Script7</value>
<value code="101">Script8</value>
<value code="102">Script9</value>
<value code="103">Script10</value>
<value code="104">Script11</value>
<value code="105">Script12</value>
<value code="106">Script13</value>
<value code="107">Script14</value>
<value code="108">Script15</value>
<value code="109">Script16</value>
<value code="120">NeoPixel1</value>
<value code="121">NeoPixel2</value>
<value code="122">NeoPixel3</value>
<value code="123">NeoPixel4</value>
<value code="124">RateRoll</value>
<value code="125">RatePitch</value>
<value code="126">RateThrust</value>
<value code="127">RateYaw</value>
<value code="129">ProfiLED1</value>
<value code="130">ProfiLED2</value>
<value code="131">ProfiLED3</value>
<value code="132">ProfiLEDClock</value>
<value code="133">Winch Clutch</value>
<value code="134">SERVOn_MIN</value>
<value code="135">SERVOn_TRIM</value>
<value code="136">SERVOn_MAX</value>
<value code="138">Alarm</value>
<value code="139">Alarm Inverted</value>
<value code="140">RCIN1Scaled</value>
<value code="141">RCIN2Scaled</value>
<value code="142">RCIN3Scaled</value>
<value code="143">RCIN4Scaled</value>
<value code="144">RCIN5Scaled</value>
<value code="145">RCIN6Scaled</value>
<value code="146">RCIN7Scaled</value>
<value code="147">RCIN8Scaled</value>
<value code="148">RCIN9Scaled</value>
<value code="149">RCIN10Scaled</value>
<value code="150">RCIN11Scaled</value>
<value code="151">RCIN12Scaled</value>
<value code="152">RCIN13Scaled</value>
<value code="153">RCIN14Scaled</value>
<value code="154">RCIN15Scaled</value>
<value code="155">RCIN16Scaled</value>
</values>
<field name="RebootRequired">True</field>
</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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. Setting 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="-1">GPIO</value>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="6">Mount1Yaw</value>
<value code="7">Mount1Pitch</value>
<value code="8">Mount1Roll</value>
<value code="9">Mount1Retract</value>
<value code="10">CameraTrigger</value>
<value code="12">Mount2Yaw</value>
<value code="13">Mount2Pitch</value>
<value code="14">Mount2Roll</value>
<value code="15">Mount2Retract</value>
<value code="22">SprayerPump</value>
<value code="23">SprayerSpinner</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">TiltMotorFrontLeft</value>
<value code="76">TiltMotorFrontRight</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>
<value code="90">CameraISO</value>
<value code="91">CameraAperture</value>
<value code="92">CameraFocus</value>
<value code="93">CameraShutterSpeed</value>
<value code="94">Script1</value>
<value code="95">Script2</value>
<value code="96">Script3</value>
<value code="97">Script4</value>
<value code="98">Script5</value>
<value code="99">Script6</value>
<value code="100">Script7</value>
<value code="101">Script8</value>
<value code="102">Script9</value>
<value code="103">Script10</value>
<value code="104">Script11</value>
<value code="105">Script12</value>
<value code="106">Script13</value>
<value code="107">Script14</value>
<value code="108">Script15</value>
<value code="109">Script16</value>
<value code="120">NeoPixel1</value>
<value code="121">NeoPixel2</value>
<value code="122">NeoPixel3</value>
<value code="123">NeoPixel4</value>
<value code="124">RateRoll</value>
<value code="125">RatePitch</value>
<value code="126">RateThrust</value>
<value code="127">RateYaw</value>
<value code="129">ProfiLED1</value>
<value code="130">ProfiLED2</value>
<value code="131">ProfiLED3</value>
<value code="132">ProfiLEDClock</value>
<value code="133">Winch Clutch</value>
<value code="134">SERVOn_MIN</value>
<value code="135">SERVOn_TRIM</value>
<value code="136">SERVOn_MAX</value>
<value code="138">Alarm</value>
<value code="139">Alarm Inverted</value>
<value code="140">RCIN1Scaled</value>
<value code="141">RCIN2Scaled</value>
<value code="142">RCIN3Scaled</value>
<value code="143">RCIN4Scaled</value>
<value code="144">RCIN5Scaled</value>
<value code="145">RCIN6Scaled</value>
<value code="146">RCIN7Scaled</value>
<value code="147">RCIN8Scaled</value>
<value code="148">RCIN9Scaled</value>
<value code="149">RCIN10Scaled</value>
<value code="150">RCIN11Scaled</value>
<value code="151">RCIN12Scaled</value>
<value code="152">RCIN13Scaled</value>
<value code="153">RCIN14Scaled</value>
<value code="154">RCIN15Scaled</value>
<value code="155">RCIN16Scaled</value>
</values>
<field name="RebootRequired">True</field>
</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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. Setting 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="-1">GPIO</value>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="6">Mount1Yaw</value>
<value code="7">Mount1Pitch</value>
<value code="8">Mount1Roll</value>
<value code="9">Mount1Retract</value>
<value code="10">CameraTrigger</value>
<value code="12">Mount2Yaw</value>
<value code="13">Mount2Pitch</value>
<value code="14">Mount2Roll</value>
<value code="15">Mount2Retract</value>
<value code="22">SprayerPump</value>
<value code="23">SprayerSpinner</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">TiltMotorFrontLeft</value>
<value code="76">TiltMotorFrontRight</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>
<value code="90">CameraISO</value>
<value code="91">CameraAperture</value>
<value code="92">CameraFocus</value>
<value code="93">CameraShutterSpeed</value>
<value code="94">Script1</value>
<value code="95">Script2</value>
<value code="96">Script3</value>
<value code="97">Script4</value>
<value code="98">Script5</value>
<value code="99">Script6</value>
<value code="100">Script7</value>
<value code="101">Script8</value>
<value code="102">Script9</value>
<value code="103">Script10</value>
<value code="104">Script11</value>
<value code="105">Script12</value>
<value code="106">Script13</value>
<value code="107">Script14</value>
<value code="108">Script15</value>
<value code="109">Script16</value>
<value code="120">NeoPixel1</value>
<value code="121">NeoPixel2</value>
<value code="122">NeoPixel3</value>
<value code="123">NeoPixel4</value>
<value code="124">RateRoll</value>
<value code="125">RatePitch</value>
<value code="126">RateThrust</value>
<value code="127">RateYaw</value>
<value code="129">ProfiLED1</value>
<value code="130">ProfiLED2</value>
<value code="131">ProfiLED3</value>
<value code="132">ProfiLEDClock</value>
<value code="133">Winch Clutch</value>
<value code="134">SERVOn_MIN</value>
<value code="135">SERVOn_TRIM</value>
<value code="136">SERVOn_MAX</value>
<value code="138">Alarm</value>
<value code="139">Alarm Inverted</value>
<value code="140">RCIN1Scaled</value>
<value code="141">RCIN2Scaled</value>
<value code="142">RCIN3Scaled</value>
<value code="143">RCIN4Scaled</value>
<value code="144">RCIN5Scaled</value>
<value code="145">RCIN6Scaled</value>
<value code="146">RCIN7Scaled</value>
<value code="147">RCIN8Scaled</value>
<value code="148">RCIN9Scaled</value>
<value code="149">RCIN10Scaled</value>
<value code="150">RCIN11Scaled</value>
<value code="151">RCIN12Scaled</value>
<value code="152">RCIN13Scaled</value>
<value code="153">RCIN14Scaled</value>
<value code="154">RCIN15Scaled</value>
<value code="155">RCIN16Scaled</value>
</values>
<field name="RebootRequired">True</field>
</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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. Setting 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="-1">GPIO</value>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="6">Mount1Yaw</value>
<value code="7">Mount1Pitch</value>
<value code="8">Mount1Roll</value>
<value code="9">Mount1Retract</value>
<value code="10">CameraTrigger</value>
<value code="12">Mount2Yaw</value>
<value code="13">Mount2Pitch</value>
<value code="14">Mount2Roll</value>
<value code="15">Mount2Retract</value>
<value code="22">SprayerPump</value>
<value code="23">SprayerSpinner</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">TiltMotorFrontLeft</value>
<value code="76">TiltMotorFrontRight</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>
<value code="90">CameraISO</value>
<value code="91">CameraAperture</value>
<value code="92">CameraFocus</value>
<value code="93">CameraShutterSpeed</value>
<value code="94">Script1</value>
<value code="95">Script2</value>
<value code="96">Script3</value>
<value code="97">Script4</value>
<value code="98">Script5</value>
<value code="99">Script6</value>
<value code="100">Script7</value>
<value code="101">Script8</value>
<value code="102">Script9</value>
<value code="103">Script10</value>
<value code="104">Script11</value>
<value code="105">Script12</value>
<value code="106">Script13</value>
<value code="107">Script14</value>
<value code="108">Script15</value>
<value code="109">Script16</value>
<value code="120">NeoPixel1</value>
<value code="121">NeoPixel2</value>
<value code="122">NeoPixel3</value>
<value code="123">NeoPixel4</value>
<value code="124">RateRoll</value>
<value code="125">RatePitch</value>
<value code="126">RateThrust</value>
<value code="127">RateYaw</value>
<value code="129">ProfiLED1</value>
<value code="130">ProfiLED2</value>
<value code="131">ProfiLED3</value>
<value code="132">ProfiLEDClock</value>
<value code="133">Winch Clutch</value>
<value code="134">SERVOn_MIN</value>
<value code="135">SERVOn_TRIM</value>
<value code="136">SERVOn_MAX</value>
<value code="138">Alarm</value>
<value code="139">Alarm Inverted</value>
<value code="140">RCIN1Scaled</value>
<value code="141">RCIN2Scaled</value>
<value code="142">RCIN3Scaled</value>
<value code="143">RCIN4Scaled</value>
<value code="144">RCIN5Scaled</value>
<value code="145">RCIN6Scaled</value>
<value code="146">RCIN7Scaled</value>
<value code="147">RCIN8Scaled</value>
<value code="148">RCIN9Scaled</value>
<value code="149">RCIN10Scaled</value>
<value code="150">RCIN11Scaled</value>
<value code="151">RCIN12Scaled</value>
<value code="152">RCIN13Scaled</value>
<value code="153">RCIN14Scaled</value>
<value code="154">RCIN15Scaled</value>
<value code="155">RCIN16Scaled</value>
</values>
<field name="RebootRequired">True</field>
</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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. Setting 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="-1">GPIO</value>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="6">Mount1Yaw</value>
<value code="7">Mount1Pitch</value>
<value code="8">Mount1Roll</value>
<value code="9">Mount1Retract</value>
<value code="10">CameraTrigger</value>
<value code="12">Mount2Yaw</value>
<value code="13">Mount2Pitch</value>
<value code="14">Mount2Roll</value>
<value code="15">Mount2Retract</value>
<value code="22">SprayerPump</value>
<value code="23">SprayerSpinner</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">TiltMotorFrontLeft</value>
<value code="76">TiltMotorFrontRight</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>
<value code="90">CameraISO</value>
<value code="91">CameraAperture</value>
<value code="92">CameraFocus</value>
<value code="93">CameraShutterSpeed</value>
<value code="94">Script1</value>
<value code="95">Script2</value>
<value code="96">Script3</value>
<value code="97">Script4</value>
<value code="98">Script5</value>
<value code="99">Script6</value>
<value code="100">Script7</value>
<value code="101">Script8</value>
<value code="102">Script9</value>
<value code="103">Script10</value>
<value code="104">Script11</value>
<value code="105">Script12</value>
<value code="106">Script13</value>
<value code="107">Script14</value>
<value code="108">Script15</value>
<value code="109">Script16</value>
<value code="120">NeoPixel1</value>
<value code="121">NeoPixel2</value>
<value code="122">NeoPixel3</value>
<value code="123">NeoPixel4</value>
<value code="124">RateRoll</value>
<value code="125">RatePitch</value>
<value code="126">RateThrust</value>
<value code="127">RateYaw</value>
<value code="129">ProfiLED1</value>
<value code="130">ProfiLED2</value>
<value code="131">ProfiLED3</value>
<value code="132">ProfiLEDClock</value>
<value code="133">Winch Clutch</value>
<value code="134">SERVOn_MIN</value>
<value code="135">SERVOn_TRIM</value>
<value code="136">SERVOn_MAX</value>
<value code="138">Alarm</value>
<value code="139">Alarm Inverted</value>
<value code="140">RCIN1Scaled</value>
<value code="141">RCIN2Scaled</value>
<value code="142">RCIN3Scaled</value>
<value code="143">RCIN4Scaled</value>
<value code="144">RCIN5Scaled</value>
<value code="145">RCIN6Scaled</value>
<value code="146">RCIN7Scaled</value>
<value code="147">RCIN8Scaled</value>
<value code="148">RCIN9Scaled</value>
<value code="149">RCIN10Scaled</value>
<value code="150">RCIN11Scaled</value>
<value code="151">RCIN12Scaled</value>
<value code="152">RCIN13Scaled</value>
<value code="153">RCIN14Scaled</value>
<value code="154">RCIN15Scaled</value>
<value code="155">RCIN16Scaled</value>
</values>
<field name="RebootRequired">True</field>
</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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. Setting 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="-1">GPIO</value>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="6">Mount1Yaw</value>
<value code="7">Mount1Pitch</value>
<value code="8">Mount1Roll</value>
<value code="9">Mount1Retract</value>
<value code="10">CameraTrigger</value>
<value code="12">Mount2Yaw</value>
<value code="13">Mount2Pitch</value>
<value code="14">Mount2Roll</value>
<value code="15">Mount2Retract</value>
<value code="22">SprayerPump</value>
<value code="23">SprayerSpinner</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">TiltMotorFrontLeft</value>
<value code="76">TiltMotorFrontRight</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>
<value code="90">CameraISO</value>
<value code="91">CameraAperture</value>
<value code="92">CameraFocus</value>
<value code="93">CameraShutterSpeed</value>
<value code="94">Script1</value>
<value code="95">Script2</value>
<value code="96">Script3</value>
<value code="97">Script4</value>
<value code="98">Script5</value>
<value code="99">Script6</value>
<value code="100">Script7</value>
<value code="101">Script8</value>
<value code="102">Script9</value>
<value code="103">Script10</value>
<value code="104">Script11</value>
<value code="105">Script12</value>
<value code="106">Script13</value>
<value code="107">Script14</value>
<value code="108">Script15</value>
<value code="109">Script16</value>
<value code="120">NeoPixel1</value>
<value code="121">NeoPixel2</value>
<value code="122">NeoPixel3</value>
<value code="123">NeoPixel4</value>
<value code="124">RateRoll</value>
<value code="125">RatePitch</value>
<value code="126">RateThrust</value>
<value code="127">RateYaw</value>
<value code="129">ProfiLED1</value>
<value code="130">ProfiLED2</value>
<value code="131">ProfiLED3</value>
<value code="132">ProfiLEDClock</value>
<value code="133">Winch Clutch</value>
<value code="134">SERVOn_MIN</value>
<value code="135">SERVOn_TRIM</value>
<value code="136">SERVOn_MAX</value>
<value code="138">Alarm</value>
<value code="139">Alarm Inverted</value>
<value code="140">RCIN1Scaled</value>
<value code="141">RCIN2Scaled</value>
<value code="142">RCIN3Scaled</value>
<value code="143">RCIN4Scaled</value>
<value code="144">RCIN5Scaled</value>
<value code="145">RCIN6Scaled</value>
<value code="146">RCIN7Scaled</value>
<value code="147">RCIN8Scaled</value>
<value code="148">RCIN9Scaled</value>
<value code="149">RCIN10Scaled</value>
<value code="150">RCIN11Scaled</value>
<value code="151">RCIN12Scaled</value>
<value code="152">RCIN13Scaled</value>
<value code="153">RCIN14Scaled</value>
<value code="154">RCIN15Scaled</value>
<value code="155">RCIN16Scaled</value>
</values>
<field name="RebootRequired">True</field>
</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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="Units">PWM</field>
<field name="UnitText">PWM in microseconds</field>
<field name="Range">800 2200</field>
<field name="Increment">1</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. Setting 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="-1">GPIO</value>
<value code="0">Disabled</value>
<value code="1">RCPassThru</value>
<value code="6">Mount1Yaw</value>
<value code="7">Mount1Pitch</value>
<value code="8">Mount1Roll</value>
<value code="9">Mount1Retract</value>
<value code="10">CameraTrigger</value>
<value code="12">Mount2Yaw</value>
<value code="13">Mount2Pitch</value>
<value code="14">Mount2Roll</value>
<value code="15">Mount2Retract</value>
<value code="22">SprayerPump</value>
<value code="23">SprayerSpinner</value>
<value code="27">Parachute</value>
<value code="28">Gripper</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="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="73">ThrottleLeft</value>
<value code="74">ThrottleRight</value>
<value code="75">TiltMotorFrontLeft</value>
<value code="76">TiltMotorFrontRight</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>
<value code="90">CameraISO</value>
<value code="91">CameraAperture</value>
<value code="92">CameraFocus</value>
<value code="93">CameraShutterSpeed</value>
<value code="94">Script1</value>
<value code="95">Script2</value>
<value code="96">Script3</value>
<value code="97">Script4</value>
<value code="98">Script5</value>
<value code="99">Script6</value>
<value code="100">Script7</value>
<value code="101">Script8</value>
<value code="102">Script9</value>
<value code="103">Script10</value>
<value code="104">Script11</value>
<value code="105">Script12</value>
<value code="106">Script13</value>
<value code="107">Script14</value>
<value code="108">Script15</value>
<value code="109">Script16</value>
<value code="120">NeoPixel1</value>
<value code="121">NeoPixel2</value>
<value code="122">NeoPixel3</value>
<value code="123">NeoPixel4</value>
<value code="124">RateRoll</value>
<value code="125">RatePitch</value>
<value code="126">RateThrust</value>
<value code="127">RateYaw</value>
<value code="129">ProfiLED1</value>
<value code="130">ProfiLED2</value>
<value code="131">ProfiLED3</value>
<value code="132">ProfiLEDClock</value>
<value code="133">Winch Clutch</value>
<value code="134">SERVOn_MIN</value>
<value code="135">SERVOn_TRIM</value>
<value code="136">SERVOn_MAX</value>
<value code="138">Alarm</value>
<value code="139">Alarm Inverted</value>
<value code="140">RCIN1Scaled</value>
<value code="141">RCIN2Scaled</value>
<value code="142">RCIN3Scaled</value>
<value code="143">RCIN4Scaled</value>
<value code="144">RCIN5Scaled</value>
<value code="145">RCIN6Scaled</value>
<value code="146">RCIN7Scaled</value>
<value code="147">RCIN8Scaled</value>
<value code="148">RCIN9Scaled</value>
<value code="149">RCIN10Scaled</value>
<value code="150">RCIN11Scaled</value>
<value code="151">RCIN12Scaled</value>
<value code="152">RCIN13Scaled</value>
<value code="153">RCIN14Scaled</value>
<value code="154">RCIN15Scaled</value>
<value code="155">RCIN16Scaled</value>
</values>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="SERVO_BLH_">
<param humanName="BLHeli 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, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="BLHeli pass-thru 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>
<field name="RebootRequired">True</field>
</param>
<param humanName="BLHeli internal interface test" 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="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Range">0 300</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="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 500</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="BLHeli 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>
<field name="RebootRequired">True</field>
</param>
<param humanName="Control port" name="SERVO_BLH_PORT" documentation="This sets the mavlink channel to use for blheli pass-thru. The channel number is determined by the number of serial ports configured to use mavlink. So 0 is always the console, 1 is the next serial port using mavlink, 2 the next after that and so on." user="Advanced">
<values>
<value code="0">Console</value>
<value code="1">Mavlink Serial Channel1</value>
<value code="2">Mavlink Serial Channel2</value>
<value code="3">Mavlink Serial Channel3</value>
<value code="4">Mavlink Serial Channel4</value>
<value code="5">Mavlink Serial Channel5</value>
</values>
</param>
<param humanName="BLHeli Motor Poles" name="SERVO_BLH_POLES" documentation="This allows calculation of true RPM from ESC's eRPM. The default is 14." user="Advanced">
<field name="Range">1 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="BLHeli bitmask of 3D channels" name="SERVO_BLH_3DMASK" documentation="Mask of channels which are dynamically reversible. This is used to configure ESCs in '3D' mode, allowing for the motor to spin in either direction" 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, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="BLHeli bitmask of bi-directional dshot channels" name="SERVO_BLH_BDMASK" documentation="Mask of channels which support bi-directional dshot. This is used for ESCs which have firmware that supports bi-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch." 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, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="BLHeli bitmask of reversed channels" name="SERVO_BLH_RVMASK" documentation="Mask of channels which are reversed. This is used to configure ESCs in reversed mode" 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, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="SERVO_FTW_">
<param humanName="Servo channel output bitmask" name="SERVO_FTW_MASK" documentation="Servo channel mask specifying FETtec ESC output." user="Standard">
<field name="Bitmask">0:SERVO1,1:SERVO2,2:SERVO3,3:SERVO4,4:SERVO5,5:SERVO6,6:SERVO7,7:SERVO8,8:SERVO9,9:SERVO10,10:SERVO11,11:SERVO12</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Servo channel reverse rotation bitmask" name="SERVO_FTW_RVMASK" documentation="Servo channel mask to reverse rotation of FETtec ESC outputs." user="Standard">
<field name="Bitmask">0:SERVO1,1:SERVO2,2:SERVO3,3:SERVO4,4:SERVO5,5:SERVO6,6:SERVO7,7:SERVO8,8:SERVO9,9:SERVO10,10:SERVO11,11:SERVO12</field>
</param>
<param humanName="Nr. electrical poles" name="SERVO_FTW_POLES" documentation="Number of motor electrical poles" user="Standard">
<field name="Range">2 50</field>
</param>
</parameters>
<parameters name="SERVO_ROB_">
<param humanName="Robotis servo position min" name="SERVO_ROB_POSMIN" documentation="Position minimum at servo min value. This should be within the position control range of the servos, normally 0 to 4095" user="Standard">
<field name="Range">0 4095</field>
</param>
<param humanName="Robotis servo position max" name="SERVO_ROB_POSMAX" documentation="Position maximum at servo max value. This should be within the position control range of the servos, normally 0 to 4095" user="Standard">
<field name="Range">0 4095</field>
</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:Channel16,16:Channel17,17:Channel18,18:Channel19,19:Channel20,20:Channel21,21:Channel22,22:Channel23,23:Channel24,24:Channel25,25:Channel26,26:Channel27,28:Channel29,29:Channel30,30:Channel31,31:Channel32</field>
</param>
</parameters>
<parameters name="SID">
<param humanName="System identification axis" name="SID_AXIS" documentation="Controls which axis are being excited. Set to non-zero to see more parameters" user="Standard">
<values>
<value code="0">None</value>
<value code="1">Input Roll Angle</value>
<value code="2">Input Pitch Angle</value>
<value code="3">Input Yaw Angle</value>
<value code="4">Recovery Roll Angle</value>
<value code="5">Recovery Pitch Angle</value>
<value code="6">Recovery Yaw Angle</value>
<value code="7">Rate Roll</value>
<value code="8">Rate Pitch</value>
<value code="9">Rate Yaw</value>
<value code="10">Mixer Roll</value>
<value code="11">Mixer Pitch</value>
<value code="12">Mixer Yaw</value>
<value code="13">Mixer Thrust</value>
</values>
</param>
<param humanName="System identification Chirp Magnitude" name="SID_MAGNITUDE" documentation="Magnitude of sweep in deg, deg/s and 0-1 for mixer outputs." user="Standard">
</param>
<param humanName="System identification Start Frequency" name="SID_F_START_HZ" documentation="Frequency at the start of the sweep" user="Standard">
<field name="Range">0.01 100</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="System identification Stop Frequency" name="SID_F_STOP_HZ" documentation="Frequency at the end of the sweep" user="Standard">
<field name="Range">0.01 100</field>
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="System identification Fade in time" name="SID_T_FADE_IN" documentation="Time to reach maximum amplitude of sweep" user="Standard">
<field name="Range">0 20</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="System identification Total Sweep length" name="SID_T_REC" documentation="Time taken to complete the sweep" user="Standard">
<field name="Range">0 255</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="System identification Fade out time" name="SID_T_FADE_OUT" documentation="Time to reach zero amplitude at the end of the sweep" user="Standard">
<field name="Range">0 5</field>
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
</parameters>
<parameters name="SIM_">
<param humanName="Simulated Wind speed" name="SIM_WIND_SPD" documentation="Allows you to emulate wind in sim" user="Advanced">
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="Simulated Wind direction" name="SIM_WIND_DIR" documentation="Allows you to set wind direction (true deg) in sim" user="Advanced">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
</param>
<param humanName="Simulated Wind variation" name="SIM_WIND_TURB" documentation="Allows you to emulate random wind variations in sim" user="Advanced">
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="Simulated battery voltage" name="SIM_BATT_VOLTAGE" documentation="Simulated battery (constant) voltage" user="Advanced">
<field name="Units">V</field>
<field name="UnitText">volt</field>
</param>
<param humanName="Simulated RC signal failure" name="SIM_RC_FAIL" documentation="Allows you to emulate rc failures in sim" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">No RC pusles</value>
<value code="2">All Channels neutral except Throttle is 950us</value>
</values>
</param>
<param humanName="Generate floating point exceptions" name="SIM_FLOAT_EXCEPT" documentation="If set, if a numerical error occurs SITL will die with a floating point exception." user="Advanced">
</param>
<param humanName="Mask of CAN servos/ESCs" name="SIM_CAN_SRV_MSK" documentation="The set of actuators controlled externally by CAN SITL AP_Periph" 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, 15: Servo 16, 16: Servo 17, 17: Servo 18, 18: Servo 19, 19: Servo 20, 20: Servo 21, 21: Servo 22, 22: Servo 23, 23: Servo 24, 24: Servo 25, 25: Servo 26, 26: Servo 27, 27: Servo 28, 28: Servo 29, 29: Servo 30, 30: Servo 31, 31: Servo 32</field>
</param>
<param humanName="transport type for first CAN interface" name="SIM_CAN_TYPE1" documentation="transport type for first CAN interface" user="Advanced">
<values>
<value code="0">MulticastUDP</value>
<value code="1">SocketCAN</value>
</values>
</param>
<param humanName="transport type for second CAN interface" name="SIM_CAN_TYPE2" documentation="transport type for second CAN interface" user="Advanced">
<values>
<value code="0">MulticastUDP</value>
<value code="1">SocketCAN</value>
</values>
</param>
<param humanName="Opflow Enable" name="SIM_FLOW_ENABLE" documentation="Enable simulated Optical Flow sensor">
<values>
<value code="0">Disable</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Opflow Rate" name="SIM_FLOW_RATE" documentation="Opflow Data Rate">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="Opflow Delay" name="SIM_FLOW_DELAY" documentation="Opflow data delay">
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
</param>
<param humanName="Sim Speedup" name="SIM_SPEEDUP" documentation="Runs the simulation at multiples of normal speed. Do not use if realtime physics, like RealFlight, is being used" user="Advanced ">
<field name="Range">1 10</field>
</param>
<param humanName="IMU Offsets" name="SIM_IMU_POS_X" documentation="XYZ position of the IMU accelerometer relative to the body frame origin (X-axis)">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="IMU Offsets" name="SIM_IMU_POS_Y" documentation="XYZ position of the IMU accelerometer relative to the body frame origin (Y-axis)">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="IMU Offsets" name="SIM_IMU_POS_Z" documentation="XYZ position of the IMU accelerometer relative to the body frame origin (Z-axis)">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Opflow Pos" name="SIM_FLOW_POS_X" documentation="XYZ position of the optical flow sensor focal point relative to the body frame origin (X-axis)">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Opflow Pos" name="SIM_FLOW_POS_Y" documentation="XYZ position of the optical flow sensor focal point relative to the body frame origin (Y-axis)">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Opflow Pos" name="SIM_FLOW_POS_Z" documentation="XYZ position of the optical flow sensor focal point relative to the body frame origin (Z-axis)">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Wind Profile Type" name="SIM_WIND_T_" documentation="Selects how wind varies from surface to WIND_T_ALT" user="Advanced ">
<values>
<value code="0">square law</value>
<value code="1">none</value>
<value code="2">linear-see WIND_T_COEF</value>
</values>
</param>
<param humanName="Full Wind Altitude" name="SIM_WIND_T_ALT" documentation="Altitude at which wind reaches full strength, decaying from full strength as altitude lowers to ground level" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Linear Wind Curve Coeff" name="SIM_WIND_T_COEF" documentation="For linear wind profile,wind is reduced by (Altitude-WIND_T_ALT) x this value" user="Advanced">
</param>
<param humanName="Weight on Wheels Pin" name="SIM_WOW_PIN" documentation="SITL set this simulated pin to true if vehicle is on ground" user="Advanced">
</param>
<param humanName="Opflow noise" name="SIM_FLOW_RND" documentation="Optical Flow sensor measurement noise in rad/sec">
</param>
<param humanName="Original Position (Latitude)" name="SIM_OPOS_LAT" documentation="Specifies vehicle's startup latitude" user="Advanced">
</param>
<param humanName="Original Position (Longitude)" name="SIM_OPOS_LNG" documentation="Specifies vehicle's startup longitude" user="Advanced">
</param>
<param humanName="Original Position (Altitude)" name="SIM_OPOS_ALT" documentation="Specifies vehicle's startup altitude (AMSL)" user="Advanced">
</param>
<param humanName="Original Position (Heading)" name="SIM_OPOS_HDG" documentation="Specifies vehicle's startup heading (0-360)" user="Advanced">
</param>
<param humanName="SITL vicon position on vehicle in Forward direction" name="SIM_VICON_POS_X" documentation="SITL vicon position on vehicle in Forward direction" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 10</field>
</param>
<param humanName="SITL vicon position on vehicle in Right direction" name="SIM_VICON_POS_Y" documentation="SITL vicon position on vehicle in Right direction" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 10</field>
</param>
<param humanName="SITL vicon position on vehicle in Down direction" name="SIM_VICON_POS_Z" documentation="SITL vicon position on vehicle in Down direction" user="Advanced ">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 10</field>
</param>
<param humanName="SITL vicon position glitch North" name="SIM_VICON_GLIT_X" documentation="SITL vicon position glitch North" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="SITL vicon position glitch East" name="SIM_VICON_GLIT_Y" documentation="SITL vicon position glitch East" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="SITL vicon position glitch Down" name="SIM_VICON_GLIT_Z" documentation="SITL vicon position glitch Down" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="SITL vicon failure" name="SIM_VICON_FAIL" documentation="SITL vicon failure" user="Advanced">
<values>
<value code="0">Vicon Healthy</value>
<value code="1">Vicon Failed</value>
</values>
</param>
<param humanName="SITL vicon yaw angle in earth frame" name="SIM_VICON_YAW" documentation="SITL vicon yaw angle in earth frame" user="Advanced">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 360</field>
</param>
<param humanName="SITL vicon yaw error" name="SIM_VICON_YAWERR" documentation="SITL vicon yaw added to reported yaw sent to vehicle" user="Advanced">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">-180 180</field>
</param>
<param humanName="SITL vicon type mask" name="SIM_VICON_TMASK" documentation="SITL vicon messages sent" user="Advanced">
<field name="Bitmask">0:VISION_POSITION_ESTIMATE, 1:VISION_SPEED_ESTIMATE, 2:VICON_POSITION_ESTIMATE, 3:VISION_POSITION_DELTA, 4:ODOMETRY</field>
</param>
<param humanName="SITL vicon velocity glitch North" name="SIM_VICON_VGLI_X" documentation="SITL vicon velocity glitch North" user="Advanced">
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="SITL vicon velocity glitch East" name="SIM_VICON_VGLI_Y" documentation="SITL vicon velocity glitch East" user="Advanced">
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="SITL vicon velocity glitch Down" name="SIM_VICON_VGLI_Z" documentation="SITL vicon velocity glitch Down" user="Advanced">
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
</param>
<param humanName="IMU count" name="SIM_IMU_COUNT" documentation="Number of simulated IMUs to create">
</param>
<param humanName="Baro Noise" name="SIM_BARO_RND" documentation="Amount of (evenly-distributed) noise injected into the 1st baro" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Baro Glitch" name="SIM_BARO_GLITCH" documentation="Glitch for 1st baro" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Baro2 Noise" name="SIM_BAR2_RND" documentation="Amount of (evenly-distributed) noise injected into the 2nd baro" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Baro2 Glitch" name="SIM_BAR2_GLITCH" documentation="Glitch for 2nd baro" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Baro3 Noise" name="SIM_BAR3_RND" documentation="Amount of (evenly-distributed) noise injected into the 3rd baro" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Baro3 Glitch" name="SIM_BAR3_GLITCH" documentation="Glitch for 2nd baro" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="Simulated ESC Telemetry" name="SIM_ESC_TELEM" documentation="enable perfect simulated ESC telemetry" user="Advanced">
</param>
<param humanName="UART byte loss percentage" name="SIM_UART_LOSS" documentation="Sets percentage of outgoing byte loss on UARTs" user="Advanced">
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="Simulated ADSB Type mask" name="SIM_ADSB_TYPES" documentation="specifies which simulated ADSB types are active" user="Advanced">
<field name="Bitmask">0:MAVLink,3:SageTechMXS</field>
</param>
<param humanName="Simulated OSD number of text columns" name="SIM_OSD_COLUMNS" documentation="Simulated OSD number of text columns">
<field name="Range">10 100</field>
</param>
<param humanName="Simulated OSD number of text rows" name="SIM_OSD_ROWS" documentation="Simulated OSD number of text rows">
<field name="Range">10 100</field>
</param>
<param humanName="GPS 1 disable" name="SIM_GPS_DISABLE" documentation="Disables GPS 1" user="Advanced">
<values>
<value code="0">Enable</value>
<value code="1">GPS Disabled</value>
</values>
</param>
<param humanName="GPS 1 Lag" name="SIM_GPS_LAG_MS" documentation="GPS 1 lag" user="Advanced">
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
</param>
<param humanName="GPS 1 type" name="SIM_GPS_TYPE" documentation="Sets the type of simulation used for GPS 1" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">UBlox</value>
<value code="5">NMEA</value>
<value code="6">SBP</value>
<value code="7">File</value>
<value code="8">Nova</value>
<value code="9">SBP2</value>
<value code="11">Trimble</value>
<value code="19">MSP</value>
</values>
</param>
<param humanName="GPS Byteloss" name="SIM_GPS_BYTELOSS" documentation="Percent of bytes lost from GPS 1" user="Advanced">
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="GPS 1 Num Satellites" name="SIM_GPS_NUMSATS" documentation="Number of satellites GPS 1 has in view">
</param>
<param humanName="GPS 1 Glitch" name="SIM_GPS_GLITCH_X" documentation="Glitch offsets of simulated GPS 1 sensor (X-axis)" user="Advanced">
</param>
<param humanName="GPS 1 Glitch" name="SIM_GPS_GLITCH_Y" documentation="Glitch offsets of simulated GPS 1 sensor (Y-axis)" user="Advanced">
</param>
<param humanName="GPS 1 Glitch" name="SIM_GPS_GLITCH_Z" documentation="Glitch offsets of simulated GPS 1 sensor (Z-axis)" user="Advanced">
</param>
<param humanName="GPS 1 Hz" name="SIM_GPS_HZ" documentation="GPS 1 Update rate">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="GPS 1 Altitude Drift" name="SIM_GPS_DRIFTALT" documentation="GPS 1 altitude drift error" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="GPS 1 Position" name="SIM_GPS_POS_X" documentation="GPS 1 antenna phase center position relative to the body frame origin (X-axis)">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="GPS 1 Position" name="SIM_GPS_POS_Y" documentation="GPS 1 antenna phase center position relative to the body frame origin (Y-axis)">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="GPS 1 Position" name="SIM_GPS_POS_Z" documentation="GPS 1 antenna phase center position relative to the body frame origin (Z-axis)">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="GPS 1 Noise" name="SIM_GPS_NOISE" documentation="Amplitude of the GPS1 altitude error" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="GPS 1 Lock Time" name="SIM_GPS_LOCKTIME" documentation="Delay in seconds before GPS1 acquires lock" user="Advanced">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="GPS 1 Altitude Offset" name="SIM_GPS_ALT_OFS" documentation="GPS 1 Altitude Error">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="GPS 1 Heading" name="SIM_GPS_HDG" documentation="Enable GPS1 output of NMEA heading HDT sentence or UBLOX_RELPOSNED" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="GPS 1 Accuracy" name="SIM_GPS_ACC" documentation="GPS 1 Accuracy" user="Advanced">
</param>
<param humanName="GPS 1 Velocity Error" name="SIM_GPS_VERR_X" documentation="GPS 1 Velocity Error Offsets in NED (X-axis)" user="Advanced">
</param>
<param humanName="GPS 1 Velocity Error" name="SIM_GPS_VERR_Y" documentation="GPS 1 Velocity Error Offsets in NED (Y-axis)" user="Advanced">
</param>
<param humanName="GPS 1 Velocity Error" name="SIM_GPS_VERR_Z" documentation="GPS 1 Velocity Error Offsets in NED (Z-axis)" user="Advanced">
</param>
<param humanName="GPS jamming enable" name="SIM_GPS_JAM" documentation="Enable simulated GPS jamming" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="GPS 2 disable" name="SIM_GPS2_DISABLE" documentation="Disables GPS 2" user="Advanced">
<values>
<value code="0">Enable</value>
<value code="1">GPS Disabled</value>
</values>
</param>
<param humanName="GPS 2 Lag" name="SIM_GPS2_LAG_MS" documentation="GPS 2 lag in ms" user="Advanced">
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
</param>
<param humanName="GPS 2 type" name="SIM_GPS2_TYPE" documentation="Sets the type of simulation used for GPS 2" user="Advanced">
<values>
<value code="0">None</value>
<value code="1">UBlox</value>
<value code="5">NMEA</value>
<value code="6">SBP</value>
<value code="7">File</value>
<value code="8">Nova</value>
<value code="9">SBP2</value>
<value code="11">Trimble</value>
<value code="19">MSP</value>
</values>
</param>
<param humanName="GPS 2 Byteloss" name="SIM_GPS2_BYTELOS" documentation="Percent of bytes lost from GPS 2" user="Advanced">
<field name="Units">%</field>
<field name="UnitText">percent</field>
</param>
<param humanName="GPS 2 Num Satellites" name="SIM_GPS2_NUMSATS" documentation="Number of satellites GPS 2 has in view">
</param>
<param humanName="GPS 2 Glitch" name="SIM_GPS2_GLTCH_X" documentation="Glitch offsets of simulated GPS 2 sensor (X-axis)" user="Advanced">
</param>
<param humanName="GPS 2 Glitch" name="SIM_GPS2_GLTCH_Y" documentation="Glitch offsets of simulated GPS 2 sensor (Y-axis)" user="Advanced">
</param>
<param humanName="GPS 2 Glitch" name="SIM_GPS2_GLTCH_Z" documentation="Glitch offsets of simulated GPS 2 sensor (Z-axis)" user="Advanced">
</param>
<param humanName="GPS 2 Hz" name="SIM_GPS2_HZ" documentation="GPS 2 Update rate">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
</param>
<param humanName="GPS 2 Altitude Drift" name="SIM_GPS2_DRFTALT" documentation="GPS 2 altitude drift error" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="GPS 2 Position" name="SIM_GPS2_POS_X" documentation="GPS 2 antenna phase center position relative to the body frame origin (X-axis)">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="GPS 2 Position" name="SIM_GPS2_POS_Y" documentation="GPS 2 antenna phase center position relative to the body frame origin (Y-axis)">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="GPS 2 Position" name="SIM_GPS2_POS_Z" documentation="GPS 2 antenna phase center position relative to the body frame origin (Z-axis)">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="GPS 2 Noise" name="SIM_GPS2_NOISE" documentation="Amplitude of the GPS2 altitude error" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="GPS 2 Lock Time" name="SIM_GPS2_LCKTIME" documentation="Delay in seconds before GPS2 acquires lock" user="Advanced">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
</param>
<param humanName="GPS 2 Altitude Offset" name="SIM_GPS2_ALT_OFS" documentation="GPS 2 Altitude Error">
<field name="Units">m</field>
<field name="UnitText">meters</field>
</param>
<param humanName="GPS 2 Heading" name="SIM_GPS2_HDG" documentation="Enable GPS2 output of NMEA heading HDT sentence or UBLOX_RELPOSNED" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="GPS 2 Accuracy" name="SIM_GPS2_ACC" documentation="GPS 2 Accuracy" user="Advanced">
</param>
<param humanName="GPS 2 Velocity Error" name="SIM_GPS2_VERR_X" documentation="GPS 2 Velocity Error Offsets in NED (X-axis)" user="Advanced">
</param>
<param humanName="GPS 2 Velocity Error" name="SIM_GPS2_VERR_Y" documentation="GPS 2 Velocity Error Offsets in NED (Y-axis)" user="Advanced">
</param>
<param humanName="GPS 2 Velocity Error" name="SIM_GPS2_VERR_Z" documentation="GPS 2 Velocity Error Offsets in NED (Z-axis)" user="Advanced">
</param>
<param humanName="Initial Latitude Offset" name="SIM_INIT_LAT_OFS" documentation="GPS initial lat offset from origin">
</param>
<param humanName="Initial Longitude Offset" name="SIM_INIT_LON_OFS" documentation="GPS initial lon offset from origin">
</param>
<param humanName="Initial Altitude Offset" name="SIM_INIT_ALT_OFS" documentation="GPS initial alt offset from origin">
</param>
<param humanName="GPS Log Number" name="SIM_GPS_LOG_NUM" documentation="Log number for GPS:update_file()">
</param>
<param humanName="GPS jamming enable" name="SIM_GPS2_JAM" documentation="Enable simulated GPS jamming" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="MAG1 Device ID" name="SIM_MAG1_DEVID" documentation="Device ID of simulated compass 1" user="Advanced">
</param>
<param humanName="MAG1 Failure" name="SIM_MAG1_FAIL" documentation="Simulated failure of MAG1" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">MAG1 Failure</value>
</values>
</param>
<param humanName="MAG2 Failure" name="SIM_MAG2_FAIL" documentation="Simulated failure of MAG2" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">MAG2 Failure</value>
</values>
</param>
<param humanName="MAG3 Failure" name="SIM_MAG3_FAIL" documentation="Simulated failure of MAG3" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">MAG3 Failure</value>
</values>
</param>
<param humanName="Save MAG devids on startup" name="SIM_MAG_SAVE_IDS" documentation="This forces saving of compass devids on startup so that simulated compasses start as calibrated" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Accel 1 bias" name="SIM_ACC1_BIAS_X" documentation="bias of simulated accelerometer sensor (X-axis)" user="Advanced">
</param>
<param humanName="Accel 1 bias" name="SIM_ACC1_BIAS_Y" documentation="bias of simulated accelerometer sensor (Y-axis)" user="Advanced">
</param>
<param humanName="Accel 1 bias" name="SIM_ACC1_BIAS_Z" documentation="bias of simulated accelerometer sensor (Z-axis)" user="Advanced">
</param>
<param humanName="Accel 2 bias" name="SIM_ACC2_BIAS_X" documentation="bias of simulated accelerometer sensor (X-axis)" user="Advanced">
</param>
<param humanName="Accel 2 bias" name="SIM_ACC2_BIAS_Y" documentation="bias of simulated accelerometer sensor (Y-axis)" user="Advanced">
</param>
<param humanName="Accel 2 bias" name="SIM_ACC2_BIAS_Z" documentation="bias of simulated accelerometer sensor (Z-axis)" user="Advanced">
</param>
<param humanName="Accel 3 bias" name="SIM_ACC3_BIAS_X" documentation="bias of simulated accelerometer sensor (X-axis)" user="Advanced">
</param>
<param humanName="Accel 3 bias" name="SIM_ACC3_BIAS_Y" documentation="bias of simulated accelerometer sensor (Y-axis)" user="Advanced">
</param>
<param humanName="Accel 3 bias" name="SIM_ACC3_BIAS_Z" documentation="bias of simulated accelerometer sensor (Z-axis)" user="Advanced">
</param>
<param humanName="Gyro 1 scaling factor" name="SIM_GYR1_SCALE_X" documentation="scaling factors applied to simulated gyroscope (X-axis)" user="Advanced">
</param>
<param humanName="Gyro 1 scaling factor" name="SIM_GYR1_SCALE_Y" documentation="scaling factors applied to simulated gyroscope (Y-axis)" user="Advanced">
</param>
<param humanName="Gyro 1 scaling factor" name="SIM_GYR1_SCALE_Z" documentation="scaling factors applied to simulated gyroscope (Z-axis)" user="Advanced">
</param>
<param humanName="Gyro 2 scaling factor" name="SIM_GYR2_SCALE_X" documentation="scaling factors applied to simulated gyroscope (X-axis)" user="Advanced">
</param>
<param humanName="Gyro 2 scaling factor" name="SIM_GYR2_SCALE_Y" documentation="scaling factors applied to simulated gyroscope (Y-axis)" user="Advanced">
</param>
<param humanName="Gyro 2 scaling factor" name="SIM_GYR2_SCALE_Z" documentation="scaling factors applied to simulated gyroscope (Z-axis)" user="Advanced">
</param>
<param humanName="Gyro 3 scaling factor" name="SIM_GYR3_SCALE_X" documentation="scaling factors applied to simulated gyroscope (X-axis)" user="Advanced">
</param>
<param humanName="Gyro 3 scaling factor" name="SIM_GYR3_SCALE_Y" documentation="scaling factors applied to simulated gyroscope (Y-axis)" user="Advanced">
</param>
<param humanName="Gyro 3 scaling factor" name="SIM_GYR3_SCALE_Z" documentation="scaling factors applied to simulated gyroscope (Z-axis)" user="Advanced">
</param>
<param humanName="ACCEL1 Failure" name="SIM_ACCEL1_FAIL" documentation="Simulated failure of ACCEL1" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">ACCEL1 Failure</value>
</values>
</param>
<param humanName="ACCEL2 Failure" name="SIM_ACCEL2_FAIL" documentation="Simulated failure of ACCEL2" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">ACCEL2 Failure</value>
</values>
</param>
<param humanName="ACCEL3 Failure" name="SIM_ACCEL3_FAIL" documentation="Simulated failure of ACCEL3" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">ACCEL3 Failure</value>
</values>
</param>
<param humanName="Gyro Failure Mask" name="SIM_GYRO_FAIL_MSK" documentation="Determines if the gyro reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Readings stopped</value>
</values>
</param>
<param humanName="Accelerometer Failure Mask" name="SIM_ACC_FAIL_MSK" documentation="Determines if the acclerometer reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Readings stopped</value>
</values>
</param>
<param humanName="Accel 1 scaling factor" name="SIM_ACC1_SCAL_X" documentation="scaling factors applied to simulated accelerometer (X-axis)" user="Advanced">
</param>
<param humanName="Accel 1 scaling factor" name="SIM_ACC1_SCAL_Y" documentation="scaling factors applied to simulated accelerometer (Y-axis)" user="Advanced">
</param>
<param humanName="Accel 1 scaling factor" name="SIM_ACC1_SCAL_Z" documentation="scaling factors applied to simulated accelerometer (Z-axis)" user="Advanced">
</param>
<param humanName="Accel 2 scaling factor" name="SIM_ACC2_SCAL_X" documentation="scaling factors applied to simulated accelerometer (X-axis)" user="Advanced">
</param>
<param humanName="Accel 2 scaling factor" name="SIM_ACC2_SCAL_Y" documentation="scaling factors applied to simulated accelerometer (Y-axis)" user="Advanced">
</param>
<param humanName="Accel 2 scaling factor" name="SIM_ACC2_SCAL_Z" documentation="scaling factors applied to simulated accelerometer (Z-axis)" user="Advanced">
</param>
<param humanName="Accel 3 scaling factor" name="SIM_ACC3_SCAL_X" documentation="scaling factors applied to simulated accelerometer (X-axis)" user="Advanced">
</param>
<param humanName="Accel 3 scaling factor" name="SIM_ACC3_SCAL_Y" documentation="scaling factors applied to simulated accelerometer (Y-axis)" user="Advanced">
</param>
<param humanName="Accel 3 scaling factor" name="SIM_ACC3_SCAL_Z" documentation="scaling factors applied to simulated accelerometer (Z-axis)" user="Advanced">
</param>
<param humanName="JSON master instance" name="SIM_JSON_MASTER" documentation="the instance number to take servos from">
</param>
<param humanName="SIM-on_hardware Output Enable Mask" name="SIM_OH_MASK" documentation="channels which are passed through to actual hardware when running sim on actual hardware">
</param>
<param humanName="First Gyro bias on X axis" name="SIM_GYR1_BIAS_X" documentation="First Gyro bias on X axis" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="First Gyro bias on Y axis" name="SIM_GYR1_BIAS_Y" documentation="First Gyro bias on Y axis" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="First Gyro bias on Z axis" name="SIM_GYR1_BIAS_Z" documentation="First Gyro bias on Z axis" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Second Gyro bias on X axis" name="SIM_GYR2_BIAS_X" documentation="Second Gyro bias on X axis" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Second Gyro bias on Y axis" name="SIM_GYR2_BIAS_Y" documentation="Second Gyro bias on Y axis" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Second Gyro bias on Z axis" name="SIM_GYR2_BIAS_Z" documentation="Second Gyro bias on Z axis" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Third Gyro bias on X axis" name="SIM_GYR3_BIAS_X" documentation="Third Gyro bias on X axis" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Third Gyro bias on Y axis" name="SIM_GYR3_BIAS_Y" documentation="Third Gyro bias on Y axis" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Third Gyro bias on Z axis" name="SIM_GYR3_BIAS_Z" documentation="Third Gyro bias on Z axis" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Accel 4 scaling factor" name="SIM_ACC4_SCAL_X" documentation="scaling factors applied to simulated accelerometer (X-axis)" user="Advanced">
</param>
<param humanName="Accel 4 scaling factor" name="SIM_ACC4_SCAL_Y" documentation="scaling factors applied to simulated accelerometer (Y-axis)" user="Advanced">
</param>
<param humanName="Accel 4 scaling factor" name="SIM_ACC4_SCAL_Z" documentation="scaling factors applied to simulated accelerometer (Z-axis)" user="Advanced">
</param>
<param humanName="ACCEL4 Failure" name="SIM_ACCEL4_FAIL" documentation="Simulated failure of ACCEL4" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">ACCEL4 Failure</value>
</values>
</param>
<param humanName="Gyro 4 scaling factor" name="SIM_GYR4_SCALE_X" documentation="scaling factors applied to simulated gyroscope (X-axis)" user="Advanced">
</param>
<param humanName="Gyro 4 scaling factor" name="SIM_GYR4_SCALE_Y" documentation="scaling factors applied to simulated gyroscope (Y-axis)" user="Advanced">
</param>
<param humanName="Gyro 4 scaling factor" name="SIM_GYR4_SCALE_Z" documentation="scaling factors applied to simulated gyroscope (Z-axis)" user="Advanced">
</param>
<param humanName="Accel 4 bias" name="SIM_ACC4_BIAS_X" documentation="bias of simulated accelerometer sensor (X-axis)" user="Advanced">
</param>
<param humanName="Accel 4 bias" name="SIM_ACC4_BIAS_Y" documentation="bias of simulated accelerometer sensor (Y-axis)" user="Advanced">
</param>
<param humanName="Accel 4 bias" name="SIM_ACC4_BIAS_Z" documentation="bias of simulated accelerometer sensor (Z-axis)" user="Advanced">
</param>
<param humanName="Fourth Gyro bias on X axis" name="SIM_GYR4_BIAS_X" documentation="Fourth Gyro bias on X axis" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Fourth Gyro bias on Y axis" name="SIM_GYR4_BIAS_Y" documentation="Fourth Gyro bias on Y axis" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Fourth Gyro bias on Z axis" name="SIM_GYR4_BIAS_Z" documentation="Fourth Gyro bias on Z axis" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Accel 4 scaling factor" name="SIM_ACC5_SCAL_X" documentation="scaling factors applied to simulated accelerometer (X-axis)" user="Advanced">
</param>
<param humanName="Accel 4 scaling factor" name="SIM_ACC5_SCAL_Y" documentation="scaling factors applied to simulated accelerometer (Y-axis)" user="Advanced">
</param>
<param humanName="Accel 4 scaling factor" name="SIM_ACC5_SCAL_Z" documentation="scaling factors applied to simulated accelerometer (Z-axis)" user="Advanced">
</param>
<param humanName="ACCEL5 Failure" name="SIM_ACCEL5_FAIL" documentation="Simulated failure of ACCEL5" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">ACCEL5 Failure</value>
</values>
</param>
<param humanName="Gyro 5 scaling factor" name="SIM_GYR5_SCALE_X" documentation="scaling factors applied to simulated gyroscope (X-axis)" user="Advanced">
</param>
<param humanName="Gyro 5 scaling factor" name="SIM_GYR5_SCALE_Y" documentation="scaling factors applied to simulated gyroscope (Y-axis)" user="Advanced">
</param>
<param humanName="Gyro 5 scaling factor" name="SIM_GYR5_SCALE_Z" documentation="scaling factors applied to simulated gyroscope (Z-axis)" user="Advanced">
</param>
<param humanName="Accel 5 bias" name="SIM_ACC5_BIAS_X" documentation="bias of simulated accelerometer sensor (X-axis)" user="Advanced">
</param>
<param humanName="Accel 5 bias" name="SIM_ACC5_BIAS_Y" documentation="bias of simulated accelerometer sensor (Y-axis)" user="Advanced">
</param>
<param humanName="Accel 5 bias" name="SIM_ACC5_BIAS_Z" documentation="bias of simulated accelerometer sensor (Z-axis)" user="Advanced">
</param>
<param humanName="Fifth Gyro bias on X axis" name="SIM_GYR5_BIAS_X" documentation="Fifth Gyro bias on X axis" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Fifth Gyro bias on Y axis" name="SIM_GYR5_BIAS_Y" documentation="Fifth Gyro bias on Y axis" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="Fifth Gyro bias on Z axis" name="SIM_GYR5_BIAS_Z" documentation="Fifth Gyro bias on Z axis" user="Advanced">
<field name="Units">rad/s</field>
<field name="UnitText">radians per second</field>
</param>
<param humanName="SIM-on_hardware Relay Enable Mask" name="SIM_OH_RELAY_MSK" documentation="Allow relay output operation when running SIM-on-hardware">
</param>
</parameters>
<parameters name="SIM_ARSPD2_">
<param humanName="Airspeed sensor failure" name="SIM_ARSPD2_FAIL" documentation="Simulates Airspeed sensor 1 failure" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Airspeed sensor failure pressure" name="SIM_ARSPD2_FAILP" documentation="Simulated airspeed sensor failure pressure" user="Advanced">
<field name="Units">Pa</field>
<field name="UnitText">pascal</field>
</param>
<param humanName="Airspeed pitot tube failure pressure" name="SIM_ARSPD2_PITOT" documentation="Simulated airspeed sensor pitot tube failure pressure" user="Advanced">
<field name="Units">Pa</field>
<field name="UnitText">pascal</field>
</param>
<param humanName="Airspeed signflip" name="SIM_ARSPD2_SIGN" documentation="Simulated airspeed sensor with reversed pitot/static connections" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Airspeed ratios" name="SIM_ARSPD2_RATIO" documentation="Simulated airspeed sensor ratio" user="Advanced">
</param>
</parameters>
<parameters name="SIM_ARSPD_">
<param humanName="Airspeed sensor failure" name="SIM_ARSPD_FAIL" documentation="Simulates Airspeed sensor 1 failure" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Airspeed sensor failure pressure" name="SIM_ARSPD_FAILP" documentation="Simulated airspeed sensor failure pressure" user="Advanced">
<field name="Units">Pa</field>
<field name="UnitText">pascal</field>
</param>
<param humanName="Airspeed pitot tube failure pressure" name="SIM_ARSPD_PITOT" documentation="Simulated airspeed sensor pitot tube failure pressure" user="Advanced">
<field name="Units">Pa</field>
<field name="UnitText">pascal</field>
</param>
<param humanName="Airspeed signflip" name="SIM_ARSPD_SIGN" documentation="Simulated airspeed sensor with reversed pitot/static connections" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Airspeed ratios" name="SIM_ARSPD_RATIO" documentation="Simulated airspeed sensor ratio" user="Advanced">
</param>
</parameters>
<parameters name="SIM_GRPE_">
<param humanName="Gripper servo Sim enable/disable" name="SIM_GRPE_ENABLE" documentation="Allows you to enable (1) or disable (0) the gripper servo simulation" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Gripper emp pin" name="SIM_GRPE_PIN" documentation="The pin number that the gripper emp is connected to. (start at 1)" user="Advanced">
<field name="Range">0 15</field>
</param>
</parameters>
<parameters name="SIM_GRPS_">
<param humanName="Gripper servo Sim enable/disable" name="SIM_GRPS_ENABLE" documentation="Allows you to enable (1) or disable (0) the gripper servo simulation" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Gripper servo pin" name="SIM_GRPS_PIN" documentation="The pin number that the gripper servo is connected to. (start at 1)" user="Advanced">
<field name="Range">0 15</field>
</param>
<param humanName="Gripper Grab PWM" name="SIM_GRPS_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="SIM_GRPS_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="Gripper close direction" name="SIM_GRPS_REVERSE" documentation="Reverse the closing direction." user="Advanced">
<values>
<value code="0">Normal</value>
<value code="1">Reverse</value>
</values>
</param>
</parameters>
<parameters name="SIM_PLD_">
<param humanName="Preland device Sim enable/disable" name="SIM_PLD_ENABLE" documentation="Allows you to enable (1) or disable (0) the Preland simulation" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Precland device center's latitude" name="SIM_PLD_LAT" documentation="Precland device center's latitude" user="Advanced">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Increment">0.000001</field>
<field name="Range">-90 90</field>
</param>
<param humanName="Precland device center's longitude" name="SIM_PLD_LON" documentation="Precland device center's longitude" user="Advanced">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Increment">0.000001</field>
<field name="Range">-180 180</field>
</param>
<param humanName="Precland device center's height SITL origin" name="SIM_PLD_HEIGHT" documentation="Precland device center's height above SITL origin. Assumes a 2x2m square as station base" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Increment">1</field>
<field name="Range">0 10000</field>
</param>
<param humanName="Precland device systems rotation from north" name="SIM_PLD_YAW" documentation="Precland device systems rotation from north" user="Advanced">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Increment">1</field>
<field name="Range">-180 +180</field>
</param>
<param humanName="Precland device update rate" name="SIM_PLD_RATE" documentation="Precland device rate. e.g led patter refresh rate, RF message rate, etc." user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 200</field>
</param>
<param humanName="Precland device radiance type" name="SIM_PLD_TYPE" documentation="Precland device radiance type: it can be a cylinder, a cone, or a sphere." user="Advanced">
<values>
<value code="0">cylinder</value>
<value code="1">cone</value>
<value code="2">sphere</value>
</values>
</param>
<param humanName="Precland device alt range" name="SIM_PLD_ALT_LIMIT" documentation="Precland device maximum range altitude" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 100</field>
</param>
<param humanName="Precland device lateral range" name="SIM_PLD_DIST_LIMIT" documentation="Precland device maximum lateral range" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">5 100</field>
</param>
<param humanName="Precland device orientation" name="SIM_PLD_ORIENT" documentation="Precland device orientation vector" user="Advanced">
<values>
<value code="0">Front</value>
<value code="4">Back</value>
<value code="24">Up</value>
</values>
</param>
<param humanName="SIM_Precland extra options" name="SIM_PLD_OPTIONS" documentation="SIM_Precland extra options" user="Advanced">
<field name="Bitmask">0: Enable target distance</field>
</param>
<param humanName="SIM_Precland follow ship" name="SIM_PLD_SHIP" documentation="This makes the position of the landing beacon follow the simulated ship from SIM_SHIP. The ship movement is controlled with the SIM_SHIP parameters" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
</parameters>
<parameters name="SIM_SPR_">
<param humanName="Sprayer Sim enable/disable" name="SIM_SPR_ENABLE" documentation="Allows you to enable (1) or disable (0) the Sprayer simulation" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Sprayer pump pin" name="SIM_SPR_PUMP" documentation="The pin number that the Sprayer pump is connected to. (start at 1)" user="Advanced">
<field name="Range">0 15</field>
</param>
<param humanName="Sprayer spinner servo pin" name="SIM_SPR_SPIN" documentation="The pin number that the Sprayer spinner servo is connected to. (start at 1)" user="Advanced">
<field name="Range">0 15</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 travelling 1m/s expressed as a percentage" user="Standard">
<field name="Units">%</field>
<field name="UnitText">percent</field>
<field name="Range">0 100</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="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="Range">1000 2000</field>
</param>
<param humanName="Speed minimum" name="SPRAY_SPEED_MIN" documentation="Speed minimum at which we will begin spraying" user="Standard">
<field name="Units">cm/s</field>
<field name="UnitText">centimeters per second</field>
<field name="Range">0 1000</field>
</param>
<param humanName="Pump speed minimum" name="SPRAY_PUMP_MIN" documentation="Minimum pump speed expressed as a percentage" user="Standard">
<field name="Units">%</field>
<field name="UnitText">percent</field>
<field name="Range">0 100</field>
</param>
</parameters>
<parameters name="SR0_">
<param humanName="Raw sensor stream rate" name="SR0_RAW_SENS" documentation="MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, and SCALED_PRESSURE3" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Extended status stream rate" name="SR0_EXT_STAT" documentation="MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="RC Channel stream rate" name="SR0_RC_CHAN" documentation="MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Unused" name="SR0_RAW_CTRL" documentation="Unused" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Position stream rate" name="SR0_POSITION" documentation="MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Extra data type 1 stream rate" name="SR0_EXTRA1" documentation="MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING" user="Advanced">
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Extra data type 2 stream rate" name="SR0_EXTRA2" documentation="MAVLink Stream rate of VFR_HUD" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Extra data type 3 stream rate" name="SR0_EXTRA3" documentation="MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY,GENERATOR_STATUS, and WINCH_STATUS">
</param>
<param humanName="Parameter stream rate" name="SR0_PARAMS" documentation="MAVLink Stream rate of PARAM_VALUE" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="ADSB stream rate" name="SR0_ADSB" documentation="MAVLink ADSB stream rate" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="SR1_">
<param humanName="Raw sensor stream rate" name="SR1_RAW_SENS" documentation="MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, and SCALED_PRESSURE3" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Extended status stream rate" name="SR1_EXT_STAT" documentation="MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="RC Channel stream rate" name="SR1_RC_CHAN" documentation="MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Unused" name="SR1_RAW_CTRL" documentation="Unused" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Position stream rate" name="SR1_POSITION" documentation="MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Extra data type 1 stream rate" name="SR1_EXTRA1" documentation="MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING" user="Advanced">
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Extra data type 2 stream rate" name="SR1_EXTRA2" documentation="MAVLink Stream rate of VFR_HUD" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Extra data type 3 stream rate" name="SR1_EXTRA3" documentation="MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY,GENERATOR_STATUS, and WINCH_STATUS">
</param>
<param humanName="Parameter stream rate" name="SR1_PARAMS" documentation="MAVLink Stream rate of PARAM_VALUE" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="ADSB stream rate" name="SR1_ADSB" documentation="MAVLink ADSB stream rate" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="SR2_">
<param humanName="Raw sensor stream rate" name="SR2_RAW_SENS" documentation="MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, and SCALED_PRESSURE3" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Extended status stream rate" name="SR2_EXT_STAT" documentation="MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="RC Channel stream rate" name="SR2_RC_CHAN" documentation="MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Unused" name="SR2_RAW_CTRL" documentation="Unused" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Position stream rate" name="SR2_POSITION" documentation="MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Extra data type 1 stream rate" name="SR2_EXTRA1" documentation="MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING" user="Advanced">
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Extra data type 2 stream rate" name="SR2_EXTRA2" documentation="MAVLink Stream rate of VFR_HUD" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Extra data type 3 stream rate" name="SR2_EXTRA3" documentation="MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY,GENERATOR_STATUS, and WINCH_STATUS">
</param>
<param humanName="Parameter stream rate" name="SR2_PARAMS" documentation="MAVLink Stream rate of PARAM_VALUE" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="ADSB stream rate" name="SR2_ADSB" documentation="MAVLink ADSB stream rate" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="SR3_">
<param humanName="Raw sensor stream rate" name="SR3_RAW_SENS" documentation="MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, and SCALED_PRESSURE3" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Extended status stream rate" name="SR3_EXT_STAT" documentation="MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="RC Channel stream rate" name="SR3_RC_CHAN" documentation="MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Unused" name="SR3_RAW_CTRL" documentation="Unused" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Position stream rate" name="SR3_POSITION" documentation="MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Extra data type 1 stream rate" name="SR3_EXTRA1" documentation="MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING" user="Advanced">
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Extra data type 2 stream rate" name="SR3_EXTRA2" documentation="MAVLink Stream rate of VFR_HUD" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Extra data type 3 stream rate" name="SR3_EXTRA3" documentation="MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY,GENERATOR_STATUS, and WINCH_STATUS">
</param>
<param humanName="Parameter stream rate" name="SR3_PARAMS" documentation="MAVLink Stream rate of PARAM_VALUE" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="ADSB stream rate" name="SR3_ADSB" documentation="MAVLink ADSB stream rate" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="SR4_">
<param humanName="Raw sensor stream rate" name="SR4_RAW_SENS" documentation="MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, and SCALED_PRESSURE3" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Extended status stream rate" name="SR4_EXT_STAT" documentation="MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="RC Channel stream rate" name="SR4_RC_CHAN" documentation="MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Unused" name="SR4_RAW_CTRL" documentation="Unused" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Position stream rate" name="SR4_POSITION" documentation="MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Extra data type 1 stream rate" name="SR4_EXTRA1" documentation="MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING" user="Advanced">
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Extra data type 2 stream rate" name="SR4_EXTRA2" documentation="MAVLink Stream rate of VFR_HUD" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Extra data type 3 stream rate" name="SR4_EXTRA3" documentation="MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY,GENERATOR_STATUS, and WINCH_STATUS">
</param>
<param humanName="Parameter stream rate" name="SR4_PARAMS" documentation="MAVLink Stream rate of PARAM_VALUE" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="ADSB stream rate" name="SR4_ADSB" documentation="MAVLink ADSB stream rate" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="SR5_">
<param humanName="Raw sensor stream rate" name="SR5_RAW_SENS" documentation="MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, and SCALED_PRESSURE3" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Extended status stream rate" name="SR5_EXT_STAT" documentation="MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="RC Channel stream rate" name="SR5_RC_CHAN" documentation="MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Unused" name="SR5_RAW_CTRL" documentation="Unused" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Position stream rate" name="SR5_POSITION" documentation="MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Extra data type 1 stream rate" name="SR5_EXTRA1" documentation="MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING" user="Advanced">
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Extra data type 2 stream rate" name="SR5_EXTRA2" documentation="MAVLink Stream rate of VFR_HUD" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Extra data type 3 stream rate" name="SR5_EXTRA3" documentation="MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY,GENERATOR_STATUS, and WINCH_STATUS">
</param>
<param humanName="Parameter stream rate" name="SR5_PARAMS" documentation="MAVLink Stream rate of PARAM_VALUE" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="ADSB stream rate" name="SR5_ADSB" documentation="MAVLink ADSB stream rate" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
</parameters>
<parameters name="SR6_">
<param humanName="Raw sensor stream rate" name="SR6_RAW_SENS" documentation="MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, and SCALED_PRESSURE3" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Extended status stream rate" name="SR6_EXT_STAT" documentation="MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="RC Channel stream rate" name="SR6_RC_CHAN" documentation="MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Unused" name="SR6_RAW_CTRL" documentation="Unused" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Position stream rate" name="SR6_POSITION" documentation="MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Extra data type 1 stream rate" name="SR6_EXTRA1" documentation="MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING" user="Advanced">
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Extra data type 2 stream rate" name="SR6_EXTRA2" documentation="MAVLink Stream rate of VFR_HUD" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Extra data type 3 stream rate" name="SR6_EXTRA3" documentation="MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY,GENERATOR_STATUS, and WINCH_STATUS">
</param>
<param humanName="Parameter stream rate" name="SR6_PARAMS" documentation="MAVLink Stream rate of PARAM_VALUE" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="ADSB stream rate" name="SR6_ADSB" documentation="MAVLink ADSB stream rate" user="Advanced">
<field name="Units">Hz</field>
<field name="UnitText">hertz</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
<field name="RebootRequired">True</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="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 10</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>
<param humanName="SmartRTL options" name="SRTL_OPTIONS" documentation="Bitmask of SmartRTL options." user="Standard">
<field name="Bitmask">2:Ignore pilot yaw</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="Units">s</field>
<field name="UnitText">seconds</field>
<field name="ReadOnly">True</field>
</param>
<param humanName="Total RunTime" name="STAT_RUNTIME" documentation="Total time autopilot has run" user="Standard">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
<field name="ReadOnly">True</field>
</param>
<param humanName="Statistics Reset Time" name="STAT_RESET" documentation="Seconds since January 1st 2016 (Unix epoch+1451606400) since statistics reset (set to 0 to reset statistics, other set values will be ignored)" user="Standard">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
<field name="ReadOnly">True</field>
</param>
</parameters>
<parameters name="TCAL">
<param humanName="Temperature calibration enable" name="TCAL_ENABLED" 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="Temperature calibration min learned temperature" name="TCAL_TEMP_MIN" documentation="Minimum learned temperature. This is automatically set by the learning process" user="Advanced">
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
<field name="ReadOnly">True</field>
<field name="Volatile">True</field>
</param>
<param humanName="Temperature calibration max learned temperature" name="TCAL_TEMP_MAX" documentation="Maximum learned temperature. This is automatically set by the learning process" user="Advanced">
<field name="Units">degC</field>
<field name="UnitText">degrees Celsius</field>
<field name="ReadOnly">True</field>
<field name="Volatile">True</field>
</param>
<param humanName="Temperature Calibration barometer exponent" name="TCAL_BARO_EXP" documentation="Learned exponent for barometer temperature correction" user="Advanced">
<field name="ReadOnly">True</field>
<field name="Volatile">True</field>
</param>
</parameters>
<parameters name="TEMP">
<param humanName="Logging" name="TEMP_LOG" documentation="Enables temperature sensor logging" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
</parameters>
<parameters name="TEMP1_">
<param humanName="Temperature Sensor Type" name="TEMP1_TYPE" documentation="Enables temperature sensors" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">TSYS01</value>
<value code="2">MCP9600</value>
<value code="3">MAX31865</value>
<value code="4">TSYS03</value>
<value code="5">Analog</value>
<value code="6">DroneCAN</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Temperature sensor bus" name="TEMP1_BUS" documentation="Temperature sensor bus number, typically used to select from multiple I2C buses" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Temperature sensor address" name="TEMP1_ADDR" documentation="Temperature sensor address, typically used for I2C address" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Sensor Source" name="TEMP1_SRC" documentation="Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly." user="Standard">
<values>
<value code="0">None</value>
<value code="1">ESC</value>
<value code="2">Motor</value>
<value code="3">Battery Index</value>
<value code="4">Battery ID/SerialNumber</value>
<value code="5">CAN based Pitot tube</value>
<value code="6">DroneCAN-out on AP_Periph</value>
</values>
</param>
<param humanName="Sensor Source Identification" name="TEMP1_SRC_ID" documentation="Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.">
</param>
<param humanName="Temperature sensor analog voltage sensing pin" name="TEMP1_PIN" documentation="Sets the analog input pin that should be used for temprature monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="5">Navigator</value>
<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
<value code="14">CubeOrange</value>
<value code="16">Durandal</value>
<value code="100">PX4-v1</value>
</values>
</param>
<param humanName="Temperature sensor analog 0th polynomial coefficient" name="TEMP1_A0" documentation="a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 1st polynomial coefficient" name="TEMP1_A1" documentation="a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 2nd polynomial coefficient" name="TEMP1_A2" documentation="a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 3rd polynomial coefficient" name="TEMP1_A3" documentation="a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 4th polynomial coefficient" name="TEMP1_A4" documentation="a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
</parameters>
<parameters name="TEMP2_">
<param humanName="Temperature Sensor Type" name="TEMP2_TYPE" documentation="Enables temperature sensors" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">TSYS01</value>
<value code="2">MCP9600</value>
<value code="3">MAX31865</value>
<value code="4">TSYS03</value>
<value code="5">Analog</value>
<value code="6">DroneCAN</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Temperature sensor bus" name="TEMP2_BUS" documentation="Temperature sensor bus number, typically used to select from multiple I2C buses" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Temperature sensor address" name="TEMP2_ADDR" documentation="Temperature sensor address, typically used for I2C address" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Sensor Source" name="TEMP2_SRC" documentation="Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly." user="Standard">
<values>
<value code="0">None</value>
<value code="1">ESC</value>
<value code="2">Motor</value>
<value code="3">Battery Index</value>
<value code="4">Battery ID/SerialNumber</value>
<value code="5">CAN based Pitot tube</value>
<value code="6">DroneCAN-out on AP_Periph</value>
</values>
</param>
<param humanName="Sensor Source Identification" name="TEMP2_SRC_ID" documentation="Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.">
</param>
<param humanName="Temperature sensor analog voltage sensing pin" name="TEMP2_PIN" documentation="Sets the analog input pin that should be used for temprature monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="5">Navigator</value>
<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
<value code="14">CubeOrange</value>
<value code="16">Durandal</value>
<value code="100">PX4-v1</value>
</values>
</param>
<param humanName="Temperature sensor analog 0th polynomial coefficient" name="TEMP2_A0" documentation="a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 1st polynomial coefficient" name="TEMP2_A1" documentation="a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 2nd polynomial coefficient" name="TEMP2_A2" documentation="a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 3rd polynomial coefficient" name="TEMP2_A3" documentation="a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 4th polynomial coefficient" name="TEMP2_A4" documentation="a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
</parameters>
<parameters name="TEMP3_">
<param humanName="Temperature Sensor Type" name="TEMP3_TYPE" documentation="Enables temperature sensors" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">TSYS01</value>
<value code="2">MCP9600</value>
<value code="3">MAX31865</value>
<value code="4">TSYS03</value>
<value code="5">Analog</value>
<value code="6">DroneCAN</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Temperature sensor bus" name="TEMP3_BUS" documentation="Temperature sensor bus number, typically used to select from multiple I2C buses" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Temperature sensor address" name="TEMP3_ADDR" documentation="Temperature sensor address, typically used for I2C address" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Sensor Source" name="TEMP3_SRC" documentation="Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly." user="Standard">
<values>
<value code="0">None</value>
<value code="1">ESC</value>
<value code="2">Motor</value>
<value code="3">Battery Index</value>
<value code="4">Battery ID/SerialNumber</value>
<value code="5">CAN based Pitot tube</value>
<value code="6">DroneCAN-out on AP_Periph</value>
</values>
</param>
<param humanName="Sensor Source Identification" name="TEMP3_SRC_ID" documentation="Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.">
</param>
<param humanName="Temperature sensor analog voltage sensing pin" name="TEMP3_PIN" documentation="Sets the analog input pin that should be used for temprature monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="5">Navigator</value>
<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
<value code="14">CubeOrange</value>
<value code="16">Durandal</value>
<value code="100">PX4-v1</value>
</values>
</param>
<param humanName="Temperature sensor analog 0th polynomial coefficient" name="TEMP3_A0" documentation="a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 1st polynomial coefficient" name="TEMP3_A1" documentation="a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 2nd polynomial coefficient" name="TEMP3_A2" documentation="a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 3rd polynomial coefficient" name="TEMP3_A3" documentation="a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 4th polynomial coefficient" name="TEMP3_A4" documentation="a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
</parameters>
<parameters name="TEMP4_">
<param humanName="Temperature Sensor Type" name="TEMP4_TYPE" documentation="Enables temperature sensors" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">TSYS01</value>
<value code="2">MCP9600</value>
<value code="3">MAX31865</value>
<value code="4">TSYS03</value>
<value code="5">Analog</value>
<value code="6">DroneCAN</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Temperature sensor bus" name="TEMP4_BUS" documentation="Temperature sensor bus number, typically used to select from multiple I2C buses" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Temperature sensor address" name="TEMP4_ADDR" documentation="Temperature sensor address, typically used for I2C address" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Sensor Source" name="TEMP4_SRC" documentation="Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly." user="Standard">
<values>
<value code="0">None</value>
<value code="1">ESC</value>
<value code="2">Motor</value>
<value code="3">Battery Index</value>
<value code="4">Battery ID/SerialNumber</value>
<value code="5">CAN based Pitot tube</value>
<value code="6">DroneCAN-out on AP_Periph</value>
</values>
</param>
<param humanName="Sensor Source Identification" name="TEMP4_SRC_ID" documentation="Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.">
</param>
<param humanName="Temperature sensor analog voltage sensing pin" name="TEMP4_PIN" documentation="Sets the analog input pin that should be used for temprature monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="5">Navigator</value>
<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
<value code="14">CubeOrange</value>
<value code="16">Durandal</value>
<value code="100">PX4-v1</value>
</values>
</param>
<param humanName="Temperature sensor analog 0th polynomial coefficient" name="TEMP4_A0" documentation="a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 1st polynomial coefficient" name="TEMP4_A1" documentation="a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 2nd polynomial coefficient" name="TEMP4_A2" documentation="a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 3rd polynomial coefficient" name="TEMP4_A3" documentation="a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 4th polynomial coefficient" name="TEMP4_A4" documentation="a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
</parameters>
<parameters name="TEMP5_">
<param humanName="Temperature Sensor Type" name="TEMP5_TYPE" documentation="Enables temperature sensors" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">TSYS01</value>
<value code="2">MCP9600</value>
<value code="3">MAX31865</value>
<value code="4">TSYS03</value>
<value code="5">Analog</value>
<value code="6">DroneCAN</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Temperature sensor bus" name="TEMP5_BUS" documentation="Temperature sensor bus number, typically used to select from multiple I2C buses" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Temperature sensor address" name="TEMP5_ADDR" documentation="Temperature sensor address, typically used for I2C address" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Sensor Source" name="TEMP5_SRC" documentation="Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly." user="Standard">
<values>
<value code="0">None</value>
<value code="1">ESC</value>
<value code="2">Motor</value>
<value code="3">Battery Index</value>
<value code="4">Battery ID/SerialNumber</value>
<value code="5">CAN based Pitot tube</value>
<value code="6">DroneCAN-out on AP_Periph</value>
</values>
</param>
<param humanName="Sensor Source Identification" name="TEMP5_SRC_ID" documentation="Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.">
</param>
<param humanName="Temperature sensor analog voltage sensing pin" name="TEMP5_PIN" documentation="Sets the analog input pin that should be used for temprature monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="5">Navigator</value>
<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
<value code="14">CubeOrange</value>
<value code="16">Durandal</value>
<value code="100">PX4-v1</value>
</values>
</param>
<param humanName="Temperature sensor analog 0th polynomial coefficient" name="TEMP5_A0" documentation="a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 1st polynomial coefficient" name="TEMP5_A1" documentation="a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 2nd polynomial coefficient" name="TEMP5_A2" documentation="a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 3rd polynomial coefficient" name="TEMP5_A3" documentation="a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 4th polynomial coefficient" name="TEMP5_A4" documentation="a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
</parameters>
<parameters name="TEMP6_">
<param humanName="Temperature Sensor Type" name="TEMP6_TYPE" documentation="Enables temperature sensors" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">TSYS01</value>
<value code="2">MCP9600</value>
<value code="3">MAX31865</value>
<value code="4">TSYS03</value>
<value code="5">Analog</value>
<value code="6">DroneCAN</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Temperature sensor bus" name="TEMP6_BUS" documentation="Temperature sensor bus number, typically used to select from multiple I2C buses" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Temperature sensor address" name="TEMP6_ADDR" documentation="Temperature sensor address, typically used for I2C address" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Sensor Source" name="TEMP6_SRC" documentation="Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly." user="Standard">
<values>
<value code="0">None</value>
<value code="1">ESC</value>
<value code="2">Motor</value>
<value code="3">Battery Index</value>
<value code="4">Battery ID/SerialNumber</value>
<value code="5">CAN based Pitot tube</value>
<value code="6">DroneCAN-out on AP_Periph</value>
</values>
</param>
<param humanName="Sensor Source Identification" name="TEMP6_SRC_ID" documentation="Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.">
</param>
<param humanName="Temperature sensor analog voltage sensing pin" name="TEMP6_PIN" documentation="Sets the analog input pin that should be used for temprature monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="5">Navigator</value>
<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
<value code="14">CubeOrange</value>
<value code="16">Durandal</value>
<value code="100">PX4-v1</value>
</values>
</param>
<param humanName="Temperature sensor analog 0th polynomial coefficient" name="TEMP6_A0" documentation="a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 1st polynomial coefficient" name="TEMP6_A1" documentation="a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 2nd polynomial coefficient" name="TEMP6_A2" documentation="a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 3rd polynomial coefficient" name="TEMP6_A3" documentation="a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 4th polynomial coefficient" name="TEMP6_A4" documentation="a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
</parameters>
<parameters name="TEMP7_">
<param humanName="Temperature Sensor Type" name="TEMP7_TYPE" documentation="Enables temperature sensors" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">TSYS01</value>
<value code="2">MCP9600</value>
<value code="3">MAX31865</value>
<value code="4">TSYS03</value>
<value code="5">Analog</value>
<value code="6">DroneCAN</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Temperature sensor bus" name="TEMP7_BUS" documentation="Temperature sensor bus number, typically used to select from multiple I2C buses" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Temperature sensor address" name="TEMP7_ADDR" documentation="Temperature sensor address, typically used for I2C address" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Sensor Source" name="TEMP7_SRC" documentation="Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly." user="Standard">
<values>
<value code="0">None</value>
<value code="1">ESC</value>
<value code="2">Motor</value>
<value code="3">Battery Index</value>
<value code="4">Battery ID/SerialNumber</value>
<value code="5">CAN based Pitot tube</value>
<value code="6">DroneCAN-out on AP_Periph</value>
</values>
</param>
<param humanName="Sensor Source Identification" name="TEMP7_SRC_ID" documentation="Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.">
</param>
<param humanName="Temperature sensor analog voltage sensing pin" name="TEMP7_PIN" documentation="Sets the analog input pin that should be used for temprature monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="5">Navigator</value>
<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
<value code="14">CubeOrange</value>
<value code="16">Durandal</value>
<value code="100">PX4-v1</value>
</values>
</param>
<param humanName="Temperature sensor analog 0th polynomial coefficient" name="TEMP7_A0" documentation="a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 1st polynomial coefficient" name="TEMP7_A1" documentation="a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 2nd polynomial coefficient" name="TEMP7_A2" documentation="a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 3rd polynomial coefficient" name="TEMP7_A3" documentation="a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 4th polynomial coefficient" name="TEMP7_A4" documentation="a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
</parameters>
<parameters name="TEMP8_">
<param humanName="Temperature Sensor Type" name="TEMP8_TYPE" documentation="Enables temperature sensors" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">TSYS01</value>
<value code="2">MCP9600</value>
<value code="3">MAX31865</value>
<value code="4">TSYS03</value>
<value code="5">Analog</value>
<value code="6">DroneCAN</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Temperature sensor bus" name="TEMP8_BUS" documentation="Temperature sensor bus number, typically used to select from multiple I2C buses" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Temperature sensor address" name="TEMP8_ADDR" documentation="Temperature sensor address, typically used for I2C address" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Sensor Source" name="TEMP8_SRC" documentation="Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly." user="Standard">
<values>
<value code="0">None</value>
<value code="1">ESC</value>
<value code="2">Motor</value>
<value code="3">Battery Index</value>
<value code="4">Battery ID/SerialNumber</value>
<value code="5">CAN based Pitot tube</value>
<value code="6">DroneCAN-out on AP_Periph</value>
</values>
</param>
<param humanName="Sensor Source Identification" name="TEMP8_SRC_ID" documentation="Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.">
</param>
<param humanName="Temperature sensor analog voltage sensing pin" name="TEMP8_PIN" documentation="Sets the analog input pin that should be used for temprature monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="5">Navigator</value>
<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
<value code="14">CubeOrange</value>
<value code="16">Durandal</value>
<value code="100">PX4-v1</value>
</values>
</param>
<param humanName="Temperature sensor analog 0th polynomial coefficient" name="TEMP8_A0" documentation="a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 1st polynomial coefficient" name="TEMP8_A1" documentation="a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 2nd polynomial coefficient" name="TEMP8_A2" documentation="a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 3rd polynomial coefficient" name="TEMP8_A3" documentation="a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 4th polynomial coefficient" name="TEMP8_A4" documentation="a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
</parameters>
<parameters name="TEMP9_">
<param humanName="Temperature Sensor Type" name="TEMP9_TYPE" documentation="Enables temperature sensors" user="Standard">
<values>
<value code="0">Disabled</value>
<value code="1">TSYS01</value>
<value code="2">MCP9600</value>
<value code="3">MAX31865</value>
<value code="4">TSYS03</value>
<value code="5">Analog</value>
<value code="6">DroneCAN</value>
</values>
<field name="RebootRequired">True</field>
</param>
<param humanName="Temperature sensor bus" name="TEMP9_BUS" documentation="Temperature sensor bus number, typically used to select from multiple I2C buses" user="Advanced">
<field name="Range">0 3</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Temperature sensor address" name="TEMP9_ADDR" documentation="Temperature sensor address, typically used for I2C address" user="Advanced">
<field name="Range">0 127</field>
<field name="RebootRequired">True</field>
</param>
<param humanName="Sensor Source" name="TEMP9_SRC" documentation="Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly." user="Standard">
<values>
<value code="0">None</value>
<value code="1">ESC</value>
<value code="2">Motor</value>
<value code="3">Battery Index</value>
<value code="4">Battery ID/SerialNumber</value>
<value code="5">CAN based Pitot tube</value>
<value code="6">DroneCAN-out on AP_Periph</value>
</values>
</param>
<param humanName="Sensor Source Identification" name="TEMP9_SRC_ID" documentation="Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.">
</param>
<param humanName="Temperature sensor analog voltage sensing pin" name="TEMP9_PIN" documentation="Sets the analog input pin that should be used for temprature monitoring." user="Standard">
<values>
<value code="-1">Disabled</value>
<value code="2">Pixhawk/Pixracer/Navio2/Pixhawk2_PM1</value>
<value code="5">Navigator</value>
<value code="13">Pixhawk2_PM2/CubeOrange_PM2</value>
<value code="14">CubeOrange</value>
<value code="16">Durandal</value>
<value code="100">PX4-v1</value>
</values>
</param>
<param humanName="Temperature sensor analog 0th polynomial coefficient" name="TEMP9_A0" documentation="a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 1st polynomial coefficient" name="TEMP9_A1" documentation="a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 2nd polynomial coefficient" name="TEMP9_A2" documentation="a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 3rd polynomial coefficient" name="TEMP9_A3" documentation="a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</param>
<param humanName="Temperature sensor analog 4th polynomial coefficient" name="TEMP9_A4" documentation="a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4">
</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 ArduPilot SRTM database like Mission Planner or MAVProxy, then a resolution of 100 meters is appropriate. Grid spacings lower than 100 meters waste SD card space if the GCS cannot provide that resolution. 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 loaded as needed." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Increment">1</field>
</param>
<param humanName="Terrain options" name="TERRAIN_OPTIONS" documentation="Options to change behaviour of terrain system" user="Advanced">
<field name="Bitmask">0:Disable Download</field>
</param>
<param humanName="Acceptance margin" name="TERRAIN_MARGIN" documentation="Margin in centi-meters to accept terrain data from the GCS. This can be used to allow older terrain data generated with less accurate latitude/longitude scaling to be used" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0.05 50000</field>
</param>
<param humanName="Terrain reference offset maximum" name="TERRAIN_OFS_MAX" documentation="The maximum adjustment of terrain altitude based on the assumption that the vehicle is on the ground when it is armed. When the vehicle is armed the location of the vehicle is recorded, and when terrain data is available for that location a height adjustment for terrain data is calculated that aligns the terrain height at that location with the altitude recorded at arming. This height adjustment is applied to all terrain data. This parameter clamps the amount of adjustment. A value of zero disables the use of terrain height adjustment." user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 50</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 when the left action 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 2" name="TMODE_ACTION2" documentation="This is the action taken when the right action 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 3" name="TMODE_ACTION3" documentation="This is the action taken when the power 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 4" name="TMODE_ACTION4" documentation="This is the action taken when the left action button is pressed while the left (Mode) button is held down" 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 when the right action is pressed while the left (Mode) button is held down" 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 when the power button is pressed while the left (Mode) button is held down" 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 when the left (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 long action" name="TMODE_LEFT_LONG" documentation="This is the action taken when the left (Mode) button is long-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="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 when the right (Return) 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>
</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">MAVLink</value>
<value code="2">IntelT265</value>
<value code="3">VOXL(ModalAI)</value>
</values>
<field name="RebootRequired">True</field>
</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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</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>
<field name="Range">-5 5</field>
<field name="Increment">0.01</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>
<param humanName="Visual odometry scaling factor" name="VISO_SCALE" documentation="Visual odometry scaling factor applied to position estimates from sensor" user="Advanced">
</param>
<param humanName="Visual odometry sensor delay" name="VISO_DELAY_MS" documentation="Visual odometry sensor delay relative to inertial measurements" user="Advanced">
<field name="Units">ms</field>
<field name="UnitText">milliseconds</field>
<field name="Range">0 250</field>
</param>
<param humanName="Visual odometry velocity measurement noise" name="VISO_VEL_M_NSE" documentation="Visual odometry velocity measurement noise in m/s" user="Advanced">
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
<field name="Range">0.05 5.0</field>
</param>
<param humanName="Visual odometry position measurement noise " name="VISO_POS_M_NSE" documentation="Visual odometry position measurement noise minimum (meters). This value will be used if the sensor provides a lower noise value (or no noise value)" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0.1 10.0</field>
</param>
<param humanName="Visual odometry yaw measurement noise" name="VISO_YAW_M_NSE" documentation="Visual odometry yaw measurement noise minimum (radians), This value will be used if the sensor provides a lower noise value (or no noise value)" user="Advanced">
<field name="Units">rad</field>
<field name="UnitText">radians</field>
<field name="Range">0.05 1.0</field>
</param>
<param humanName="Visual odometry minimum quality" name="VISO_QUAL_MIN" documentation="Visual odometry will only be sent to EKF if over this value. -1 to always send (even bad values), 0 to send if good or unknown" user="Advanced">
<field name="Units">%</field>
<field name="UnitText">percent</field>
<field name="Range">-1 100</field>
</param>
</parameters>
<parameters name="VTX_">
<param humanName="Is the Video Transmitter enabled or not" name="VTX_ENABLE" documentation="Toggles the Video Transmitter on and off">
<values>
<value code="0">Disable</value>
<value code="1">Enable</value>
</values>
</param>
<param humanName="Video Transmitter Power Level" name="VTX_POWER" documentation="Video Transmitter Power Level. Different VTXs support different power levels, the power level chosen will be rounded down to the nearest supported power level">
<field name="Range">1 1000</field>
</param>
<param humanName="Video Transmitter Channel" name="VTX_CHANNEL" documentation="Video Transmitter Channel" user="Standard">
<field name="Range">0 7</field>
</param>
<param humanName="Video Transmitter Band" name="VTX_BAND" documentation="Video Transmitter Band" user="Standard">
<values>
<value code="0">Band A</value>
<value code="1">Band B</value>
<value code="2">Band E</value>
<value code="3">Airwave</value>
<value code="4">RaceBand</value>
<value code="5">Low RaceBand</value>
<value code="6">1G3 Band A</value>
<value code="7">1G3 Band B</value>
<value code="8">Band X</value>
</values>
</param>
<param humanName="Video Transmitter Frequency" name="VTX_FREQ" documentation="Video Transmitter Frequency. The frequency is derived from the setting of BAND and CHANNEL" user="Standard">
<field name="ReadOnly">True</field>
<field name="Range">1000 6000</field>
</param>
<param humanName="Video Transmitter Options" name="VTX_OPTIONS" documentation="Video Transmitter Options. Pitmode puts the VTX in a low power state. Unlocked enables certain restricted frequencies and power levels. Do not enable the Unlocked option unless you have appropriate permissions in your jurisdiction to transmit at high power levels. One stop-bit may be required for VTXs that erroneously mimic iNav behaviour." user="Advanced">
<field name="Bitmask">0:Pitmode,1:Pitmode until armed,2:Pitmode when disarmed,3:Unlocked,4:Add leading zero byte to requests,5:Use 1 stop-bit in SmartAudio,6:Ignore CRC in SmartAudio,7:Ignore status updates in CRSF and blindly set VTX options</field>
</param>
<param humanName="Video Transmitter Max Power Level" name="VTX_MAX_POWER" documentation="Video Transmitter Maximum Power Level. Different VTXs support different power levels, this prevents the power aux switch from requesting too high a power level. The switch supports 6 power levels and the selected power will be a subdivision between 0 and this setting.">
<field name="Range">25 1000</field>
</param>
</parameters>
<parameters name="WINCH">
<param humanName="Winch Type" name="WINCH_TYPE" documentation="Winch Type" user="Standard">
<values>
<value code="0">None</value>
<value code="1">PWM</value>
<value code="2">Daiwa</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 options" name="WINCH_OPTIONS" documentation="Winch options" user="Standard">
<field name="Bitmask"> 0:Spin freely on startup, 1:Verbose output, 2:Retry if stuck (Daiwa only)</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="Units">cm/s</field>
<field name="UnitText">centimeters per second</field>
<field name="Range">20 2000</field>
<field name="Increment">50</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="Units">cm</field>
<field name="UnitText">centimeters</field>
<field name="Range">5 1000</field>
<field name="Increment">1</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="Units">cm/s</field>
<field name="UnitText">centimeters per second</field>
<field name="Range">10 1000</field>
<field name="Increment">50</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="Units">cm/s</field>
<field name="UnitText">centimeters per second</field>
<field name="Range">10 500</field>
<field name="Increment">10</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="Units">cm/s/s</field>
<field name="UnitText">centimeters per square second</field>
<field name="Range">50 500</field>
<field name="Increment">10</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="Units">cm/s/s</field>
<field name="UnitText">centimeters per square second</field>
<field name="Range">50 500</field>
<field name="Increment">10</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>
<param humanName="Waypoint Jerk" name="WPNAV_JERK" documentation="Defines the horizontal jerk in m/s/s used during missions" user="Standard">
<field name="Units">m/s/s/s</field>
<field name="UnitText">meters per cubic second</field>
<field name="Range">1 20</field>
</param>
<param humanName="Waypoint Terrain following altitude margin" name="WPNAV_TER_MARGIN" documentation="Waypoint Terrain following altitude margin. Vehicle will stop if distance from target altitude is larger than this margin (in meters)" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0.1 100</field>
</param>
<param humanName="Waypoint Cornering Acceleration" name="WPNAV_ACCEL_C" documentation="Defines the maximum cornering acceleration in cm/s/s used during missions. If zero uses 2x accel value." user="Standard">
<field name="Units">cm/s/s</field>
<field name="UnitText">centimeters per square second</field>
<field name="Range">0 500</field>
<field name="Increment">10</field>
</param>
</parameters>
<parameters name="WVANE_">
<param humanName="Enable" name="WVANE_ENABLE" documentation="Enable weather vaning. When active, the aircraft will automatically yaw into wind when in a VTOL position controlled mode. Pilot yaw commands override the weathervaning action." user="Standard">
<values>
<value code="-1">Only use during takeoffs or landing see weathervane takeoff and land override parameters</value>
<value code="0">Disabled</value>
<value code="1">Nose into wind</value>
<value code="2">Nose or tail into wind</value>
<value code="3">Side into wind</value>
<value code="4">tail into wind</value>
</values>
</param>
<param humanName="Weathervaning gain" name="WVANE_GAIN" documentation="This converts the target roll/pitch angle of the aircraft into the correcting (into wind) yaw rate. e.g. Gain = 2, roll = 30 deg, pitch = 0 deg, yaw rate = 60 deg/s." user="Standard">
<field name="Range">0.5 4</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Weathervaning min angle" name="WVANE_ANG_MIN" documentation="The minimum target roll/pitch angle before active weathervaning will start. This provides a dead zone that is particularly useful for poorly trimmed quadplanes." user="Standard">
<field name="Units">deg</field>
<field name="UnitText">degrees</field>
<field name="Range">0 10</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Weathervaning min height" name="WVANE_HGT_MIN" documentation="Above this height weathervaning is permitted. If a range finder is fitted or if terrain is enabled, this parameter sets height AGL. Otherwise, this parameter sets height above home. Set zero to ignore minimum height requirement to activate weathervaning." user="Standard">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0 50</field>
<field name="Increment">1</field>
</param>
<param humanName="Weathervaning max ground speed" name="WVANE_SPD_MAX" documentation="Below this ground speed weathervaning is permitted. Set to 0 to ignore this condition when checking if vehicle should weathervane." user="Standard">
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
<field name="Range">0 50</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Weathervaning max vertical speed" name="WVANE_VELZ_MAX" documentation="The maximum climb or descent speed that the vehicle will still attempt to weathervane. Set to 0 to ignore this condition to get the aircraft to weathervane at any climb/descent rate. This is particularly useful for aircraft with low disc loading that struggle with yaw control in decent." user="Standard">
<field name="Units">m/s</field>
<field name="UnitText">meters per second</field>
<field name="Range">0 5</field>
<field name="Increment">0.1</field>
</param>
<param humanName="Takeoff override" name="WVANE_TAKEOFF" documentation="Override the weather vaning behaviour when in takeoffs" user="Standard">
<values>
<value code="-1">No override</value>
<value code="0">Disabled</value>
<value code="1">Nose into wind</value>
<value code="2">Nose or tail into wind</value>
<value code="3">Side into wind</value>
<value code="4">tail into wind</value>
</values>
</param>
<param humanName="Landing override" name="WVANE_LAND" documentation="Override the weather vaning behaviour when in landing" user="Standard">
<values>
<value code="-1">No override</value>
<value code="0">Disabled</value>
<value code="1">Nose into wind</value>
<value code="2">Nose or tail into wind</value>
<value code="3">Side into wind</value>
<value code="4">tail into wind</value>
</values>
</param>
<param humanName="Weathervaning options" name="WVANE_OPTIONS" documentation="Options impacting weathervaning behaviour" user="Standard">
<field name="Bitmask">0:Use pitch when nose or tail-in for faster weathervaning</field>
</param>
</parameters>
<parameters name="ZIGZ_">
<param humanName="ZigZag auto enable/disable" name="ZIGZ_AUTO_ENABLE" documentation="Allows you to enable (1) or disable (0) ZigZag auto feature" user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="Auto sprayer in ZigZag" name="ZIGZ_SPRAYER" documentation="Enable the auto sprayer in ZigZag mode. SPRAY_ENABLE = 1 and SERVOx_FUNCTION = 22(SprayerPump) / 23(SprayerSpinner) also must be set. This makes the sprayer on while moving to destination A or B. The sprayer will stop if the vehicle reaches destination or the flight mode is changed from ZigZag to other." user="Advanced">
<values>
<value code="0">Disabled</value>
<value code="1">Enabled</value>
</values>
</param>
<param humanName="The delay for zigzag waypoint" name="ZIGZ_WP_DELAY" documentation="Waiting time after reached the destination" user="Advanced">
<field name="Units">s</field>
<field name="UnitText">seconds</field>
<field name="Range">0 127</field>
</param>
<param humanName="Sideways distance in ZigZag auto" name="ZIGZ_SIDE_DIST" documentation="The distance to move sideways in ZigZag mode" user="Advanced">
<field name="Units">m</field>
<field name="UnitText">meters</field>
<field name="Range">0.1 100</field>
</param>
<param humanName="Sideways direction in ZigZag auto" name="ZIGZ_DIRECTION" documentation="The direction to move sideways in ZigZag mode" user="Advanced">
<values>
<value code="0">forward</value>
<value code="1">right</value>
<value code="2">backward</value>
<value code="3">left</value>
</values>
</param>
<param humanName="Total number of lines" name="ZIGZ_LINE_NUM" documentation="Total number of lines for ZigZag auto if 1 or more. -1: Infinity, 0: Just moving to sideways" user="Advanced">
<field name="Range">-1 32767</field>
</param>
</parameters>
</libraries>
</paramfile>