PX4-Autopilot/docs/public/config/failsafe/parameters.json

{"parameters": [{"category": "Standard", "default": 0, "group": "ADSB", "longDesc": "Sets first 4 characters of a total of 8. Valid characters are A-Z, 0-9, \" \". Example \"PX4 \" -> 1347957792\nFor CALLSIGN shorter than 8 characters use the null terminator at the end '\\0'.\n", "name": "ADSB_CALLSIGN_1", "rebootRequired": true, "shortDesc": "First 4 characters of CALLSIGN", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "ADSB", "longDesc": "Sets second 4 characters of a total of 8. Valid characters are A-Z, 0-9, \" \" only. Example \"TEST\" -> 1413829460\nFor CALLSIGN shorter than 8 characters use the null terminator at the end '\\0'.\n", "name": "ADSB_CALLSIGN_2", "rebootRequired": true, "shortDesc": "Second 4 characters of CALLSIGN", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "ADSB", "longDesc": "Sets the vehicle emergency state\n", "max": 6, "min": 0, "name": "ADSB_EMERGC", "rebootRequired": true, "shortDesc": "ADSB-Out Emergency State", "type": "Int32", "values": [{"description": "NoEmergency", "value": 0}, {"description": "General", "value": 1}, {"description": "Medical", "value": 2}, {"description": "LowFuel", "value": 3}, {"description": "NoCommunications", "value": 4}, {"description": "Interference", "value": 5}, {"description": "Downed", "value": 6}]}, {"category": "Standard", "default": 14, "group": "ADSB", "longDesc": "Configure the emitter type of the vehicle.\n", "max": 15, "min": 0, "name": "ADSB_EMIT_TYPE", "rebootRequired": true, "shortDesc": "ADSB-Out Vehicle Emitter Type", "type": "Int32", "values": [{"description": "Unknown", "value": 0}, {"description": "Light", "value": 1}, {"description": "Small", "value": 2}, {"description": "Large", "value": 3}, {"description": "HighVortex", "value": 4}, {"description": "Heavy", "value": 5}, {"description": "Performance", "value": 6}, {"description": "Rotorcraft", "value": 7}, {"description": "RESERVED", "value": 8}, {"description": "Glider", "value": 9}, {"description": "LightAir", "value": 10}, {"description": "Parachute", "value": 11}, {"description": "UltraLight", "value": 12}, {"description": "RESERVED", "value": 13}, {"description": "UAV", "value": 14}, {"description": "Space", "value": 15}, {"description": "RESERVED", "value": 16}, {"description": "EmergencySurf", "value": 17}, {"description": "ServiceSurf", "value": 18}, {"description": "PointObstacle", "value": 19}]}, {"category": "Standard", "default": 0, "group": "ADSB", "longDesc": "Sets GPS lataral offset encoding\n", "max": 7, "min": 0, "name": "ADSB_GPS_OFF_LAT", "rebootRequired": true, "shortDesc": "ADSB-Out GPS Offset lat", "type": "Int32", "values": [{"description": "NoData", "value": 0}, {"description": "LatLeft2M", "value": 1}, {"description": "LatLeft4M", "value": 2}, {"description": "LatLeft6M", "value": 3}, {"description": "LatRight0M", "value": 4}, {"description": "LatRight2M", "value": 5}, {"description": "LatRight4M", "value": 6}, {"description": "LatRight6M", "value": 7}]}, {"category": "Standard", "default": 0, "group": "ADSB", "longDesc": "Sets GPS longitudinal offset encoding\n", "max": 1, "min": 0, "name": "ADSB_GPS_OFF_LON", "rebootRequired": true, "shortDesc": "ADSB-Out GPS Offset lon", "type": "Int32", "values": [{"description": "NoData", "value": 0}, {"description": "AppliedBySensor", "value": 1}]}, {"category": "Standard", "default": 1194684, "group": "ADSB", "longDesc": "Defines the ICAO ID of the vehicle\n", "max": 16777215, "min": -1, "name": "ADSB_ICAO_ID", "rebootRequired": true, "shortDesc": "ADSB-Out ICAO configuration", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "ADSB", "longDesc": "This vehicle is always tracked. Use 0 to disable.\n", "max": 16777215, "min": 0, "name": "ADSB_ICAO_SPECL", "rebootRequired": true, "shortDesc": "ADSB-In Special ICAO configuration", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "ADSB", "longDesc": "Enable Identification of Position feature\n", "name": "ADSB_IDENT", "rebootRequired": true, "shortDesc": "ADSB-Out Ident Configuration", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "ADSB", "longDesc": "Report the length and width of the vehicle in meters. In most cases, use '1' for the smallest vehicle size.\n", "max": 15, "min": 0, "name": "ADSB_LEN_WIDTH", "rebootRequired": true, "shortDesc": "ADSB-Out Vehicle Size Configuration", "type": "Int32", "values": [{"description": "SizeUnknown", "value": 0}, {"description": "Len15_Wid23", "value": 1}, {"description": "Len25_Wid28", "value": 2}, {"description": "Len25_Wid34", "value": 3}, {"description": "Len35_Wid33", "value": 4}, {"description": "Len35_Wid38", "value": 5}, {"description": "Len45_Wid39", "value": 6}, {"description": "Len45_Wid45", "value": 7}, {"description": "Len55_Wid45", "value": 8}, {"description": "Len55_Wid52", "value": 9}, {"description": "Len65_Wid59", "value": 10}, {"description": "Len65_Wid67", "value": 11}, {"description": "Len75_Wid72", "value": 12}, {"description": "Len75_Wid80", "value": 13}, {"description": "Len85_Wid80", "value": 14}, {"description": "Len85_Wid90", "value": 15}]}, {"category": "Standard", "default": 25, "group": "ADSB", "longDesc": "Change number of targets to track\n", "max": 50, "min": 0, "name": "ADSB_LIST_MAX", "rebootRequired": true, "shortDesc": "ADSB-In Vehicle List Size", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "ADSB", "longDesc": "Informs ADSB vehicles of this vehicle's max speed capability\n", "max": 6, "min": 0, "name": "ADSB_MAX_SPEED", "rebootRequired": true, "shortDesc": "ADSB-Out Vehicle Max Speed", "type": "Int32", "values": [{"description": "UnknownMaxSpeed", "value": 0}, {"description": "75Kts", "value": 1}, {"description": "150Kts", "value": 2}, {"description": "300Kts", "value": 3}, {"description": "600Kts", "value": 4}, {"description": "1200Kts", "value": 5}, {"description": "Over1200Kts", "value": 6}]}, {"category": "Standard", "default": 1200, "group": "ADSB", "longDesc": "This parameter defines the squawk code. Value should be between 0000 and 7777.\n", "max": 7777, "min": 0, "name": "ADSB_SQUAWK", "rebootRequired": true, "shortDesc": "ADSB-Out squawk code configuration", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM Channel 1.\n\nThe default failsafe value is set according to the selected function:\n- 'Min' for ConstantMin\n- 'Max' for ConstantMax\n- 'Max' for Parachute\n- ('Max'+'Min')/2 for Servos\n- 'Disarmed' for the rest\n\n", "name": "PWM_MAIN_FUNC1", "shortDesc": "SIM Channel 1 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}, {"description": "IC Engine Ignition", "value": 450}, {"description": "IC Engine Throttle", "value": 451}, {"description": "IC Engine Choke", "value": 452}, {"description": "IC Engine Starter", "value": 453}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM Channel 10.\n\nThe default failsafe value is set according to the selected function:\n- 'Min' for ConstantMin\n- 'Max' for ConstantMax\n- 'Max' for Parachute\n- ('Max'+'Min')/2 for Servos\n- 'Disarmed' for the rest\n\n", "name": "PWM_MAIN_FUNC10", "shortDesc": "SIM Channel 10 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}, {"description": "IC Engine Ignition", "value": 450}, {"description": "IC Engine Throttle", "value": 451}, {"description": "IC Engine Choke", "value": 452}, {"description": "IC Engine Starter", "value": 453}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM Channel 11.\n\nThe default failsafe value is set according to the selected function:\n- 'Min' for ConstantMin\n- 'Max' for ConstantMax\n- 'Max' for Parachute\n- ('Max'+'Min')/2 for Servos\n- 'Disarmed' for the rest\n\n", "name": "PWM_MAIN_FUNC11", "shortDesc": "SIM Channel 11 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}, {"description": "IC Engine Ignition", "value": 450}, {"description": "IC Engine Throttle", "value": 451}, {"description": "IC Engine Choke", "value": 452}, {"description": "IC Engine Starter", "value": 453}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM Channel 12.\n\nThe default failsafe value is set according to the selected function:\n- 'Min' for ConstantMin\n- 'Max' for ConstantMax\n- 'Max' for Parachute\n- ('Max'+'Min')/2 for Servos\n- 'Disarmed' for the rest\n\n", "name": "PWM_MAIN_FUNC12", "shortDesc": "SIM Channel 12 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}, {"description": "IC Engine Ignition", "value": 450}, {"description": "IC Engine Throttle", "value": 451}, {"description": "IC Engine Choke", "value": 452}, {"description": "IC Engine Starter", "value": 453}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM Channel 13.\n\nThe default failsafe value is set according to the selected function:\n- 'Min' for ConstantMin\n- 'Max' for ConstantMax\n- 'Max' for Parachute\n- ('Max'+'Min')/2 for Servos\n- 'Disarmed' for the rest\n\n", "name": "PWM_MAIN_FUNC13", "shortDesc": "SIM Channel 13 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}, {"description": "IC Engine Ignition", "value": 450}, {"description": "IC Engine Throttle", "value": 451}, {"description": "IC Engine Choke", "value": 452}, {"description": "IC Engine Starter", "value": 453}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM Channel 14.\n\nThe default failsafe value is set according to the selected function:\n- 'Min' for ConstantMin\n- 'Max' for ConstantMax\n- 'Max' for Parachute\n- ('Max'+'Min')/2 for Servos\n- 'Disarmed' for the rest\n\n", "name": "PWM_MAIN_FUNC14", "shortDesc": "SIM Channel 14 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}, {"description": "IC Engine Ignition", "value": 450}, {"description": "IC Engine Throttle", "value": 451}, {"description": "IC Engine Choke", "value": 452}, {"description": "IC Engine Starter", "value": 453}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM Channel 15.\n\nThe default failsafe value is set according to the selected function:\n- 'Min' for ConstantMin\n- 'Max' for ConstantMax\n- 'Max' for Parachute\n- ('Max'+'Min')/2 for Servos\n- 'Disarmed' for the rest\n\n", "name": "PWM_MAIN_FUNC15", "shortDesc": "SIM Channel 15 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}, {"description": "IC Engine Ignition", "value": 450}, {"description": "IC Engine Throttle", "value": 451}, {"description": "IC Engine Choke", "value": 452}, {"description": "IC Engine Starter", "value": 453}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM Channel 16.\n\nThe default failsafe value is set according to the selected function:\n- 'Min' for ConstantMin\n- 'Max' for ConstantMax\n- 'Max' for Parachute\n- ('Max'+'Min')/2 for Servos\n- 'Disarmed' for the rest\n\n", "name": "PWM_MAIN_FUNC16", "shortDesc": "SIM Channel 16 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}, {"description": "IC Engine Ignition", "value": 450}, {"description": "IC Engine Throttle", "value": 451}, {"description": "IC Engine Choke", "value": 452}, {"description": "IC Engine Starter", "value": 453}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM Channel 2.\n\nThe default failsafe value is set according to the selected function:\n- 'Min' for ConstantMin\n- 'Max' for ConstantMax\n- 'Max' for Parachute\n- ('Max'+'Min')/2 for Servos\n- 'Disarmed' for the rest\n\n", "name": "PWM_MAIN_FUNC2", "shortDesc": "SIM Channel 2 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}, {"description": "IC Engine Ignition", "value": 450}, {"description": "IC Engine Throttle", "value": 451}, {"description": "IC Engine Choke", "value": 452}, {"description": "IC Engine Starter", "value": 453}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM Channel 3.\n\nThe default failsafe value is set according to the selected function:\n- 'Min' for ConstantMin\n- 'Max' for ConstantMax\n- 'Max' for Parachute\n- ('Max'+'Min')/2 for Servos\n- 'Disarmed' for the rest\n\n", "name": "PWM_MAIN_FUNC3", "shortDesc": "SIM Channel 3 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}, {"description": "IC Engine Ignition", "value": 450}, {"description": "IC Engine Throttle", "value": 451}, {"description": "IC Engine Choke", "value": 452}, {"description": "IC Engine Starter", "value": 453}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM Channel 4.\n\nThe default failsafe value is set according to the selected function:\n- 'Min' for ConstantMin\n- 'Max' for ConstantMax\n- 'Max' for Parachute\n- ('Max'+'Min')/2 for Servos\n- 'Disarmed' for the rest\n\n", "name": "PWM_MAIN_FUNC4", "shortDesc": "SIM Channel 4 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}, {"description": "IC Engine Ignition", "value": 450}, {"description": "IC Engine Throttle", "value": 451}, {"description": "IC Engine Choke", "value": 452}, {"description": "IC Engine Starter", "value": 453}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM Channel 5.\n\nThe default failsafe value is set according to the selected function:\n- 'Min' for ConstantMin\n- 'Max' for ConstantMax\n- 'Max' for Parachute\n- ('Max'+'Min')/2 for Servos\n- 'Disarmed' for the rest\n\n", "name": "PWM_MAIN_FUNC5", "shortDesc": "SIM Channel 5 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}, {"description": "IC Engine Ignition", "value": 450}, {"description": "IC Engine Throttle", "value": 451}, {"description": "IC Engine Choke", "value": 452}, {"description": "IC Engine Starter", "value": 453}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM Channel 6.\n\nThe default failsafe value is set according to the selected function:\n- 'Min' for ConstantMin\n- 'Max' for ConstantMax\n- 'Max' for Parachute\n- ('Max'+'Min')/2 for Servos\n- 'Disarmed' for the rest\n\n", "name": "PWM_MAIN_FUNC6", "shortDesc": "SIM Channel 6 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}, {"description": "IC Engine Ignition", "value": 450}, {"description": "IC Engine Throttle", "value": 451}, {"description": "IC Engine Choke", "value": 452}, {"description": "IC Engine Starter", "value": 453}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM Channel 7.\n\nThe default failsafe value is set according to the selected function:\n- 'Min' for ConstantMin\n- 'Max' for ConstantMax\n- 'Max' for Parachute\n- ('Max'+'Min')/2 for Servos\n- 'Disarmed' for the rest\n\n", "name": "PWM_MAIN_FUNC7", "shortDesc": "SIM Channel 7 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}, {"description": "IC Engine Ignition", "value": 450}, {"description": "IC Engine Throttle", "value": 451}, {"description": "IC Engine Choke", "value": 452}, {"description": "IC Engine Starter", "value": 453}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM Channel 8.\n\nThe default failsafe value is set according to the selected function:\n- 'Min' for ConstantMin\n- 'Max' for ConstantMax\n- 'Max' for Parachute\n- ('Max'+'Min')/2 for Servos\n- 'Disarmed' for the rest\n\n", "name": "PWM_MAIN_FUNC8", "shortDesc": "SIM Channel 8 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}, {"description": "IC Engine Ignition", "value": 450}, {"description": "IC Engine Throttle", "value": 451}, {"description": "IC Engine Choke", "value": 452}, {"description": "IC Engine Starter", "value": 453}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM Channel 9.\n\nThe default failsafe value is set according to the selected function:\n- 'Min' for ConstantMin\n- 'Max' for ConstantMax\n- 'Max' for Parachute\n- ('Max'+'Min')/2 for Servos\n- 'Disarmed' for the rest\n\n", "name": "PWM_MAIN_FUNC9", "shortDesc": "SIM Channel 9 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}, {"description": "IC Engine Ignition", "value": 450}, {"description": "IC Engine Throttle", "value": 451}, {"description": "IC Engine Choke", "value": 452}, {"description": "IC Engine Starter", "value": 453}]}, {"bitmask": [{"description": "SIM Channel 1", "index": 0}, {"description": "SIM Channel 2", "index": 1}, {"description": "SIM Channel 3", "index": 2}, {"description": "SIM Channel 4", "index": 3}, {"description": "SIM Channel 5", "index": 4}, {"description": "SIM Channel 6", "index": 5}, {"description": "SIM Channel 7", "index": 6}, {"description": "SIM Channel 8", "index": 7}, {"description": "SIM Channel 9", "index": 8}, {"description": "SIM Channel 10", "index": 9}, {"description": "SIM Channel 11", "index": 10}, {"description": "SIM Channel 12", "index": 11}, {"description": "SIM Channel 13", "index": 12}, {"description": "SIM Channel 14", "index": 13}, {"description": "SIM Channel 15", "index": 14}, {"description": "SIM Channel 16", "index": 15}], "category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Allows to reverse the output range for each channel.\nNote: this is only useful for servos.\n\n", "max": 65535, "min": 0, "name": "PWM_MAIN_REV", "shortDesc": "Reverse Output Range for SIM", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Airspeed Validator", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.\n", "max": 5, "min": 1, "name": "ASPD_BETA_GATE", "shortDesc": "Gate size for sideslip angle fusion", "type": "Int32", "units": "SD"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.15, "group": "Airspeed Validator", "longDesc": "Sideslip measurement noise of the internal wind estimator(s) of the airspeed selector.\n", "max": 1.0, "min": 0.0, "name": "ASPD_BETA_NOISE", "shortDesc": "Wind estimator sideslip measurement noise", "type": "Float", "units": "rad"}, {"bitmask": [{"description": "Only data missing check (triggers if more than 1s no data)", "index": 0}, {"description": "Data stuck (triggers if data is exactly constant for 2s in FW mode)", "index": 1}, {"description": "Innovation check (see ASPD_FS_INNOV)", "index": 2}, {"description": "Load factor check (triggers if measurement is below stall speed)", "index": 3}, {"description": "First principle check (airspeed change vs. throttle and pitch)", "index": 4}], "category": "Standard", "default": 7, "group": "Airspeed Validator", "longDesc": "Controls which checks are run to check airspeed data for validity. Only applied if ASPD_PRIMARY > 0.\n\nNote: The missing data check (bit 0) is implicitly always enabled when ASPD_DO_CHECKS > 0, even if bit 0 is not explicitly set.\n", "max": 31, "min": 0, "name": "ASPD_DO_CHECKS", "shortDesc": "Enable checks on airspeed sensors", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Airspeed Validator", "name": "ASPD_FALLBACK", "shortDesc": "Fallback options", "type": "Int32", "values": [{"description": "Fallback only to other airspeed sensors", "value": 0}, {"description": "Fallback to groundspeed-minus-windspeed airspeed estimation", "value": 1}, {"description": "Fallback to thrust based airspeed estimation", "value": 2}]}, {"category": "Standard", "decimalPlaces": 1, "default": 2.0, "group": "Airspeed Validator", "longDesc": "Window for comparing airspeed change to throttle and pitch change.\nTriggers when the airspeed change within this window is negative while throttle increases\nand the vehicle pitches down.\nIs meant to catch degrading airspeed blockages as can happen when flying through icing conditions.\nRelies on  FW_THR_TRIM being set accurately.\n", "min": 0.0, "name": "ASPD_FP_T_WINDOW", "shortDesc": "First principle airspeed check time window", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Airspeed Validator", "longDesc": "This specifies the minimum airspeed innovation required to trigger a failsafe. Larger values make the check less sensitive,\nsmaller values make it more sensitive. Large innovations indicate an inconsistency between predicted (groundspeed - windspeeed)\nand measured airspeed.\nThe time required to detect a fault when the threshold is exceeded depends on the size of the exceedance and is controlled by the ASPD_FS_INTEG parameter.\n", "max": 10.0, "min": 0.5, "name": "ASPD_FS_INNOV", "shortDesc": "Airspeed failure innovation threshold", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Airspeed Validator", "longDesc": "This sets the time integral of airspeed innovation exceedance above ASPD_FS_INNOV required to trigger a failsafe.\nLarger values make the check less sensitive, smaller positive values make it more sensitive.\n", "max": 50.0, "min": 0.0, "name": "ASPD_FS_INTEG", "shortDesc": "Airspeed failure innovation integral threshold", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "Airspeed Validator", "longDesc": "Delay before switching back to using airspeed sensor if checks indicate sensor is good.\nSet to a negative value to disable the re-enabling in flight.\n", "min": -1.0, "name": "ASPD_FS_T_START", "shortDesc": "Airspeed failsafe start delay", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Airspeed Validator", "longDesc": "Delay before stopping use of airspeed sensor if checks indicate sensor is bad.\n", "min": 0.0, "name": "ASPD_FS_T_STOP", "shortDesc": "Airspeed failsafe stop delay", "type": "Float", "units": "s"}, {"category": "Standard", "default": 1, "group": "Airspeed Validator", "name": "ASPD_PRIMARY", "rebootRequired": true, "shortDesc": "Index or primary airspeed measurement source", "type": "Int32", "values": [{"description": "Groundspeed minus windspeed", "value": 0}, {"description": "First airspeed sensor", "value": 1}, {"description": "Second airspeed sensor", "value": 2}, {"description": "Third airspeed sensor", "value": 3}, {"description": "Thrust based airspeed", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Airspeed Validator", "longDesc": "This is the scale IAS --> CAS of the first airspeed sensor instance\n", "max": 2.0, "min": 0.5, "name": "ASPD_SCALE_1", "shortDesc": "Scale of airspeed sensor 1", "type": "Float", "volatile": true}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Airspeed Validator", "longDesc": "This is the scale IAS --> CAS of the second airspeed sensor instance\n", "max": 2.0, "min": 0.5, "name": "ASPD_SCALE_2", "shortDesc": "Scale of airspeed sensor 2", "type": "Float", "volatile": true}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Airspeed Validator", "longDesc": "This is the scale IAS --> CAS of the third airspeed sensor instance\n", "max": 2.0, "min": 0.5, "name": "ASPD_SCALE_3", "shortDesc": "Scale of airspeed sensor 3", "type": "Float", "volatile": true}, {"category": "Standard", "default": 2, "group": "Airspeed Validator", "name": "ASPD_SCALE_APPLY", "shortDesc": "Controls when to apply the new estimated airspeed scale(s)", "type": "Int32", "values": [{"description": "Do not automatically apply the estimated scale", "value": 0}, {"description": "Apply the estimated scale after disarm", "value": 1}, {"description": "Apply the estimated scale in air", "value": 2}]}, {"category": "Standard", "decimalPlaces": 5, "default": 0.0001, "group": "Airspeed Validator", "longDesc": "Airspeed scale process noise of the internal wind estimator(s) of the airspeed selector.\nWhen unaided, the scale uncertainty (1-sigma, unitless) increases by this amount every second.\n", "max": 0.1, "min": 0.0, "name": "ASPD_SCALE_NSD", "shortDesc": "Wind estimator true airspeed scale process noise spectral density", "type": "Float", "units": "1/s/sqrt(Hz)"}, {"category": "Standard", "default": 4, "group": "Airspeed Validator", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.\n", "max": 5, "min": 1, "name": "ASPD_TAS_GATE", "shortDesc": "Gate size for true airspeed fusion", "type": "Int32", "units": "SD"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.4, "group": "Airspeed Validator", "longDesc": "True airspeed measurement noise of the internal wind estimator(s) of the airspeed selector.\n", "max": 4.0, "min": 0.0, "name": "ASPD_TAS_NOISE", "shortDesc": "Wind estimator true airspeed measurement noise", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 2.0, "group": "Airspeed Validator", "longDesc": "The airspeed alternative derived from groundspeed and heading will be declared valid\nas soon and as long the horizontal wind uncertainty is below this value.\n", "max": 5.0, "min": 0.01, "name": "ASPD_WERR_THR", "shortDesc": "Horizontal wind uncertainty threshold for valid ground-minus-wind", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "Airspeed Validator", "longDesc": "Wind process noise of the internal wind estimator(s) of the airspeed selector.\nWhen unaided, the wind estimate uncertainty (1-sigma, in m/s) increases by this amount every second.\n", "max": 1.0, "min": 0.0, "name": "ASPD_WIND_NSD", "shortDesc": "Wind estimator wind process noise spectral density", "type": "Float", "units": "m/s^2/sqrt(Hz)"}, {"category": "Standard", "default": 0, "group": "Attitude Q estimator", "name": "ATT_ACC_COMP", "shortDesc": "Acceleration compensation based on GPS velocity", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Attitude Q estimator", "max": 2.0, "min": 0.0, "name": "ATT_BIAS_MAX", "shortDesc": "Gyro bias limit", "type": "Float", "units": "rad/s"}, {"category": "Standard", "default": 0, "group": "Attitude Q estimator", "longDesc": "Enable standalone quaternion based attitude estimator.\n", "name": "ATT_EN", "shortDesc": "standalone attitude estimator enable (unsupported)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Attitude Q estimator", "longDesc": "Set to 1 to use heading estimate from vision.\nSet to 2 to use heading from motion capture.\n", "max": 2, "min": 0, "name": "ATT_EXT_HDG_M", "shortDesc": "External heading usage mode (from Motion capture/Vision)", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Vision", "value": 1}, {"description": "Motion Capture", "value": 2}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Attitude Q estimator", "longDesc": "This parameter is not used in normal operation,\nas the declination is looked up based on the\nGPS coordinates of the vehicle.\n", "name": "ATT_MAG_DECL", "shortDesc": "Magnetic declination, in degrees", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 1, "group": "Attitude Q estimator", "name": "ATT_MAG_DECL_A", "shortDesc": "Automatic GPS based declination compensation", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "Attitude Q estimator", "max": 1.0, "min": 0.0, "name": "ATT_W_ACC", "shortDesc": "Complimentary filter accelerometer weight", "type": "Float"}, {"category": "Standard", "default": 0.1, "group": "Attitude Q estimator", "max": 1.0, "min": 0.0, "name": "ATT_W_EXT_HDG", "shortDesc": "Complimentary filter external heading weight", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "Attitude Q estimator", "max": 1.0, "min": 0.0, "name": "ATT_W_GYRO_BIAS", "shortDesc": "Complimentary filter gyroscope bias weight", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "Attitude Q estimator", "longDesc": "Set to 0 to avoid using the magnetometer.\n", "max": 1.0, "min": 0.0, "name": "ATT_W_MAG", "shortDesc": "Complimentary filter magnetometer weight", "type": "Float"}, {"category": "Standard", "default": 2, "group": "Autotune", "longDesc": "After the auto-tuning sequence is completed,\na new set of gains is available and can be applied\nimmediately or after landing.\n", "name": "FW_AT_APPLY", "shortDesc": "Controls when to apply the new gains", "type": "Int32", "values": [{"description": "Do not apply the new gains (logging only)", "value": 0}, {"description": "Apply the new gains after disarm", "value": 1}, {"description": "Apply the new gains in air", "value": 2}]}, {"bitmask": [{"description": "roll", "index": 0}, {"description": "pitch", "index": 1}, {"description": "yaw", "index": 2}], "category": "Standard", "default": 3, "group": "Autotune", "longDesc": "Defines which axes will be tuned during the auto-tuning sequence\n\nSet bits in the following positions to enable:\n0 : Roll\n1 : Pitch\n2 : Yaw\n", "max": 7, "min": 1, "name": "FW_AT_AXES", "shortDesc": "Tuning axes selection", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Autotune", "longDesc": "Defines which RC_MAP_AUXn parameter maps the manual control channel used to enable/disable auto tuning.\n", "max": 6, "min": 0, "name": "FW_AT_MAN_AUX", "shortDesc": "Enable/disable auto tuning using a manual control AUX input", "type": "Int32", "values": [{"description": "Disable", "value": 0}, {"description": "Aux1", "value": 1}, {"description": "Aux2", "value": 2}, {"description": "Aux3", "value": 3}, {"description": "Aux4", "value": 4}, {"description": "Aux5", "value": 5}, {"description": "Aux6", "value": 6}]}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Autotune", "longDesc": "Can be set lower or higher than the end frequency\n", "max": 30.0, "min": 0.1, "name": "FW_AT_SYSID_F0", "shortDesc": "Start frequency of the injected signal", "type": "Float", "units": "Hz"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Autotune", "longDesc": "Can be set lower or higher than the start frequency\n", "max": 30.0, "min": 0.1, "name": "FW_AT_SYSID_F1", "shortDesc": "End frequency of the injected signal", "type": "Float", "units": "Hz"}, {"category": "Standard", "decimalPlaces": 0, "default": 10.0, "group": "Autotune", "longDesc": "Duration of the input signal sent on each axis during system identification\n", "max": 120.0, "min": 5.0, "name": "FW_AT_SYSID_TIME", "shortDesc": "Maneuver time for each axis", "type": "Float", "units": "s"}, {"category": "Standard", "default": 1, "group": "Autotune", "longDesc": "Type of signal used during system identification to excite the system.\n", "name": "FW_AT_SYSID_TYPE", "shortDesc": "Input signal type", "type": "Int32", "values": [{"description": "Step", "value": 0}, {"description": "Linear sine sweep", "value": 1}, {"description": "Logarithmic sine sweep", "value": 2}]}, {"category": "Standard", "default": 1, "group": "Autotune", "longDesc": "After the auto-tuning sequence is completed,\na new set of gains is available and can be applied\nimmediately or after landing.\n\nWARNING Applying the gains in air is dangerous as there is no\nguarantee that those new gains will be able to stabilize\nthe drone properly.\n", "name": "MC_AT_APPLY", "shortDesc": "Controls when to apply the new gains", "type": "Int32", "values": [{"description": "Do not apply the new gains (logging only)", "value": 0}, {"description": "Apply the new gains after disarm", "value": 1}, {"description": "WARNING Apply the new gains in air", "value": 2}]}, {"category": "Standard", "default": 0, "group": "Autotune", "name": "MC_AT_EN", "shortDesc": "Multicopter autotune module enable", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.14, "group": "Autotune", "max": 0.5, "min": 0.01, "name": "MC_AT_RISE_TIME", "shortDesc": "Desired angular rate closed-loop rise time", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.7, "group": "Autotune", "max": 6.0, "min": 0.1, "name": "MC_AT_SYSID_AMP", "shortDesc": "Amplitude of the injected signal", "type": "Float"}, {"category": "Standard", "decimalPlaces": 0, "default": -1.0, "group": "Battery Calibration", "increment": 50.0, "longDesc": "Defines the capacity of battery 1 in mAh.\n\n", "max": 100000.0, "min": -1.0, "name": "BAT1_CAPACITY", "rebootRequired": true, "shortDesc": "Battery 1 capacity", "type": "Float", "units": "mAh"}, {"category": "Standard", "default": 0, "group": "Battery Calibration", "longDesc": "Defines the number of cells the attached battery consists of.\n\n", "name": "BAT1_N_CELLS", "shortDesc": "Number of cells for battery 1", "type": "Int32", "values": [{"description": "Unknown", "value": 0}, {"description": "1S Battery", "value": 1}, {"description": "2S Battery", "value": 2}, {"description": "3S Battery", "value": 3}, {"description": "4S Battery", "value": 4}, {"description": "5S Battery", "value": 5}, {"description": "6S Battery", "value": 6}, {"description": "7S Battery", "value": 7}, {"description": "8S Battery", "value": 8}, {"description": "9S Battery", "value": 9}, {"description": "10S Battery", "value": 10}, {"description": "11S Battery", "value": 11}, {"description": "12S Battery", "value": 12}, {"description": "13S Battery", "value": 13}, {"description": "14S Battery", "value": 14}, {"description": "15S Battery", "value": 15}, {"description": "16S Battery", "value": 16}]}, {"category": "Standard", "decimalPlaces": 4, "default": -1.0, "group": "Battery Calibration", "increment": 0.0005, "longDesc": "If non-negative, then this will be used instead of the online estimated internal resistance.\n\n", "max": 0.2, "min": -1.0, "name": "BAT1_R_INTERNAL", "rebootRequired": true, "shortDesc": "Explicitly defines the per cell internal resistance for battery 1", "type": "Float", "units": "Ohm"}, {"category": "Standard", "default": 0, "group": "Battery Calibration", "longDesc": "This parameter controls the source of battery data. The value 'Power Module / Analog'\nmeans that measurements are expected to come from either analog (ADC) inputs\nor an I2C power monitor (e.g. INA226). Analog inputs are voltage and current\nmeasurements read from the board's ADC channels, typically from an onboard\nvoltage divider and current shunt, or an external analog power module.\nI2C power monitors are digital sensors on the I2C bus.\nIf the value is set to 'External' then the system expects to receive MAVLink\nor CAN battery status messages, or the battery data is published by an external driver.\nIf the value is set to 'ESCs', the battery information are taken from the esc_status message.\nThis requires the ESC to provide both voltage as well as current (via ESC telemetry).\n\n", "name": "BAT1_SOURCE", "rebootRequired": true, "shortDesc": "Battery 1 monitoring source", "type": "Int32", "values": [{"description": "Disabled", "value": -1}, {"description": "Power Module / Analog", "value": 0}, {"description": "External", "value": 1}, {"description": "ESCs", "value": 2}]}, {"category": "Standard", "decimalPlaces": 2, "default": 4.05, "group": "Battery Calibration", "increment": 0.01, "longDesc": "Defines the voltage where a single cell of the battery is considered full.\nFor a more accurate estimate set this below the nominal voltage of e.g. 4.2V\n\n", "name": "BAT1_V_CHARGED", "rebootRequired": true, "shortDesc": "Full cell voltage", "type": "Float", "units": "V"}, {"category": "Standard", "decimalPlaces": 2, "default": 3.6, "group": "Battery Calibration", "increment": 0.01, "longDesc": "Defines the voltage where a single cell of the battery is considered empty.\nThe voltage should be chosen above the steep dropoff at 3.5V. A typical\nlithium battery can only be discharged under high load down to 10% before\nit drops off to a voltage level damaging the cells.\n\n", "name": "BAT1_V_EMPTY", "rebootRequired": true, "shortDesc": "Empty cell voltage", "type": "Float", "units": "V"}, {"category": "Standard", "decimalPlaces": 0, "default": -1.0, "group": "Battery Calibration", "increment": 50.0, "longDesc": "Defines the capacity of battery 2 in mAh.\n\n", "max": 100000.0, "min": -1.0, "name": "BAT2_CAPACITY", "rebootRequired": true, "shortDesc": "Battery 2 capacity", "type": "Float", "units": "mAh"}, {"category": "Standard", "default": 0, "group": "Battery Calibration", "longDesc": "Defines the number of cells the attached battery consists of.\n\n", "name": "BAT2_N_CELLS", "shortDesc": "Number of cells for battery 2", "type": "Int32", "values": [{"description": "Unknown", "value": 0}, {"description": "1S Battery", "value": 1}, {"description": "2S Battery", "value": 2}, {"description": "3S Battery", "value": 3}, {"description": "4S Battery", "value": 4}, {"description": "5S Battery", "value": 5}, {"description": "6S Battery", "value": 6}, {"description": "7S Battery", "value": 7}, {"description": "8S Battery", "value": 8}, {"description": "9S Battery", "value": 9}, {"description": "10S Battery", "value": 10}, {"description": "11S Battery", "value": 11}, {"description": "12S Battery", "value": 12}, {"description": "13S Battery", "value": 13}, {"description": "14S Battery", "value": 14}, {"description": "15S Battery", "value": 15}, {"description": "16S Battery", "value": 16}]}, {"category": "Standard", "decimalPlaces": 4, "default": -1.0, "group": "Battery Calibration", "increment": 0.0005, "longDesc": "If non-negative, then this will be used instead of the online estimated internal resistance.\n\n", "max": 0.2, "min": -1.0, "name": "BAT2_R_INTERNAL", "rebootRequired": true, "shortDesc": "Explicitly defines the per cell internal resistance for battery 2", "type": "Float", "units": "Ohm"}, {"category": "Standard", "default": -1, "group": "Battery Calibration", "longDesc": "This parameter controls the source of battery data. The value 'Power Module / Analog'\nmeans that measurements are expected to come from either analog (ADC) inputs\nor an I2C power monitor (e.g. INA226). Analog inputs are voltage and current\nmeasurements read from the board's ADC channels, typically from an onboard\nvoltage divider and current shunt, or an external analog power module.\nI2C power monitors are digital sensors on the I2C bus.\nIf the value is set to 'External' then the system expects to receive MAVLink\nor CAN battery status messages, or the battery data is published by an external driver.\nIf the value is set to 'ESCs', the battery information are taken from the esc_status message.\nThis requires the ESC to provide both voltage as well as current (via ESC telemetry).\n\n", "name": "BAT2_SOURCE", "rebootRequired": true, "shortDesc": "Battery 2 monitoring source", "type": "Int32", "values": [{"description": "Disabled", "value": -1}, {"description": "Power Module / Analog", "value": 0}, {"description": "External", "value": 1}, {"description": "ESCs", "value": 2}]}, {"category": "Standard", "decimalPlaces": 2, "default": 4.05, "group": "Battery Calibration", "increment": 0.01, "longDesc": "Defines the voltage where a single cell of the battery is considered full.\nFor a more accurate estimate set this below the nominal voltage of e.g. 4.2V\n\n", "name": "BAT2_V_CHARGED", "rebootRequired": true, "shortDesc": "Full cell voltage", "type": "Float", "units": "V"}, {"category": "Standard", "decimalPlaces": 2, "default": 3.6, "group": "Battery Calibration", "increment": 0.01, "longDesc": "Defines the voltage where a single cell of the battery is considered empty.\nThe voltage should be chosen above the steep dropoff at 3.5V. A typical\nlithium battery can only be discharged under high load down to 10% before\nit drops off to a voltage level damaging the cells.\n\n", "name": "BAT2_V_EMPTY", "rebootRequired": true, "shortDesc": "Empty cell voltage", "type": "Float", "units": "V"}, {"category": "Standard", "decimalPlaces": 0, "default": -1.0, "group": "Battery Calibration", "increment": 50.0, "longDesc": "Defines the capacity of battery 3 in mAh.\n\n", "max": 100000.0, "min": -1.0, "name": "BAT3_CAPACITY", "rebootRequired": true, "shortDesc": "Battery 3 capacity", "type": "Float", "units": "mAh"}, {"category": "Standard", "default": 0, "group": "Battery Calibration", "longDesc": "Defines the number of cells the attached battery consists of.\n\n", "name": "BAT3_N_CELLS", "shortDesc": "Number of cells for battery 3", "type": "Int32", "values": [{"description": "Unknown", "value": 0}, {"description": "1S Battery", "value": 1}, {"description": "2S Battery", "value": 2}, {"description": "3S Battery", "value": 3}, {"description": "4S Battery", "value": 4}, {"description": "5S Battery", "value": 5}, {"description": "6S Battery", "value": 6}, {"description": "7S Battery", "value": 7}, {"description": "8S Battery", "value": 8}, {"description": "9S Battery", "value": 9}, {"description": "10S Battery", "value": 10}, {"description": "11S Battery", "value": 11}, {"description": "12S Battery", "value": 12}, {"description": "13S Battery", "value": 13}, {"description": "14S Battery", "value": 14}, {"description": "15S Battery", "value": 15}, {"description": "16S Battery", "value": 16}]}, {"category": "Standard", "decimalPlaces": 4, "default": -1.0, "group": "Battery Calibration", "increment": 0.0005, "longDesc": "If non-negative, then this will be used instead of the online estimated internal resistance.\n\n", "max": 0.2, "min": -1.0, "name": "BAT3_R_INTERNAL", "rebootRequired": true, "shortDesc": "Explicitly defines the per cell internal resistance for battery 3", "type": "Float", "units": "Ohm"}, {"category": "Standard", "default": -1, "group": "Battery Calibration", "longDesc": "This parameter controls the source of battery data. The value 'Power Module / Analog'\nmeans that measurements are expected to come from either analog (ADC) inputs\nor an I2C power monitor (e.g. INA226). Analog inputs are voltage and current\nmeasurements read from the board's ADC channels, typically from an onboard\nvoltage divider and current shunt, or an external analog power module.\nI2C power monitors are digital sensors on the I2C bus.\nIf the value is set to 'External' then the system expects to receive MAVLink\nor CAN battery status messages, or the battery data is published by an external driver.\nIf the value is set to 'ESCs', the battery information are taken from the esc_status message.\nThis requires the ESC to provide both voltage as well as current (via ESC telemetry).\n\n", "name": "BAT3_SOURCE", "rebootRequired": true, "shortDesc": "Battery 3 monitoring source", "type": "Int32", "values": [{"description": "Disabled", "value": -1}, {"description": "Power Module / Analog", "value": 0}, {"description": "External", "value": 1}, {"description": "ESCs", "value": 2}]}, {"category": "Standard", "decimalPlaces": 2, "default": 4.05, "group": "Battery Calibration", "increment": 0.01, "longDesc": "Defines the voltage where a single cell of the battery is considered full.\nFor a more accurate estimate set this below the nominal voltage of e.g. 4.2V\n\n", "name": "BAT3_V_CHARGED", "rebootRequired": true, "shortDesc": "Full cell voltage", "type": "Float", "units": "V"}, {"category": "Standard", "decimalPlaces": 2, "default": 3.6, "group": "Battery Calibration", "increment": 0.01, "longDesc": "Defines the voltage where a single cell of the battery is considered empty.\nThe voltage should be chosen above the steep dropoff at 3.5V. A typical\nlithium battery can only be discharged under high load down to 10% before\nit drops off to a voltage level damaging the cells.\n\n", "name": "BAT3_V_EMPTY", "rebootRequired": true, "shortDesc": "Empty cell voltage", "type": "Float", "units": "V"}, {"category": "Standard", "decimalPlaces": 2, "default": 15.0, "group": "Battery Calibration", "increment": 0.1, "longDesc": "This value is used to initialize the in-flight average current estimation,\nwhich in turn is used for estimating remaining flight time and RTL triggering.\n\n", "max": 500.0, "min": 0.0, "name": "BAT_AVRG_CURRENT", "shortDesc": "Expected battery current in flight", "type": "Float", "units": "A"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.07, "group": "Battery Calibration", "increment": 0.01, "longDesc": "Sets the threshold when the battery will be reported as critically low.\nThis has to be lower than the low threshold. This threshold commonly\nwill trigger RTL.\n\n", "max": 0.5, "min": 0.05, "name": "BAT_CRIT_THR", "shortDesc": "Critical threshold", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.05, "group": "Battery Calibration", "increment": 0.01, "longDesc": "Sets the threshold when the battery will be reported as dangerously low.\nThis has to be lower than the critical threshold. This threshold commonly\nwill trigger landing.\n\n", "max": 0.5, "min": 0.03, "name": "BAT_EMERGEN_THR", "shortDesc": "Emergency threshold", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.15, "group": "Battery Calibration", "increment": 0.01, "longDesc": "Sets the threshold when the battery will be reported as low.\nThis has to be higher than the critical threshold.\n\n", "max": 0.5, "min": 0.12, "name": "BAT_LOW_THR", "shortDesc": "Low threshold", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 1, "default": 40.0, "group": "Camera trigger", "longDesc": "This parameter sets the time the trigger needs to pulled high or low.\n", "max": 3000.0, "min": 0.1, "name": "TRIG_ACT_TIME", "rebootRequired": true, "shortDesc": "Camera trigger activation time", "type": "Float", "units": "ms"}, {"category": "Standard", "decimalPlaces": 1, "default": 25.0, "group": "Camera trigger", "increment": 1.0, "longDesc": "Sets the distance at which to trigger the camera.\n", "min": 0.0, "name": "TRIG_DISTANCE", "rebootRequired": true, "shortDesc": "Camera trigger distance", "type": "Float", "units": "m"}, {"category": "Standard", "default": 4, "group": "Camera trigger", "longDesc": "Selects the trigger interface\n", "name": "TRIG_INTERFACE", "rebootRequired": true, "shortDesc": "Camera trigger Interface", "type": "Int32", "values": [{"description": "GPIO", "value": 1}, {"description": "Seagull MAP2 (over PWM)", "value": 2}, {"description": "MAVLink (Camera Protocol v1)", "value": 3}, {"description": "Generic PWM (IR trigger, servo)", "value": 4}]}, {"category": "Standard", "decimalPlaces": 1, "default": 40.0, "group": "Camera trigger", "longDesc": "This parameter sets the time between two consecutive trigger events\n", "max": 10000.0, "min": 4.0, "name": "TRIG_INTERVAL", "rebootRequired": true, "shortDesc": "Camera trigger interval", "type": "Float", "units": "ms"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Camera trigger", "longDesc": "This parameter sets the minimum time between two consecutive trigger events\nthe specific camera setup is supporting.\n", "max": 10000.0, "min": 1.0, "name": "TRIG_MIN_INTERVA", "rebootRequired": true, "shortDesc": "Minimum camera trigger interval", "type": "Float", "units": "ms"}, {"category": "Standard", "default": 0, "group": "Camera trigger", "max": 4, "min": 0, "name": "TRIG_MODE", "rebootRequired": true, "shortDesc": "Camera trigger mode", "type": "Int32", "values": [{"description": "Disable", "value": 0}, {"description": "Time based, on command", "value": 1}, {"description": "Time based, always on", "value": 2}, {"description": "Distance based, always on", "value": 3}, {"description": "Distance based, on command (Survey mode)", "value": 4}]}, {"category": "Standard", "default": 0, "group": "Camera trigger", "longDesc": "This parameter sets the polarity of the trigger (0 = active low, 1 = active high )\n", "max": 1, "min": 0, "name": "TRIG_POLARITY", "rebootRequired": true, "shortDesc": "Camera trigger polarity", "type": "Int32", "values": [{"description": "Active low", "value": 0}, {"description": "Active high", "value": 1}]}, {"category": "Standard", "default": 1500, "group": "Camera trigger", "max": 2000, "min": 1000, "name": "TRIG_PWM_NEUTRAL", "rebootRequired": true, "shortDesc": "PWM neutral output on trigger pin", "type": "Int32", "units": "us"}, {"category": "Standard", "default": 1900, "group": "Camera trigger", "max": 2000, "min": 1000, "name": "TRIG_PWM_SHOOT", "rebootRequired": true, "shortDesc": "PWM output to trigger shot", "type": "Int32", "units": "us"}, {"category": "Developer", "default": 0, "group": "Circuit Breaker", "longDesc": "Setting this parameter to 782097 will disable the buzzer audio notification.\n\nSetting this parameter to 782090 will disable the startup tune, while keeping\nall others enabled.\n", "max": 782097, "min": 0, "name": "CBRK_BUZZER", "rebootRequired": true, "shortDesc": "Circuit breaker for disabling buzzer", "type": "Int32"}, {"category": "Developer", "default": 121212, "group": "Circuit Breaker", "longDesc": "Setting this parameter to 121212 will disable the flight termination action if triggered\nby the FailureDetector logic or if FMU is lost.\nThis circuit breaker does not affect the RC loss, data link loss, geofence,\nand takeoff failure detection safety logic.\n", "max": 121212, "min": 0, "name": "CBRK_FLIGHTTERM", "rebootRequired": true, "shortDesc": "Circuit breaker for flight termination", "type": "Int32"}, {"category": "Developer", "default": 22027, "group": "Circuit Breaker", "longDesc": "Setting this parameter to 22027 will disable IO safety.\nWARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK\n", "max": 22027, "min": 0, "name": "CBRK_IO_SAFETY", "shortDesc": "Circuit breaker for IO safety", "type": "Int32"}, {"category": "Developer", "default": 0, "group": "Circuit Breaker", "longDesc": "Setting this parameter to 894281 will disable the power valid\nchecks in the commander.\nWARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK\n", "max": 894281, "min": 0, "name": "CBRK_SUPPLY_CHK", "shortDesc": "Circuit breaker for power supply check", "type": "Int32"}, {"category": "Developer", "default": 197848, "group": "Circuit Breaker", "longDesc": "Setting this parameter to 197848 will disable the USB connected\nchecks in the commander, setting it to 0 keeps them enabled (recommended).\n\nWe are generally recommending to not fly with the USB link\nconnected and production vehicles should set this parameter to\nzero to prevent users from flying USB powered. However, for R&D purposes\nit has proven over the years to work just fine.\n", "max": 197848, "min": 0, "name": "CBRK_USB_CHK", "shortDesc": "Circuit breaker for USB link check", "type": "Int32"}, {"category": "Developer", "default": 0, "group": "Circuit Breaker", "longDesc": "Setting this parameter to 159753 will enable arming in fixed-wing\nmode for VTOLs.\nWARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK\n", "max": 159753, "min": 0, "name": "CBRK_VTOLARMING", "shortDesc": "Circuit breaker for arming in fixed-wing mode check", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "Note: actuator failure needs to be enabled and configured via FD_ACT_*\nparameters.\n", "max": 3, "min": 0, "name": "COM_ACT_FAIL_ACT", "shortDesc": "Set the actuator failure failsafe mode", "type": "Int32", "values": [{"description": "Warning only", "value": 0}, {"description": "Hold mode", "value": 1}, {"description": "Land mode", "value": 2}, {"description": "Return mode", "value": 3}, {"description": "Terminate", "value": 4}]}, {"category": "Standard", "default": 1, "group": "Commander", "longDesc": "Set 0 to prevent accidental use of the vehicle e.g. for safety or maintenance reasons.\n", "name": "COM_ARMABLE", "shortDesc": "Flag to allow arming", "type": "Int32", "values": [{"description": "Disallow arming", "value": 0}, {"description": "Allow arming", "value": 1}]}, {"category": "Standard", "default": 10, "group": "Commander", "longDesc": "Used if arm authorization is requested by COM_ARM_AUTH_REQ.\n", "name": "COM_ARM_AUTH_ID", "shortDesc": "Arm authorizer system id", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "Methods:\n- one arm: request authorization and arm when authorization is received\n- two step arm: 1st arm command request an authorization and\n2nd arm command arm the drone if authorized\n\nUsed if arm authorization is requested by COM_ARM_AUTH_REQ.\n", "name": "COM_ARM_AUTH_MET", "shortDesc": "Arm authorization method", "type": "Int32", "values": [{"description": "one arm", "value": 0}, {"description": "two step arm", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "By default off. The default allows to arm the vehicle without a arm authorization.\n", "name": "COM_ARM_AUTH_REQ", "shortDesc": "Require arm authorization to arm", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Commander", "increment": 0.1, "longDesc": "Timeout for authorizer answer.\nUsed if arm authorization is requested by COM_ARM_AUTH_REQ.\n", "name": "COM_ARM_AUTH_TO", "shortDesc": "Arm authorization timeout", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Commander", "increment": 0.01, "longDesc": "Threshold for battery percentage below arming is prohibited.\n\nA negative value means BAT_CRIT_THR is the threshold.\n", "max": 0.9, "min": -1.0, "name": "COM_ARM_BAT_MIN", "shortDesc": "Minimum battery level for arming", "type": "Float", "units": "norm"}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "If this parameter is set, the system will check ESC's online status and failures.\nThis param is specific for ESCs reporting status. It shall be used only if ESCs support telemetry.\n", "name": "COM_ARM_CHK_ESCS", "shortDesc": "Enable checks on ESCs that report telemetry", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "Commander", "longDesc": "This check detects if there are hardfault / watchdog files present on the\nSD card. If so, and the parameter is enabled, arming is prevented.\n", "name": "COM_ARM_HFLT_CHK", "shortDesc": "Enable FMU SD card hardfault / watchdog detection check", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.7, "group": "Commander", "increment": 0.05, "max": 1.0, "min": 0.1, "name": "COM_ARM_IMU_ACC", "shortDesc": "Maximum accelerometer inconsistency between IMU units that will allow arming", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.25, "group": "Commander", "increment": 0.01, "max": 0.3, "min": 0.02, "name": "COM_ARM_IMU_GYR", "shortDesc": "Maximum rate gyro inconsistency between IMU units that will allow arming", "type": "Float", "units": "rad/s"}, {"category": "Standard", "default": 60, "group": "Commander", "longDesc": "Set -1 to disable the check.\n", "max": 180, "min": 3, "name": "COM_ARM_MAG_ANG", "shortDesc": "Maximum magnetic field inconsistency between units that will allow arming", "type": "Int32", "units": "deg"}, {"category": "Standard", "default": 2, "group": "Commander", "longDesc": "Check if the estimator detects a strong magnetic\ndisturbance (check enabled by EKF2_MAG_CHECK)\n", "name": "COM_ARM_MAG_STR", "shortDesc": "Enable mag strength preflight check", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Deny arming", "value": 1}, {"description": "Warning only", "value": 2}]}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "The default allows to arm the vehicle without a valid mission.\n", "name": "COM_ARM_MIS_REQ", "shortDesc": "Require valid mission to arm", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "This check detects if the Open Drone ID system is missing.\nDepending on the value of the parameter, the check can be\ndisabled, warn only or deny arming.\n", "name": "COM_ARM_ODID", "shortDesc": "Enable Drone ID system detection and health check", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Warning only", "value": 1}, {"description": "Enforce Open Drone ID system presence", "value": 2}]}, {"category": "Standard", "default": 1, "group": "Commander", "longDesc": "This check detects if the FMU SD card is missing.\nDepending on the value of the parameter, the check can be\ndisabled, warn only or deny arming.\n", "name": "COM_ARM_SDCARD", "shortDesc": "Enable FMU SD card detection check", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Warning only", "value": 1}, {"description": "Enforce SD card presence", "value": 2}]}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "0: Arming/disarming triggers on switch transition.\n1: Arming/disarming triggers when holding the momentary button down like the stick gesture.\n", "name": "COM_ARM_SWISBTN", "shortDesc": "Arm switch is a momentary button", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "This check detects if a traffic avoidance system (ADSB/FLARM transponder)\nis missing. Depending on the value of the parameter, the check can be\ndisabled, warn only, or deny arming.\n", "name": "COM_ARM_TRAFF", "shortDesc": "Enable Traffic Avoidance system detection check", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Warning only", "value": 1}, {"description": "Enforce for all modes", "value": 2}, {"description": "Enforce for mission modes only", "value": 3}]}, {"category": "Standard", "default": 1, "group": "Commander", "longDesc": "Configures whether arming is allowed without GNSS, for modes that require a global position\n(specifically, in those modes when a check defined by EKF2_GPS_CHECK fails).\nThe settings deny arming and warn, allow arming and warn, or silently allow arming.\n", "name": "COM_ARM_WO_GPS", "shortDesc": "Arming without GNSS configuration", "type": "Int32", "values": [{"description": "Deny arming", "value": 0}, {"description": "Allow arming (with warning)", "value": 1}, {"description": "Allow arming (no warning)", "value": 2}]}, {"category": "Standard", "default": 95.0, "group": "Commander", "increment": 1.0, "longDesc": "The check fails if the CPU load is above this threshold for 2s.\n\nA negative value disables the check.\n", "max": 100.0, "min": -1.0, "name": "COM_CPU_MAX", "shortDesc": "Maximum allowed CPU load to still arm", "type": "Float", "units": "%"}, {"category": "Standard", "decimalPlaces": 1, "default": 2.0, "group": "Commander", "increment": 0.1, "longDesc": "A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be\nautomatically disarmed in case a landing situation has been detected during this period.\n\nA zero or negative value means that automatic disarming triggered by landing detection is disabled.\n", "name": "COM_DISARM_LAND", "shortDesc": "Time-out for auto disarm after landing", "type": "Float", "units": "s"}, {"category": "Standard", "default": 1, "group": "Commander", "longDesc": "0: Disallow disarming when not landed\n1: Allow disarming in multicopter flight in modes where\nthe thrust is directly controlled by thr throttle stick\ne.g. Stabilized, Acro\n", "name": "COM_DISARM_MAN", "shortDesc": "Allow disarming via switch/stick/button on multicopters in manual thrust modes", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Commander", "increment": 0.1, "longDesc": "A non-zero, positive value specifies the time in seconds, within which the\nvehicle is expected to take off after arming. In case the vehicle didn't takeoff\nwithin the timeout it disarms again.\n\nA negative value disables autmoatic disarming triggered by a pre-takeoff timeout.\n", "name": "COM_DISARM_PRFLT", "shortDesc": "Time-out for auto disarm if not taking off", "type": "Float", "units": "s"}, {"bitmask": [{"description": "Mission", "index": 0}, {"description": "Auto modes", "index": 1}, {"description": "Offboard", "index": 2}, {"description": "External Mode", "index": 3}, {"description": "Altitude Cruise", "index": 4}], "category": "Standard", "default": 0, "group": "Commander", "longDesc": "Specify modes in which ground control station connection loss is ignored and no failsafe action is triggered.\nSee also COM_RCL_EXCEPT.\n", "max": 31, "min": 0, "name": "COM_DLL_EXCEPT", "shortDesc": "Datalink loss exceptions", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 10, "group": "Commander", "increment": 1, "longDesc": "After this amount of seconds without datalink, the GCS connection lost mode triggers\n", "max": 300, "min": 5, "name": "COM_DL_LOSS_T", "shortDesc": "GCS connection loss time threshold", "type": "Int32", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Commander", "longDesc": "Before entering failsafe (RTL, Land, Hold), wait COM_FAIL_ACT_T seconds in Hold mode\nfor the user to realize.\nDuring that time the user can switch modes, but cannot take over control via the stick override feature (see COM_RC_OVERRIDE).\nAfterwards the configured failsafe action is triggered and the user may use stick override.\n\nA zero value disables the delay.\n", "max": 25.0, "min": 0.0, "name": "COM_FAIL_ACT_T", "shortDesc": "Delay between failsafe condition triggered and failsafe reaction", "type": "Float", "units": "s"}, {"category": "System", "default": 0, "group": "Commander", "longDesc": "This number is incremented automatically after every flight on\ndisarming in order to remember the next flight UUID.\nThe first flight is 0.\n", "min": 0, "name": "COM_FLIGHT_UUID", "shortDesc": "Next flight UUID", "type": "Int32", "volatile": true}, {"category": "Standard", "default": -1, "group": "Commander", "longDesc": "If the main switch channel is in this range the\nselected flight mode will be applied.\n\n", "name": "COM_FLTMODE1", "shortDesc": "Mode slot 1", "type": "Int32", "values": [{"description": "Unassigned", "value": -1}, {"description": "Manual", "value": 0}, {"description": "Altitude", "value": 1}, {"description": "Position", "value": 2}, {"description": "Mission", "value": 3}, {"description": "Hold", "value": 4}, {"description": "Return", "value": 5}, {"description": "Acro", "value": 6}, {"description": "Offboard", "value": 7}, {"description": "Stabilized", "value": 8}, {"description": "Position Slow", "value": 9}, {"description": "Takeoff", "value": 10}, {"description": "Land", "value": 11}, {"description": "Follow Me", "value": 12}, {"description": "Precision Land", "value": 13}, {"description": "Altitude Cruise", "value": 16}, {"description": "External Mode 1", "value": 100}, {"description": "External Mode 2", "value": 101}, {"description": "External Mode 3", "value": 102}, {"description": "External Mode 4", "value": 103}, {"description": "External Mode 5", "value": 104}, {"description": "External Mode 6", "value": 105}, {"description": "External Mode 7", "value": 106}, {"description": "External Mode 8", "value": 107}]}, {"category": "Standard", "default": -1, "group": "Commander", "longDesc": "If the main switch channel is in this range the\nselected flight mode will be applied.\n\n", "name": "COM_FLTMODE2", "shortDesc": "Mode slot 2", "type": "Int32", "values": [{"description": "Unassigned", "value": -1}, {"description": "Manual", "value": 0}, {"description": "Altitude", "value": 1}, {"description": "Position", "value": 2}, {"description": "Mission", "value": 3}, {"description": "Hold", "value": 4}, {"description": "Return", "value": 5}, {"description": "Acro", "value": 6}, {"description": "Offboard", "value": 7}, {"description": "Stabilized", "value": 8}, {"description": "Position Slow", "value": 9}, {"description": "Takeoff", "value": 10}, {"description": "Land", "value": 11}, {"description": "Follow Me", "value": 12}, {"description": "Precision Land", "value": 13}, {"description": "Altitude Cruise", "value": 16}, {"description": "External Mode 1", "value": 100}, {"description": "External Mode 2", "value": 101}, {"description": "External Mode 3", "value": 102}, {"description": "External Mode 4", "value": 103}, {"description": "External Mode 5", "value": 104}, {"description": "External Mode 6", "value": 105}, {"description": "External Mode 7", "value": 106}, {"description": "External Mode 8", "value": 107}]}, {"category": "Standard", "default": -1, "group": "Commander", "longDesc": "If the main switch channel is in this range the\nselected flight mode will be applied.\n\n", "name": "COM_FLTMODE3", "shortDesc": "Mode slot 3", "type": "Int32", "values": [{"description": "Unassigned", "value": -1}, {"description": "Manual", "value": 0}, {"description": "Altitude", "value": 1}, {"description": "Position", "value": 2}, {"description": "Mission", "value": 3}, {"description": "Hold", "value": 4}, {"description": "Return", "value": 5}, {"description": "Acro", "value": 6}, {"description": "Offboard", "value": 7}, {"description": "Stabilized", "value": 8}, {"description": "Position Slow", "value": 9}, {"description": "Takeoff", "value": 10}, {"description": "Land", "value": 11}, {"description": "Follow Me", "value": 12}, {"description": "Precision Land", "value": 13}, {"description": "Altitude Cruise", "value": 16}, {"description": "External Mode 1", "value": 100}, {"description": "External Mode 2", "value": 101}, {"description": "External Mode 3", "value": 102}, {"description": "External Mode 4", "value": 103}, {"description": "External Mode 5", "value": 104}, {"description": "External Mode 6", "value": 105}, {"description": "External Mode 7", "value": 106}, {"description": "External Mode 8", "value": 107}]}, {"category": "Standard", "default": -1, "group": "Commander", "longDesc": "If the main switch channel is in this range the\nselected flight mode will be applied.\n\n", "name": "COM_FLTMODE4", "shortDesc": "Mode slot 4", "type": "Int32", "values": [{"description": "Unassigned", "value": -1}, {"description": "Manual", "value": 0}, {"description": "Altitude", "value": 1}, {"description": "Position", "value": 2}, {"description": "Mission", "value": 3}, {"description": "Hold", "value": 4}, {"description": "Return", "value": 5}, {"description": "Acro", "value": 6}, {"description": "Offboard", "value": 7}, {"description": "Stabilized", "value": 8}, {"description": "Position Slow", "value": 9}, {"description": "Takeoff", "value": 10}, {"description": "Land", "value": 11}, {"description": "Follow Me", "value": 12}, {"description": "Precision Land", "value": 13}, {"description": "Altitude Cruise", "value": 16}, {"description": "External Mode 1", "value": 100}, {"description": "External Mode 2", "value": 101}, {"description": "External Mode 3", "value": 102}, {"description": "External Mode 4", "value": 103}, {"description": "External Mode 5", "value": 104}, {"description": "External Mode 6", "value": 105}, {"description": "External Mode 7", "value": 106}, {"description": "External Mode 8", "value": 107}]}, {"category": "Standard", "default": -1, "group": "Commander", "longDesc": "If the main switch channel is in this range the\nselected flight mode will be applied.\n\n", "name": "COM_FLTMODE5", "shortDesc": "Mode slot 5", "type": "Int32", "values": [{"description": "Unassigned", "value": -1}, {"description": "Manual", "value": 0}, {"description": "Altitude", "value": 1}, {"description": "Position", "value": 2}, {"description": "Mission", "value": 3}, {"description": "Hold", "value": 4}, {"description": "Return", "value": 5}, {"description": "Acro", "value": 6}, {"description": "Offboard", "value": 7}, {"description": "Stabilized", "value": 8}, {"description": "Position Slow", "value": 9}, {"description": "Takeoff", "value": 10}, {"description": "Land", "value": 11}, {"description": "Follow Me", "value": 12}, {"description": "Precision Land", "value": 13}, {"description": "Altitude Cruise", "value": 16}, {"description": "External Mode 1", "value": 100}, {"description": "External Mode 2", "value": 101}, {"description": "External Mode 3", "value": 102}, {"description": "External Mode 4", "value": 103}, {"description": "External Mode 5", "value": 104}, {"description": "External Mode 6", "value": 105}, {"description": "External Mode 7", "value": 106}, {"description": "External Mode 8", "value": 107}]}, {"category": "Standard", "default": -1, "group": "Commander", "longDesc": "If the main switch channel is in this range the\nselected flight mode will be applied.\n\n", "name": "COM_FLTMODE6", "shortDesc": "Mode slot 6", "type": "Int32", "values": [{"description": "Unassigned", "value": -1}, {"description": "Manual", "value": 0}, {"description": "Altitude", "value": 1}, {"description": "Position", "value": 2}, {"description": "Mission", "value": 3}, {"description": "Hold", "value": 4}, {"description": "Return", "value": 5}, {"description": "Acro", "value": 6}, {"description": "Offboard", "value": 7}, {"description": "Stabilized", "value": 8}, {"description": "Position Slow", "value": 9}, {"description": "Takeoff", "value": 10}, {"description": "Land", "value": 11}, {"description": "Follow Me", "value": 12}, {"description": "Precision Land", "value": 13}, {"description": "Altitude Cruise", "value": 16}, {"description": "External Mode 1", "value": 100}, {"description": "External Mode 2", "value": 101}, {"description": "External Mode 3", "value": 102}, {"description": "External Mode 4", "value": 103}, {"description": "External Mode 5", "value": 104}, {"description": "External Mode 6", "value": 105}, {"description": "External Mode 7", "value": 106}, {"description": "External Mode 8", "value": 107}]}, {"category": "Standard", "default": 0, "group": "Commander", "increment": 1, "longDesc": "Action the system takes when the remaining flight time is below\nthe estimated time it takes to reach the RTL destination.\n", "name": "COM_FLTT_LOW_ACT", "shortDesc": "Remaining flight time low failsafe", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Warning", "value": 1}, {"description": "Return", "value": 3}]}, {"category": "Standard", "default": -1, "group": "Commander", "longDesc": "The vehicle aborts the current operation and returns to launch when\nthe time since takeoff is above this value. It is not possible to resume the\nmission or switch to any auto mode other than RTL or Land. Taking over in any manual\nmode is still possible.\n\nStarting from 90% of the maximum flight time, a warning message will be sent\nevery 1 minute with the remaining time until automatic RTL.\n\nSet to -1 to disable.\n", "min": -1, "name": "COM_FLT_TIME_MAX", "shortDesc": "Maximum allowed flight time", "type": "Int32", "units": "s"}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "Force safety when the vehicle disarms\n", "name": "COM_FORCE_SAFETY", "shortDesc": "Enable force safety", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 120, "group": "Commander", "longDesc": "After this amount of seconds without datalink the data link lost mode triggers\n", "max": 3600, "min": 60, "name": "COM_HLDL_LOSS_T", "shortDesc": "High Latency Datalink loss time threshold", "type": "Int32", "units": "s"}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "After a data link loss: after this number of seconds with a healthy datalink the 'datalink loss'\nflag is set back to false\n", "max": 60, "min": 0, "name": "COM_HLDL_REG_T", "shortDesc": "High Latency Datalink regain time threshold", "type": "Int32", "units": "s"}, {"category": "Standard", "default": 1, "group": "Commander", "longDesc": "Set home position automatically if possible.\n\nDuring missions, the latitude/longitude of the home position is locked and will not reset during intermediate landings.\nIt will only update once the mission is complete or landed outside of a mission.\nHowever, the altitude is still being adjusted to correct for GNSS vertical drift in the first 2 minutes after takeoff.\n", "name": "COM_HOME_EN", "rebootRequired": true, "shortDesc": "Home position enabled", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "If set to true, the autopilot is allowed to set its home position after takeoff\nThe true home position is back-computed if a local position is estimate if available.\nIf no local position is available, home is set to the current position.\n", "name": "COM_HOME_IN_AIR", "shortDesc": "Allows setting the home position after takeoff", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Commander", "increment": 1, "longDesc": "Action the system takes when an imbalanced propeller is detected by the failure detector.\nSee also FD_IMB_PROP_THR to set the failure threshold.\n", "name": "COM_IMB_PROP_ACT", "shortDesc": "Imbalanced propeller failsafe mode", "type": "Int32", "values": [{"description": "Disabled", "value": -1}, {"description": "Warning", "value": 0}, {"description": "Return", "value": 1}, {"description": "Land", "value": 2}]}, {"category": "Standard", "decimalPlaces": 3, "default": 3.0, "group": "Commander", "longDesc": "A non-zero, positive value specifies the timeframe in seconds within failure detector is allowed to disarm the vehicle\nif attitude exceeds the limits defined in FD_FAIL_P and FD_FAIL_R.\nThe check is not executed for flight modes that do support acrobatic maneuvers, e.g: Acro (MC/FW) and Manual (FW).\nA zero or negative value means that the check is disabled.\n", "max": 5.0, "min": -1.0, "name": "COM_LKDOWN_TKO", "shortDesc": "Timeout for detecting a failure after takeoff", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "Action the system takes at critical battery. See also BAT_CRIT_THR and BAT_EMERGEN_THR\nfor definition of battery states.\n", "name": "COM_LOW_BAT_ACT", "shortDesc": "Battery failsafe mode", "type": "Int32", "values": [{"description": "Warning", "value": 0}, {"description": "Land mode", "value": 2}, {"description": "Return at critical level, land at emergency level", "value": 3}]}, {"category": "System", "default": 0, "group": "Commander", "longDesc": "This parameter is automatically set to identify external modes. It ensures that modes\nget assigned to the same index independent from their startup order,\nwhich is required when mapping an external mode to an RC switch.\n\n", "name": "COM_MODE0_HASH", "shortDesc": "External mode identifier 0", "type": "Int32", "volatile": true}, {"category": "System", "default": 0, "group": "Commander", "longDesc": "This parameter is automatically set to identify external modes. It ensures that modes\nget assigned to the same index independent from their startup order,\nwhich is required when mapping an external mode to an RC switch.\n\n", "name": "COM_MODE1_HASH", "shortDesc": "External mode identifier 1", "type": "Int32", "volatile": true}, {"category": "System", "default": 0, "group": "Commander", "longDesc": "This parameter is automatically set to identify external modes. It ensures that modes\nget assigned to the same index independent from their startup order,\nwhich is required when mapping an external mode to an RC switch.\n\n", "name": "COM_MODE2_HASH", "shortDesc": "External mode identifier 2", "type": "Int32", "volatile": true}, {"category": "System", "default": 0, "group": "Commander", "longDesc": "This parameter is automatically set to identify external modes. It ensures that modes\nget assigned to the same index independent from their startup order,\nwhich is required when mapping an external mode to an RC switch.\n\n", "name": "COM_MODE3_HASH", "shortDesc": "External mode identifier 3", "type": "Int32", "volatile": true}, {"category": "System", "default": 0, "group": "Commander", "longDesc": "This parameter is automatically set to identify external modes. It ensures that modes\nget assigned to the same index independent from their startup order,\nwhich is required when mapping an external mode to an RC switch.\n\n", "name": "COM_MODE4_HASH", "shortDesc": "External mode identifier 4", "type": "Int32", "volatile": true}, {"category": "System", "default": 0, "group": "Commander", "longDesc": "This parameter is automatically set to identify external modes. It ensures that modes\nget assigned to the same index independent from their startup order,\nwhich is required when mapping an external mode to an RC switch.\n\n", "name": "COM_MODE5_HASH", "shortDesc": "External mode identifier 5", "type": "Int32", "volatile": true}, {"category": "System", "default": 0, "group": "Commander", "longDesc": "This parameter is automatically set to identify external modes. It ensures that modes\nget assigned to the same index independent from their startup order,\nwhich is required when mapping an external mode to an RC switch.\n\n", "name": "COM_MODE6_HASH", "shortDesc": "External mode identifier 6", "type": "Int32", "volatile": true}, {"category": "System", "default": 0, "group": "Commander", "longDesc": "This parameter is automatically set to identify external modes. It ensures that modes\nget assigned to the same index independent from their startup order,\nwhich is required when mapping an external mode to an RC switch.\n\n", "name": "COM_MODE7_HASH", "shortDesc": "External mode identifier 7", "type": "Int32", "volatile": true}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "By default disabled for safety reasons\n", "name": "COM_MODE_ARM_CHK", "shortDesc": "Allow external mode registration while armed", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 5.0, "group": "Commander", "increment": 0.01, "max": 60.0, "min": 0.0, "name": "COM_OBC_LOSS_T", "shortDesc": "Time-out to wait when onboard computer connection is lost before warning about loss connection", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "The offboard loss failsafe will only be entered after a timeout,\nset by COM_OF_LOSS_T in seconds.\n", "name": "COM_OBL_RC_ACT", "shortDesc": "Set offboard loss failsafe mode", "type": "Int32", "values": [{"description": "Position mode", "value": 0}, {"description": "Altitude mode", "value": 1}, {"description": "Stabilized", "value": 2}, {"description": "Return mode", "value": 3}, {"description": "Land mode", "value": 4}, {"description": "Hold mode", "value": 5}, {"description": "Terminate", "value": 6}, {"description": "Disarm", "value": 7}]}, {"category": "Standard", "default": 1.0, "group": "Commander", "increment": 0.01, "longDesc": "See COM_OBL_RC_ACT to configure action.\n", "max": 60.0, "min": 0.0, "name": "COM_OF_LOSS_T", "shortDesc": "Time-out to wait when offboard connection is lost before triggering offboard lost action", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "Commander", "name": "COM_PARACHUTE", "shortDesc": "Require MAVLink parachute system to be present and healthy", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Commander", "longDesc": "This is the horizontal position error (EPH) threshold that will trigger a failsafe.\nIf the previous position error was below this threshold, there is an additional\nfactor of 2.5 applied (threshold for invalidation 2.5 times the one for validation).\nOnly used for multicopters and VTOLs in hover mode.\nIndependent from estimator positioning data timeout threshold (see EKF2_NOAID_TOUT).\n\nSet to -1 to disable.\n", "max": 400.0, "min": -1.0, "name": "COM_POS_FS_EPH", "shortDesc": "Horizontal position error threshold for hovering systems", "type": "Float", "units": "m"}, {"category": "Standard", "default": 3, "group": "Commander", "increment": 1, "longDesc": "Action the system takes when the estimated position has an accuracy below the specified threshold.\nSee COM_POS_LOW_EPH to set the failsafe threshold.\nThe failsafe action is only executed if the vehicle is in auto mission or auto loiter mode,\notherwise it is only a warning.\n", "name": "COM_POS_LOW_ACT", "shortDesc": "Low position accuracy action", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Warning", "value": 1}, {"description": "Hold", "value": 2}, {"description": "Return", "value": 3}, {"description": "Terminate", "value": 4}, {"description": "Land", "value": 5}]}, {"category": "Standard", "default": -1.0, "group": "Commander", "longDesc": "This triggers the action specified in COM_POS_LOW_ACT if the estimated position accuracy is below this threshold.\nLocal position has to be still declared valid, which requires some kind of velocity aiding or large dead-reckoning time (EKF2_NOAID_TOUT),\nand a high failsafe threshold (COM_POS_FS_EPH).\n\nSet to -1 to disable.\n", "max": 1000.0, "min": -1.0, "name": "COM_POS_LOW_EPH", "shortDesc": "Low position accuracy failsafe threshold", "type": "Float", "units": "m"}, {"category": "Standard", "default": 1, "group": "Commander", "longDesc": "This configures a check to verify the expected number of 5V rail power supplies are present. By default only one is expected.\nNote: CBRK_SUPPLY_CHK disables all power checks including this one.\n", "max": 4, "min": 0, "name": "COM_POWER_COUNT", "shortDesc": "Required number of redundant power modules", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "Condition to enter the prearmed state, an intermediate state between disarmed and armed\nin which non-throttling actuators are active.\n", "name": "COM_PREARM_MODE", "shortDesc": "Condition to enter prearmed mode", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Safety button", "value": 1}, {"description": "Always", "value": 2}]}, {"category": "Standard", "default": 0, "group": "Commander", "name": "COM_QC_ACT", "shortDesc": "Set action after a quadchute", "type": "Int32", "values": [{"description": "Warning only", "value": -1}, {"description": "Return mode", "value": 0}, {"description": "Land mode", "value": 1}, {"description": "Hold mode", "value": 2}]}, {"category": "Standard", "default": 95.0, "group": "Commander", "increment": 1.0, "longDesc": "The check fails if the RAM usage is above this threshold.\n\nA negative value disables the check.\n", "max": 100.0, "min": -1.0, "name": "COM_RAM_MAX", "shortDesc": "Maximum allowed RAM usage to pass checks", "type": "Float", "units": "%"}, {"bitmask": [{"description": "Mission", "index": 0}, {"description": "Auto modes", "index": 1}, {"description": "Offboard", "index": 2}, {"description": "External Mode", "index": 3}, {"description": "Altitude Cruise", "index": 4}], "category": "Standard", "default": 0, "group": "Commander", "longDesc": "Specify modes in which stick input is ignored and no failsafe action is triggered.\nExternal modes requiring stick input will still failsafe.\nAuto modes are: Hold, Takeoff, Land, RTL, Descend, Follow Target, Precland, Orbit.\n", "max": 31, "min": 0, "name": "COM_RCL_EXCEPT", "shortDesc": "Manual control loss exceptions", "type": "Int32"}, {"category": "Standard", "default": 3, "group": "Commander", "longDesc": "Selects stick input selection behavior:\neither a traditional remote control receiver (RC) or a MAVLink joystick (MANUAL_CONTROL message)\n\nPriority sources are immediately switched to whenever they get valid.\n\n0 RC only. Requires valid RC calibration.\n1 MAVLink only. RC and related checks are disabled.\n2 Switches only if current source becomes invalid.\n3 Locks to the first valid source until reboot.\n4 Ignores all sources.\n5 RC priority, then MAVLink (lower instance before higher)\n6 MAVLink priority (lower instance before higher), then RC\n7 RC priority, then MAVLink (higher instance before lower)\n8 MAVLink priority (higher instance before lower), then RC\n", "max": 8, "min": 0, "name": "COM_RC_IN_MODE", "shortDesc": "Manual control input source configuration", "type": "Int32", "values": [{"description": "RC only", "value": 0}, {"description": "MAVLink only", "value": 1}, {"description": "RC or MAVLink with fallback", "value": 2}, {"description": "RC or MAVLink keep first", "value": 3}, {"description": "Disable manual control", "value": 4}, {"description": "Prio: RC > MAVL 1 > MAVL 2", "value": 5}, {"description": "Prio: MAVL 1 > MAVL 2 > RC", "value": 6}, {"description": "Prio: RC > MAVL 2 > MAVL 1", "value": 7}, {"description": "Prio: MAVL 2 > MAVL 1 > RC", "value": 8}]}, {"category": "Standard", "decimalPlaces": 1, "default": 0.5, "group": "Commander", "increment": 0.1, "longDesc": "The time in seconds without a new setpoint from RC or Joystick, after which the connection is considered lost.\nThis must be kept short as the vehicle will use the last supplied setpoint until the timeout triggers.\nEnsure the value is not set lower than the update interval of the RC or Joystick.\n", "max": 35.0, "min": 0.0, "name": "COM_RC_LOSS_T", "shortDesc": "Manual control loss timeout", "type": "Float", "units": "s"}, {"bitmask": [{"description": "Enable override during auto modes (except for in critical battery reaction)", "index": 0}, {"description": "Enable override during offboard mode", "index": 1}], "category": "Standard", "default": 1, "group": "Commander", "longDesc": "When enabled, moving the sticks more than COM_RC_STICK_OV\nimmediately gives control back to the pilot by switching to Position mode and\nif position is unavailable Altitude mode.\nNote: Only has an effect on multicopters, and VTOLs in multicopter mode.\n", "max": 3, "min": 0, "name": "COM_RC_OVERRIDE", "shortDesc": "Enable manual control stick override", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 0, "default": 30.0, "group": "Commander", "increment": 0.05, "longDesc": "If COM_RC_OVERRIDE is enabled and the joystick input is moved more than this threshold\nthe pilot takes over control.\n", "max": 80.0, "min": 5.0, "name": "COM_RC_STICK_OV", "shortDesc": "Stick override threshold", "type": "Float", "units": "%"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Commander", "increment": 0.1, "longDesc": "The minimal time from arming the motors until moving the vehicle is possible is COM_SPOOLUP_TIME seconds.\nGoal:\n- Motors and propellers spool up to idle speed before getting commanded to spin faster\n- Timeout for ESCs and smart batteries to successfulyy do failure checks\ne.g. for stuck rotors before the vehicle is off the ground\n", "max": 30.0, "min": 0.0, "name": "COM_SPOOLUP_TIME", "shortDesc": "Enforced delay between arming and further navigation", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "The mode transition after TAKEOFF has completed successfully.\n", "name": "COM_TAKEOFF_ACT", "shortDesc": "Action after TAKEOFF has been accepted", "type": "Int32", "values": [{"description": "Hold", "value": 0}, {"description": "Mission (if valid)", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "Allows to start the vehicle by throwing it into the air.\n", "name": "COM_THROW_EN", "shortDesc": "Enable throw-start", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Commander", "increment": 0.1, "longDesc": "When the throw launch is enabled, the drone will only allow motors to spin after this speed\nis exceeded before detecting the freefall. This is a safety feature to ensure the drone does\nnot turn on after accidental drop or a rapid movement before the throw.\n\nSet to 0 to disable.\n", "min": 0.0, "name": "COM_THROW_SPEED", "shortDesc": "Minimum speed for the throw start", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Commander", "longDesc": "This is the horizontal velocity error (EVH) threshold that will trigger a failsafe.\nThe default is appropriate for a multicopter. Can be increased for a fixed-wing.\nIf the previous velocity error was below this threshold, there is an additional\nfactor of 2.5 applied (threshold for invalidation 2.5 times the one for validation).\n", "min": 0.0, "name": "COM_VEL_FS_EVH", "shortDesc": "Horizontal velocity error threshold", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "Commander", "increment": 0.1, "longDesc": "Wind speed threshold above which an automatic failsafe action is triggered.\nFailsafe action can be specified with COM_WIND_MAX_ACT.\n", "min": -1.0, "name": "COM_WIND_MAX", "shortDesc": "High wind speed failsafe threshold", "type": "Float", "units": "m/s"}, {"category": "Standard", "default": 0, "group": "Commander", "increment": 1, "longDesc": "Action the system takes when a wind speed above the specified threshold is detected.\nSee COM_WIND_MAX to set the failsafe threshold.\nIf enabled, it is not possible to resume the mission or switch to any auto mode other than\nRTL or Land if this threshold is exceeded. Taking over in any manual\nmode is still possible.\n", "name": "COM_WIND_MAX_ACT", "shortDesc": "High wind failsafe mode", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Warning", "value": 1}, {"description": "Hold", "value": 2}, {"description": "Return", "value": 3}, {"description": "Terminate", "value": 4}, {"description": "Land", "value": 5}]}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "Commander", "increment": 0.1, "longDesc": "A warning is triggered if the currently estimated wind speed is above this value.\nWarning is sent periodically (every 1 minute).\n\nSet to -1 to disable.\n", "min": -1.0, "name": "COM_WIND_WARN", "shortDesc": "Wind speed warning threshold", "type": "Float", "units": "m/s"}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "The GCS connection loss failsafe will only be entered after a timeout,\nset by COM_DL_LOSS_T in seconds. Once the timeout occurs the selected\naction will be executed.\n", "max": 6, "min": 0, "name": "NAV_DLL_ACT", "shortDesc": "Set GCS connection loss failsafe mode", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Hold mode", "value": 1}, {"description": "Return mode", "value": 2}, {"description": "Land mode", "value": 3}, {"description": "Terminate", "value": 5}, {"description": "Disarm", "value": 6}]}, {"category": "Standard", "default": 2, "group": "Commander", "longDesc": "The manual control loss failsafe will only be entered after a timeout,\nset by COM_RC_LOSS_T in seconds.\n", "max": 6, "min": 1, "name": "NAV_RCL_ACT", "shortDesc": "Set manual control loss failsafe mode", "type": "Int32", "values": [{"description": "Hold mode", "value": 1}, {"description": "Return mode", "value": 2}, {"description": "Land mode", "value": 3}, {"description": "Terminate", "value": 5}, {"description": "Disarm", "value": 6}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "EKF2", "max": 0.5, "min": 0.0, "name": "EKF2_ABIAS_INIT", "rebootRequired": true, "shortDesc": "1-sigma IMU accelerometer switch-on bias", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 1, "default": 25.0, "group": "EKF2", "longDesc": "If the magnitude of the IMU accelerometer vector exceeds this value, the EKF accel bias state estimation will be inhibited. This reduces the adverse effect of high manoeuvre accelerations and IMU nonlinerity and scale factor errors on the accel bias estimates.\n", "max": 200.0, "min": 20.0, "name": "EKF2_ABL_ACCLIM", "shortDesc": "Maximum IMU accel magnitude that allows IMU bias learning", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "EKF2", "longDesc": "If the magnitude of the IMU angular rate vector exceeds this value, the EKF accel bias state estimation will be inhibited. This reduces the adverse effect of rapid rotation rates and associated errors on the accel bias estimates.\n", "max": 20.0, "min": 2.0, "name": "EKF2_ABL_GYRLIM", "shortDesc": "Maximum IMU gyro angular rate magnitude that allows IMU bias learning", "type": "Float", "units": "rad/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.4, "group": "EKF2", "longDesc": "The ekf accel bias states will be limited to within a range equivalent to +- of this value.\n", "max": 0.8, "min": 0.0, "name": "EKF2_ABL_LIM", "shortDesc": "Accelerometer bias learning limit", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "EKF2", "longDesc": "The vector magnitude of angular rate and acceleration used to check if learning should be inhibited has a peak hold filter applied to it with an exponential decay. This parameter controls the time constant of the decay.\n", "max": 1.0, "min": 0.1, "name": "EKF2_ABL_TAU", "shortDesc": "Accel bias learning inhibit time constant", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 6, "default": 0.003, "group": "EKF2", "max": 0.01, "min": 0.0, "name": "EKF2_ACC_B_NOISE", "shortDesc": "Process noise for IMU accelerometer bias prediction", "type": "Float", "units": "m/s^3"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.35, "group": "EKF2", "max": 1.0, "min": 0.01, "name": "EKF2_ACC_NOISE", "shortDesc": "Accelerometer noise for covariance prediction", "type": "Float", "units": "m/s^2"}, {"bitmask": [{"description": "Horizontal position", "index": 0}, {"description": "Vertical position", "index": 1}], "category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion\n", "max": 3, "min": 0, "name": "EKF2_AGP0_CTRL", "shortDesc": "Auxiliary global position sensor 0 aiding", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "EKF2", "max": 1000.0, "min": 0.0, "name": "EKF2_AGP0_DELAY", "rebootRequired": true, "shortDesc": "Auxiliary global position sensor 0 delay (to IMU)", "type": "Float", "units": "ms"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.\n", "min": 1.0, "name": "EKF2_AGP0_GATE", "shortDesc": "Gate size for auxiliary global position sensor 0 fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Sensor ID for slot 0. Set to 0 to disable this slot.\n", "max": 255, "min": 0, "name": "EKF2_AGP0_ID", "shortDesc": "Auxiliary global position sensor 0 ID", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Automatic: reset on fusion timeout if no other source of position is available Dead-reckoning: reset on fusion timeout if no source of velocity is available\n", "name": "EKF2_AGP0_MODE", "shortDesc": "Fusion reset mode for sensor 0", "type": "Int32", "values": [{"description": "Automatic", "value": 0}, {"description": "Dead-reckoning", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "EKF2", "longDesc": "Used to lower bound or replace the uncertainty included in the message\n", "min": 0.01, "name": "EKF2_AGP0_NOISE", "shortDesc": "Measurement noise for auxiliary global position sensor 0", "type": "Float", "units": "m"}, {"bitmask": [{"description": "Horizontal position", "index": 0}, {"description": "Vertical position", "index": 1}], "category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion\n", "max": 3, "min": 0, "name": "EKF2_AGP1_CTRL", "shortDesc": "Auxiliary global position sensor 1 aiding", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "EKF2", "max": 1000.0, "min": 0.0, "name": "EKF2_AGP1_DELAY", "rebootRequired": true, "shortDesc": "Auxiliary global position sensor 1 delay (to IMU)", "type": "Float", "units": "ms"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.\n", "min": 1.0, "name": "EKF2_AGP1_GATE", "shortDesc": "Gate size for auxiliary global position sensor 1 fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Sensor ID for slot 1. Set to 0 to disable this slot.\n", "max": 255, "min": 0, "name": "EKF2_AGP1_ID", "shortDesc": "Auxiliary global position sensor 1 ID", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Automatic: reset on fusion timeout if no other source of position is available Dead-reckoning: reset on fusion timeout if no source of velocity is available\n", "name": "EKF2_AGP1_MODE", "shortDesc": "Fusion reset mode for sensor 1", "type": "Int32", "values": [{"description": "Automatic", "value": 0}, {"description": "Dead-reckoning", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "EKF2", "longDesc": "Used to lower bound or replace the uncertainty included in the message\n", "min": 0.01, "name": "EKF2_AGP1_NOISE", "shortDesc": "Measurement noise for auxiliary global position sensor 1", "type": "Float", "units": "m"}, {"bitmask": [{"description": "Horizontal position", "index": 0}, {"description": "Vertical position", "index": 1}], "category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion\n", "max": 3, "min": 0, "name": "EKF2_AGP2_CTRL", "shortDesc": "Auxiliary global position sensor 2 aiding", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "EKF2", "max": 1000.0, "min": 0.0, "name": "EKF2_AGP2_DELAY", "rebootRequired": true, "shortDesc": "Auxiliary global position sensor 2 delay (to IMU)", "type": "Float", "units": "ms"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.\n", "min": 1.0, "name": "EKF2_AGP2_GATE", "shortDesc": "Gate size for auxiliary global position sensor 2 fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Sensor ID for slot 2. Set to 0 to disable this slot.\n", "max": 255, "min": 0, "name": "EKF2_AGP2_ID", "shortDesc": "Auxiliary global position sensor 2 ID", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Automatic: reset on fusion timeout if no other source of position is available Dead-reckoning: reset on fusion timeout if no source of velocity is available\n", "name": "EKF2_AGP2_MODE", "shortDesc": "Fusion reset mode for sensor 2", "type": "Int32", "values": [{"description": "Automatic", "value": 0}, {"description": "Dead-reckoning", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "EKF2", "longDesc": "Used to lower bound or replace the uncertainty included in the message\n", "min": 0.01, "name": "EKF2_AGP2_NOISE", "shortDesc": "Measurement noise for auxiliary global position sensor 2", "type": "Float", "units": "m"}, {"bitmask": [{"description": "Horizontal position", "index": 0}, {"description": "Vertical position", "index": 1}], "category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion\n", "max": 3, "min": 0, "name": "EKF2_AGP3_CTRL", "shortDesc": "Auxiliary global position sensor 3 aiding", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "EKF2", "max": 1000.0, "min": 0.0, "name": "EKF2_AGP3_DELAY", "rebootRequired": true, "shortDesc": "Auxiliary global position sensor 3 delay (to IMU)", "type": "Float", "units": "ms"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.\n", "min": 1.0, "name": "EKF2_AGP3_GATE", "shortDesc": "Gate size for auxiliary global position sensor 3 fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Sensor ID for slot 3. Set to 0 to disable this slot.\n", "max": 255, "min": 0, "name": "EKF2_AGP3_ID", "shortDesc": "Auxiliary global position sensor 3 ID", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Automatic: reset on fusion timeout if no other source of position is available Dead-reckoning: reset on fusion timeout if no source of velocity is available\n", "name": "EKF2_AGP3_MODE", "shortDesc": "Fusion reset mode for sensor 3", "type": "Int32", "values": [{"description": "Automatic", "value": 0}, {"description": "Dead-reckoning", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "EKF2", "longDesc": "Used to lower bound or replace the uncertainty included in the message\n", "min": 0.01, "name": "EKF2_AGP3_NOISE", "shortDesc": "Measurement noise for auxiliary global position sensor 3", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.1, "group": "EKF2", "max": 0.5, "min": 0.0, "name": "EKF2_ANGERR_INIT", "rebootRequired": true, "shortDesc": "1-sigma tilt angle uncertainty after gravity vector alignment", "type": "Float", "units": "rad"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "EKF2", "longDesc": "Airspeed data is fused for wind estimation if above this threshold. Set to 0 to disable airspeed fusion. For reliable wind estimation both sideslip (see EKF2_FUSE_BETA) and airspeed fusion should be enabled. Only applies to fixed-wing vehicles (or VTOLs in fixed-wing mode).\n", "min": 0.0, "name": "EKF2_ARSP_THR", "shortDesc": "Airspeed fusion threshold", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 20.0, "group": "EKF2", "max": 50.0, "min": 5.0, "name": "EKF2_ASPD_MAX", "shortDesc": "Maximum airspeed used for baro static pressure compensation", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 100.0, "group": "EKF2", "max": 300.0, "min": 0.0, "name": "EKF2_ASP_DELAY", "rebootRequired": true, "shortDesc": "Airspeed measurement delay relative to IMU measurements", "type": "Float", "units": "ms"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "EKF2", "max": 300.0, "min": 0.0, "name": "EKF2_AVEL_DELAY", "rebootRequired": true, "shortDesc": "Auxiliary Velocity Estimate delay relative to IMU measurements", "type": "Float", "units": "ms"}, {"category": "Standard", "default": 1, "group": "EKF2", "longDesc": "If this parameter is enabled then the estimator will make use of the barometric height measurements to estimate its height in addition to other height sources (if activated).\n", "name": "EKF2_BARO_CTRL", "shortDesc": "Barometric sensor height aiding", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "EKF2", "max": 300.0, "min": 0.0, "name": "EKF2_BARO_DELAY", "rebootRequired": true, "shortDesc": "Barometer measurement delay relative to IMU measurements", "type": "Float", "units": "ms"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.\n", "min": 1.0, "name": "EKF2_BARO_GATE", "shortDesc": "Gate size for barometric and GPS height fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 2, "default": 3.5, "group": "EKF2", "max": 15.0, "min": 0.01, "name": "EKF2_BARO_NOISE", "shortDesc": "Measurement noise for barometric altitude", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 100.0, "group": "EKF2", "longDesc": "This parameter controls the prediction of drag produced by bluff body drag along the forward/reverse axis when flying a multi-copter which enables estimation of wind drift when enabled by the EKF2_DRAG_CTRL parameter. The drag produced by this effect scales with speed squared. The predicted drag from the rotors is specified separately by the EKF2_MCOEF parameter. Set this parameter to zero to turn off the bluff body drag model for this axis.\n", "max": 200.0, "min": 0.0, "name": "EKF2_BCOEF_X", "shortDesc": "X-axis ballistic coefficient used for multi-rotor wind estimation", "type": "Float", "units": "kg/m^2"}, {"category": "Standard", "decimalPlaces": 1, "default": 100.0, "group": "EKF2", "longDesc": "This parameter controls the prediction of drag produced by bluff body drag along the right/left axis when flying a multi-copter, which enables estimation of wind drift when enabled by the EKF2_DRAG_CTRL parameter. The drag produced by this effect scales with speed squared. The predicted drag from the rotors is specified separately by the EKF2_MCOEF parameter. Set this parameter to zero to turn off the bluff body drag model for this axis.\n", "max": 200.0, "min": 0.0, "name": "EKF2_BCOEF_Y", "shortDesc": "Y-axis ballistic coefficient used for multi-rotor wind estimation", "type": "Float", "units": "kg/m^2"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.\n", "min": 1.0, "name": "EKF2_BETA_GATE", "shortDesc": "Gate size for synthetic sideslip fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "EKF2", "max": 1.0, "min": 0.1, "name": "EKF2_BETA_NOISE", "shortDesc": "Noise for synthetic sideslip fusion", "type": "Float", "units": "m/s"}, {"bitmask": [{"description": "use geo_lookup declination", "index": 0}, {"description": "save EKF2_MAG_DECL on disarm", "index": 1}], "category": "Standard", "default": 3, "group": "EKF2", "longDesc": "Set bits in the following positions to enable functions. 0 : Set to true to use the declination from the geo_lookup library when the GPS position becomes available, set to false to always use the EKF2_MAG_DECL value. 1 : Set to true to save the EKF2_MAG_DECL parameter to the value returned by the EKF when the vehicle disarms.\n", "max": 3, "min": 0, "name": "EKF2_DECL_TYPE", "rebootRequired": true, "shortDesc": "Integer bitmask controlling handling of magnetic declination", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 200.0, "group": "EKF2", "longDesc": "Defines the delay between the current time and the delayed-time horizon. This value should be at least as large as the largest EKF2_XXX_DELAY parameter.\n", "max": 1000.0, "min": 0.0, "name": "EKF2_DELAY_MAX", "rebootRequired": true, "shortDesc": "Maximum delay of all the aiding sensors", "type": "Float", "units": "ms"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Activate wind speed estimation using specific-force measurements and a drag model defined by EKF2_BCOEF_[XY] and EKF2_MCOEF. Only use on vehicles that have their thrust aligned with the Z axis and no thrust in the XY plane.\n", "name": "EKF2_DRAG_CTRL", "shortDesc": "Multirotor wind estimation selection", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 2.5, "group": "EKF2", "longDesc": "Used by the multi-rotor specific drag force model. Increasing this makes the multi-rotor wind estimates adjust more slowly.\n", "max": 10.0, "min": 0.5, "name": "EKF2_DRAG_NOISE", "shortDesc": "Specific drag force observation noise variance", "type": "Float", "units": "(m/s^2)^2"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.4, "group": "EKF2", "max": 5.0, "min": 0.5, "name": "EKF2_EAS_NOISE", "shortDesc": "Measurement noise for airspeed fusion", "type": "Float", "units": "m/s"}, {"category": "Standard", "default": 1, "group": "EKF2", "name": "EKF2_EN", "shortDesc": "EKF2 enable", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "When enabled, constant position fusion is enabled when the vehicle is landed and armed. This is intended for IC engine warmup (e.g., fuel engines on catapult) to allow mode transitions to auto/takeoff despite vibrations from running engines.\n", "name": "EKF2_ENGINE_WRM", "shortDesc": "Enable constant position fusion during engine warmup", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "EKF2", "longDesc": "Used to lower bound or replace the uncertainty included in the message\n", "min": 0.05, "name": "EKF2_EVA_NOISE", "shortDesc": "Measurement noise for vision angle measurements", "type": "Float", "units": "rad"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.\n", "min": 1.0, "name": "EKF2_EVP_GATE", "shortDesc": "Gate size for vision position fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "EKF2", "longDesc": "Used to lower bound or replace the uncertainty included in the message\n", "min": 0.01, "name": "EKF2_EVP_NOISE", "shortDesc": "Measurement noise for vision position measurements", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.\n", "min": 1.0, "name": "EKF2_EVV_GATE", "shortDesc": "Gate size for vision velocity estimate fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "EKF2", "longDesc": "Used to lower bound or replace the uncertainty included in the message\n", "min": 0.01, "name": "EKF2_EVV_NOISE", "shortDesc": "Measurement noise for vision velocity measurements", "type": "Float", "units": "m/s"}, {"bitmask": [{"description": "Horizontal position", "index": 0}, {"description": "Vertical position", "index": 1}, {"description": "3D velocity", "index": 2}, {"description": "Yaw", "index": 3}], "category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion 2 : 3D velocity fusion 3 : Yaw\n", "max": 15, "min": 0, "name": "EKF2_EV_CTRL", "shortDesc": "External vision (EV) sensor aiding", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "EKF2", "max": 300.0, "min": 0.0, "name": "EKF2_EV_DELAY", "rebootRequired": true, "shortDesc": "Vision Position Estimator delay relative to IMU measurements", "type": "Float", "units": "ms"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "If set to 0 (default) the measurement noise is taken from the vision message and the EV noise parameters are used as a lower bound. If set to 1 the observation noise is set from the parameters directly,\n", "name": "EKF2_EV_NOISE_MD", "shortDesc": "External vision (EV) noise mode", "type": "Int32", "values": [{"description": "EV reported variance (parameter lower bound)", "value": 0}, {"description": "EV noise parameters", "value": 1}]}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "longDesc": "Forward axis with origin relative to vehicle centre of gravity\n", "name": "EKF2_EV_POS_X", "shortDesc": "X position of VI sensor focal point in body frame", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "longDesc": "Forward axis with origin relative to vehicle centre of gravity\n", "name": "EKF2_EV_POS_Y", "shortDesc": "Y position of VI sensor focal point in body frame", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "longDesc": "Forward axis with origin relative to vehicle centre of gravity\n", "name": "EKF2_EV_POS_Z", "shortDesc": "Z position of VI sensor focal point in body frame", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 0, "group": "EKF2", "longDesc": "External vision will only be started and fused if the quality metric is above this threshold. The quality metric is a completely optional field provided by some VIO systems.\n", "max": 100, "min": 0, "name": "EKF2_EV_QMIN", "shortDesc": "External vision (EV) minimum quality (optional)", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "For reliable wind estimation both sideslip and airspeed fusion (see EKF2_ARSP_THR) should be enabled. Only applies to vehicles in fixed-wing mode or with airspeed fusion active. Note: side slip fusion is currently not supported for tailsitters.\n", "name": "EKF2_FUSE_BETA", "shortDesc": "Enable synthetic sideslip fusion", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "EKF2", "max": 0.2, "min": 0.0, "name": "EKF2_GBIAS_INIT", "rebootRequired": true, "shortDesc": "1-sigma IMU gyro switch-on bias", "type": "Float", "units": "rad/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 4.0, "group": "EKF2", "longDesc": "Sets the value of deadzone applied to negative baro innovations. Deadzone is enabled when EKF2_GND_EFF_DZ > 0.\n", "max": 10.0, "min": 0.0, "name": "EKF2_GND_EFF_DZ", "shortDesc": "Baro deadzone range for height fusion", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.5, "group": "EKF2", "longDesc": "Sets the maximum distance to the ground level where negative baro innovations are expected.\n", "max": 5.0, "min": 0.0, "name": "EKF2_GND_MAX_HGT", "shortDesc": "Height above ground level for ground effect zone", "type": "Float", "units": "m"}, {"bitmask": [{"description": "Sat count (EKF2_REQ_NSATS)", "index": 0}, {"description": "PDOP (EKF2_REQ_PDOP)", "index": 1}, {"description": "EPH (EKF2_REQ_EPH)", "index": 2}, {"description": "EPV (EKF2_REQ_EPV)", "index": 3}, {"description": "Speed accuracy (EKF2_REQ_SACC)", "index": 4}, {"description": "Horizontal position drift (EKF2_REQ_HDRIFT)", "index": 5}, {"description": "Vertical position drift (EKF2_REQ_VDRIFT)", "index": 6}, {"description": "Horizontal speed offset (EKF2_REQ_HDRIFT)", "index": 7}, {"description": "Vertical speed offset (EKF2_REQ_VDRIFT)", "index": 8}, {"description": "Spoofing", "index": 9}, {"description": "GPS fix type (EKF2_REQ_FIX)", "index": 10}, {"description": "Jamming", "index": 11}], "category": "Standard", "default": 2047, "group": "EKF2", "longDesc": "Each threshold value is defined by the parameter indicated next to the check. Drift and offset checks only run when the vehicle is on ground and stationary.\n", "max": 4095, "min": 0, "name": "EKF2_GPS_CHECK", "shortDesc": "Integer bitmask controlling GPS checks", "type": "Int32"}, {"bitmask": [{"description": "Lon/lat", "index": 0}, {"description": "Altitude", "index": 1}, {"description": "3D velocity", "index": 2}, {"description": "Dual antenna heading", "index": 3}], "category": "Standard", "default": 7, "group": "EKF2", "longDesc": "Set bits in the following positions to enable: 0 : Longitude and latitude fusion 1 : Altitude fusion 2 : 3D velocity fusion 3 : Dual antenna heading fusion\n", "max": 15, "min": 0, "name": "EKF2_GPS_CTRL", "shortDesc": "GNSS sensor aiding", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 110.0, "group": "EKF2", "longDesc": "GPS measurement delay relative to IMU measurement if PPS time correction is not available/enabled (PPS_CAP_ENABLE).\n", "max": 300.0, "min": 0.0, "name": "EKF2_GPS_DELAY", "rebootRequired": true, "shortDesc": "GPS measurement delay relative to IMU measurement", "type": "Float", "units": "ms"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Automatic: reset on fusion timeout if no other source of position is available. Dead-reckoning: reset on fusion timeout if no source of velocity is available.\n", "name": "EKF2_GPS_MODE", "shortDesc": "Fusion reset mode", "type": "Int32", "values": [{"description": "Automatic", "value": 0}, {"description": "Dead-reckoning", "value": 1}]}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "longDesc": "Forward (roll) axis with origin relative to vehicle centre of gravity\n", "name": "EKF2_GPS_POS_X", "shortDesc": "X position of GPS antenna in body frame", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "longDesc": "Right (pitch) axis with origin relative to vehicle centre of gravity\n", "name": "EKF2_GPS_POS_Y", "shortDesc": "Y position of GPS antenna in body frame", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "longDesc": "Down (yaw) axis with origin relative to vehicle centre of gravity\n", "name": "EKF2_GPS_POS_Z", "shortDesc": "Z position of GPS antenna in body frame", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.\n", "min": 1.0, "name": "EKF2_GPS_P_GATE", "shortDesc": "Gate size for GNSS position fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "EKF2", "max": 10.0, "min": 0.01, "name": "EKF2_GPS_P_NOISE", "shortDesc": "Measurement noise for GNSS position", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.\n", "min": 1.0, "name": "EKF2_GPS_V_GATE", "shortDesc": "Gate size for GNSS velocity fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "EKF2", "max": 5.0, "min": 0.01, "name": "EKF2_GPS_V_NOISE", "shortDesc": "Measurement noise for GNSS velocity", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "EKF2", "max": 360.0, "min": 0.0, "name": "EKF2_GPS_YAW_OFF", "shortDesc": "Heading/Yaw offset for dual antenna GPS", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "EKF2", "max": 10.0, "min": 0.1, "name": "EKF2_GRAV_NOISE", "shortDesc": "Accelerometer measurement noise for gravity based observations", "type": "Float", "units": "g0"}, {"category": "Standard", "decimalPlaces": 1, "default": 15.0, "group": "EKF2", "longDesc": "If no airspeed measurements are available, the EKF-GSF AHRS calculation will assume this value of true airspeed when compensating for centripetal acceleration during turns. Set to zero to disable centripetal acceleration compensation during fixed wing flight modes.\n", "max": 100.0, "min": 0.0, "name": "EKF2_GSF_TAS", "shortDesc": "Default value of true airspeed used in EKF-GSF AHRS calculation", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.15, "group": "EKF2", "longDesc": "The ekf gyro bias states will be limited to within a range equivalent to +- of this value.\n", "max": 0.4, "min": 0.0, "name": "EKF2_GYR_B_LIM", "shortDesc": "Gyro bias learning limit", "type": "Float", "units": "rad/s"}, {"category": "Standard", "decimalPlaces": 6, "default": 0.001, "group": "EKF2", "max": 0.01, "min": 0.0, "name": "EKF2_GYR_B_NOISE", "shortDesc": "Process noise for IMU rate gyro bias prediction", "type": "Float", "units": "rad/s^2"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.015, "group": "EKF2", "max": 0.1, "min": 0.0001, "name": "EKF2_GYR_NOISE", "shortDesc": "Rate gyro noise for covariance prediction", "type": "Float", "units": "rad/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 2.6, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.\n", "min": 1.0, "name": "EKF2_HDG_GATE", "shortDesc": "Gate size for heading fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "EKF2", "max": 1.0, "min": 0.01, "name": "EKF2_HEAD_NOISE", "shortDesc": "Measurement noise for magnetic heading fusion", "type": "Float", "units": "rad"}, {"category": "Standard", "default": 1, "group": "EKF2", "longDesc": "When multiple height sources are enabled at the same time, the height estimate will always converge towards the reference height source selected by this parameter. The range sensor and vision options should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level.\nIf GPS is set as reference and EKF2_GPS_CTRL is not 0, the GPS altitude is still used to initiaize the bias of the other height sensors, regardless of the altitude fusion bit in EKF2_GPS_CTRL.\n", "name": "EKF2_HGT_REF", "rebootRequired": true, "shortDesc": "Determines the reference source of height data used by the EKF", "type": "Int32", "values": [{"description": "Barometric pressure", "value": 0}, {"description": "GPS", "value": 1}, {"description": "Range sensor", "value": 2}, {"description": "Vision", "value": 3}]}, {"bitmask": [{"description": "Gyro Bias", "index": 0}, {"description": "Accel Bias", "index": 1}, {"description": "Gravity vector fusion", "index": 2}], "category": "Standard", "default": 7, "group": "EKF2", "max": 7, "min": 0, "name": "EKF2_IMU_CTRL", "shortDesc": "IMU control", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "longDesc": "Forward axis with origin relative to vehicle centre of gravity\n", "name": "EKF2_IMU_POS_X", "shortDesc": "X position of IMU in body frame", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "longDesc": "Forward axis with origin relative to vehicle centre of gravity\n", "name": "EKF2_IMU_POS_Y", "shortDesc": "Y position of IMU in body frame", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "longDesc": "Forward axis with origin relative to vehicle centre of gravity\n", "name": "EKF2_IMU_POS_Z", "shortDesc": "Z position of IMU in body frame", "type": "Float", "units": "m"}, {"category": "Standard", "default": 1, "group": "EKF2", "name": "EKF2_LOG_VERBOSE", "shortDesc": "Verbose logging", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "EKF2", "longDesc": "The heading is assumed to be observable when the body acceleration is greater than this parameter when a global position/velocity aiding source is active.\n", "max": 5.0, "min": 0.0, "name": "EKF2_MAG_ACCLIM", "shortDesc": "Horizontal acceleration threshold used for heading observability check", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 6, "default": 0.0001, "group": "EKF2", "max": 0.1, "min": 0.0, "name": "EKF2_MAG_B_NOISE", "shortDesc": "Process noise for body magnetic field prediction", "type": "Float", "units": "gauss/s"}, {"bitmask": [{"description": "Strength (EKF2_MAG_CHK_STR)", "index": 0}, {"description": "Inclination (EKF2_MAG_CHK_INC)", "index": 1}, {"description": "Wait for WMM", "index": 2}], "category": "Standard", "default": 1, "group": "EKF2", "longDesc": "Bitmask to set which check is used to decide whether the magnetometer data is valid. If GNSS data is received, the magnetic field is compared to a World Magnetic Model (WMM), otherwise an average value is used. This check is useful to reject occasional hard iron disturbance. Set bits to 1 to enable checks. Checks enabled by the following bit positions 0 : Magnetic field strength. Set tolerance using EKF2_MAG_CHK_STR 1 : Magnetic field inclination. Set tolerance using EKF2_MAG_CHK_INC 2 : Wait for GNSS to find the theoretical strength and inclination using the WMM\n", "max": 7, "min": 0, "name": "EKF2_MAG_CHECK", "shortDesc": "Magnetic field strength test selection", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 20.0, "group": "EKF2", "longDesc": "Maximum allowed deviation from the expected magnetic field inclination to pass the check.\n", "max": 90.0, "min": 0.0, "name": "EKF2_MAG_CHK_INC", "shortDesc": "Magnetic field inclination check tolerance", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "EKF2", "longDesc": "Maximum allowed deviation from the expected magnetic field strength to pass the check.\n", "max": 1.0, "min": 0.0, "name": "EKF2_MAG_CHK_STR", "shortDesc": "Magnetic field strength check tolerance", "type": "Float", "units": "gauss"}, {"category": "System", "decimalPlaces": 1, "default": 0.0, "group": "EKF2", "name": "EKF2_MAG_DECL", "shortDesc": "Magnetic declination", "type": "Float", "units": "deg", "volatile": true}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "EKF2", "max": 300.0, "min": 0.0, "name": "EKF2_MAG_DELAY", "rebootRequired": true, "shortDesc": "Magnetometer measurement delay relative to IMU measurements", "type": "Float", "units": "ms"}, {"category": "Standard", "decimalPlaces": 6, "default": 0.001, "group": "EKF2", "max": 0.1, "min": 0.0, "name": "EKF2_MAG_E_NOISE", "shortDesc": "Process noise for earth magnetic field prediction", "type": "Float", "units": "gauss/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.\n", "min": 1.0, "name": "EKF2_MAG_GATE", "shortDesc": "Gate size for magnetometer XYZ component fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "EKF2", "max": 1.0, "min": 0.001, "name": "EKF2_MAG_NOISE", "shortDesc": "Measurement noise for magnetometer 3-axis fusion", "type": "Float", "units": "gauss"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Integer controlling the type of magnetometer fusion used - magnetic heading or 3-component vector. The fusion of magnetometer data as a three component vector enables vehicle body fixed hard iron errors to be learned, but requires a stable earth field. If set to 'Automatic' magnetic heading fusion is used when on-ground and 3-axis magnetic field fusion in-flight. If set to 'Magnetic heading' magnetic heading fusion is used at all times. If set to 'None' the magnetometer will not be used under any circumstance. If no external source of yaw is available, it is possible to use post-takeoff horizontal movement combined with GNSS velocity measurements to align the yaw angle. If set to 'Init' the magnetometer is only used to initalize the heading.\n", "name": "EKF2_MAG_TYPE", "rebootRequired": true, "shortDesc": "Type of magnetometer fusion", "type": "Int32", "values": [{"description": "Automatic", "value": 0}, {"description": "Magnetic heading", "value": 1}, {"description": "None", "value": 5}, {"description": "Init", "value": 6}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.15, "group": "EKF2", "longDesc": "This parameter controls the prediction of drag produced by the propellers when flying a multi-copter, which enables estimation of wind drift when enabled by the EKF2_DRAG_CTRL parameter. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the propeller axis of rotation is lost when passing through the rotor disc. This  changes the momentum of the flow which creates a drag reaction force. When comparing un-ducted propellers of the same diameter, the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with propeller selection. Momentum drag is significantly higher for ducted rotors. To account for the drag produced by the body which scales with speed squared, see documentation for the EKF2_BCOEF_X and EKF2_BCOEF_Y parameters. Set this parameter to zero to turn off the momentum drag model for both axis.\n", "max": 1.0, "min": 0.0, "name": "EKF2_MCOEF", "shortDesc": "Propeller momentum drag coefficient for multi-rotor wind estimation", "type": "Float", "units": "1/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.01, "group": "EKF2", "longDesc": "If the vehicle is on ground, is not moving as determined by the motion test and the range finder is returning invalid or no data, then an assumed range value of EKF2_MIN_RNG will be used by the terrain estimator so that a terrain height estimate is available at the start of flight in situations where the range finder may be inside its minimum measurements distance when on ground.\n", "min": 0.01, "name": "EKF2_MIN_RNG", "shortDesc": "Expected range finder reading when on ground", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Maximum number of IMUs to use for Multi-EKF. Set 0 to disable. Requires SENS_IMU_MODE 0.\n", "max": 4, "min": 0, "name": "EKF2_MULTI_IMU", "rebootRequired": true, "shortDesc": "Multi-EKF IMUs", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Maximum number of magnetometers to use for Multi-EKF. Set 0 to disable. Requires SENS_MAG_MODE 0.\n", "max": 4, "min": 0, "name": "EKF2_MULTI_MAG", "rebootRequired": true, "shortDesc": "Multi-EKF Magnetometers", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "EKF2", "max": 50.0, "min": 0.5, "name": "EKF2_NOAID_NOISE", "shortDesc": "Measurement noise for non-aiding position hold", "type": "Float", "units": "m"}, {"category": "Standard", "default": 5000000, "group": "EKF2", "longDesc": "Maximum lapsed time from last fusion of measurements that constrain velocity drift before the EKF will report the horizontal nav solution as invalid\n", "max": 10000000, "min": 500000, "name": "EKF2_NOAID_TOUT", "shortDesc": "Maximum inertial dead-reckoning time", "type": "Int32", "units": "us"}, {"category": "Standard", "default": 1, "group": "EKF2", "longDesc": "Enable optical flow fusion.\n", "name": "EKF2_OF_CTRL", "shortDesc": "Optical flow aiding", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 20.0, "group": "EKF2", "longDesc": "Assumes measurement is timestamped at trailing edge of integration period\n", "max": 300.0, "min": 0.0, "name": "EKF2_OF_DELAY", "rebootRequired": true, "shortDesc": "Optical flow measurement delay relative to IMU measurements", "type": "Float", "units": "ms"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.\n", "min": 1.0, "name": "EKF2_OF_GATE", "shortDesc": "Gate size for optical flow fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Auto: use gyro from optical flow message if available, internal gyro otherwise. Internal: always use internal gyro\n", "name": "EKF2_OF_GYR_SRC", "shortDesc": "Optical flow angular rate compensation source", "type": "Int32", "values": [{"description": "Auto", "value": 0}, {"description": "Internal", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "EKF2", "longDesc": "Measurement noise for the optical flow sensor when it's reported quality metric is at the minimum\n", "min": 0.05, "name": "EKF2_OF_N_MAX", "shortDesc": "Optical flow maximum noise", "type": "Float", "units": "rad/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.15, "group": "EKF2", "longDesc": "Measurement noise for the optical flow sensor when it's reported quality metric is at the maximum\n", "min": 0.05, "name": "EKF2_OF_N_MIN", "shortDesc": "Optical flow minimum noise", "type": "Float", "units": "rad/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "longDesc": "Forward axis with origin relative to vehicle centre of gravity\n", "name": "EKF2_OF_POS_X", "shortDesc": "X position of optical flow focal point in body frame", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "longDesc": "Forward axis with origin relative to vehicle centre of gravity\n", "name": "EKF2_OF_POS_Y", "shortDesc": "Y position of optical flow focal point in body frame", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "longDesc": "Forward axis with origin relative to vehicle centre of gravity\n", "name": "EKF2_OF_POS_Z", "shortDesc": "Z position of optical flow focal point in body frame", "type": "Float", "units": "m"}, {"category": "Standard", "default": 1, "group": "EKF2", "longDesc": "Optical Flow data will only be used in air if the sensor reports a quality metric >= EKF2_OF_QMIN\n", "max": 255, "min": 0, "name": "EKF2_OF_QMIN", "shortDesc": "In air optical flow minimum quality", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Optical Flow data will only be used on the ground if the sensor reports a quality metric >= EKF2_OF_QMIN_GND\n", "max": 255, "min": 0, "name": "EKF2_OF_QMIN_GND", "shortDesc": "On ground optical flow minimum quality", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "EKF2", "longDesc": "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.\n", "max": 0.5, "min": -0.5, "name": "EKF2_PCOEF_XN", "shortDesc": "Static pressure position error coefficient for the negative X axis", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "EKF2", "longDesc": "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 forward flight, then this will be a negative number.\n", "max": 0.5, "min": -0.5, "name": "EKF2_PCOEF_XP", "shortDesc": "Static pressure position error coefficient for the positive X axis", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "EKF2", "longDesc": "This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the negative Y (LH) body axis. If the baro height estimate rises during sideways flight to the left, then this will be a negative number.\n", "max": 0.5, "min": -0.5, "name": "EKF2_PCOEF_YN", "shortDesc": "Pressure position error coefficient for the negative Y axis", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "EKF2", "longDesc": "This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the positive Y (RH) body axis. If the baro height estimate rises during sideways flight to the right, then this will be a negative number.\n", "max": 0.5, "min": -0.5, "name": "EKF2_PCOEF_YP", "shortDesc": "Pressure position error coefficient for the positive Y axis", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "EKF2", "longDesc": "This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the Z body axis.\n", "max": 0.5, "min": -0.5, "name": "EKF2_PCOEF_Z", "shortDesc": "Static pressure position error coefficient for the Z axis", "type": "Float"}, {"category": "Standard", "default": 10000, "group": "EKF2", "longDesc": "EKF prediction period in microseconds. This should ideally be an integer multiple of the IMU time delta. Actual filter update will be an integer multiple of IMU update.\n", "max": 20000, "min": 1000, "name": "EKF2_PREDICT_US", "shortDesc": "EKF prediction period", "type": "Int32", "units": "us"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "EKF2", "max": 100.0, "min": 2.0, "name": "EKF2_REQ_EPH", "shortDesc": "Required EPH to use GPS", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "EKF2", "max": 100.0, "min": 2.0, "name": "EKF2_REQ_EPV", "shortDesc": "Required EPV to use GPS", "type": "Float", "units": "m"}, {"category": "Standard", "default": 3, "group": "EKF2", "longDesc": "Minimum GPS fix type required for GPS usage.\n", "name": "EKF2_REQ_FIX", "shortDesc": "Required GPS fix", "type": "Int32", "values": [{"description": "No fix required", "value": 0}, {"description": "2D fix", "value": 2}, {"description": "3D fix", "value": 3}, {"description": "RTCM code differential", "value": 4}, {"description": "RTK float", "value": 5}, {"description": "RTK fixed", "value": 6}, {"description": "Extrapolated", "value": 8}]}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "EKF2", "longDesc": "Minimum continuous period without GPS failure required to mark a healthy GPS status. It can be reduced to speed up initialization, but it's recommended to keep this unchanged for a vehicle.\n", "min": 0.1, "name": "EKF2_REQ_GPS_H", "rebootRequired": true, "shortDesc": "Required GPS health time on startup", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "EKF2", "max": 1.0, "min": 0.1, "name": "EKF2_REQ_HDRIFT", "shortDesc": "Maximum horizontal drift speed to use GPS", "type": "Float", "units": "m/s"}, {"category": "Standard", "default": 6, "group": "EKF2", "max": 12, "min": 4, "name": "EKF2_REQ_NSATS", "shortDesc": "Required satellite count to use GPS", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 2.5, "group": "EKF2", "max": 5.0, "min": 1.5, "name": "EKF2_REQ_PDOP", "shortDesc": "Maximum PDOP to use GPS", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "EKF2", "max": 5.0, "min": 0.5, "name": "EKF2_REQ_SACC", "shortDesc": "Required speed accuracy to use GPS", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "EKF2", "max": 1.5, "min": 0.1, "name": "EKF2_REQ_VDRIFT", "shortDesc": "Maximum vertical drift speed to use GPS", "type": "Float", "units": "m/s"}, {"category": "Standard", "default": 5.0, "group": "EKF2", "longDesc": "If the vehicle absolute altitude exceeds this value then the estimator will not fuse range measurements to estimate its height. This only applies when conditional range aid mode is activated (EKF2_RNG_CTRL = 1).\n", "max": 10.0, "min": 1.0, "name": "EKF2_RNG_A_HMAX", "shortDesc": "Maximum height above ground allowed for conditional range aid mode", "type": "Float", "units": "m"}, {"category": "Standard", "default": 1.0, "group": "EKF2", "longDesc": "If the vehicle horizontal speed exceeds this value then the estimator will not fuse range measurements to estimate its height. This only applies when conditional range aid mode is activated (EKF2_RNG_CTRL = 1).\n", "max": 2.0, "min": 0.1, "name": "EKF2_RNG_A_VMAX", "shortDesc": "Maximum horizontal velocity allowed for conditional range aid mode", "type": "Float", "units": "m/s"}, {"category": "Standard", "default": 1, "group": "EKF2", "longDesc": "WARNING: Range finder measurements are less reliable and can experience unexpected errors. For these reasons, if accurate control of height relative to ground is required, it is recommended to use the MPC_ALT_MODE parameter instead, unless baro errors are severe enough to cause problems with landing and takeoff. If this parameter is enabled then the estimator will make use of the range finder measurements to estimate its height in addition to other height sources (if activated). Range sensor aiding can be enabled (i.e.: always use) or set in \"conditional\" mode. Conditional mode: This enables the range finder to be used during low speed (< EKF2_RNG_A_VMAX) and low altitude (< EKF2_RNG_A_HMAX) operation, eg takeoff and landing, where baro interference from rotor wash is excessive and can corrupt EKF state estimates. It is intended to be used where a vertical takeoff and landing is performed, and horizontal flight does not occur until above EKF2_RNG_A_HMAX.\n", "name": "EKF2_RNG_CTRL", "shortDesc": "Range sensor height aiding", "type": "Int32", "values": [{"description": "Disable range fusion", "value": 0}, {"description": "Enabled (conditional mode)", "value": 1}, {"description": "Enabled", "value": 2}]}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "EKF2", "max": 300.0, "min": 0.0, "name": "EKF2_RNG_DELAY", "rebootRequired": true, "shortDesc": "Range finder measurement delay relative to IMU measurements", "type": "Float", "units": "ms"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "EKF2", "longDesc": "Limit for fog detection. If the range finder measures a distance greater than this value, the measurement is considered to not be blocked by fog or rain. If there's a jump from larger than RNG_FOG to smaller than EKF2_RNG_FOG, the measurement may gets rejected. 0 - disabled\n", "max": 20.0, "min": 0.0, "name": "EKF2_RNG_FOG", "shortDesc": "Maximum distance at which the range finder could detect fog (m)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.\n", "min": 1.0, "name": "EKF2_RNG_GATE", "shortDesc": "Gate size for range finder fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "default": 1.0, "group": "EKF2", "longDesc": "To be used, the time derivative of the distance sensor measurements projected on the vertical axis needs to be statistically consistent with the estimated vertical velocity of the drone. Decrease this value to make the filter more robust against range finder faulty data (stuck, reflections, ...). Note: tune the range finder noise parameters (EKF2_RNG_NOISE and EKF2_RNG_SFE) before tuning this gate.\n", "max": 5.0, "min": 0.1, "name": "EKF2_RNG_K_GATE", "shortDesc": "Gate size used for range finder kinematic consistency check", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "EKF2", "min": 0.01, "name": "EKF2_RNG_NOISE", "shortDesc": "Measurement noise for range finder fusion", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "max": 0.75, "min": -0.75, "name": "EKF2_RNG_PITCH", "shortDesc": "Range sensor pitch offset", "type": "Float", "units": "rad"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "longDesc": "Forward axis with origin relative to vehicle centre of gravity\n", "name": "EKF2_RNG_POS_X", "shortDesc": "X position of range finder origin in body frame", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "longDesc": "Forward axis with origin relative to vehicle centre of gravity\n", "name": "EKF2_RNG_POS_Y", "shortDesc": "Y position of range finder origin in body frame", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "longDesc": "Forward axis with origin relative to vehicle centre of gravity\n", "name": "EKF2_RNG_POS_Z", "shortDesc": "Z position of range finder origin in body frame", "type": "Float", "units": "m"}, {"category": "Standard", "default": 1.0, "group": "EKF2", "longDesc": "Minimum duration during which the reported range finder signal quality needs to be non-zero in order to be declared valid (s)\n", "max": 5.0, "min": 0.1, "name": "EKF2_RNG_QLTY_T", "shortDesc": "Minumum range validity period", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0.05, "group": "EKF2", "longDesc": "Specifies the increase in range finder noise with range.\n", "max": 0.2, "min": 0.0, "name": "EKF2_RNG_SFE", "shortDesc": "Range finder range dependent noise scaler", "type": "Float", "units": "m/m"}, {"category": "Standard", "default": 0.2, "group": "EKF2", "longDesc": "EKF2 instances have to be better than the selected by at least this amount before their relative score can be reduced.\n", "name": "EKF2_SEL_ERR_RED", "shortDesc": "Selector error reduce threshold", "type": "Float"}, {"category": "Standard", "default": 1.0, "group": "EKF2", "longDesc": "EKF2 selector acceleration error threshold for comparing accelerometers. Acceleration vector differences larger than this will result in accumulated velocity error.\n", "name": "EKF2_SEL_IMU_ACC", "shortDesc": "Selector acceleration threshold", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "default": 15.0, "group": "EKF2", "longDesc": "EKF2 selector maximum accumulated angular error threshold for comparing gyros. Accumulated angular error larger than this will result in the sensor being declared faulty.\n", "name": "EKF2_SEL_IMU_ANG", "shortDesc": "Selector angular threshold", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 7.0, "group": "EKF2", "longDesc": "EKF2 selector angular rate error threshold for comparing gyros. Angular rate vector differences larger than this will result in accumulated angular error.\n", "name": "EKF2_SEL_IMU_RAT", "shortDesc": "Selector angular rate threshold", "type": "Float", "units": "deg/s"}, {"category": "Standard", "default": 2.0, "group": "EKF2", "longDesc": "EKF2 selector maximum accumulated velocity threshold for comparing accelerometers. Accumulated velocity error larger than this will result in the sensor being declared faulty.\n", "name": "EKF2_SEL_IMU_VEL", "shortDesc": "Selector angular threshold", "type": "Float", "units": "m/s"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Use for vehicles where the measured body Z magnetic field is subject to strong magnetic interference. For magnetic heading fusion the magnetometer Z measurement will be replaced by a synthetic value calculated using the knowledge of the 3D magnetic field vector at the location of the drone. Therefore, this parameter will only have an effect if the global position of the drone is known. For 3D mag fusion the magnetometer Z measurement will simply be ignored instead of fusing the synthetic value.\n", "name": "EKF2_SYNT_MAG_Z", "shortDesc": "Enable synthetic magnetometer Z component measurement", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.\n", "min": 1.0, "name": "EKF2_TAS_GATE", "shortDesc": "Gate size for TAS fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.25, "group": "EKF2", "longDesc": "Controls how tightly the output track the EKF states\n", "max": 1.0, "min": 0.1, "name": "EKF2_TAU_POS", "shortDesc": "Output predictor position time constant", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.25, "group": "EKF2", "max": 1.0, "name": "EKF2_TAU_VEL", "shortDesc": "Time constant of the velocity output prediction and smoothing filter", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "EKF2", "min": 0.0, "name": "EKF2_TERR_GRAD", "shortDesc": "Magnitude of terrain gradient", "type": "Float", "units": "m/m"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "EKF2", "min": 0.5, "name": "EKF2_TERR_NOISE", "shortDesc": "Terrain altitude process noise", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 100.0, "group": "EKF2", "max": 299792458.0, "name": "EKF2_VEL_LIM", "shortDesc": "Velocity limit", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "EKF2", "longDesc": "When unaided, the wind estimate uncertainty (1-sigma, in m/s) increases by this amount every second.\n", "max": 1.0, "min": 0.0, "name": "EKF2_WIND_NSD", "shortDesc": "Process noise spectral density for wind velocity prediction", "type": "Float", "units": "m/s^2/sqrt(Hz)"}, {"category": "Standard", "default": 0, "group": "Events", "longDesc": "Enable/disable event task for RC Loss. When enabled, an alarm tune will be\nplayed via buzzer or ESCs, if supported. The alarm will sound after a disarm,\nif the vehicle was previously armed and only if the vehicle had RC signal at\nsome point. Particularly useful for locating crashed drones without a GPS\nsensor.\n", "name": "EV_TSK_RC_LOSS", "rebootRequired": true, "shortDesc": "RC Loss Alarm", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Events", "longDesc": "Enable/disable event task for displaying the vehicle status using arm-mounted\nLEDs. When enabled and if the vehicle supports it, LEDs will flash\nindicating various vehicle status changes. Currently PX4 has not implemented\nany specific status events.\n-\n", "name": "EV_TSK_STAT_DIS", "rebootRequired": true, "shortDesc": "Status Display", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 30.0, "group": "FW Attitude Control", "increment": 0.5, "longDesc": "Applies to both directions in all manual modes with attitude stabilization but without altitude control\n", "max": 90.0, "min": 0.0, "name": "FW_MAN_P_MAX", "shortDesc": "Maximum manual pitch angle", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": 45.0, "group": "FW Attitude Control", "increment": 0.5, "longDesc": "Applies to both directions in all manual modes with attitude stabilization\n", "max": 90.0, "min": 0.0, "name": "FW_MAN_R_MAX", "shortDesc": "Maximum manual roll angle", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": 30.0, "group": "FW Attitude Control", "increment": 0.5, "longDesc": "This is the maximally added yaw rate setpoint from the yaw stick in any attitude controlled flight mode.\nIt is added to the yaw rate setpoint generated by the controller for turn coordination.\n", "min": 0.0, "name": "FW_MAN_YR_MAX", "shortDesc": "Maximum manually added yaw rate", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "FW Attitude Control", "increment": 0.5, "longDesc": "An airframe specific offset of the pitch setpoint in degrees, the value is\nadded to the pitch setpoint and should correspond to the pitch at\ntypical cruise speed of the airframe.\n", "max": 90.0, "min": -90.0, "name": "FW_PSP_OFF", "shortDesc": "Pitch setpoint offset (pitch at level flight)", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": 60.0, "group": "FW Attitude Control", "increment": 0.5, "max": 180.0, "min": 0.0, "name": "FW_P_RMAX_NEG", "shortDesc": "Maximum negative / down pitch rate setpoint", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 60.0, "group": "FW Attitude Control", "increment": 0.5, "max": 180.0, "min": 0.0, "name": "FW_P_RMAX_POS", "shortDesc": "Maximum positive / up pitch rate setpoint", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.4, "group": "FW Attitude Control", "increment": 0.05, "longDesc": "This defines the latency between a pitch step input and the achieved setpoint\n(inverse to a P gain). Smaller systems may require smaller values.\n", "max": 1.0, "min": 0.2, "name": "FW_P_TC", "shortDesc": "Attitude pitch time constant", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 70.0, "group": "FW Attitude Control", "increment": 0.5, "max": 180.0, "min": 0.0, "name": "FW_R_RMAX", "shortDesc": "Maximum roll rate setpoint", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.4, "group": "FW Attitude Control", "increment": 0.05, "longDesc": "This defines the latency between a roll step input and the achieved setpoint\n(inverse to a P gain). Smaller systems may require smaller values.\n", "max": 1.0, "min": 0.2, "name": "FW_R_TC", "shortDesc": "Attitude Roll Time Constant", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "FW Attitude Control", "increment": 0.05, "max": 10.0, "min": 0.0, "name": "FW_WR_FF", "shortDesc": "Wheel steering rate feed forward", "type": "Float", "units": "%/rad/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.1, "group": "FW Attitude Control", "increment": 0.005, "longDesc": "This gain defines how much control response will result out of a steady\nstate error. It trims any constant error.\n", "max": 10.0, "min": 0.0, "name": "FW_WR_I", "shortDesc": "Wheel steering rate integrator gain", "type": "Float", "units": "%/rad"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.4, "group": "FW Attitude Control", "increment": 0.05, "max": 1.0, "min": 0.0, "name": "FW_WR_IMAX", "shortDesc": "Wheel steering rate integrator limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.5, "group": "FW Attitude Control", "increment": 0.005, "longDesc": "This defines how much the wheel steering input will be commanded depending on the\ncurrent body angular rate error.\n", "max": 10.0, "min": 0.0, "name": "FW_WR_P", "shortDesc": "Wheel steering rate proportional gain", "type": "Float", "units": "%/rad/s"}, {"category": "Standard", "default": 0, "group": "FW Attitude Control", "longDesc": "Only enabled during automatic runway takeoff and landing.\nIn all manual modes the wheel is directly controlled with yaw stick.\n", "name": "FW_W_EN", "shortDesc": "Enable wheel steering controller", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 30.0, "group": "FW Attitude Control", "increment": 0.5, "longDesc": "This limits the maximum wheel steering rate the controller will output (in degrees per\nsecond).\n", "max": 90.0, "min": 0.0, "name": "FW_W_RMAX", "shortDesc": "Maximum wheel steering rate", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 50.0, "group": "FW Attitude Control", "increment": 0.5, "max": 180.0, "min": 0.0, "name": "FW_Y_RMAX", "shortDesc": "Maximum yaw rate setpoint", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "FW Auto Landing", "increment": 0.01, "longDesc": "Sets a fraction of full flaps during landing.\nAlso applies to flaperons if enabled in the mixer/allocation.\n", "max": 1.0, "min": 0.0, "name": "FW_FLAPS_LND_SCL", "shortDesc": "Flaps setting during landing", "type": "Float", "units": "norm"}, {"bitmask": [{"description": "Abort if terrain is not found (only applies to mission landings)", "index": 0}, {"description": "Abort if terrain times out (after a first successful measurement)", "index": 1}], "category": "Standard", "default": 3, "group": "FW Auto Landing", "longDesc": "Terrain estimation:\nbit 0: Abort if terrain is not found\nbit 1: Abort if terrain times out (after a first successful measurement)\n\nThe last estimate is always used as ground, whether the last valid measurement or the land waypoint, depending on the\nselected abort criteria, until an abort condition is entered. If FW_LND_USETER == 0, these bits are ignored.\n\nTODO: Extend automatic abort conditions\ne.g. glide slope tracking error (horizontal and vertical)\n", "max": 3, "min": 0, "name": "FW_LND_ABORT", "shortDesc": "Bit mask to set the automatic landing abort conditions", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "FW Auto Landing", "increment": 0.1, "longDesc": "The calibrated airspeed setpoint during landing.\n\nIf set <= 0, landing airspeed = FW_AIRSPD_MIN by default.\n", "min": -1.0, "name": "FW_LND_AIRSPD", "shortDesc": "Landing airspeed", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "FW Auto Landing", "increment": 0.5, "longDesc": "Typically the desired landing slope angle when landing configuration (flaps, airspeed) is enabled.\nSet this value within the vehicle's performance limits.\n", "max": 45.0, "min": 1.0, "name": "FW_LND_ANG", "shortDesc": "Maximum landing slope angle", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 0, "group": "FW Auto Landing", "longDesc": "Allows to deploy the landing configuration (flaps, landing airspeed, etc.) already in\nthe loiter-down waypoint before the final approach.\nOtherwise is enabled only in the final approach.\n", "name": "FW_LND_EARLYCFG", "shortDesc": "Early landing configuration deployment", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 0.5, "group": "FW Auto Landing", "increment": 0.5, "longDesc": "NOTE: max(FW_LND_FLALT, FW_LND_FL_TIME * |z-velocity|) is taken as the flare altitude\n", "min": 0.0, "name": "FW_LND_FLALT", "shortDesc": "Landing flare altitude (relative to landing altitude)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 15.0, "group": "FW Auto Landing", "increment": 0.5, "longDesc": "Maximum pitch during landing flare.\n", "max": 45.0, "min": 0.0, "name": "FW_LND_FL_PMAX", "shortDesc": "Flare, maximum pitch", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": 2.5, "group": "FW Auto Landing", "increment": 0.5, "longDesc": "Minimum pitch during landing flare.\n", "max": 15.0, "min": -5.0, "name": "FW_LND_FL_PMIN", "shortDesc": "Flare, minimum pitch", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.25, "group": "FW Auto Landing", "increment": 0.1, "longDesc": "TECS will attempt to control the aircraft to this sink rate via pitch angle (throttle killed during flare)\n", "max": 2.0, "min": 0.0, "name": "FW_LND_FL_SINK", "shortDesc": "Landing flare sink rate", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "FW Auto Landing", "increment": 0.1, "longDesc": "Multiplied by the descent rate to calculate a dynamic altitude at which\nto trigger the flare.\n\nNOTE: max(FW_LND_FLALT, FW_LND_FL_TIME * descent rate) is taken as the flare altitude\n", "max": 5.0, "min": 0.1, "name": "FW_LND_FL_TIME", "shortDesc": "Landing flare time", "type": "Float", "units": "s"}, {"category": "Standard", "default": 2, "group": "FW Auto Landing", "longDesc": "Approach angle nudging: shifts the touchdown point laterally while keeping the approach entrance point constant\nApproach path nudging: shifts the touchdown point laterally along with the entire approach path\n\nThis is useful for manually adjusting the landing point in real time when map or GNSS errors cause an offset from the\ndesired landing vector. Nudging is done with yaw stick, constrained to FW_LND_TD_OFF (in meters) and the direction is\nrelative to the vehicle heading (stick deflection to the right = land point moves to the right as seen by the vehicle).\n", "max": 2, "min": 0, "name": "FW_LND_NUDGE", "shortDesc": "Landing touchdown nudging option", "type": "Int32", "values": [{"description": "Disable nudging", "value": 0}, {"description": "Nudge approach angle", "value": 1}, {"description": "Nudge approach path", "value": 2}]}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "FW Auto Landing", "increment": 1.0, "max": 10.0, "min": 0.0, "name": "FW_LND_TD_OFF", "shortDesc": "Maximum lateral position offset for the touchdown point", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "FW Auto Landing", "increment": 0.1, "longDesc": "This is the time after the start of flaring that we expect the vehicle to touch the runway.\nAt this time, a 0.5s clamp down ramp will engage, constraining the pitch setpoint to RWTO_PSP.\nIf enabled, ensure that RWTO_PSP is configured appropriately for full gear contact on ground roll.\n\nSet to -1.0 to disable touchdown clamping. E.g. it may not be desirable to clamp on belly landings.\n\nThe touchdown time will be constrained to be greater than or equal to the flare time (FW_LND_FL_TIME).\n", "max": 5.0, "min": -1.0, "name": "FW_LND_TD_TIME", "shortDesc": "Landing touchdown time (since flare start)", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "FW Auto Landing", "increment": 0.1, "longDesc": "The TECS altitude time constant (FW_T_ALT_TC) is multiplied by this value.\n", "max": 1.0, "min": 0.2, "name": "FW_LND_THRTC_SC", "shortDesc": "Altitude time constant factor for landing and low-height flight", "type": "Float", "units": ""}, {"category": "Standard", "default": 1, "group": "FW Auto Landing", "longDesc": "This is critical for detecting when to flare, and should be enabled if possible.\n\nIf enabled and no measurement is found within a given timeout, the landing waypoint altitude will be used OR the landing\nwill be aborted, depending on the criteria set in FW_LND_ABORT.\n\nIf disabled, FW_LND_ABORT terrain based criteria are ignored.\n", "max": 2, "min": 0, "name": "FW_LND_USETER", "shortDesc": "Use terrain estimation during landing", "type": "Int32", "values": [{"description": "Disable the terrain estimate", "value": 0}, {"description": "Use the terrain estimate to trigger the flare (only)", "value": 1}, {"description": "Calculate landing glide slope relative to the terrain estimate", "value": 2}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW Auto Landing", "increment": 0.01, "max": 1.0, "min": 0.0, "name": "FW_SPOILERS_LND", "shortDesc": "Spoiler landing setting", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW Auto Takeoff", "increment": 0.01, "longDesc": "Sets a fraction of full flaps during take-off.\nAlso applies to flaperons if enabled in the mixer/allocation.\n", "max": 1.0, "min": 0.0, "name": "FW_FLAPS_TO_SCL", "shortDesc": "Flaps setting during take-off", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.05, "group": "FW Auto Takeoff", "increment": 0.05, "longDesc": "Launch is detected when acceleration in body forward direction is above FW_LAUN_AC_THLD for FW_LAUN_AC_T seconds.\n", "max": 5.0, "min": 0.0, "name": "FW_LAUN_AC_T", "shortDesc": "Trigger time", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 30.0, "group": "FW Auto Takeoff", "increment": 0.5, "longDesc": "Launch is detected when acceleration in body forward direction is above FW_LAUN_AC_THLD for FW_LAUN_AC_T seconds.\n", "min": 0.0, "name": "FW_LAUN_AC_THLD", "shortDesc": "Trigger acceleration threshold", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "FW Auto Takeoff", "increment": 0.1, "longDesc": "Locks control surfaces during pre-launch (armed) and until this time since launch has passed.\nOnly affects control surfaces that have corresponding flag set, and not active for runway takeoff.\nSet to 0 to disable any surface locking after arming.\n", "min": 0.0, "name": "FW_LAUN_CS_LK_DY", "shortDesc": "Control surface launch delay", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "FW Auto Takeoff", "longDesc": "Enables automatic launch detection based on measured acceleration. Use for hand- or catapult-launched vehicles.\nNot compatible with runway takeoff.\n", "name": "FW_LAUN_DETCN_ON", "shortDesc": "Fixed-wing launch detection", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "FW Auto Takeoff", "increment": 0.5, "longDesc": "Start the motor(s) this amount of seconds after launch is detected.\n", "max": 10.0, "min": 0.0, "name": "FW_LAUN_MOT_DEL", "shortDesc": "Motor delay", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "FW Auto Takeoff", "increment": 0.1, "longDesc": "The calibrated airspeed setpoint during the takeoff climbout.\n\nIf set <= 0, FW_AIRSPD_MIN will be set by default.\n", "min": -1.0, "name": "FW_TKO_AIRSPD", "shortDesc": "Takeoff Airspeed", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "FW Auto Takeoff", "increment": 0.5, "max": 80.0, "min": -5.0, "name": "FW_TKO_PITCH_MIN", "shortDesc": "Minimum pitch during takeoff", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 30, "group": "FW General", "longDesc": "The time the system should do open loop loiter and wait for GPS recovery\nbefore it starts descending. Set to 0 to disable. Roll angle is set to FW_GPSF_R.\nDoes only apply for fixed-wing vehicles or VTOLs with NAV_FORCE_VT set to 0.\n", "min": 0, "name": "FW_GPSF_LT", "shortDesc": "GPS failure loiter time", "type": "Int32", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 15.0, "group": "FW General", "increment": 0.5, "longDesc": "Roll angle in GPS failure loiter mode.\n", "max": 60.0, "min": 0.0, "name": "FW_GPSF_R", "shortDesc": "GPS failure fixed roll angle", "type": "Float", "units": "deg"}, {"bitmask": [{"description": "Alternative stick configuration (height rate on throttle stick, airspeed on pitch stick)", "index": 0}, {"description": "Enable airspeed setpoint via sticks in altitude and position flight mode", "index": 1}], "category": "Standard", "default": 2, "group": "FW General", "longDesc": "Applies in manual Position and Altitude flight modes.\n", "max": 3, "min": 0, "name": "FW_POS_STK_CONF", "shortDesc": "Custom stick configuration", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 30.0, "group": "FW General", "increment": 0.5, "longDesc": "Applies in any altitude controlled flight mode.\n", "max": 80.0, "min": 0.0, "name": "FW_P_LIM_MAX", "shortDesc": "Maximum pitch angle setpoint", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": -30.0, "group": "FW General", "increment": 0.5, "longDesc": "Applies in any altitude controlled flight mode.\n", "max": 0.0, "min": -60.0, "name": "FW_P_LIM_MIN", "shortDesc": "Minimum pitch angle setpoint", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": 50.0, "group": "FW General", "increment": 0.5, "longDesc": "Applies in any altitude controlled flight mode.\n", "max": 75.0, "min": 35.0, "name": "FW_R_LIM", "shortDesc": "Maximum roll angle setpoint", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW General", "increment": 0.01, "longDesc": "This is the minimum throttle while on the ground (\"landed\") in auto modes.\n", "max": 1.0, "min": 0.0, "name": "FW_THR_IDLE", "shortDesc": "Idle throttle", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "FW General", "increment": 0.01, "longDesc": "Applies in any altitude controlled flight mode.\nShould be set accordingly to achieve FW_T_CLMB_MAX.\n", "max": 1.0, "min": 0.0, "name": "FW_THR_MAX", "shortDesc": "Throttle limit max", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW General", "increment": 0.01, "longDesc": "Applies in any altitude controlled flight mode.\nUsually set to 0 but can be increased to prevent the motor from stopping when\ndescending, which can increase achievable descent rates.\n", "max": 1.0, "min": 0.0, "name": "FW_THR_MIN", "shortDesc": "Throttle limit min", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 3.0, "group": "FW General", "increment": 0.01, "longDesc": "In auto modes: default climb rate output by controller to achieve altitude setpoints.\nIn manual modes: maximum climb rate setpoint.\n", "min": 0.1, "name": "FW_T_CLMB_R_SP", "shortDesc": "Default target climbrate", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 2.0, "group": "FW General", "increment": 0.01, "longDesc": "In auto modes: default sink rate output by controller to achieve altitude setpoints.\nIn manual modes: maximum sink rate setpoint.\n", "min": 0.1, "name": "FW_T_SINK_R_SP", "shortDesc": "Default target sinkrate", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "FW General", "increment": 1.0, "longDesc": "Adjusts the amount of weighting that the pitch control\napplies to speed vs height errors.\n0 -> control height only\n2 -> control speed only (gliders)\n", "max": 2.0, "min": 0.0, "name": "FW_T_SPDWEIGHT", "shortDesc": "Speed <--> Altitude weight", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.5, "group": "FW General", "increment": 1.0, "longDesc": "This is used to constrain a minimum altitude below which we keep wings level to avoid wing tip strike. It's safer\nto give a slight margin here (> 0m)\n", "min": 0.0, "name": "FW_WING_HEIGHT", "shortDesc": "Height (AGL) of the wings when the aircraft is on the ground", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "FW General", "increment": 0.1, "longDesc": "This is used for limiting the roll setpoint near the ground. (if multiple wings, take the longest span)\n", "min": 0.1, "name": "FW_WING_SPAN", "shortDesc": "The aircraft's wing span (length from tip to tip)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 0, "default": 90.0, "group": "FW Lateral Control", "increment": 1.0, "longDesc": "Maximum change in roll angle setpoint per second.\nApplied in all Auto modes, plus manual Position & Altitude modes.\n", "min": 0.0, "name": "FW_PN_R_SLEW_MAX", "shortDesc": "Path navigation roll slew rate limit", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "FW Longitudinal Control", "increment": 0.5, "longDesc": "The controller will increase the commanded airspeed to maintain\nthis minimum groundspeed to the next waypoint.\n", "max": 40.0, "min": 0.0, "name": "FW_GND_SPD_MIN", "shortDesc": "Minimum groundspeed", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW Longitudinal Control", "increment": 0.01, "longDesc": "Maximum slew rate for the commanded throttle\n", "max": 1.0, "min": 0.0, "name": "FW_THR_SLEW_MAX", "shortDesc": "Throttle max slew rate", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 5.0, "group": "FW Longitudinal Control", "increment": 0.5, "min": 2.0, "name": "FW_T_ALT_TC", "shortDesc": "Altitude error time constant", "type": "Float"}, {"category": "Standard", "decimalPlaces": 0, "default": -1.0, "group": "FW Longitudinal Control", "longDesc": "Minimum altitude error needed to descend with max airspeed and minimal throttle.\nA negative value disables fast descend.\n", "min": -1.0, "name": "FW_T_F_ALT_ERR", "shortDesc": "Fast descend: minimum altitude error", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "FW Longitudinal Control", "increment": 0.05, "max": 1.0, "min": 0.0, "name": "FW_T_HRATE_FF", "shortDesc": "Height rate feed forward", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "FW Longitudinal Control", "increment": 0.05, "longDesc": "Increase it to trim out speed and height offsets faster,\nwith the downside of possible overshoots and oscillations.\n", "max": 2.0, "min": 0.0, "name": "FW_T_I_GAIN_PIT", "shortDesc": "Integrator gain pitch", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "FW Longitudinal Control", "increment": 0.1, "max": 2.0, "min": 0.0, "name": "FW_T_PTCH_DAMP", "shortDesc": "Pitch damping gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 15.0, "group": "FW Longitudinal Control", "increment": 0.5, "longDesc": "Is used to compensate for the additional drag created by turning.\nIncrease this gain if the aircraft initially loses energy in turns\nand reduce if the aircraft initially gains energy in turns.\n", "max": 20.0, "min": 0.0, "name": "FW_T_RLL2THR", "shortDesc": "Roll -> Throttle feedforward", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "FW Longitudinal Control", "increment": 0.01, "max": 3.0, "min": 0.5, "name": "FW_T_SEB_R_FF", "shortDesc": "Specific total energy balance rate feedforward gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "FW Longitudinal Control", "increment": 0.5, "max": 15.0, "min": 1.0, "name": "FW_T_SINK_MAX", "shortDesc": "Maximum descent rate", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "FW Longitudinal Control", "increment": 0.1, "longDesc": "For the airspeed filter in TECS.\n", "max": 10.0, "min": 0.01, "name": "FW_T_SPD_DEV_STD", "shortDesc": "Airspeed rate measurement standard deviation", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "FW Longitudinal Control", "increment": 0.1, "longDesc": "This is defining the noise in the airspeed rate for the constant airspeed rate model\nof the TECS airspeed filter.\n", "max": 10.0, "min": 0.01, "name": "FW_T_SPD_PRC_STD", "shortDesc": "Process noise standard deviation for the airspeed rate", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.07, "group": "FW Longitudinal Control", "increment": 0.1, "longDesc": "For the airspeed filter in TECS.\n", "max": 10.0, "min": 0.01, "name": "FW_T_SPD_STD", "shortDesc": "Airspeed measurement standard deviation", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.4, "group": "FW Longitudinal Control", "increment": 0.01, "longDesc": "This filter is applied to the specific total energy rate used for throttle damping.\n", "max": 2.0, "min": 0.0, "name": "FW_T_STE_R_TC", "shortDesc": "Specific total energy rate first order filter time constant", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 5.0, "group": "FW Longitudinal Control", "increment": 0.5, "min": 2.0, "name": "FW_T_TAS_TC", "shortDesc": "True airspeed error time constant", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "FW Longitudinal Control", "increment": 0.01, "longDesc": "This is the damping gain for the throttle demand loop.\n", "max": 1.0, "min": 0.0, "name": "FW_T_THR_DAMPING", "shortDesc": "Throttle damping factor", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.02, "group": "FW Longitudinal Control", "increment": 0.005, "longDesc": "Increase it to trim out speed and height offsets faster,\nwith the downside of possible overshoots and oscillations.\n", "max": 1.0, "min": 0.0, "name": "FW_T_THR_INTEG", "shortDesc": "Integrator gain throttle", "type": "Float"}, {"category": "Standard", "decimalPlaces": 0, "default": -1.0, "group": "FW Longitudinal Control", "increment": 1.0, "longDesc": "Height above ground threshold below which tighter altitude\ntracking gets enabled (see FW_LND_THRTC_SC). Below this height, TECS smoothly\n(1 sec / sec) transitions the altitude tracking time constant from FW_T_ALT_TC\nto FW_LND_THRTC_SC*FW_T_ALT_TC.\n\n-1 to disable.\n", "min": -1.0, "name": "FW_T_THR_LOW_HGT", "shortDesc": "Low-height threshold for tighter altitude tracking", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 7.0, "group": "FW Longitudinal Control", "increment": 0.5, "longDesc": "This is the maximum vertical acceleration\neither up or down that the controller will use to correct speed\nor height errors.\n", "max": 10.0, "min": 1.0, "name": "FW_T_VERT_ACC", "shortDesc": "Maximum vertical acceleration", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW Longitudinal Control", "increment": 0.01, "longDesc": "Multiplying this factor with the current absolute wind estimate gives the airspeed offset\nadded to the minimum airspeed setpoint limit. This helps to make the\nsystem more robust against disturbances (turbulence) in high wind.\n", "min": 0.0, "name": "FW_WIND_ARSP_SC", "shortDesc": "Wind-based airspeed scaling factor", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.7, "group": "FW NPFG Control", "increment": 0.01, "longDesc": "Damping ratio of NPFG control law.\n", "max": 1.0, "min": 0.1, "name": "NPFG_DAMPING", "shortDesc": "NPFG damping ratio", "type": "Float"}, {"category": "Standard", "default": 1, "group": "FW NPFG Control", "longDesc": "Avoids limit cycling from a too aggressively tuned period/damping combination.\nIf false, also disables upper bound NPFG_PERIOD_UB.\n", "name": "NPFG_LB_PERIOD", "shortDesc": "Enable automatic lower bound on the NPFG period", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "FW NPFG Control", "increment": 0.1, "longDesc": "Period of NPFG control law.\n", "max": 100.0, "min": 1.0, "name": "NPFG_PERIOD", "shortDesc": "NPFG period", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.5, "group": "FW NPFG Control", "increment": 0.1, "longDesc": "Multiplied by period for conservative minimum period bounding (when period lower\nbounding is enabled). 1.0 bounds at marginal stability.\n", "max": 10.0, "min": 1.0, "name": "NPFG_PERIOD_SF", "shortDesc": "Period safety factor", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "FW NPFG Control", "increment": 0.05, "longDesc": "Time constant of roll controller command / response, modeled as first order delay.\nUsed to determine lower period bound. Setting zero disables automatic period bounding.\n", "max": 2.0, "min": 0.0, "name": "NPFG_ROLL_TC", "shortDesc": "Roll time constant", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.32, "group": "FW NPFG Control", "increment": 0.01, "longDesc": "Multiplied by the track error boundary to determine when the aircraft switches\nto the next waypoint and/or path segment. Should be less than 1.\n", "max": 1.0, "min": 0.1, "name": "NPFG_SW_DST_MLT", "shortDesc": "NPFG switch distance multiplier", "type": "Float"}, {"category": "Standard", "default": 1, "group": "FW NPFG Control", "longDesc": "Adapts period to maintain track keeping in variable winds and path curvature.\n", "name": "NPFG_UB_PERIOD", "shortDesc": "Enable automatic upper bound on the NPFG period", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "FW Performance", "increment": 0.01, "longDesc": "Factor applied to the minimum and stall airspeed when flaps are fully deployed.\n", "max": 1.0, "min": 0.5, "name": "FW_AIRSPD_FLP_SC", "shortDesc": "Airspeed scale with full flaps", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 20.0, "group": "FW Performance", "increment": 0.5, "longDesc": "The maximal airspeed (calibrated airspeed) the user is able to command.\n", "min": 0.5, "name": "FW_AIRSPD_MAX", "shortDesc": "Maximum Airspeed (CAS)", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "FW Performance", "increment": 0.5, "longDesc": "The minimal airspeed (calibrated airspeed) the user is able to command.\nFurther, if the airspeed falls below this value, the TECS controller will try to\nincrease airspeed more aggressively.\nHas to be set according to the vehicle's stall speed (which should be set in FW_AIRSPD_STALL),\nwith some margin between the stall speed and minimum airspeed.\nThis value corresponds to the desired minimum speed with the default load factor (level flight, default weight),\nand is automatically adpated to the current load factor (calculated from roll setpoint and WEIGHT_GROSS/WEIGHT_BASE).\n", "min": 0.5, "name": "FW_AIRSPD_MIN", "shortDesc": "Minimum Airspeed (CAS)", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 7.0, "group": "FW Performance", "increment": 0.5, "longDesc": "The stall airspeed (calibrated airspeed) of the vehicle.\nIt is used for airspeed sensor failure detection and for the control\nsurface scaling airspeed limits.\n", "min": 0.5, "name": "FW_AIRSPD_STALL", "shortDesc": "Stall Airspeed (CAS)", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 15.0, "group": "FW Performance", "increment": 0.5, "longDesc": "The trim CAS (calibrated airspeed) of the vehicle. If an airspeed controller is active,\nthis is the default airspeed setpoint that the controller will try to achieve.\nThis value corresponds to the trim airspeed with the default load factor (level flight, default weight).\n", "min": 0.5, "name": "FW_AIRSPD_TRIM", "shortDesc": "Trim (Cruise) Airspeed", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 0, "default": -1.0, "group": "FW Performance", "increment": 1.0, "longDesc": "Altitude in standard atmosphere at which the vehicle in normal configuration (WEIGHT_BASE) is still able to achieve a maximum climb rate of\n0.5m/s at maximum throttle (FW_THR_MAX). Used to compensate for air density in FW_T_CLMB_MAX.\nSet negative to disable.\n", "min": -1.0, "name": "FW_SERVICE_CEIL", "shortDesc": "Service ceiling", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW Performance", "increment": 0.01, "longDesc": "Required throttle (at sea level, standard atmosphere) for level flight at maximum airspeed FW_AIRSPD_MAX\n\nSet to 0 to disable mapping of airspeed to trim throttle.\n", "max": 1.0, "min": 0.0, "name": "FW_THR_ASPD_MAX", "shortDesc": "Throttle at max airspeed", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW Performance", "increment": 0.01, "longDesc": "Required throttle (at sea level, standard atmosphere) for level flight at minimum airspeed FW_AIRSPD_MIN\n\nSet to 0 to disable mapping of airspeed to trim throttle below FW_AIRSPD_TRIM.\n", "max": 1.0, "min": 0.0, "name": "FW_THR_ASPD_MIN", "shortDesc": "Throttle at min airspeed", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.6, "group": "FW Performance", "increment": 0.01, "longDesc": "Required throttle (at sea level, standard atmosphere) for level flight at FW_AIRSPD_TRIM\n", "max": 1.0, "min": 0.0, "name": "FW_THR_TRIM", "shortDesc": "Trim throttle", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "FW Performance", "increment": 0.5, "longDesc": "This is the maximum calibrated climb rate that the aircraft can achieve with\nthe throttle set to FW_THR_MAX and the airspeed set to the\ntrim value. For electric aircraft make sure this number can be\nachieved towards the end of flight when the battery voltage has reduced.\n", "min": 1.0, "name": "FW_T_CLMB_MAX", "shortDesc": "Maximum climb rate", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 2.0, "group": "FW Performance", "increment": 0.5, "longDesc": "This is the minimum calibrated sink rate of the aircraft with the throttle\nset to THR_MIN and flown at the same airspeed as used\nto measure FW_T_CLMB_MAX.\n", "min": 1.0, "name": "FW_T_SINK_MIN", "shortDesc": "Minimum descent rate", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "FW Performance", "increment": 0.5, "longDesc": "This is the weight of the vehicle at which it's performance limits were derived. A zero or negative value\ndisables trim throttle and minimum airspeed compensation based on weight.\n", "name": "WEIGHT_BASE", "shortDesc": "Vehicle base weight", "type": "Float", "units": "kg"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "FW Performance", "increment": 0.1, "longDesc": "This is the actual weight of the vehicle at any time. This value will differ from WEIGHT_BASE in case weight was added\nor removed from the base weight. Examples are the addition of payloads or larger batteries. A zero or negative value\ndisables trim throttle and minimum airspeed compensation based on weight.\n", "name": "WEIGHT_GROSS", "shortDesc": "Vehicle gross weight", "type": "Float", "units": "kg"}, {"category": "Standard", "default": 90.0, "group": "FW Rate Control", "max": 720.0, "min": 10.0, "name": "FW_ACRO_X_MAX", "shortDesc": "Acro body roll max rate setpoint", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 0, "group": "FW Rate Control", "longDesc": "If this parameter is set to 1, the yaw rate controller is enabled in Fixed-wing Acro mode.\nOtherwise the pilot commands directly the yaw actuator.\nIt is disabled by default because an active yaw rate controller will fight against the\nnatural turn coordination of the plane.\n", "name": "FW_ACRO_YAW_EN", "shortDesc": "Enable yaw rate controller in Acro", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 90.0, "group": "FW Rate Control", "max": 720.0, "min": 10.0, "name": "FW_ACRO_Y_MAX", "shortDesc": "Acro body pitch max rate setpoint", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 45.0, "group": "FW Rate Control", "max": 720.0, "min": 10.0, "name": "FW_ACRO_Z_MAX", "shortDesc": "Acro body yaw max rate setpoint", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 1, "group": "FW Rate Control", "longDesc": "This enables a logic that automatically adjusts the output of the rate controller to take\ninto account the real torque produced by an aerodynamic control surface given\nthe current deviation from the trim airspeed (FW_AIRSPD_TRIM).\n\nEnable when using aerodynamic control surfaces (e.g.: plane)\nDisable when using rotor wings (e.g.: autogyro)\n", "name": "FW_ARSP_SCALE_EN", "shortDesc": "Enable airspeed scaling", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "FW Rate Control", "longDesc": "This compensates for voltage drop of the battery over time by attempting to\nnormalize performance across the operating range of the battery.\n", "name": "FW_BAT_SCALE_EN", "shortDesc": "Enable throttle scale by battery level", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MAX.\n", "max": 0.5, "min": -0.5, "name": "FW_DTRIM_P_VMAX", "shortDesc": "Pitch trim increment at maximum airspeed", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MIN.\n", "max": 0.5, "min": -0.5, "name": "FW_DTRIM_P_VMIN", "shortDesc": "Pitch trim increment at minimum airspeed", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MAX.\n", "max": 0.5, "min": -0.5, "name": "FW_DTRIM_R_VMAX", "shortDesc": "Roll trim increment at maximum airspeed", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MIN.\n", "max": 0.5, "min": -0.5, "name": "FW_DTRIM_R_VMIN", "shortDesc": "Roll trim increment at minimum airspeed", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MAX.\n", "max": 0.5, "min": -0.5, "name": "FW_DTRIM_Y_VMAX", "shortDesc": "Yaw trim increment at maximum airspeed", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MIN.\n", "max": 0.5, "min": -0.5, "name": "FW_DTRIM_Y_VMIN", "shortDesc": "Yaw trim increment at minimum airspeed", "type": "Float"}, {"category": "Standard", "default": 1, "group": "FW Rate Control", "name": "FW_GC_EN", "shortDesc": "Enable rate gain compression", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "FW Rate Control", "increment": 0.01, "longDesc": "The range of the compression gain is between this parameter and 1.0\n", "max": 1.0, "min": 0.0, "name": "FW_GC_GAIN_MIN", "shortDesc": "Compression gain lower limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "Scale factor applied to the desired pitch actuator command in full manual mode. This parameter allows\nto adjust the throws of the control surfaces.\n", "min": 0.0, "name": "FW_MAN_P_SC", "shortDesc": "Manual pitch scale", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "Scale factor applied to the desired roll actuator command in full manual mode. This parameter allows\nto adjust the throws of the control surfaces.\n", "max": 1.0, "min": 0.0, "name": "FW_MAN_R_SC", "shortDesc": "Manual roll scale", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows\nto adjust the throws of the control surfaces.\n", "min": 0.0, "name": "FW_MAN_Y_SC", "shortDesc": "Manual yaw scale", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "FW Rate Control", "increment": 0.005, "longDesc": "Pitch rate differential gain.\n", "max": 10.0, "min": 0.0, "name": "FW_PR_D", "shortDesc": "Pitch rate derivative gain", "type": "Float", "units": "%/rad/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "FW Rate Control", "increment": 0.05, "longDesc": "Direct feed forward from rate setpoint to control surface output\n", "max": 10.0, "min": 0.0, "name": "FW_PR_FF", "shortDesc": "Pitch rate feed forward", "type": "Float", "units": "%/rad/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.1, "group": "FW Rate Control", "increment": 0.005, "max": 10.0, "min": 0.0, "name": "FW_PR_I", "shortDesc": "Pitch rate integrator gain", "type": "Float", "units": "%/rad"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.4, "group": "FW Rate Control", "increment": 0.05, "max": 1.0, "min": 0.0, "name": "FW_PR_IMAX", "shortDesc": "Pitch rate integrator limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.08, "group": "FW Rate Control", "increment": 0.005, "max": 10.0, "min": 0.0, "name": "FW_PR_P", "shortDesc": "Pitch rate proportional gain", "type": "Float", "units": "%/rad/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "This gain can be used to counteract the \"adverse yaw\" effect for fixed wings.\nWhen the plane enters a roll it will tend to yaw the nose out of the turn.\nThis gain enables the use of a yaw actuator to counteract this effect.\n", "min": 0.0, "name": "FW_RLL_TO_YAW_FF", "shortDesc": "Roll control to yaw control feedforward gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "FW Rate Control", "increment": 0.005, "max": 10.0, "min": 0.0, "name": "FW_RR_D", "shortDesc": "Roll rate derivative gain", "type": "Float", "units": "%/rad/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "FW Rate Control", "increment": 0.05, "longDesc": "Direct feed forward from rate setpoint to control surface output.\n", "max": 10.0, "min": 0.0, "name": "FW_RR_FF", "shortDesc": "Roll rate feed forward", "type": "Float", "units": "%/rad/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "FW Rate Control", "increment": 0.01, "max": 10.0, "min": 0.0, "name": "FW_RR_I", "shortDesc": "Roll rate integrator gain", "type": "Float", "units": "%/rad"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "FW Rate Control", "increment": 0.05, "max": 1.0, "min": 0.0, "name": "FW_RR_IMAX", "shortDesc": "Roll integrator limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "FW Rate Control", "increment": 0.005, "max": 10.0, "min": 0.0, "name": "FW_RR_P", "shortDesc": "Roll rate proportional gain", "type": "Float", "units": "%/rad/s"}, {"category": "Standard", "default": 0, "group": "FW Rate Control", "longDesc": "Chose source for manual setting of spoilers in manual flight modes.\n", "name": "FW_SPOILERS_MAN", "shortDesc": "Spoiler input in manual flight", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Flaps channel", "value": 1}, {"description": "Aux1", "value": 2}]}, {"category": "Standard", "default": 1, "group": "FW Rate Control", "longDesc": "If set to 1, the airspeed measurement data, if valid, is used in the following controllers:\n- Rate controller: output scaling\n- Attitude controller: coordinated turn controller\n- Position controller: airspeed setpoint tracking, takeoff logic\n- VTOL: transition logic\n", "name": "FW_USE_AIRSPD", "shortDesc": "Use airspeed for control", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "FW Rate Control", "increment": 0.005, "max": 10.0, "min": 0.0, "name": "FW_YR_D", "shortDesc": "Yaw rate derivative gain", "type": "Float", "units": "%/rad/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "FW Rate Control", "increment": 0.05, "longDesc": "Direct feed forward from rate setpoint to control surface output\n", "max": 10.0, "min": 0.0, "name": "FW_YR_FF", "shortDesc": "Yaw rate feed forward", "type": "Float", "units": "%/rad/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.1, "group": "FW Rate Control", "increment": 0.5, "max": 10.0, "min": 0.0, "name": "FW_YR_I", "shortDesc": "Yaw rate integrator gain", "type": "Float", "units": "%/rad"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "FW Rate Control", "increment": 0.05, "max": 1.0, "min": 0.0, "name": "FW_YR_IMAX", "shortDesc": "Yaw rate integrator limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "FW Rate Control", "increment": 0.005, "max": 10.0, "min": 0.0, "name": "FW_YR_P", "shortDesc": "Yaw rate proportional gain", "type": "Float", "units": "%/rad/s"}, {"category": "Standard", "default": 0, "group": "Failure Detector", "longDesc": "Enabled on either AUX5 or MAIN5 depending on board.\nExternal ATS is required by ASTM F3322-18.\n", "name": "FD_EXT_ATS_EN", "rebootRequired": true, "shortDesc": "Enable PWM input on for engaging failsafe from an external automatic trigger system (ATS)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 1900, "group": "Failure Detector", "longDesc": "External ATS is required by ASTM F3322-18.\n", "name": "FD_EXT_ATS_TRIG", "shortDesc": "The PWM threshold from external automatic trigger system for engaging failsafe", "type": "Int32", "units": "us"}, {"category": "Standard", "default": 60, "group": "Failure Detector", "longDesc": "Maximum pitch angle before FailureDetector triggers the attitude_failure flag.\nThe flag triggers flight termination (if @CBRK_FLIGHTTERM = 0),\nwhich sets outputs to their failsafe values.\nOn takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM),\nwhich disarms motors but does not set outputs to failsafe values.\n\nSetting this parameter to 0 disables the check\n", "max": 180, "min": 0, "name": "FD_FAIL_P", "shortDesc": "FailureDetector Max Pitch", "type": "Int32", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "Failure Detector", "longDesc": "Seconds (decimal) that pitch has to exceed FD_FAIL_P before being considered as a failure.\n", "max": 5.0, "min": 0.02, "name": "FD_FAIL_P_TTRI", "shortDesc": "Pitch failure trigger time", "type": "Float", "units": "s"}, {"category": "Standard", "default": 60, "group": "Failure Detector", "longDesc": "Maximum roll angle before FailureDetector triggers the attitude_failure flag.\nThe flag triggers flight termination (if @CBRK_FLIGHTTERM = 0),\nwhich sets outputs to their failsafe values.\nOn takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM),\nwhich disarms motors but does not set outputs to failsafe values.\n\nSetting this parameter to 0 disables the check\n", "max": 180, "min": 0, "name": "FD_FAIL_R", "shortDesc": "FailureDetector Max Roll", "type": "Int32", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "Failure Detector", "longDesc": "Seconds (decimal) that roll has to exceed FD_FAIL_R before being considered as a failure.\n", "max": 5.0, "min": 0.02, "name": "FD_FAIL_R_TTRI", "shortDesc": "Roll failure trigger time", "type": "Float", "units": "s"}, {"category": "Standard", "default": 30, "group": "Failure Detector", "increment": 1, "longDesc": "Value at which the imbalanced propeller metric (based on horizontal and\nvertical acceleration variance) triggers a failure\n\nSetting this value to 0 disables the feature.\n", "max": 1000, "min": 0, "name": "FD_IMB_PROP_THR", "shortDesc": "Imbalanced propeller check threshold", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 1000.0, "group": "Flight Task Orbit", "increment": 0.5, "max": 10000.0, "min": 1.0, "name": "MC_ORBIT_RAD_MAX", "shortDesc": "Maximum radius of orbit", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Flight Task Orbit", "name": "MC_ORBIT_YAW_MOD", "shortDesc": "Yaw behaviour during orbit flight", "type": "Int32", "values": [{"description": "Front to Circle Center", "value": 0}, {"description": "Hold Initial Heading", "value": 1}, {"description": "Uncontrolled", "value": 2}, {"description": "Hold Front Tangent to Circle", "value": 3}, {"description": "Manually (yaw stick) Controlled", "value": 4}]}, {"category": "Standard", "default": 0, "group": "Follow target", "longDesc": "Maintain altitude or track target's altitude. When maintaining the altitude,\nthe drone can crash into terrain when the target moves uphill. When tracking\nthe target's altitude, the follow altitude FLW_TGT_HT should be high enough\nto prevent terrain collisions due to GPS inaccuracies of the target.\n", "name": "FLW_TGT_ALT_M", "shortDesc": "Altitude control mode", "type": "Int32", "values": [{"description": "2D Tracking: Maintain constant altitude relative to home and track XY position only", "value": 0}, {"description": "2D + Terrain: Maintain constant altitude relative to terrain below and track XY position", "value": 1}, {"description": "3D Tracking: Track target's altitude (be aware that GPS altitude bias usually makes this useless)", "value": 2}]}, {"category": "Standard", "default": 8.0, "group": "Follow target", "longDesc": "The distance in meters to follow the target at\n", "min": 1.0, "name": "FLW_TGT_DST", "shortDesc": "Distance to follow target from", "type": "Float", "units": "m"}, {"category": "Standard", "default": 180.0, "group": "Follow target", "longDesc": "Angle to follow the target from. 0.0 Equals straight in front of the target's\ncourse (direction of motion) and the angle increases in clockwise direction,\nmeaning Right-side would be 90.0 degrees while Left-side is -90.0 degrees\n\nNote: When the user force sets the angle out of the min/max range, it will be\nwrapped (e.g. 480 -> 120) in the range to gracefully handle the out of range.\n", "max": 180.0, "min": -180.0, "name": "FLW_TGT_FA", "shortDesc": "Follow Angle setting in degrees", "type": "Float"}, {"category": "Standard", "default": 8.0, "group": "Follow target", "longDesc": "Following height above the target\n", "min": 8.0, "name": "FLW_TGT_HT", "shortDesc": "Follow target height", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Follow target", "longDesc": "This is the maximum tangential velocity the drone will circle around the target whenever\nan orbit angle setpoint changes. Higher value means more aggressive follow behavior.\n", "max": 20.0, "min": 0.0, "name": "FLW_TGT_MAX_VEL", "shortDesc": "Maximum tangential velocity setting for generating the follow orbit trajectory", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "Follow target", "longDesc": "lower values increase the responsiveness to changing position, but also ignore less noise\n", "max": 1.0, "min": 0.0, "name": "FLW_TGT_RS", "shortDesc": "Responsiveness to target movement in Target Estimator", "type": "Float"}, {"bitmask": [{"description": "GPS (with QZSS)", "index": 0}, {"description": "SBAS", "index": 1}, {"description": "Galileo", "index": 2}, {"description": "BeiDou", "index": 3}, {"description": "GLONASS", "index": 4}, {"description": "NAVIC", "index": 5}], "category": "Standard", "default": 0, "group": "GPS", "longDesc": "This integer bitmask controls the set of GNSS systems used by the receiver. Check your\nreceiver's documentation on how many systems are supported to be used in parallel.\n\nCurrently this functionality is just implemented for u-blox receivers.\n\nWhen no bits are set, the receiver's default configuration should be used.\n\nSet bits true to enable:\n0 : Use GPS (with QZSS)\n1 : Use SBAS (multiple GPS augmentation systems)\n2 : Use Galileo\n3 : Use BeiDou\n4 : Use GLONASS\n5 : Use NAVIC\n", "max": 63, "min": 0, "name": "GPS_1_GNSS", "rebootRequired": true, "shortDesc": "GNSS Systems for Primary GPS (integer bitmask)", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "GPS", "longDesc": "Select the GPS protocol over serial.\n\nAuto-detection will probe all protocols, and thus is a bit slower.\n", "max": 7, "min": 0, "name": "GPS_1_PROTOCOL", "rebootRequired": true, "shortDesc": "Protocol for Main GPS", "type": "Int32", "values": [{"description": "Auto detect", "value": 0}, {"description": "u-blox", "value": 1}, {"description": "MTK", "value": 2}, {"description": "Ashtech / Trimble", "value": 3}, {"description": "Emlid Reach", "value": 4}, {"description": "Femtomes", "value": 5}, {"description": "NMEA (generic)", "value": 6}]}, {"bitmask": [{"description": "GPS (with QZSS)", "index": 0}, {"description": "SBAS", "index": 1}, {"description": "Galileo", "index": 2}, {"description": "BeiDou", "index": 3}, {"description": "GLONASS", "index": 4}, {"description": "NAVIC", "index": 5}], "category": "Standard", "default": 0, "group": "GPS", "longDesc": "This integer bitmask controls the set of GNSS systems used by the receiver. Check your\nreceiver's documentation on how many systems are supported to be used in parallel.\n\nCurrently this functionality is just implemented for u-blox receivers.\n\nWhen no bits are set, the receiver's default configuration should be used.\n\nSet bits true to enable:\n0 : Use GPS (with QZSS)\n1 : Use SBAS (multiple GPS augmentation systems)\n2 : Use Galileo\n3 : Use BeiDou\n4 : Use GLONASS\n5 : Use NAVIC\n", "max": 63, "min": 0, "name": "GPS_2_GNSS", "rebootRequired": true, "shortDesc": "GNSS Systems for Secondary GPS (integer bitmask)", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "GPS", "longDesc": "Select the GPS protocol over serial.\n\nAuto-detection will probe all protocols, and thus is a bit slower.\n", "max": 6, "min": 0, "name": "GPS_2_PROTOCOL", "rebootRequired": true, "shortDesc": "Protocol for Secondary GPS", "type": "Int32", "values": [{"description": "Auto detect", "value": 0}, {"description": "u-blox", "value": 1}, {"description": "MTK", "value": 2}, {"description": "Ashtech / Trimble", "value": 3}, {"description": "Emlid Reach", "value": 4}, {"description": "Femtomes", "value": 5}, {"description": "NMEA (generic)", "value": 6}]}, {"category": "Standard", "default": 0, "group": "GPS", "longDesc": "Some UBX modules have a FLASH that allows to store persistent configuration that will be loaded on start.\nPX4 does override all configuration parameters it needs in RAM, which takes precedence over the values in FLASH.\nHowever, configuration parameters that are not overriden by PX4 can still cause unexpected problems during flight.\nTo avoid these kind of problems a clean config can be reached by wiping the FLASH on boot.\n\nNote: Currently only supported on UBX.\n", "name": "GPS_CFG_WIPE", "rebootRequired": true, "shortDesc": "Wipes the flash config of UBX modules", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "GPS", "longDesc": "If this is set to 1, all GPS communication data will be published via uORB,\nand written to the log file as gps_dump message.\n\nIf this is set to 2, the main GPS is configured to output RTCM data,\nwhich is then logged as gps_dump and can be used for PPK.\n", "max": 2, "min": 0, "name": "GPS_DUMP_COMM", "shortDesc": "Log GPS communication data", "type": "Int32", "values": [{"description": "Disable", "value": 0}, {"description": "Full communication", "value": 1}, {"description": "RTCM output (PPK)", "value": 2}]}, {"category": "Standard", "default": 0, "group": "GPS", "longDesc": "Enable publication of satellite info (ORB_ID(satellite_info)) if possible.\nNot available on MTK.\n", "name": "GPS_SAT_INFO", "rebootRequired": true, "shortDesc": "Enable sat info (if available)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 230400, "group": "GPS", "longDesc": "Select a baudrate for the F9P's UART2 port.\nIn GPS_UBX_MODE 1, 2, and 3, the F9P's UART2 port is configured to send/receive RTCM corrections.\nSet this to 57600 if you want to attach a telemetry radio on UART2.\n", "min": 0, "name": "GPS_UBX_BAUD2", "rebootRequired": true, "shortDesc": "u-blox F9P UART2 Baudrate", "type": "Int32", "units": "B/s"}, {"bitmask": [{"description": "Enable I2C input protocol UBX", "index": 0}, {"description": "Enable I2C input protocol NMEA", "index": 1}, {"description": "Enable I2C input protocol RTCM3X", "index": 2}, {"description": "Enable I2C output protocol UBX", "index": 3}, {"description": "Enable I2C output protocol NMEA", "index": 4}, {"description": "Enable I2C output protocol RTCM3X", "index": 5}], "category": "Standard", "default": 0, "group": "GPS", "max": 32, "min": 0, "name": "GPS_UBX_CFG_INTF", "rebootRequired": true, "shortDesc": "u-blox protocol configuration for interfaces", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "GPS", "longDesc": "When set to 0 (default), default DGNSS timeout set by u-blox will be used.\n", "max": 255, "min": 0, "name": "GPS_UBX_DGNSS_TO", "rebootRequired": true, "shortDesc": "u-blox GPS DGNSS timeout", "type": "Int32", "units": "s"}, {"category": "Standard", "default": 7, "group": "GPS", "longDesc": "u-blox receivers support different dynamic platform models to adjust the navigation engine to\nthe expected application environment.\n", "max": 9, "min": 0, "name": "GPS_UBX_DYNMODEL", "rebootRequired": true, "shortDesc": "u-blox GPS dynamic platform model", "type": "Int32", "values": [{"description": "stationary", "value": 2}, {"description": "automotive", "value": 4}, {"description": "airborne with <1g acceleration", "value": 6}, {"description": "airborne with <2g acceleration", "value": 7}, {"description": "airborne with <4g acceleration", "value": 8}]}, {"category": "Standard", "default": 1, "group": "GPS", "longDesc": "Enables or disables the high sensitivity mode for the u-blox jamming detection\n(CFG-SEC-JAMDET_SENSITIVITY_HI). When enabled, the receiver uses a\nmore sensitive algorithm to detect jamming. Disabling this may reduce false\npositives in electrically noisy environments.\n", "name": "GPS_UBX_JAM_DET", "rebootRequired": true, "shortDesc": "u-blox GPS jamming detection high sensitivity mode", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "GPS", "longDesc": "When set to 0 (default), default minimum satellite signal level set by u-blox wll be used.\n", "max": 255, "min": 0, "name": "GPS_UBX_MIN_CNO", "rebootRequired": true, "shortDesc": "u-blox GPS minimum satellite signal level for navigation", "type": "Int32", "units": "dBHz"}, {"category": "Standard", "default": 0, "group": "GPS", "longDesc": "When set to 0 (default), default minimum elevation set by u-blox will be used.\n", "max": 127, "min": 0, "name": "GPS_UBX_MIN_ELEV", "rebootRequired": true, "shortDesc": "u-blox GPS minimum elevation for a GNSS satellite to be used in navigation", "type": "Int32", "units": "deg"}, {"category": "Standard", "default": 0, "group": "GPS", "longDesc": "Select the u-blox configuration setup. Most setups will use the default, including RTK and\ndual GPS without heading.\n\nIf rover has RTCM corrections from a static base (or other static correction source) coming in on UART2, then select Mode 5.\nThe Heading mode requires 2 F9P devices to be attached. The main GPS will act as rover and output\nheading information, whereas the secondary will act as moving base.\nModes 1 and 2 require each F9P UART1 to be connected to the Autopilot. In addition, UART2 on the\nF9P units are connected to each other.\nModes 3 and 4 only require UART1 on each F9P connected to the Autopilot or Can Node. UART RX DMA is required.\nRTK is still possible with this setup.\nMode 6 is intended for use with a ground control station (not necessarily an RTK correction base).\n", "max": 1, "min": 0, "name": "GPS_UBX_MODE", "rebootRequired": true, "shortDesc": "u-blox GPS Mode", "type": "Int32", "values": [{"description": "Default", "value": 0}, {"description": "Heading (Rover With Moving Base UART1 Connected To Autopilot, UART2 Connected To Moving Base)", "value": 1}, {"description": "Moving Base (UART1 Connected To Autopilot, UART2 Connected To Rover)", "value": 2}, {"description": "Heading (Rover With Moving Base UART1 Connected to Autopilot Or Can Node At 921600)", "value": 3}, {"description": "Moving Base (Moving Base UART1 Connected to Autopilot Or Can Node At 921600)", "value": 4}, {"description": "Rover with Static Base on UART2 (similar to Default, except coming in on UART2)", "value": 5}, {"description": "Ground Control Station (UART2 outputs NMEA)", "value": 6}]}, {"category": "Standard", "default": 0, "group": "GPS", "name": "GPS_UBX_PPK", "rebootRequired": true, "shortDesc": "Enable MSM7 message output for PPK workflow", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "GPS", "longDesc": "Configure the output rate of u-blox GPS receivers (protocol v27+).\nWhen set to 0, automatic rate selection is used based on the receiver model.\nDefault rates: M9N=8Hz, F9P L1L2=5Hz, F9P L1L5=5Hz, Others=10Hz.\n\nNote: Higher rates reduce satellite count (e.g., >8Hz limits to 16 SVs on M9N).\nMax rates vary by model and RTK mode: F9P L1L2=5-7Hz, F9P L1L5=7-8Hz, X20=25Hz.\nHigh rates at 115200 baud may cause dropouts.\n", "max": 25, "min": 0, "name": "GPS_UBX_RATE", "rebootRequired": true, "shortDesc": "u-blox GPS output rate", "type": "Int32", "units": "Hz"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "GPS", "longDesc": "Heading offset angle for dual antenna GPS setups that support heading estimation.\n\nSet this to 0 if the antennas are parallel to the forward-facing direction\nof the vehicle and the rover (or Unicore primary) antenna is in front.\n\nThe offset angle increases clockwise.\n\nSet this to 90 if the rover (or Unicore primary, or Septentrio Mosaic Aux)\nantenna is placed on the right side of the vehicle and the moving base\nantenna is on the left side.\n\n(Note: the Unicore primary antenna is the one connected on the right as seen\nfrom the top).\n", "max": 360.0, "min": 0.0, "name": "GPS_YAW_OFFSET", "rebootRequired": true, "shortDesc": "Heading/Yaw offset for dual antenna GPS", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 2, "group": "Geofence", "longDesc": "Note: Setting this value to 4 enables flight termination,\nwhich will kill the vehicle on violation of the fence.\n", "max": 5, "min": 0, "name": "GF_ACTION", "shortDesc": "Geofence violation action", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Warning", "value": 1}, {"description": "Hold mode", "value": 2}, {"description": "Return mode", "value": 3}, {"description": "Terminate", "value": 4}, {"description": "Land mode", "value": 5}]}, {"category": "Standard", "default": 0.0, "group": "Geofence", "increment": 1.0, "longDesc": "Maximum horizontal distance in meters the vehicle can be from Home before triggering a geofence action.\nDisabled if 0.\n", "max": 10000.0, "min": 0.0, "name": "GF_MAX_HOR_DIST", "shortDesc": "Max horizontal distance from Home", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0.0, "group": "Geofence", "increment": 1.0, "longDesc": "Maximum vertical distance in meters the vehicle can be from Home before triggering a geofence action.\nDisabled if 0.\n", "max": 10000.0, "min": 0.0, "name": "GF_MAX_VER_DIST", "shortDesc": "Max vertical distance from Home", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geofence", "longDesc": "WARNING: This experimental feature may cause flyaways. Use at your own risk.\n\nPredict the motion of the vehicle and trigger the breach if it is determined that the current trajectory\nwould result in a breach happening before the vehicle can make evasive maneuvers.\nThe vehicle is then re-routed to a safe hold position (stop for multirotor, loiter for fixed wing).\n", "name": "GF_PREDICT", "shortDesc": "[EXPERIMENTAL] Use Pre-emptive geofence triggering", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Geofence", "longDesc": "Select which position source should be used. Selecting GPS instead of global position makes sure that there is\nno dependence on the position estimator\n0 = global position, 1 = GPS\n", "max": 1, "min": 0, "name": "GF_SOURCE", "shortDesc": "Geofence source", "type": "Int32", "values": [{"description": "GPOS", "value": 0}, {"description": "GPS", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "Defines which mixer implementation to use.\nSome are generic, while others are specifically fit to a certain vehicle with a fixed set of actuators.\n\n'Custom' should only be used if noting else can be used.\n\n", "name": "CA_AIRFRAME", "shortDesc": "Airframe selection", "type": "Int32", "values": [{"description": "Multirotor", "value": 0}, {"description": "Fixed-wing", "value": 1}, {"description": "Standard VTOL", "value": 2}, {"description": "Tiltrotor VTOL", "value": 3}, {"description": "Tailsitter VTOL", "value": 4}, {"description": "Rover (Ackermann)", "value": 5}, {"description": "Rover (Differential)", "value": 6}, {"description": "Motors (6DOF)", "value": 7}, {"description": "Multirotor with Tilt", "value": 8}, {"description": "Custom", "value": 9}, {"description": "Helicopter (tail ESC)", "value": 10}, {"description": "Helicopter (tail Servo)", "value": 11}, {"description": "Helicopter (Coaxial)", "value": 12}, {"description": "Rover (Mecanum)", "value": 13}, {"description": "Spacecraft 2D", "value": 14}, {"description": "Spacecraft 3D", "value": 15}]}, {"bitmask": [{"description": "Control Surface 1", "index": 0}, {"description": "Control Surface 2", "index": 1}, {"description": "Control Surface 3", "index": 2}, {"description": "Control Surface 4", "index": 3}, {"description": "Control Surface 5", "index": 4}, {"description": "Control Surface 6", "index": 5}, {"description": "Control Surface 7", "index": 6}, {"description": "Control Surface 8", "index": 7}], "category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If actuator launch lock is enabled, this surface is kept at the disarmed value.\n", "max": 255, "min": 0, "name": "CA_CS_LAUN_LK", "shortDesc": "Control surface launch lock enabled", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "This is used to specify how to handle motor failures\nreported by failure detector.\n\n", "name": "CA_FAILURE_MODE", "shortDesc": "Motor failure handling mode", "type": "Int32", "values": [{"description": "Ignore", "value": 0}, {"description": "Remove first failed motor from effectiveness", "value": 1}]}, {"category": "Standard", "decimalPlaces": 3, "default": -0.05, "group": "Geometry", "increment": 0.1, "longDesc": "Defines the collective pitch at the interval position 0 for a given thrust setpoint.\n\nUse negative values if the swash plate needs to move down to provide upwards thrust.\n\n", "max": 1.0, "min": -1.0, "name": "CA_HELI_PITCH_C0", "shortDesc": "Collective pitch curve at position 0", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0725, "group": "Geometry", "increment": 0.1, "longDesc": "Defines the collective pitch at the interval position 1 for a given thrust setpoint.\n\nUse negative values if the swash plate needs to move down to provide upwards thrust.\n\n", "max": 1.0, "min": -1.0, "name": "CA_HELI_PITCH_C1", "shortDesc": "Collective pitch curve at position 1", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.2, "group": "Geometry", "increment": 0.1, "longDesc": "Defines the collective pitch at the interval position 2 for a given thrust setpoint.\n\nUse negative values if the swash plate needs to move down to provide upwards thrust.\n\n", "max": 1.0, "min": -1.0, "name": "CA_HELI_PITCH_C2", "shortDesc": "Collective pitch curve at position 2", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.325, "group": "Geometry", "increment": 0.1, "longDesc": "Defines the collective pitch at the interval position 3 for a given thrust setpoint.\n\nUse negative values if the swash plate needs to move down to provide upwards thrust.\n\n", "max": 1.0, "min": -1.0, "name": "CA_HELI_PITCH_C3", "shortDesc": "Collective pitch curve at position 3", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.45, "group": "Geometry", "increment": 0.1, "longDesc": "Defines the collective pitch at the interval position 4 for a given thrust setpoint.\n\nUse negative values if the swash plate needs to move down to provide upwards thrust.\n\n", "max": 1.0, "min": -1.0, "name": "CA_HELI_PITCH_C4", "shortDesc": "Collective pitch curve at position 4", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Same definition as the proportional gain but for integral.\n\n", "max": 10.0, "min": 0.0, "name": "CA_HELI_RPM_I", "shortDesc": "Integral gain for rpm control", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Ratio between rpm error devided by 1000 to how much normalized output gets added to correct for it.\n\nmotor_command = throttle_curve + CA_HELI_RPM_P * (rpm_setpoint - rpm_measurement) / 1000\n\n", "max": 10.0, "min": 0.0, "name": "CA_HELI_RPM_P", "shortDesc": "Proportional gain for rpm control", "type": "Float"}, {"category": "Standard", "decimalPlaces": 0, "default": 1500.0, "group": "Geometry", "increment": 1.0, "longDesc": "Requires rpm feedback for the controller.\n\n", "max": 10000.0, "min": 100.0, "name": "CA_HELI_RPM_SP", "shortDesc": "Setpoint for main rotor rpm", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Defines the output throttle at the interval position 0.\n\n", "max": 1.0, "min": 0.0, "name": "CA_HELI_THR_C0", "shortDesc": "Throttle curve at position 0", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Defines the output throttle at the interval position 1.\n\n", "max": 1.0, "min": 0.0, "name": "CA_HELI_THR_C1", "shortDesc": "Throttle curve at position 1", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Defines the output throttle at the interval position 2.\n\n", "max": 1.0, "min": 0.0, "name": "CA_HELI_THR_C2", "shortDesc": "Throttle curve at position 2", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Defines the output throttle at the interval position 3.\n\n", "max": 1.0, "min": 0.0, "name": "CA_HELI_THR_C3", "shortDesc": "Throttle curve at position 3", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Defines the output throttle at the interval position 4.\n\n", "max": 1.0, "min": 0.0, "name": "CA_HELI_THR_C4", "shortDesc": "Throttle curve at position 4", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "Default configuration is for a clockwise turning main rotor and\npositive thrust of the tail rotor is expected to rotate the vehicle clockwise.\nSet this parameter to true if the tail rotor provides thrust in counter-clockwise direction\nwhich is mostly the case when the main rotor turns counter-clockwise.\n\n", "name": "CA_HELI_YAW_CCW", "shortDesc": "Main rotor turns counter-clockwise", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "This allows to specify which collective pitch command results in the least amount of rotor drag.\nThis is used to increase the accuracy of the yaw drag torque compensation based on collective pitch\nby aligning the lowest rotor drag with zero compensation.\nFor symmetric profile blades this is the command that results in exactly 0\u00b0 collective blade angle.\nFor lift profile blades this is typically a command resulting in slightly negative collective blade angle.\n\ntail_output += CA_HELI_YAW_CP_S * abs(collective_pitch - CA_HELI_YAW_CP_O)\n\n", "max": 2.0, "min": -2.0, "name": "CA_HELI_YAW_CP_O", "shortDesc": "Offset for yaw compensation based on collective pitch", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "This allows to add a proportional factor of the collective pitch command to the yaw command.\nA negative value is needed when positive thrust of the tail rotor rotates the vehicle opposite to the main rotor turn direction.\n\ntail_output += CA_HELI_YAW_CP_S * abs(collective_pitch - CA_HELI_YAW_CP_O)\n\n", "max": 2.0, "min": -2.0, "name": "CA_HELI_YAW_CP_S", "shortDesc": "Scale for yaw compensation based on collective pitch", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "This allows to add a proportional factor of the throttle command to the yaw command.\nA negative value is needed when positive thrust of the tail rotor rotates the vehicle opposite to the main rotor turn direction.\n\ntail_output += CA_HELI_YAW_TH_S * throttle\n\n", "max": 2.0, "min": -2.0, "name": "CA_HELI_YAW_TH_S", "shortDesc": "Scale for yaw compensation based on throttle", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Ice shedding prevents ice buildup in VTOL aircraft motors by periodically spinning inactive rotors.\nWhen enabled (period > 0), every cycle lasts for the defined period and includes a 2-second spin at 0.01 motor output.\nIf period <= 0, the feature is disabled.\n\n", "min": 0.0, "name": "CA_ICE_PERIOD", "shortDesc": "Ice shedding cycle period", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Used to linearize mechanical output of swashplate servos to avoid axis coupling and binding with 4 servo redundancy.\nThis requires a symmetric setup where the servo horn is exactly centered with a 0 command.\nSetting to zero disables feature.\n\n", "max": 75.0, "min": 0.0, "name": "CA_MAX_SVO_THROW", "shortDesc": "Throw angle of swashplate servo at maximum commands for linearization", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 2, "group": "Geometry", "longDesc": "Selects the algorithm and desaturation method.\nIf set to Automatic, the selection is based on the airframe (CA_AIRFRAME).\n\n", "name": "CA_METHOD", "shortDesc": "Control allocation method", "type": "Int32", "values": [{"description": "Pseudo-inverse with output clipping", "value": 0}, {"description": "Pseudo-inverse with sequential desaturation technique", "value": 1}, {"description": "Automatic", "value": 2}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Forces the motor output signal to take at least the configured time (in seconds)\nto traverse its full range (normally [0, 1], or if reversible [-1, 1]).\n\nZero means that slew rate limiting is disabled.\n\n", "max": 10.0, "min": 0.0, "name": "CA_R0_SLEW", "shortDesc": "Motor 0 slew rate limit", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Forces the motor output signal to take at least the configured time (in seconds)\nto traverse its full range (normally [0, 1], or if reversible [-1, 1]).\n\nZero means that slew rate limiting is disabled.\n\n", "max": 10.0, "min": 0.0, "name": "CA_R10_SLEW", "shortDesc": "Motor 10 slew rate limit", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Forces the motor output signal to take at least the configured time (in seconds)\nto traverse its full range (normally [0, 1], or if reversible [-1, 1]).\n\nZero means that slew rate limiting is disabled.\n\n", "max": 10.0, "min": 0.0, "name": "CA_R11_SLEW", "shortDesc": "Motor 11 slew rate limit", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Forces the motor output signal to take at least the configured time (in seconds)\nto traverse its full range (normally [0, 1], or if reversible [-1, 1]).\n\nZero means that slew rate limiting is disabled.\n\n", "max": 10.0, "min": 0.0, "name": "CA_R1_SLEW", "shortDesc": "Motor 1 slew rate limit", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Forces the motor output signal to take at least the configured time (in seconds)\nto traverse its full range (normally [0, 1], or if reversible [-1, 1]).\n\nZero means that slew rate limiting is disabled.\n\n", "max": 10.0, "min": 0.0, "name": "CA_R2_SLEW", "shortDesc": "Motor 2 slew rate limit", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Forces the motor output signal to take at least the configured time (in seconds)\nto traverse its full range (normally [0, 1], or if reversible [-1, 1]).\n\nZero means that slew rate limiting is disabled.\n\n", "max": 10.0, "min": 0.0, "name": "CA_R3_SLEW", "shortDesc": "Motor 3 slew rate limit", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Forces the motor output signal to take at least the configured time (in seconds)\nto traverse its full range (normally [0, 1], or if reversible [-1, 1]).\n\nZero means that slew rate limiting is disabled.\n\n", "max": 10.0, "min": 0.0, "name": "CA_R4_SLEW", "shortDesc": "Motor 4 slew rate limit", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Forces the motor output signal to take at least the configured time (in seconds)\nto traverse its full range (normally [0, 1], or if reversible [-1, 1]).\n\nZero means that slew rate limiting is disabled.\n\n", "max": 10.0, "min": 0.0, "name": "CA_R5_SLEW", "shortDesc": "Motor 5 slew rate limit", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Forces the motor output signal to take at least the configured time (in seconds)\nto traverse its full range (normally [0, 1], or if reversible [-1, 1]).\n\nZero means that slew rate limiting is disabled.\n\n", "max": 10.0, "min": 0.0, "name": "CA_R6_SLEW", "shortDesc": "Motor 6 slew rate limit", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Forces the motor output signal to take at least the configured time (in seconds)\nto traverse its full range (normally [0, 1], or if reversible [-1, 1]).\n\nZero means that slew rate limiting is disabled.\n\n", "max": 10.0, "min": 0.0, "name": "CA_R7_SLEW", "shortDesc": "Motor 7 slew rate limit", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Forces the motor output signal to take at least the configured time (in seconds)\nto traverse its full range (normally [0, 1], or if reversible [-1, 1]).\n\nZero means that slew rate limiting is disabled.\n\n", "max": 10.0, "min": 0.0, "name": "CA_R8_SLEW", "shortDesc": "Motor 8 slew rate limit", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Forces the motor output signal to take at least the configured time (in seconds)\nto traverse its full range (normally [0, 1], or if reversible [-1, 1]).\n\nZero means that slew rate limiting is disabled.\n\n", "max": 10.0, "min": 0.0, "name": "CA_R9_SLEW", "shortDesc": "Motor 9 slew rate limit", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR0_AX", "shortDesc": "Axis of rotor 0 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR0_AY", "shortDesc": "Axis of rotor 0 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR0_AZ", "shortDesc": "Axis of rotor 0 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2,\nwhere u (with value between actuator minimum and maximum)\nis the output signal sent to the motor controller.\n\n", "max": 100.0, "min": 0.0, "name": "CA_ROTOR0_CT", "shortDesc": "Thrust coefficient of rotor 0", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust.\n\nUse a positive value for a rotor with CCW rotation.\nUse a negative value for a rotor with CW rotation.\n\n", "max": 1.0, "min": -1.0, "name": "CA_ROTOR0_KM", "shortDesc": "Moment coefficient of rotor 0", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR0_PX", "shortDesc": "Position of rotor 0 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR0_PY", "shortDesc": "Position of rotor 0 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR0_PZ", "shortDesc": "Position of rotor 0 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.\n", "name": "CA_ROTOR0_TILT", "shortDesc": "Rotor 0 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR10_AX", "shortDesc": "Axis of rotor 10 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR10_AY", "shortDesc": "Axis of rotor 10 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR10_AZ", "shortDesc": "Axis of rotor 10 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2,\nwhere u (with value between actuator minimum and maximum)\nis the output signal sent to the motor controller.\n\n", "max": 100.0, "min": 0.0, "name": "CA_ROTOR10_CT", "shortDesc": "Thrust coefficient of rotor 10", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust.\n\nUse a positive value for a rotor with CCW rotation.\nUse a negative value for a rotor with CW rotation.\n\n", "max": 1.0, "min": -1.0, "name": "CA_ROTOR10_KM", "shortDesc": "Moment coefficient of rotor 10", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR10_PX", "shortDesc": "Position of rotor 10 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR10_PY", "shortDesc": "Position of rotor 10 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR10_PZ", "shortDesc": "Position of rotor 10 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.\n", "name": "CA_ROTOR10_TILT", "shortDesc": "Rotor 10 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR11_AX", "shortDesc": "Axis of rotor 11 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR11_AY", "shortDesc": "Axis of rotor 11 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR11_AZ", "shortDesc": "Axis of rotor 11 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2,\nwhere u (with value between actuator minimum and maximum)\nis the output signal sent to the motor controller.\n\n", "max": 100.0, "min": 0.0, "name": "CA_ROTOR11_CT", "shortDesc": "Thrust coefficient of rotor 11", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust.\n\nUse a positive value for a rotor with CCW rotation.\nUse a negative value for a rotor with CW rotation.\n\n", "max": 1.0, "min": -1.0, "name": "CA_ROTOR11_KM", "shortDesc": "Moment coefficient of rotor 11", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR11_PX", "shortDesc": "Position of rotor 11 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR11_PY", "shortDesc": "Position of rotor 11 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR11_PZ", "shortDesc": "Position of rotor 11 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.\n", "name": "CA_ROTOR11_TILT", "shortDesc": "Rotor 11 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR1_AX", "shortDesc": "Axis of rotor 1 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR1_AY", "shortDesc": "Axis of rotor 1 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR1_AZ", "shortDesc": "Axis of rotor 1 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2,\nwhere u (with value between actuator minimum and maximum)\nis the output signal sent to the motor controller.\n\n", "max": 100.0, "min": 0.0, "name": "CA_ROTOR1_CT", "shortDesc": "Thrust coefficient of rotor 1", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust.\n\nUse a positive value for a rotor with CCW rotation.\nUse a negative value for a rotor with CW rotation.\n\n", "max": 1.0, "min": -1.0, "name": "CA_ROTOR1_KM", "shortDesc": "Moment coefficient of rotor 1", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR1_PX", "shortDesc": "Position of rotor 1 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR1_PY", "shortDesc": "Position of rotor 1 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR1_PZ", "shortDesc": "Position of rotor 1 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.\n", "name": "CA_ROTOR1_TILT", "shortDesc": "Rotor 1 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR2_AX", "shortDesc": "Axis of rotor 2 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR2_AY", "shortDesc": "Axis of rotor 2 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR2_AZ", "shortDesc": "Axis of rotor 2 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2,\nwhere u (with value between actuator minimum and maximum)\nis the output signal sent to the motor controller.\n\n", "max": 100.0, "min": 0.0, "name": "CA_ROTOR2_CT", "shortDesc": "Thrust coefficient of rotor 2", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust.\n\nUse a positive value for a rotor with CCW rotation.\nUse a negative value for a rotor with CW rotation.\n\n", "max": 1.0, "min": -1.0, "name": "CA_ROTOR2_KM", "shortDesc": "Moment coefficient of rotor 2", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR2_PX", "shortDesc": "Position of rotor 2 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR2_PY", "shortDesc": "Position of rotor 2 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR2_PZ", "shortDesc": "Position of rotor 2 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.\n", "name": "CA_ROTOR2_TILT", "shortDesc": "Rotor 2 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR3_AX", "shortDesc": "Axis of rotor 3 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR3_AY", "shortDesc": "Axis of rotor 3 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR3_AZ", "shortDesc": "Axis of rotor 3 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2,\nwhere u (with value between actuator minimum and maximum)\nis the output signal sent to the motor controller.\n\n", "max": 100.0, "min": 0.0, "name": "CA_ROTOR3_CT", "shortDesc": "Thrust coefficient of rotor 3", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust.\n\nUse a positive value for a rotor with CCW rotation.\nUse a negative value for a rotor with CW rotation.\n\n", "max": 1.0, "min": -1.0, "name": "CA_ROTOR3_KM", "shortDesc": "Moment coefficient of rotor 3", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR3_PX", "shortDesc": "Position of rotor 3 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR3_PY", "shortDesc": "Position of rotor 3 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR3_PZ", "shortDesc": "Position of rotor 3 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.\n", "name": "CA_ROTOR3_TILT", "shortDesc": "Rotor 3 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR4_AX", "shortDesc": "Axis of rotor 4 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR4_AY", "shortDesc": "Axis of rotor 4 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR4_AZ", "shortDesc": "Axis of rotor 4 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2,\nwhere u (with value between actuator minimum and maximum)\nis the output signal sent to the motor controller.\n\n", "max": 100.0, "min": 0.0, "name": "CA_ROTOR4_CT", "shortDesc": "Thrust coefficient of rotor 4", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust.\n\nUse a positive value for a rotor with CCW rotation.\nUse a negative value for a rotor with CW rotation.\n\n", "max": 1.0, "min": -1.0, "name": "CA_ROTOR4_KM", "shortDesc": "Moment coefficient of rotor 4", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR4_PX", "shortDesc": "Position of rotor 4 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR4_PY", "shortDesc": "Position of rotor 4 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR4_PZ", "shortDesc": "Position of rotor 4 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.\n", "name": "CA_ROTOR4_TILT", "shortDesc": "Rotor 4 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR5_AX", "shortDesc": "Axis of rotor 5 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR5_AY", "shortDesc": "Axis of rotor 5 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR5_AZ", "shortDesc": "Axis of rotor 5 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2,\nwhere u (with value between actuator minimum and maximum)\nis the output signal sent to the motor controller.\n\n", "max": 100.0, "min": 0.0, "name": "CA_ROTOR5_CT", "shortDesc": "Thrust coefficient of rotor 5", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust.\n\nUse a positive value for a rotor with CCW rotation.\nUse a negative value for a rotor with CW rotation.\n\n", "max": 1.0, "min": -1.0, "name": "CA_ROTOR5_KM", "shortDesc": "Moment coefficient of rotor 5", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR5_PX", "shortDesc": "Position of rotor 5 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR5_PY", "shortDesc": "Position of rotor 5 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR5_PZ", "shortDesc": "Position of rotor 5 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.\n", "name": "CA_ROTOR5_TILT", "shortDesc": "Rotor 5 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR6_AX", "shortDesc": "Axis of rotor 6 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR6_AY", "shortDesc": "Axis of rotor 6 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR6_AZ", "shortDesc": "Axis of rotor 6 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2,\nwhere u (with value between actuator minimum and maximum)\nis the output signal sent to the motor controller.\n\n", "max": 100.0, "min": 0.0, "name": "CA_ROTOR6_CT", "shortDesc": "Thrust coefficient of rotor 6", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust.\n\nUse a positive value for a rotor with CCW rotation.\nUse a negative value for a rotor with CW rotation.\n\n", "max": 1.0, "min": -1.0, "name": "CA_ROTOR6_KM", "shortDesc": "Moment coefficient of rotor 6", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR6_PX", "shortDesc": "Position of rotor 6 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR6_PY", "shortDesc": "Position of rotor 6 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR6_PZ", "shortDesc": "Position of rotor 6 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.\n", "name": "CA_ROTOR6_TILT", "shortDesc": "Rotor 6 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR7_AX", "shortDesc": "Axis of rotor 7 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR7_AY", "shortDesc": "Axis of rotor 7 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR7_AZ", "shortDesc": "Axis of rotor 7 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2,\nwhere u (with value between actuator minimum and maximum)\nis the output signal sent to the motor controller.\n\n", "max": 100.0, "min": 0.0, "name": "CA_ROTOR7_CT", "shortDesc": "Thrust coefficient of rotor 7", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust.\n\nUse a positive value for a rotor with CCW rotation.\nUse a negative value for a rotor with CW rotation.\n\n", "max": 1.0, "min": -1.0, "name": "CA_ROTOR7_KM", "shortDesc": "Moment coefficient of rotor 7", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR7_PX", "shortDesc": "Position of rotor 7 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR7_PY", "shortDesc": "Position of rotor 7 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR7_PZ", "shortDesc": "Position of rotor 7 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.\n", "name": "CA_ROTOR7_TILT", "shortDesc": "Rotor 7 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR8_AX", "shortDesc": "Axis of rotor 8 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR8_AY", "shortDesc": "Axis of rotor 8 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR8_AZ", "shortDesc": "Axis of rotor 8 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2,\nwhere u (with value between actuator minimum and maximum)\nis the output signal sent to the motor controller.\n\n", "max": 100.0, "min": 0.0, "name": "CA_ROTOR8_CT", "shortDesc": "Thrust coefficient of rotor 8", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust.\n\nUse a positive value for a rotor with CCW rotation.\nUse a negative value for a rotor with CW rotation.\n\n", "max": 1.0, "min": -1.0, "name": "CA_ROTOR8_KM", "shortDesc": "Moment coefficient of rotor 8", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR8_PX", "shortDesc": "Position of rotor 8 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR8_PY", "shortDesc": "Position of rotor 8 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR8_PZ", "shortDesc": "Position of rotor 8 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.\n", "name": "CA_ROTOR8_TILT", "shortDesc": "Rotor 8 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR9_AX", "shortDesc": "Axis of rotor 9 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR9_AY", "shortDesc": "Axis of rotor 9 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).\n", "max": 100.0, "min": -100.0, "name": "CA_ROTOR9_AZ", "shortDesc": "Axis of rotor 9 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2,\nwhere u (with value between actuator minimum and maximum)\nis the output signal sent to the motor controller.\n\n", "max": 100.0, "min": 0.0, "name": "CA_ROTOR9_CT", "shortDesc": "Thrust coefficient of rotor 9", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust.\n\nUse a positive value for a rotor with CCW rotation.\nUse a negative value for a rotor with CW rotation.\n\n", "max": 1.0, "min": -1.0, "name": "CA_ROTOR9_KM", "shortDesc": "Moment coefficient of rotor 9", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR9_PX", "shortDesc": "Position of rotor 9 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR9_PY", "shortDesc": "Position of rotor 9 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR9_PZ", "shortDesc": "Position of rotor 9 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.\n", "name": "CA_ROTOR9_TILT", "shortDesc": "Rotor 9 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "default": 0, "group": "Geometry", "name": "CA_ROTOR_COUNT", "shortDesc": "Total number of rotors", "type": "Int32", "values": [{"description": "0", "value": 0}, {"description": "1", "value": 1}, {"description": "2", "value": 2}, {"description": "3", "value": 3}, {"description": "4", "value": 4}, {"description": "5", "value": 5}, {"description": "6", "value": 6}, {"description": "7", "value": 7}, {"description": "8", "value": 8}, {"description": "9", "value": 9}, {"description": "10", "value": 10}, {"description": "11", "value": 11}, {"description": "12", "value": 12}]}, {"bitmask": [{"description": "Motor 1", "index": 0}, {"description": "Motor 2", "index": 1}, {"description": "Motor 3", "index": 2}, {"description": "Motor 4", "index": 3}, {"description": "Motor 5", "index": 4}, {"description": "Motor 6", "index": 5}, {"description": "Motor 7", "index": 6}, {"description": "Motor 8", "index": 7}, {"description": "Motor 9", "index": 8}, {"description": "Motor 10", "index": 9}, {"description": "Motor 11", "index": 10}, {"description": "Motor 12", "index": 11}], "category": "Standard", "default": 0, "group": "Geometry", "longDesc": "Configure motors to be bidirectional/reversible. Note that the output driver needs to support this as well.\n\n", "max": 4095, "min": 0, "name": "CA_R_REV", "shortDesc": "Bidirectional/Reversible motors", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 0, "default": 0.0, "group": "Geometry", "increment": 10.0, "longDesc": "The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).\n\n", "max": 360.0, "min": 0.0, "name": "CA_SP0_ANG0", "shortDesc": "Angle for swash plate servo 0", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 0, "default": 140.0, "group": "Geometry", "increment": 10.0, "longDesc": "The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).\n\n", "max": 360.0, "min": 0.0, "name": "CA_SP0_ANG1", "shortDesc": "Angle for swash plate servo 1", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 0, "default": 220.0, "group": "Geometry", "increment": 10.0, "longDesc": "The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).\n\n", "max": 360.0, "min": 0.0, "name": "CA_SP0_ANG2", "shortDesc": "Angle for swash plate servo 2", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 0, "default": 0.0, "group": "Geometry", "increment": 10.0, "longDesc": "The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).\n\n", "max": 360.0, "min": 0.0, "name": "CA_SP0_ANG3", "shortDesc": "Angle for swash plate servo 3", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Geometry", "increment": 0.1, "longDesc": "This is relative to the other arm lengths.\n\n", "max": 10.0, "min": 0.0, "name": "CA_SP0_ARM_L0", "shortDesc": "Arm length for swash plate servo 0", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Geometry", "increment": 0.1, "longDesc": "This is relative to the other arm lengths.\n\n", "max": 10.0, "min": 0.0, "name": "CA_SP0_ARM_L1", "shortDesc": "Arm length for swash plate servo 1", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Geometry", "increment": 0.1, "longDesc": "This is relative to the other arm lengths.\n\n", "max": 10.0, "min": 0.0, "name": "CA_SP0_ARM_L2", "shortDesc": "Arm length for swash plate servo 2", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Geometry", "increment": 0.1, "longDesc": "This is relative to the other arm lengths.\n\n", "max": 10.0, "min": 0.0, "name": "CA_SP0_ARM_L3", "shortDesc": "Arm length for swash plate servo 3", "type": "Float"}, {"category": "Standard", "default": 3, "group": "Geometry", "name": "CA_SP0_COUNT", "shortDesc": "Number of swash plates servos", "type": "Int32", "values": [{"description": "2", "value": 2}, {"description": "3", "value": 3}, {"description": "4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.05, "longDesc": "Forces the servo output signal to take at least the configured time (in seconds)\nto traverse its full range [-100%, 100%].\n\nZero means that slew rate limiting is disabled.\n\n", "max": 10.0, "min": 0.0, "name": "CA_SV0_SLEW", "shortDesc": "Servo 0 slew rate limit", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.05, "longDesc": "Forces the servo output signal to take at least the configured time (in seconds)\nto traverse its full range [-100%, 100%].\n\nZero means that slew rate limiting is disabled.\n\n", "max": 10.0, "min": 0.0, "name": "CA_SV1_SLEW", "shortDesc": "Servo 1 slew rate limit", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.05, "longDesc": "Forces the servo output signal to take at least the configured time (in seconds)\nto traverse its full range [-100%, 100%].\n\nZero means that slew rate limiting is disabled.\n\n", "max": 10.0, "min": 0.0, "name": "CA_SV2_SLEW", "shortDesc": "Servo 2 slew rate limit", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.05, "longDesc": "Forces the servo output signal to take at least the configured time (in seconds)\nto traverse its full range [-100%, 100%].\n\nZero means that slew rate limiting is disabled.\n\n", "max": 10.0, "min": 0.0, "name": "CA_SV3_SLEW", "shortDesc": "Servo 3 slew rate limit", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.05, "longDesc": "Forces the servo output signal to take at least the configured time (in seconds)\nto traverse its full range [-100%, 100%].\n\nZero means that slew rate limiting is disabled.\n\n", "max": 10.0, "min": 0.0, "name": "CA_SV4_SLEW", "shortDesc": "Servo 4 slew rate limit", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.05, "longDesc": "Forces the servo output signal to take at least the configured time (in seconds)\nto traverse its full range [-100%, 100%].\n\nZero means that slew rate limiting is disabled.\n\n", "max": 10.0, "min": 0.0, "name": "CA_SV5_SLEW", "shortDesc": "Servo 5 slew rate limit", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.05, "longDesc": "Forces the servo output signal to take at least the configured time (in seconds)\nto traverse its full range [-100%, 100%].\n\nZero means that slew rate limiting is disabled.\n\n", "max": 10.0, "min": 0.0, "name": "CA_SV6_SLEW", "shortDesc": "Servo 6 slew rate limit", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.05, "longDesc": "Forces the servo output signal to take at least the configured time (in seconds)\nto traverse its full range [-100%, 100%].\n\nZero means that slew rate limiting is disabled.\n\n", "max": 10.0, "min": 0.0, "name": "CA_SV7_SLEW", "shortDesc": "Servo 7 slew rate limit", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS0_FLAP", "shortDesc": "Control Surface 0 configuration as flap", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS0_SPOIL", "shortDesc": "Control Surface 0 configuration as spoiler", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "longDesc": "Can be used to add an offset to the servo control.\n\nNOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.\nThis parameter can only be set if all PWM Center parameters are set to default.\n\n", "max": 1.0, "min": -1.0, "name": "CA_SV_CS0_TRIM", "shortDesc": "Control Surface 0 trim", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS0_TRQ_P", "shortDesc": "Control Surface 0 pitch torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS0_TRQ_R", "shortDesc": "Control Surface 0 roll torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS0_TRQ_Y", "shortDesc": "Control Surface 0 yaw torque scaling", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Geometry", "name": "CA_SV_CS0_TYPE", "shortDesc": "Control Surface 0 type", "type": "Int32", "values": [{"description": "(Not set)", "value": 0}, {"description": "Left Aileron", "value": 1}, {"description": "Right Aileron", "value": 2}, {"description": "Elevator", "value": 3}, {"description": "Rudder", "value": 4}, {"description": "Left Elevon", "value": 5}, {"description": "Right Elevon", "value": 6}, {"description": "Left V-Tail", "value": 7}, {"description": "Right V-Tail", "value": 8}, {"description": "Left Flap", "value": 9}, {"description": "Right Flap", "value": 10}, {"description": "Airbrake", "value": 11}, {"description": "Custom", "value": 12}, {"description": "Left A-tail", "value": 13}, {"description": "Right A-tail", "value": 14}, {"description": "Single Channel Aileron", "value": 15}, {"description": "Steering Wheel", "value": 16}, {"description": "Left Spoiler", "value": 17}, {"description": "Right Spoiler", "value": 18}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS1_FLAP", "shortDesc": "Control Surface 1 configuration as flap", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS1_SPOIL", "shortDesc": "Control Surface 1 configuration as spoiler", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "longDesc": "Can be used to add an offset to the servo control.\n\nNOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.\nThis parameter can only be set if all PWM Center parameters are set to default.\n\n", "max": 1.0, "min": -1.0, "name": "CA_SV_CS1_TRIM", "shortDesc": "Control Surface 1 trim", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS1_TRQ_P", "shortDesc": "Control Surface 1 pitch torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS1_TRQ_R", "shortDesc": "Control Surface 1 roll torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS1_TRQ_Y", "shortDesc": "Control Surface 1 yaw torque scaling", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Geometry", "name": "CA_SV_CS1_TYPE", "shortDesc": "Control Surface 1 type", "type": "Int32", "values": [{"description": "(Not set)", "value": 0}, {"description": "Left Aileron", "value": 1}, {"description": "Right Aileron", "value": 2}, {"description": "Elevator", "value": 3}, {"description": "Rudder", "value": 4}, {"description": "Left Elevon", "value": 5}, {"description": "Right Elevon", "value": 6}, {"description": "Left V-Tail", "value": 7}, {"description": "Right V-Tail", "value": 8}, {"description": "Left Flap", "value": 9}, {"description": "Right Flap", "value": 10}, {"description": "Airbrake", "value": 11}, {"description": "Custom", "value": 12}, {"description": "Left A-tail", "value": 13}, {"description": "Right A-tail", "value": 14}, {"description": "Single Channel Aileron", "value": 15}, {"description": "Steering Wheel", "value": 16}, {"description": "Left Spoiler", "value": 17}, {"description": "Right Spoiler", "value": 18}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS2_FLAP", "shortDesc": "Control Surface 2 configuration as flap", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS2_SPOIL", "shortDesc": "Control Surface 2 configuration as spoiler", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "longDesc": "Can be used to add an offset to the servo control.\n\nNOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.\nThis parameter can only be set if all PWM Center parameters are set to default.\n\n", "max": 1.0, "min": -1.0, "name": "CA_SV_CS2_TRIM", "shortDesc": "Control Surface 2 trim", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS2_TRQ_P", "shortDesc": "Control Surface 2 pitch torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS2_TRQ_R", "shortDesc": "Control Surface 2 roll torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS2_TRQ_Y", "shortDesc": "Control Surface 2 yaw torque scaling", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Geometry", "name": "CA_SV_CS2_TYPE", "shortDesc": "Control Surface 2 type", "type": "Int32", "values": [{"description": "(Not set)", "value": 0}, {"description": "Left Aileron", "value": 1}, {"description": "Right Aileron", "value": 2}, {"description": "Elevator", "value": 3}, {"description": "Rudder", "value": 4}, {"description": "Left Elevon", "value": 5}, {"description": "Right Elevon", "value": 6}, {"description": "Left V-Tail", "value": 7}, {"description": "Right V-Tail", "value": 8}, {"description": "Left Flap", "value": 9}, {"description": "Right Flap", "value": 10}, {"description": "Airbrake", "value": 11}, {"description": "Custom", "value": 12}, {"description": "Left A-tail", "value": 13}, {"description": "Right A-tail", "value": 14}, {"description": "Single Channel Aileron", "value": 15}, {"description": "Steering Wheel", "value": 16}, {"description": "Left Spoiler", "value": 17}, {"description": "Right Spoiler", "value": 18}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS3_FLAP", "shortDesc": "Control Surface 3 configuration as flap", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS3_SPOIL", "shortDesc": "Control Surface 3 configuration as spoiler", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "longDesc": "Can be used to add an offset to the servo control.\n\nNOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.\nThis parameter can only be set if all PWM Center parameters are set to default.\n\n", "max": 1.0, "min": -1.0, "name": "CA_SV_CS3_TRIM", "shortDesc": "Control Surface 3 trim", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS3_TRQ_P", "shortDesc": "Control Surface 3 pitch torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS3_TRQ_R", "shortDesc": "Control Surface 3 roll torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS3_TRQ_Y", "shortDesc": "Control Surface 3 yaw torque scaling", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Geometry", "name": "CA_SV_CS3_TYPE", "shortDesc": "Control Surface 3 type", "type": "Int32", "values": [{"description": "(Not set)", "value": 0}, {"description": "Left Aileron", "value": 1}, {"description": "Right Aileron", "value": 2}, {"description": "Elevator", "value": 3}, {"description": "Rudder", "value": 4}, {"description": "Left Elevon", "value": 5}, {"description": "Right Elevon", "value": 6}, {"description": "Left V-Tail", "value": 7}, {"description": "Right V-Tail", "value": 8}, {"description": "Left Flap", "value": 9}, {"description": "Right Flap", "value": 10}, {"description": "Airbrake", "value": 11}, {"description": "Custom", "value": 12}, {"description": "Left A-tail", "value": 13}, {"description": "Right A-tail", "value": 14}, {"description": "Single Channel Aileron", "value": 15}, {"description": "Steering Wheel", "value": 16}, {"description": "Left Spoiler", "value": 17}, {"description": "Right Spoiler", "value": 18}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS4_FLAP", "shortDesc": "Control Surface 4 configuration as flap", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS4_SPOIL", "shortDesc": "Control Surface 4 configuration as spoiler", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "longDesc": "Can be used to add an offset to the servo control.\n\nNOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.\nThis parameter can only be set if all PWM Center parameters are set to default.\n\n", "max": 1.0, "min": -1.0, "name": "CA_SV_CS4_TRIM", "shortDesc": "Control Surface 4 trim", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS4_TRQ_P", "shortDesc": "Control Surface 4 pitch torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS4_TRQ_R", "shortDesc": "Control Surface 4 roll torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS4_TRQ_Y", "shortDesc": "Control Surface 4 yaw torque scaling", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Geometry", "name": "CA_SV_CS4_TYPE", "shortDesc": "Control Surface 4 type", "type": "Int32", "values": [{"description": "(Not set)", "value": 0}, {"description": "Left Aileron", "value": 1}, {"description": "Right Aileron", "value": 2}, {"description": "Elevator", "value": 3}, {"description": "Rudder", "value": 4}, {"description": "Left Elevon", "value": 5}, {"description": "Right Elevon", "value": 6}, {"description": "Left V-Tail", "value": 7}, {"description": "Right V-Tail", "value": 8}, {"description": "Left Flap", "value": 9}, {"description": "Right Flap", "value": 10}, {"description": "Airbrake", "value": 11}, {"description": "Custom", "value": 12}, {"description": "Left A-tail", "value": 13}, {"description": "Right A-tail", "value": 14}, {"description": "Single Channel Aileron", "value": 15}, {"description": "Steering Wheel", "value": 16}, {"description": "Left Spoiler", "value": 17}, {"description": "Right Spoiler", "value": 18}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS5_FLAP", "shortDesc": "Control Surface 5 configuration as flap", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS5_SPOIL", "shortDesc": "Control Surface 5 configuration as spoiler", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "longDesc": "Can be used to add an offset to the servo control.\n\nNOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.\nThis parameter can only be set if all PWM Center parameters are set to default.\n\n", "max": 1.0, "min": -1.0, "name": "CA_SV_CS5_TRIM", "shortDesc": "Control Surface 5 trim", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS5_TRQ_P", "shortDesc": "Control Surface 5 pitch torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS5_TRQ_R", "shortDesc": "Control Surface 5 roll torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS5_TRQ_Y", "shortDesc": "Control Surface 5 yaw torque scaling", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Geometry", "name": "CA_SV_CS5_TYPE", "shortDesc": "Control Surface 5 type", "type": "Int32", "values": [{"description": "(Not set)", "value": 0}, {"description": "Left Aileron", "value": 1}, {"description": "Right Aileron", "value": 2}, {"description": "Elevator", "value": 3}, {"description": "Rudder", "value": 4}, {"description": "Left Elevon", "value": 5}, {"description": "Right Elevon", "value": 6}, {"description": "Left V-Tail", "value": 7}, {"description": "Right V-Tail", "value": 8}, {"description": "Left Flap", "value": 9}, {"description": "Right Flap", "value": 10}, {"description": "Airbrake", "value": 11}, {"description": "Custom", "value": 12}, {"description": "Left A-tail", "value": 13}, {"description": "Right A-tail", "value": 14}, {"description": "Single Channel Aileron", "value": 15}, {"description": "Steering Wheel", "value": 16}, {"description": "Left Spoiler", "value": 17}, {"description": "Right Spoiler", "value": 18}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS6_FLAP", "shortDesc": "Control Surface 6 configuration as flap", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS6_SPOIL", "shortDesc": "Control Surface 6 configuration as spoiler", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "longDesc": "Can be used to add an offset to the servo control.\n\nNOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.\nThis parameter can only be set if all PWM Center parameters are set to default.\n\n", "max": 1.0, "min": -1.0, "name": "CA_SV_CS6_TRIM", "shortDesc": "Control Surface 6 trim", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS6_TRQ_P", "shortDesc": "Control Surface 6 pitch torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS6_TRQ_R", "shortDesc": "Control Surface 6 roll torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS6_TRQ_Y", "shortDesc": "Control Surface 6 yaw torque scaling", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Geometry", "name": "CA_SV_CS6_TYPE", "shortDesc": "Control Surface 6 type", "type": "Int32", "values": [{"description": "(Not set)", "value": 0}, {"description": "Left Aileron", "value": 1}, {"description": "Right Aileron", "value": 2}, {"description": "Elevator", "value": 3}, {"description": "Rudder", "value": 4}, {"description": "Left Elevon", "value": 5}, {"description": "Right Elevon", "value": 6}, {"description": "Left V-Tail", "value": 7}, {"description": "Right V-Tail", "value": 8}, {"description": "Left Flap", "value": 9}, {"description": "Right Flap", "value": 10}, {"description": "Airbrake", "value": 11}, {"description": "Custom", "value": 12}, {"description": "Left A-tail", "value": 13}, {"description": "Right A-tail", "value": 14}, {"description": "Single Channel Aileron", "value": 15}, {"description": "Steering Wheel", "value": 16}, {"description": "Left Spoiler", "value": 17}, {"description": "Right Spoiler", "value": 18}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS7_FLAP", "shortDesc": "Control Surface 7 configuration as flap", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS7_SPOIL", "shortDesc": "Control Surface 7 configuration as spoiler", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "longDesc": "Can be used to add an offset to the servo control.\n\nNOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.\nThis parameter can only be set if all PWM Center parameters are set to default.\n\n", "max": 1.0, "min": -1.0, "name": "CA_SV_CS7_TRIM", "shortDesc": "Control Surface 7 trim", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS7_TRQ_P", "shortDesc": "Control Surface 7 pitch torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS7_TRQ_R", "shortDesc": "Control Surface 7 roll torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS7_TRQ_Y", "shortDesc": "Control Surface 7 yaw torque scaling", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Geometry", "name": "CA_SV_CS7_TYPE", "shortDesc": "Control Surface 7 type", "type": "Int32", "values": [{"description": "(Not set)", "value": 0}, {"description": "Left Aileron", "value": 1}, {"description": "Right Aileron", "value": 2}, {"description": "Elevator", "value": 3}, {"description": "Rudder", "value": 4}, {"description": "Left Elevon", "value": 5}, {"description": "Right Elevon", "value": 6}, {"description": "Left V-Tail", "value": 7}, {"description": "Right V-Tail", "value": 8}, {"description": "Left Flap", "value": 9}, {"description": "Right Flap", "value": 10}, {"description": "Airbrake", "value": 11}, {"description": "Custom", "value": 12}, {"description": "Left A-tail", "value": 13}, {"description": "Right A-tail", "value": 14}, {"description": "Single Channel Aileron", "value": 15}, {"description": "Steering Wheel", "value": 16}, {"description": "Left Spoiler", "value": 17}, {"description": "Right Spoiler", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Geometry", "name": "CA_SV_CS_COUNT", "shortDesc": "Total number of Control Surfaces", "type": "Int32", "values": [{"description": "0", "value": 0}, {"description": "1", "value": 1}, {"description": "2", "value": 2}, {"description": "3", "value": 3}, {"description": "4", "value": 4}, {"description": "5", "value": 5}, {"description": "6", "value": 6}, {"description": "7", "value": 7}, {"description": "8", "value": 8}]}, {"category": "Standard", "decimalPlaces": 1, "default": 0.5, "group": "Geometry", "max": 5.0, "min": 0.0, "name": "CA_SV_FLAP_SLEW", "shortDesc": "Control Surface slew rate for normalized flaps setpoint", "type": "Float"}, {"category": "Standard", "default": 1, "group": "Geometry", "longDesc": "Define if this servo is used for additional control.\n", "name": "CA_SV_TL0_CT", "shortDesc": "Tilt 0 is used for control", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Yaw", "value": 1}, {"description": "Pitch", "value": 2}, {"description": "Yaw and Pitch", "value": 3}]}, {"category": "Standard", "decimalPlaces": 0, "default": 90.0, "group": "Geometry", "longDesc": "Defines the tilt angle when the servo is at the maximum.\nAn angle of zero means upwards.\n\n", "max": 90.0, "min": -90.0, "name": "CA_SV_TL0_MAXA", "shortDesc": "Tilt Servo 0 Tilt Angle at Maximum", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 0, "default": 0.0, "group": "Geometry", "longDesc": "Defines the tilt angle when the servo is at the minimum.\nAn angle of zero means upwards.\n\n", "max": 90.0, "min": -90.0, "name": "CA_SV_TL0_MINA", "shortDesc": "Tilt Servo 0 Tilt Angle at Minimum", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "Defines the direction the servo tilts towards when moving towards the maximum tilt angle.\nFor example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front',\nthe motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.\n\n", "max": 359, "min": 0, "name": "CA_SV_TL0_TD", "shortDesc": "Tilt Servo 0 Tilt Direction", "type": "Int32", "values": [{"description": "Towards Front", "value": 0}, {"description": "Towards Right", "value": 90}]}, {"category": "Standard", "default": 1, "group": "Geometry", "longDesc": "Define if this servo is used for additional control.\n", "name": "CA_SV_TL1_CT", "shortDesc": "Tilt 1 is used for control", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Yaw", "value": 1}, {"description": "Pitch", "value": 2}, {"description": "Yaw and Pitch", "value": 3}]}, {"category": "Standard", "decimalPlaces": 0, "default": 90.0, "group": "Geometry", "longDesc": "Defines the tilt angle when the servo is at the maximum.\nAn angle of zero means upwards.\n\n", "max": 90.0, "min": -90.0, "name": "CA_SV_TL1_MAXA", "shortDesc": "Tilt Servo 1 Tilt Angle at Maximum", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 0, "default": 0.0, "group": "Geometry", "longDesc": "Defines the tilt angle when the servo is at the minimum.\nAn angle of zero means upwards.\n\n", "max": 90.0, "min": -90.0, "name": "CA_SV_TL1_MINA", "shortDesc": "Tilt Servo 1 Tilt Angle at Minimum", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "Defines the direction the servo tilts towards when moving towards the maximum tilt angle.\nFor example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front',\nthe motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.\n\n", "max": 359, "min": 0, "name": "CA_SV_TL1_TD", "shortDesc": "Tilt Servo 1 Tilt Direction", "type": "Int32", "values": [{"description": "Towards Front", "value": 0}, {"description": "Towards Right", "value": 90}]}, {"category": "Standard", "default": 1, "group": "Geometry", "longDesc": "Define if this servo is used for additional control.\n", "name": "CA_SV_TL2_CT", "shortDesc": "Tilt 2 is used for control", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Yaw", "value": 1}, {"description": "Pitch", "value": 2}, {"description": "Yaw and Pitch", "value": 3}]}, {"category": "Standard", "decimalPlaces": 0, "default": 90.0, "group": "Geometry", "longDesc": "Defines the tilt angle when the servo is at the maximum.\nAn angle of zero means upwards.\n\n", "max": 90.0, "min": -90.0, "name": "CA_SV_TL2_MAXA", "shortDesc": "Tilt Servo 2 Tilt Angle at Maximum", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 0, "default": 0.0, "group": "Geometry", "longDesc": "Defines the tilt angle when the servo is at the minimum.\nAn angle of zero means upwards.\n\n", "max": 90.0, "min": -90.0, "name": "CA_SV_TL2_MINA", "shortDesc": "Tilt Servo 2 Tilt Angle at Minimum", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "Defines the direction the servo tilts towards when moving towards the maximum tilt angle.\nFor example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front',\nthe motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.\n\n", "max": 359, "min": 0, "name": "CA_SV_TL2_TD", "shortDesc": "Tilt Servo 2 Tilt Direction", "type": "Int32", "values": [{"description": "Towards Front", "value": 0}, {"description": "Towards Right", "value": 90}]}, {"category": "Standard", "default": 1, "group": "Geometry", "longDesc": "Define if this servo is used for additional control.\n", "name": "CA_SV_TL3_CT", "shortDesc": "Tilt 3 is used for control", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Yaw", "value": 1}, {"description": "Pitch", "value": 2}, {"description": "Yaw and Pitch", "value": 3}]}, {"category": "Standard", "decimalPlaces": 0, "default": 90.0, "group": "Geometry", "longDesc": "Defines the tilt angle when the servo is at the maximum.\nAn angle of zero means upwards.\n\n", "max": 90.0, "min": -90.0, "name": "CA_SV_TL3_MAXA", "shortDesc": "Tilt Servo 3 Tilt Angle at Maximum", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 0, "default": 0.0, "group": "Geometry", "longDesc": "Defines the tilt angle when the servo is at the minimum.\nAn angle of zero means upwards.\n\n", "max": 90.0, "min": -90.0, "name": "CA_SV_TL3_MINA", "shortDesc": "Tilt Servo 3 Tilt Angle at Minimum", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "Defines the direction the servo tilts towards when moving towards the maximum tilt angle.\nFor example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front',\nthe motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.\n\n", "max": 359, "min": 0, "name": "CA_SV_TL3_TD", "shortDesc": "Tilt Servo 3 Tilt Direction", "type": "Int32", "values": [{"description": "Towards Front", "value": 0}, {"description": "Towards Right", "value": 90}]}, {"category": "Standard", "default": 0, "group": "Geometry", "name": "CA_SV_TL_COUNT", "shortDesc": "Total number of Tilt Servos", "type": "Int32", "values": [{"description": "0", "value": 0}, {"description": "1", "value": 1}, {"description": "2", "value": 2}, {"description": "3", "value": 3}, {"description": "4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "Hover Thrust Estimator", "longDesc": "Sets the number of standard deviations used\nby the innovation consistency test.\n", "max": 10.0, "min": 1.0, "name": "HTE_ACC_GATE", "shortDesc": "Gate size for acceleration fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.1, "group": "Hover Thrust Estimator", "longDesc": "Sets the number of standard deviations used\nby the innovation consistency test.\n", "max": 1.0, "min": 0.0, "name": "HTE_HT_ERR_INIT", "shortDesc": "1-sigma initial hover thrust uncertainty", "type": "Float", "units": "normalized_thrust"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.0036, "group": "Hover Thrust Estimator", "longDesc": "Reduce to make the hover thrust estimate\nmore stable, increase if the real hover thrust\nis expected to change quickly over time.\n", "max": 1.0, "min": 0.0001, "name": "HTE_HT_NOISE", "shortDesc": "Hover thrust process noise", "type": "Float", "units": "normalized_thrust/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "Hover Thrust Estimator", "longDesc": "Defines the range of the hover thrust estimate around MPC_THR_HOVER.\nA value of 0.2 with MPC_THR_HOVER at 0.5 results in a range of [0.3, 0.7].\n\nSet to a large value if the vehicle operates in varying physical conditions that\naffect the required hover thrust strongly (e.g. differently sized payloads).\n", "max": 0.4, "min": 0.01, "name": "HTE_THR_RANGE", "shortDesc": "Max deviation from MPC_THR_HOVER", "type": "Float", "units": "normalized_thrust"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Hover Thrust Estimator", "longDesc": "Above this speed, the measurement noise is linearly increased\nto reduce the sensitivity of the estimator from biased measurement.\n\nSet to a low value on vehicles with large lifting surfaces.\n", "max": 20.0, "min": 1.0, "name": "HTE_VXY_THR", "shortDesc": "Horizontal velocity threshold for sensitivity reduction", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 2.0, "group": "Hover Thrust Estimator", "longDesc": "Above this speed, the measurement noise is linearly increased\nto reduce the sensitivity of the estimator from biased measurement.\n\nSet to a low value on vehicles affected by air drag when climbing or descending.\n", "max": 10.0, "min": 1.0, "name": "HTE_VZ_THR", "shortDesc": "Vertical velocity threshold for sensitivity reduction", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.0, "group": "Land Detector", "longDesc": "Maximum airspeed allowed in the landed state\n", "max": 30.0, "min": 2.0, "name": "LNDFW_AIRSPD_MAX", "shortDesc": "Fixed-wing land detector: Max airspeed", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.5, "group": "Land Detector", "longDesc": "Maximum allowed norm of the angular velocity in the landed state.\nOnly used if neither airspeed nor groundspeed can be used for landing detection.\n", "name": "LNDFW_ROT_MAX", "shortDesc": "Fixed-wing land detector: max rotational speed", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 2.0, "group": "Land Detector", "longDesc": "Time the land conditions (speeds and acceleration) have to be satisfied to detect a landing.\n", "min": 0.1, "name": "LNDFW_TRIG_TIME", "rebootRequired": true, "shortDesc": "Fixed-wing land detection trigger time", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Land Detector", "longDesc": "Maximum horizontal velocity allowed in the landed state.\nA factor of 0.7 is applied in case of airspeed-less flying\n(either because no sensor is present or sensor data got invalid in flight).\n", "max": 20.0, "min": 0.5, "name": "LNDFW_VEL_XY_MAX", "shortDesc": "Fixed-wing land detector: Max horizontal velocity threshold", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Land Detector", "longDesc": "Maximum vertical velocity allowed in the landed state.\n", "max": 20.0, "min": 0.1, "name": "LNDFW_VEL_Z_MAX", "shortDesc": "Fixed-wing land detector: Max vertiacal velocity threshold", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 8.0, "group": "Land Detector", "longDesc": "Maximum horizontal (x,y body axes) acceleration allowed in the landed state\n", "max": 30.0, "min": 2.0, "name": "LNDFW_XYACC_MAX", "shortDesc": "Fixed-wing land detector: Max horizontal acceleration", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 2, "default": 2.0, "group": "Land Detector", "longDesc": "The height above ground below which ground effect creates barometric altitude errors.\nA negative value indicates no ground effect.\n", "min": -1.0, "name": "LNDMC_ALT_GND", "shortDesc": "Ground effect altitude for multicopters", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 20.0, "group": "Land Detector", "longDesc": "Maximum allowed norm of the angular velocity (roll, pitch) in the landed state.\n", "name": "LNDMC_ROT_MAX", "shortDesc": "Multicopter max rotational speed", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.5, "group": "Land Detector", "longDesc": "Maximum horizontal velocity allowed in the landed state\n", "name": "LNDMC_XY_VEL_MAX", "shortDesc": "Multicopter max horizontal velocity", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.25, "group": "Land Detector", "longDesc": "Vertical velocity threshold to detect landing.\nHas to be set lower than the expected minimal speed for landing,\nwhich is either MPC_LAND_SPEED or MPC_LAND_CRWL.\nThis is enforced by an automatic check.\n", "min": 0.0, "name": "LNDMC_Z_VEL_MAX", "shortDesc": "Multicopter vertical velocity threshold", "type": "Float", "units": "m/s"}, {"category": "System", "default": 0, "group": "Land Detector", "longDesc": "Total flight time of this autopilot. Higher 32 bits of the value.\nFlight time in microseconds = (LND_FLIGHT_T_HI << 32) | LND_FLIGHT_T_LO.\n", "min": 0, "name": "LND_FLIGHT_T_HI", "shortDesc": "Total flight time in microseconds", "type": "Int32", "volatile": true}, {"category": "System", "default": 0, "group": "Land Detector", "longDesc": "Total flight time of this autopilot. Lower 32 bits of the value.\nFlight time in microseconds = (LND_FLIGHT_T_HI << 32) | LND_FLIGHT_T_LO.\n", "min": 0, "name": "LND_FLIGHT_T_LO", "shortDesc": "Total flight time in microseconds", "type": "Int32", "volatile": true}, {"category": "Standard", "decimalPlaces": 2, "default": 10.0, "group": "Landing Target Estimator", "longDesc": "Variance of acceleration measurement used for landing target position prediction.\nHigher values results in tighter following of the measurements and more lenient outlier rejection\n", "min": 0.01, "name": "LTEST_ACC_UNC", "shortDesc": "Acceleration uncertainty", "type": "Float", "units": "(m/s^2)^2"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.005, "group": "Landing Target Estimator", "longDesc": "Variance of the landing target measurement from the driver.\nHigher values result in less aggressive following of the measurement and a smoother output as well as fewer rejected measurements.\n", "name": "LTEST_MEAS_UNC", "shortDesc": "Landing target measurement uncertainty", "type": "Float", "units": "tan(rad)^2"}, {"category": "Standard", "default": 0, "group": "Landing Target Estimator", "longDesc": "Configure the mode of the landing target. Depending on the mode, the landing target observations are used differently to aid position estimation.\n\nMode Moving:     The landing target may be moving around while in the field of view of the vehicle. Landing target measurements are not used to aid positioning.\nMode Stationary: The landing target is stationary. Measured velocity w.r.t. the landing target is used to aid velocity estimation.\n", "max": 1, "min": 0, "name": "LTEST_MODE", "shortDesc": "Landing target mode", "type": "Int32", "values": [{"description": "Moving", "value": 0}, {"description": "Stationary", "value": 1}]}, {"category": "Standard", "decimalPlaces": 3, "default": 0.1, "group": "Landing Target Estimator", "longDesc": "Initial variance of the relative landing target position in x and y direction\n", "min": 0.001, "name": "LTEST_POS_UNC_IN", "shortDesc": "Initial landing target position uncertainty", "type": "Float", "units": "m^2"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Landing Target Estimator", "longDesc": "Landing target x measurements are scaled by this factor before being used\n", "min": 0.01, "name": "LTEST_SCALE_X", "shortDesc": "Scale factor for sensor measurements in sensor x axis", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Landing Target Estimator", "longDesc": "Landing target y measurements are scaled by this factor before being used\n", "min": 0.01, "name": "LTEST_SCALE_Y", "shortDesc": "Scale factor for sensor measurements in sensor y axis", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Landing Target Estimator", "name": "LTEST_SENS_POS_X", "rebootRequired": true, "shortDesc": "X Position of IRLOCK in body frame (forward)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Landing Target Estimator", "name": "LTEST_SENS_POS_Y", "rebootRequired": true, "shortDesc": "Y Position of IRLOCK in body frame (right)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Landing Target Estimator", "name": "LTEST_SENS_POS_Z", "rebootRequired": true, "shortDesc": "Z Position of IRLOCK in body frame (downward)", "type": "Float", "units": "m"}, {"category": "Standard", "default": 2, "group": "Landing Target Estimator", "longDesc": "Default orientation of Yaw 90\u00b0\n", "max": 40, "min": -1, "name": "LTEST_SENS_ROT", "rebootRequired": true, "shortDesc": "Rotation of IRLOCK sensor relative to airframe", "type": "Int32", "values": [{"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}]}, {"category": "Standard", "decimalPlaces": 3, "default": 0.1, "group": "Landing Target Estimator", "longDesc": "Initial variance of the relative landing target velocity in x and y directions\n", "min": 0.001, "name": "LTEST_VEL_UNC_IN", "shortDesc": "Initial landing target velocity uncertainty", "type": "Float", "units": "(m/s)^2"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.012, "group": "Local Position Estimator", "longDesc": "Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz)\n\nLarger than data sheet to account for tilt error.\n", "max": 2.0, "min": 1e-05, "name": "LPE_ACC_XY", "shortDesc": "Accelerometer xy noise density", "type": "Float", "units": "m/s^2/sqrt(Hz)"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.02, "group": "Local Position Estimator", "longDesc": "Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz)\n", "max": 2.0, "min": 1e-05, "name": "LPE_ACC_Z", "shortDesc": "Accelerometer z noise density", "type": "Float", "units": "m/s^2/sqrt(Hz)"}, {"category": "Standard", "decimalPlaces": 2, "default": 3.0, "group": "Local Position Estimator", "max": 100.0, "min": 0.01, "name": "LPE_BAR_Z", "shortDesc": "Barometric presssure altitude z standard deviation", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Local Position Estimator", "name": "LPE_EN", "shortDesc": "Local position estimator enable (unsupported)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 3, "default": 3.0, "group": "Local Position Estimator", "max": 5.0, "min": 1.0, "name": "LPE_EPH_MAX", "shortDesc": "Max EPH allowed for GPS initialization", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 5.0, "group": "Local Position Estimator", "max": 5.0, "min": 1.0, "name": "LPE_EPV_MAX", "shortDesc": "Max EPV allowed for GPS initialization", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Local Position Estimator", "longDesc": "By initializing the estimator to the LPE_LAT/LON parameters when global information is unavailable\n", "max": 1, "min": 0, "name": "LPE_FAKE_ORIGIN", "shortDesc": "Enable publishing of a fake global position (e.g for AUTO missions using Optical Flow)", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.001, "group": "Local Position Estimator", "max": 2.0, "min": 0.0, "name": "LPE_FGYRO_HP", "shortDesc": "Flow gyro high pass filter cut off frequency", "type": "Float", "units": "Hz"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Local Position Estimator", "max": 1.0, "min": -1.0, "name": "LPE_FLW_OFF_Z", "shortDesc": "Optical flow z offset from center", "type": "Float", "units": "m"}, {"category": "Standard", "default": 150, "group": "Local Position Estimator", "max": 255, "min": 0, "name": "LPE_FLW_QMIN", "shortDesc": "Optical flow minimum quality threshold", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 3, "default": 7.0, "group": "Local Position Estimator", "max": 10.0, "min": 0.1, "name": "LPE_FLW_R", "shortDesc": "Optical flow rotation (roll/pitch) noise gain", "type": "Float", "units": "m/s/rad"}, {"category": "Standard", "decimalPlaces": 3, "default": 7.0, "group": "Local Position Estimator", "max": 10.0, "min": 0.0, "name": "LPE_FLW_RR", "shortDesc": "Optical flow angular velocity noise gain", "type": "Float", "units": "m/rad"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.3, "group": "Local Position Estimator", "max": 10.0, "min": 0.1, "name": "LPE_FLW_SCALE", "shortDesc": "Optical flow scale", "type": "Float", "units": "m"}, {"bitmask": [{"description": "fuse GPS, requires GPS for alt. init", "index": 0}, {"description": "fuse optical flow", "index": 1}, {"description": "fuse vision position", "index": 2}, {"description": "fuse landing target", "index": 3}, {"description": "fuse land detector", "index": 4}, {"description": "pub agl as lpos down", "index": 5}, {"description": "flow gyro compensation", "index": 6}, {"description": "fuse baro", "index": 7}], "category": "Standard", "default": 145, "group": "Local Position Estimator", "longDesc": "Set bits in the following positions to enable:\n0 : Set to true to fuse GPS data if available, also requires GPS for altitude init\n1 : Set to true to fuse optical flow data if available\n2 : Set to true to fuse vision position\n3 : Set to true to enable landing target\n4 : Set to true to fuse land detector\n5 : Set to true to publish AGL as local position down component\n6 : Set to true to enable flow gyro compensation\n7 : Set to true to enable baro fusion\n\ndefault (145 - GPS, baro, land detector)\n", "max": 255, "min": 0, "name": "LPE_FUSION", "shortDesc": "Integer bitmask controlling data fusion", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.29, "group": "Local Position Estimator", "max": 0.4, "min": 0.0, "name": "LPE_GPS_DELAY", "shortDesc": "GPS delay compensaton", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.25, "group": "Local Position Estimator", "longDesc": "EPV used if greater than this value.\n", "max": 2.0, "min": 0.01, "name": "LPE_GPS_VXY", "shortDesc": "GPS xy velocity standard deviation", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.25, "group": "Local Position Estimator", "max": 2.0, "min": 0.01, "name": "LPE_GPS_VZ", "shortDesc": "GPS z velocity standard deviation", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Local Position Estimator", "max": 5.0, "min": 0.01, "name": "LPE_GPS_XY", "shortDesc": "Minimum GPS xy standard deviation, uses reported EPH if greater", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 3.0, "group": "Local Position Estimator", "max": 200.0, "min": 0.01, "name": "LPE_GPS_Z", "shortDesc": "Minimum GPS z standard deviation, uses reported EPV if greater", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Local Position Estimator", "max": 10.0, "min": 0.01, "name": "LPE_LAND_VXY", "shortDesc": "Land detector xy velocity standard deviation", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.03, "group": "Local Position Estimator", "max": 10.0, "min": 0.001, "name": "LPE_LAND_Z", "shortDesc": "Land detector z standard deviation", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 8, "default": 47.397742, "group": "Local Position Estimator", "max": 90.0, "min": -90.0, "name": "LPE_LAT", "shortDesc": "Local origin latitude for nav w/o GPS", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Local Position Estimator", "max": 1.0, "min": -1.0, "name": "LPE_LDR_OFF_Z", "shortDesc": "Lidar z offset from center of vehicle +down", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.03, "group": "Local Position Estimator", "max": 1.0, "min": 0.01, "name": "LPE_LDR_Z", "shortDesc": "Lidar z standard deviation", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 8, "default": 8.545594, "group": "Local Position Estimator", "max": 180.0, "min": -180.0, "name": "LPE_LON", "shortDesc": "Local origin longitude for nav w/o GPS", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0001, "group": "Local Position Estimator", "max": 10.0, "min": 0.0, "name": "LPE_LT_COV", "shortDesc": "Minimum landing target standard covariance, uses reported covariance if greater", "type": "Float", "units": "m^2"}, {"category": "Standard", "decimalPlaces": 8, "default": 0.001, "group": "Local Position Estimator", "max": 1.0, "min": 0.0, "name": "LPE_PN_B", "shortDesc": "Accel bias propagation noise density", "type": "Float", "units": "m/s^3/sqrt(Hz)"}, {"category": "Standard", "decimalPlaces": 8, "default": 0.1, "group": "Local Position Estimator", "longDesc": "Increase to trust measurements more.\nDecrease to trust model more.\n", "max": 1.0, "min": 0.0, "name": "LPE_PN_P", "shortDesc": "Position propagation noise density", "type": "Float", "units": "m/s/sqrt(Hz)"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.001, "group": "Local Position Estimator", "max": 1.0, "min": 0.0, "name": "LPE_PN_T", "shortDesc": "Terrain random walk noise density, hilly/outdoor (0.1), flat/Indoor (0.001)", "type": "Float", "units": "m/s/sqrt(Hz)"}, {"category": "Standard", "decimalPlaces": 8, "default": 0.1, "group": "Local Position Estimator", "longDesc": "Increase to trust measurements more.\nDecrease to trust model more.\n", "max": 1.0, "min": 0.0, "name": "LPE_PN_V", "shortDesc": "Velocity propagation noise density", "type": "Float", "units": "m/s^2/sqrt(Hz)"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Local Position Estimator", "max": 1.0, "min": -1.0, "name": "LPE_SNR_OFF_Z", "shortDesc": "Sonar z offset from center of vehicle +down", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Local Position Estimator", "max": 1.0, "min": 0.01, "name": "LPE_SNR_Z", "shortDesc": "Sonar z standard deviation", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Local Position Estimator", "longDesc": "Used to calculate increased terrain random walk nosie due to movement.\n", "max": 100.0, "min": 0.0, "name": "LPE_T_MAX_GRADE", "shortDesc": "Terrain maximum percent grade, hilly/outdoor (100 = 45 deg), flat/Indoor (0 = 0 deg)", "type": "Float", "units": "%"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.001, "group": "Local Position Estimator", "max": 1.0, "min": 0.0001, "name": "LPE_VIC_P", "shortDesc": "Vicon position standard deviation", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "Local Position Estimator", "longDesc": "Set to zero to enable automatic compensation from measurement timestamps\n", "max": 0.1, "min": 0.0, "name": "LPE_VIS_DELAY", "shortDesc": "Vision delay compensation", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.1, "group": "Local Position Estimator", "max": 1.0, "min": 0.01, "name": "LPE_VIS_XY", "shortDesc": "Vision xy standard deviation", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.5, "group": "Local Position Estimator", "max": 100.0, "min": 0.01, "name": "LPE_VIS_Z", "shortDesc": "Vision z standard deviation", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.3, "group": "Local Position Estimator", "max": 1.0, "min": 0.01, "name": "LPE_VXY_PUB", "shortDesc": "Required velocity xy standard deviation to publish position", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 0, "default": 5.0, "group": "Local Position Estimator", "max": 1000.0, "min": 5.0, "name": "LPE_X_LP", "shortDesc": "Cut frequency for state publication", "type": "Float", "units": "Hz"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Local Position Estimator", "max": 5.0, "min": 0.3, "name": "LPE_Z_PUB", "shortDesc": "Required z standard deviation to publish altitude/ terrain", "type": "Float", "units": "m"}, {"category": "Standard", "default": 1, "group": "MAVLink", "longDesc": "This allows a ground control station to automatically find the drone\non the local network.\n\n", "name": "MAV_0_BROADCAST", "shortDesc": "Broadcast heartbeats on local network for MAVLink instance 0", "type": "Int32", "values": [{"description": "Never broadcast", "value": 0}, {"description": "Always broadcast", "value": 1}, {"description": "Only multicast", "value": 2}]}, {"category": "Standard", "default": 2, "group": "MAVLink", "longDesc": "This is used to force flow control on or off for the the mavlink\ninstance. By default it is auto detected. Use when auto detection fails.\n\n", "name": "MAV_0_FLOW_CTRL", "rebootRequired": true, "shortDesc": "Enable serial flow control for instance 0", "type": "Int32", "values": [{"description": "Force off", "value": 0}, {"description": "Force on", "value": 1}, {"description": "Auto-detected", "value": 2}]}, {"category": "Standard", "default": 1, "group": "MAVLink", "longDesc": "If enabled, forward incoming MAVLink messages to other MAVLink ports if the\nmessage is either broadcast or the target is not the autopilot.\n\nThis allows for example a GCS to talk to a camera that is connected to the\nautopilot via MAVLink (on a different link than the GCS).\n\n", "name": "MAV_0_FORWARD", "rebootRequired": true, "shortDesc": "Enable MAVLink Message forwarding for instance 0", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 3, "default": 0.015, "group": "MAVLink", "increment": 0.001, "longDesc": "Positive real value that configures the transmission frequency of the\nHIGH_LATENCY2 stream for instance 0, configured in iridium mode.\nThis parameter has no effect if the instance mode is different from iridium.\n\n", "max": 50.0, "min": 0.0, "name": "MAV_0_HL_FREQ", "rebootRequired": true, "shortDesc": "Configures the frequency of HIGH_LATENCY2 stream for instance 0", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "The MAVLink Mode defines the set of streamed messages (for example the\nvehicle's attitude) and their sending rates.\n\n", "name": "MAV_0_MODE", "rebootRequired": true, "shortDesc": "MAVLink Mode for instance 0", "type": "Int32", "values": [{"description": "Normal", "value": 0}, {"description": "Custom", "value": 1}, {"description": "Onboard", "value": 2}, {"description": "OSD", "value": 3}, {"description": "Magic", "value": 4}, {"description": "Config", "value": 5}, {"description": "Minimal", "value": 7}, {"description": "External Vision", "value": 8}, {"description": "Gimbal", "value": 10}, {"description": "Onboard Low Bandwidth", "value": 11}, {"description": "uAvionix", "value": 12}, {"description": "Low Bandwidth", "value": 13}]}, {"category": "Standard", "default": 1, "group": "MAVLink", "longDesc": "If enabled, MAVLink messages will be throttled according to\n`txbuf` field reported by radio_status.\n\nRequires a radio to send the mavlink message RADIO_STATUS.\n\n", "name": "MAV_0_RADIO_CTL", "rebootRequired": true, "shortDesc": "Enable software throttling of mavlink on instance 0", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1200, "group": "MAVLink", "longDesc": "Configure the maximum sending rate for the MAVLink streams in Bytes/sec.\nIf the configured streams exceed the maximum rate, the sending rate of\neach stream is automatically decreased.\n\nIf this is set to 0 a value of half of the theoretical maximum bandwidth is used.\nThis corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on\n8N1-configured links).\n\n", "min": 0, "name": "MAV_0_RATE", "rebootRequired": true, "shortDesc": "Maximum MAVLink sending rate for instance 0", "type": "Int32", "units": "B/s"}, {"category": "Standard", "default": 14550, "group": "MAVLink", "longDesc": "If ethernet enabled and selected as configuration for MAVLink instance 0,\nselected remote port will be set and used in MAVLink instance 0.\n\n", "name": "MAV_0_REMOTE_PRT", "rebootRequired": true, "shortDesc": "MAVLink Remote Port for instance 0", "type": "Int32"}, {"category": "Standard", "default": 14556, "group": "MAVLink", "longDesc": "If ethernet enabled and selected as configuration for MAVLink instance 0,\nselected udp port will be set and used in MAVLink instance 0.\n\n", "name": "MAV_0_UDP_PRT", "rebootRequired": true, "shortDesc": "MAVLink Network Port for instance 0", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "This allows a ground control station to automatically find the drone\non the local network.\n\n", "name": "MAV_1_BROADCAST", "shortDesc": "Broadcast heartbeats on local network for MAVLink instance 1", "type": "Int32", "values": [{"description": "Never broadcast", "value": 0}, {"description": "Always broadcast", "value": 1}, {"description": "Only multicast", "value": 2}]}, {"category": "Standard", "default": 2, "group": "MAVLink", "longDesc": "This is used to force flow control on or off for the the mavlink\ninstance. By default it is auto detected. Use when auto detection fails.\n\n", "name": "MAV_1_FLOW_CTRL", "rebootRequired": true, "shortDesc": "Enable serial flow control for instance 1", "type": "Int32", "values": [{"description": "Force off", "value": 0}, {"description": "Force on", "value": 1}, {"description": "Auto-detected", "value": 2}]}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "If enabled, forward incoming MAVLink messages to other MAVLink ports if the\nmessage is either broadcast or the target is not the autopilot.\n\nThis allows for example a GCS to talk to a camera that is connected to the\nautopilot via MAVLink (on a different link than the GCS).\n\n", "name": "MAV_1_FORWARD", "rebootRequired": true, "shortDesc": "Enable MAVLink Message forwarding for instance 1", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 3, "default": 0.015, "group": "MAVLink", "increment": 0.001, "longDesc": "Positive real value that configures the transmission frequency of the\nHIGH_LATENCY2 stream for instance 1, configured in iridium mode.\nThis parameter has no effect if the instance mode is different from iridium.\n\n", "max": 50.0, "min": 0.0, "name": "MAV_1_HL_FREQ", "rebootRequired": true, "shortDesc": "Configures the frequency of HIGH_LATENCY2 stream for instance 1", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 2, "group": "MAVLink", "longDesc": "The MAVLink Mode defines the set of streamed messages (for example the\nvehicle's attitude) and their sending rates.\n\n", "name": "MAV_1_MODE", "rebootRequired": true, "shortDesc": "MAVLink Mode for instance 1", "type": "Int32", "values": [{"description": "Normal", "value": 0}, {"description": "Custom", "value": 1}, {"description": "Onboard", "value": 2}, {"description": "OSD", "value": 3}, {"description": "Magic", "value": 4}, {"description": "Config", "value": 5}, {"description": "Minimal", "value": 7}, {"description": "External Vision", "value": 8}, {"description": "Gimbal", "value": 10}, {"description": "Onboard Low Bandwidth", "value": 11}, {"description": "uAvionix", "value": 12}, {"description": "Low Bandwidth", "value": 13}]}, {"category": "Standard", "default": 1, "group": "MAVLink", "longDesc": "If enabled, MAVLink messages will be throttled according to\n`txbuf` field reported by radio_status.\n\nRequires a radio to send the mavlink message RADIO_STATUS.\n\n", "name": "MAV_1_RADIO_CTL", "rebootRequired": true, "shortDesc": "Enable software throttling of mavlink on instance 1", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "Configure the maximum sending rate for the MAVLink streams in Bytes/sec.\nIf the configured streams exceed the maximum rate, the sending rate of\neach stream is automatically decreased.\n\nIf this is set to 0 a value of half of the theoretical maximum bandwidth is used.\nThis corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on\n8N1-configured links).\n\n", "min": 0, "name": "MAV_1_RATE", "rebootRequired": true, "shortDesc": "Maximum MAVLink sending rate for instance 1", "type": "Int32", "units": "B/s"}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "If ethernet enabled and selected as configuration for MAVLink instance 1,\nselected remote port will be set and used in MAVLink instance 1.\n\n", "name": "MAV_1_REMOTE_PRT", "rebootRequired": true, "shortDesc": "MAVLink Remote Port for instance 1", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "If ethernet enabled and selected as configuration for MAVLink instance 1,\nselected udp port will be set and used in MAVLink instance 1.\n\n", "name": "MAV_1_UDP_PRT", "rebootRequired": true, "shortDesc": "MAVLink Network Port for instance 1", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "This allows a ground control station to automatically find the drone\non the local network.\n\n", "name": "MAV_2_BROADCAST", "shortDesc": "Broadcast heartbeats on local network for MAVLink instance 2", "type": "Int32", "values": [{"description": "Never broadcast", "value": 0}, {"description": "Always broadcast", "value": 1}, {"description": "Only multicast", "value": 2}]}, {"category": "Standard", "default": 2, "group": "MAVLink", "longDesc": "This is used to force flow control on or off for the the mavlink\ninstance. By default it is auto detected. Use when auto detection fails.\n\n", "name": "MAV_2_FLOW_CTRL", "rebootRequired": true, "shortDesc": "Enable serial flow control for instance 2", "type": "Int32", "values": [{"description": "Force off", "value": 0}, {"description": "Force on", "value": 1}, {"description": "Auto-detected", "value": 2}]}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "If enabled, forward incoming MAVLink messages to other MAVLink ports if the\nmessage is either broadcast or the target is not the autopilot.\n\nThis allows for example a GCS to talk to a camera that is connected to the\nautopilot via MAVLink (on a different link than the GCS).\n\n", "name": "MAV_2_FORWARD", "rebootRequired": true, "shortDesc": "Enable MAVLink Message forwarding for instance 2", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 3, "default": 0.015, "group": "MAVLink", "increment": 0.001, "longDesc": "Positive real value that configures the transmission frequency of the\nHIGH_LATENCY2 stream for instance 2, configured in iridium mode.\nThis parameter has no effect if the instance mode is different from iridium.\n\n", "max": 50.0, "min": 0.0, "name": "MAV_2_HL_FREQ", "rebootRequired": true, "shortDesc": "Configures the frequency of HIGH_LATENCY2 stream for instance 2", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "The MAVLink Mode defines the set of streamed messages (for example the\nvehicle's attitude) and their sending rates.\n\n", "name": "MAV_2_MODE", "rebootRequired": true, "shortDesc": "MAVLink Mode for instance 2", "type": "Int32", "values": [{"description": "Normal", "value": 0}, {"description": "Custom", "value": 1}, {"description": "Onboard", "value": 2}, {"description": "OSD", "value": 3}, {"description": "Magic", "value": 4}, {"description": "Config", "value": 5}, {"description": "Minimal", "value": 7}, {"description": "External Vision", "value": 8}, {"description": "Gimbal", "value": 10}, {"description": "Onboard Low Bandwidth", "value": 11}, {"description": "uAvionix", "value": 12}, {"description": "Low Bandwidth", "value": 13}]}, {"category": "Standard", "default": 1, "group": "MAVLink", "longDesc": "If enabled, MAVLink messages will be throttled according to\n`txbuf` field reported by radio_status.\n\nRequires a radio to send the mavlink message RADIO_STATUS.\n\n", "name": "MAV_2_RADIO_CTL", "rebootRequired": true, "shortDesc": "Enable software throttling of mavlink on instance 2", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "Configure the maximum sending rate for the MAVLink streams in Bytes/sec.\nIf the configured streams exceed the maximum rate, the sending rate of\neach stream is automatically decreased.\n\nIf this is set to 0 a value of half of the theoretical maximum bandwidth is used.\nThis corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on\n8N1-configured links).\n\n", "min": 0, "name": "MAV_2_RATE", "rebootRequired": true, "shortDesc": "Maximum MAVLink sending rate for instance 2", "type": "Int32", "units": "B/s"}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "If ethernet enabled and selected as configuration for MAVLink instance 2,\nselected remote port will be set and used in MAVLink instance 2.\n\n", "name": "MAV_2_REMOTE_PRT", "rebootRequired": true, "shortDesc": "MAVLink Remote Port for instance 2", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "If ethernet enabled and selected as configuration for MAVLink instance 2,\nselected udp port will be set and used in MAVLink instance 2.\n\n", "name": "MAV_2_UDP_PRT", "rebootRequired": true, "shortDesc": "MAVLink Network Port for instance 2", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "MAVLink", "max": 250, "min": 1, "name": "MAV_COMP_ID", "rebootRequired": true, "shortDesc": "MAVLink component ID", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "MAVLink", "longDesc": "If set to 1 incoming external setpoint messages will be directly forwarded\nto the controllers if in offboard control mode\n", "name": "MAV_FWDEXTSP", "shortDesc": "Forward external setpoint messages", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "MAVLink", "longDesc": "Disabling the parameter hash check functionality will make the mavlink instance\nstream parameters continuously.\n", "name": "MAV_HASH_CHK_EN", "shortDesc": "Parameter hash check", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "MAVLink", "longDesc": "The mavlink heartbeat message will not be forwarded if this parameter is set to 'disabled'.\nThe main reason for disabling heartbeats to be forwarded is because they confuse dronekit.\n", "name": "MAV_HB_FORW_EN", "shortDesc": "Heartbeat message forwarding", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 2, "group": "MAVLink", "name": "MAV_PROTO_VER", "shortDesc": "MAVLink protocol version", "type": "Int32", "values": [{"description": "Version 1 with auto-upgrade to v2 if detected", "value": 1}, {"description": "Version 2", "value": 2}]}, {"category": "Standard", "default": 5, "group": "MAVLink", "longDesc": "If the connected radio stops reporting RADIO_STATUS for a certain time,\na warning is triggered and, if MAV_X_RADIO_CTL is enabled, the software-flow\ncontrol is reset.\n", "max": 250, "min": 1, "name": "MAV_RADIO_TOUT", "shortDesc": "Timeout in seconds for the RADIO_STATUS reports coming in", "type": "Int32", "units": "s"}, {"category": "Standard", "default": 0, "group": "MAVLink", "name": "MAV_SIGN_CFG", "shortDesc": "MAVLink protocol signing", "type": "Int32", "values": [{"description": "Message signing disabled", "value": 0}, {"description": "Signing enabled except on USB", "value": 1}, {"description": "Signing always enabled", "value": 2}]}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "When non-zero the MAVLink app will attempt to configure the\nSiK radio to this ID and re-set the parameter to 0. If the value\nis negative it will reset the complete radio config to\nfactory defaults. Only applies if this mavlink instance is going through a SiK radio\n", "max": 240, "min": -1, "name": "MAV_SIK_RADIO_ID", "shortDesc": "MAVLink SiK Radio ID", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "MAVLink", "max": 250, "min": 1, "name": "MAV_SYS_ID", "rebootRequired": true, "shortDesc": "MAVLink system ID", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "TELEM2 on Skynode only.\n\n", "name": "MAV_S_FORWARD", "rebootRequired": true, "shortDesc": "Enable MAVLink forwarding on TELEM2", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 11, "group": "MAVLink", "longDesc": "The MAVLink Mode defines the set of streamed messages (for example the\nvehicle's attitude) and their sending rates.\n\n", "name": "MAV_S_MODE", "rebootRequired": true, "shortDesc": "MAVLink Mode for SOM to FMU communication channel", "type": "Int32", "values": [{"description": "Normal", "value": 0}, {"description": "Onboard", "value": 2}, {"description": "Config", "value": 5}, {"description": "Minimal", "value": 7}, {"description": "Onboard Low Bandwidth", "value": 11}, {"description": "Low Bandwidth", "value": 13}]}, {"category": "Standard", "default": 0, "group": "MAVLink", "max": 22, "min": 0, "name": "MAV_TYPE", "shortDesc": "MAVLink airframe type", "type": "Int32", "values": [{"description": "Generic micro air vehicle", "value": 0}, {"description": "Fixed wing aircraft", "value": 1}, {"description": "Quadrotor", "value": 2}, {"description": "Coaxial helicopter", "value": 3}, {"description": "Normal helicopter with tail rotor", "value": 4}, {"description": "Airship, controlled", "value": 7}, {"description": "Free balloon, uncontrolled", "value": 8}, {"description": "Ground rover", "value": 10}, {"description": "Surface vessel, boat, ship", "value": 11}, {"description": "Submarine", "value": 12}, {"description": "Hexarotor", "value": 13}, {"description": "Octorotor", "value": 14}, {"description": "Tricopter", "value": 15}, {"description": "VTOL Two-rotor Tailsitter", "value": 19}, {"description": "VTOL Quad-rotor Tailsitter", "value": 20}, {"description": "VTOL Tiltrotor", "value": 21}, {"description": "VTOL Standard (separate fixed rotors for hover and cruise flight)", "value": 22}, {"description": "VTOL Tailsitter", "value": 23}]}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "If set to 1 incoming HIL GPS messages are parsed.\n", "name": "MAV_USEHILGPS", "shortDesc": "Use/Accept HIL GPS message even if not in HIL mode", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "Magnetometer Bias Estimator", "longDesc": "This enables continuous calibration of the magnetometers\nbefore takeoff using gyro data.\n", "name": "MBE_ENABLE", "rebootRequired": true, "shortDesc": "Enable online mag bias calibration", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 18.0, "group": "Magnetometer Bias Estimator", "increment": 0.1, "longDesc": "Increase to make the estimator more responsive\nDecrease to make the estimator more robust to noise\n", "max": 100.0, "min": 0.1, "name": "MBE_LEARN_GAIN", "shortDesc": "Mag bias estimator learning gain", "type": "Float"}, {"category": "Standard", "default": 1, "group": "Manual Control", "longDesc": "This determines if moving the left stick to the lower right\narms and to the lower left disarms the vehicle.\n", "name": "MAN_ARM_GESTURE", "shortDesc": "Enable arm/disarm stick gesture", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "Manual Control", "increment": 0.01, "longDesc": "Range around stick center ignored to prevent\nvehicle drift from stick hardware inaccuracy.\n\nDoes not apply to any precise constant input like\nthrottle and attitude or rate piloting.\n", "max": 1.0, "min": 0.0, "name": "MAN_DEADZONE", "shortDesc": "Deadzone for sticks (only specific use cases)", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Manual Control", "longDesc": "The timeout for holding the left stick to the lower left\nand the right stick to the lower right at the same time until the gesture\nkills the actuators one-way.\n\nA negative value disables the feature.\n", "max": 15.0, "min": -1.0, "name": "MAN_KILL_GEST_T", "shortDesc": "Trigger time for kill stick gesture", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "Mission", "longDesc": "Ensure:\ngripper: NAV_CMD_DO_GRIPPER\nhas released before continuing mission.\nwinch: CMD_DO_WINCH\nhas delivered before continuing mission.\ngimbal: CMD_DO_GIMBAL_MANAGER_PITCHYAW\nhas reached the commanded orientation before beginning to take pictures.\n", "min": 0.0, "name": "MIS_COMMAND_TOUT", "shortDesc": "Timeout to allow the payload to execute the mission command", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 10000.0, "group": "Mission", "increment": 100.0, "longDesc": "There will be a warning message if the current waypoint is more distant than MIS_DIST_1WP from Home.\nHas no effect on mission validity.\nSet a value of zero or less to disable.\n", "max": 100000.0, "min": -1.0, "name": "MIS_DIST_1WP", "shortDesc": "Maximal horizontal distance from Home to first waypoint", "type": "Float", "units": "m"}, {"category": "Standard", "default": 30, "group": "Mission", "longDesc": "Minimum altitude above landing point that the vehicle will climb to after an aborted landing.\nThen vehicle will loiter in this altitude until further command is received.\nOnly applies to fixed-wing vehicles.\n", "min": 0, "name": "MIS_LND_ABRT_ALT", "shortDesc": "Landing abort min altitude", "type": "Int32", "units": "m"}, {"category": "Standard", "default": 0, "group": "Mission", "longDesc": "If enabled, yaw commands will be sent to the mount and the vehicle will follow its heading towards the flight direction.\nIf disabled, the vehicle will yaw towards the ROI.\n", "max": 1, "min": 0, "name": "MIS_MNT_YAW_CTL", "shortDesc": "Enable yaw control of the mount. (Only affects multicopters and ROI mission items)", "type": "Int32", "values": [{"description": "Disable", "value": 0}, {"description": "Enable", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 2.5, "group": "Mission", "increment": 0.5, "longDesc": "This is the relative altitude the system will take off to\nif not otherwise specified.\n", "min": 0.0, "name": "MIS_TAKEOFF_ALT", "shortDesc": "Default take-off altitude", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Mission", "longDesc": "Specifies if a mission has to contain a takeoff and/or mission landing.\nValidity of configured takeoffs/landings is checked independently of the setting here.\n", "name": "MIS_TKO_LAND_REQ", "shortDesc": "Mission takeoff/landing required", "type": "Int32", "values": [{"description": "No requirements", "value": 0}, {"description": "Require a takeoff", "value": 1}, {"description": "Require a landing", "value": 2}, {"description": "Require a takeoff and a landing", "value": 3}, {"description": "Require both a takeoff and a landing, or neither", "value": 4}, {"description": "Same as previous when landed, in-air require landing only if no valid VTOL approach is present", "value": 5}]}, {"category": "Standard", "decimalPlaces": 1, "default": 12.0, "group": "Mission", "increment": 1.0, "max": 90.0, "min": 0.0, "name": "MIS_YAW_ERR", "shortDesc": "Max yaw error in degrees needed for waypoint heading acceptance", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "Mission", "increment": 1.0, "longDesc": "If set > 0 it will ignore the target heading for normal waypoint acceptance. If the\nwaypoint forces the heading the timeout will matter. For example on VTOL forwards transition.\nMainly useful for VTOLs that have less yaw authority and might not reach target\nyaw in wind. Disabled by default.\n", "max": 20.0, "min": -1.0, "name": "MIS_YAW_TMT", "shortDesc": "Time in seconds we wait on reaching target heading at a waypoint if it is forced", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "Mission", "max": 4, "min": 0, "name": "MPC_YAW_MODE", "shortDesc": "Heading behavior in autonomous modes", "type": "Int32", "values": [{"description": "towards waypoint", "value": 0}, {"description": "towards home", "value": 1}, {"description": "away from home", "value": 2}, {"description": "along trajectory", "value": 3}, {"description": "towards waypoint (yaw first)", "value": 4}, {"description": "yaw fixed", "value": 5}]}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Mission", "increment": 0.5, "longDesc": "Default acceptance radius, overridden by acceptance radius of waypoint if set.\nFor fixed wing the npfg switch distance is used for horizontal acceptance.\n", "max": 200.0, "min": 0.05, "name": "NAV_ACC_RAD", "shortDesc": "Acceptance Radius", "type": "Float", "units": "m"}, {"category": "Standard", "default": 1, "group": "Mission", "name": "NAV_FORCE_VT", "shortDesc": "Force VTOL mode takeoff and land", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Mission", "longDesc": "Altitude acceptance used for the last waypoint before a fixed-wing landing. This is usually smaller\nthan the standard vertical acceptance because close to the ground higher accuracy is required.\n", "max": 200.0, "min": 0.05, "name": "NAV_FW_ALTL_RAD", "shortDesc": "FW Altitude Acceptance Radius before a landing", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Mission", "increment": 0.5, "longDesc": "Acceptance radius for fixedwing altitude.\n", "max": 200.0, "min": 0.05, "name": "NAV_FW_ALT_RAD", "shortDesc": "FW Altitude Acceptance Radius", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 80.0, "group": "Mission", "increment": 0.5, "longDesc": "Default value of loiter radius in fixed-wing mode (e.g. for Loiter mode).\n\nThe direction of the loiter can be set via the sign: A positive value for\nclockwise, negative for counter-clockwise.\n", "max": 10000.0, "min": -10000.0, "name": "NAV_LOITER_RAD", "shortDesc": "Loiter radius (FW only)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.8, "group": "Mission", "increment": 0.5, "longDesc": "Acceptance radius for multicopter altitude.\n", "max": 200.0, "min": 0.05, "name": "NAV_MC_ALT_RAD", "shortDesc": "MC Altitude Acceptance Radius", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "Mission", "increment": 1.0, "longDesc": "Minimum height above ground the vehicle is allowed to descend to during Mission and RTL,\nexcluding landing commands.\nRequires a distance sensor to be set up.\nNote: only prevents the vehicle from descending further, but does not force it to climb.\n\nSet to a negative value to disable.\n", "min": -1.0, "name": "NAV_MIN_GND_DIST", "shortDesc": "Minimum height above ground during Mission and RTL", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "Mission", "increment": 0.5, "longDesc": "This is the minimum altitude above Home the system will always obey in Loiter (Hold) mode if switched into this\nmode without specifying an altitude (e.g. through Loiter switch on RC).\nDoesn't affect Loiters that are part of Missions or that are entered through a reposition setpoint (\"Go to\").\nSet to a negative value to disable.\n", "min": -1.0, "name": "NAV_MIN_LTR_ALT", "shortDesc": "Minimum Loiter altitude", "type": "Float", "units": "m"}, {"category": "Standard", "default": 1, "group": "Mission", "longDesc": "Enabling this will allow the system to respond\nto transponder data from e.g. ADSB transponders\n", "name": "NAV_TRAFF_AVOID", "shortDesc": "Set traffic avoidance mode", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Warn only", "value": 1}, {"description": "Return mode", "value": 2}, {"description": "Land mode", "value": 3}, {"description": "Position Hold mode", "value": 4}]}, {"category": "Standard", "default": 500.0, "group": "Mission", "longDesc": "Defines a crosstrack horizontal distance\n", "min": 500.0, "name": "NAV_TRAFF_A_HOR", "shortDesc": "Set NAV TRAFFIC AVOID horizontal distance", "type": "Float", "units": "m"}, {"category": "Standard", "default": 500.0, "group": "Mission", "max": 500.0, "min": 10.0, "name": "NAV_TRAFF_A_VER", "shortDesc": "Set NAV TRAFFIC AVOID vertical distance", "type": "Float", "units": "m"}, {"category": "Standard", "default": 60, "group": "Mission", "longDesc": "Minimum acceptable time until collsion.\nAssumes constant speed over 3d distance.\n", "max": 900000000, "min": 1, "name": "NAV_TRAFF_COLL_T", "shortDesc": "Estimated time until collision", "type": "Int32", "units": "s"}, {"category": "Standard", "default": 0, "group": "Mixer Output", "longDesc": "The air-mode enables the mixer to increase the total thrust of the multirotor\nin order to keep attitude and rate control even at low and high throttle.\n\nThis function should be disabled during tuning as it will help the controller\nto diverge if the closed-loop is unstable (i.e. the vehicle is not tuned yet).\n\nEnabling air-mode for yaw requires the use of an arming switch.\n", "name": "MC_AIRMODE", "shortDesc": "Multicopter air-mode", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Roll/Pitch", "value": 1}, {"description": "Roll/Pitch/Yaw", "value": 2}]}, {"category": "Standard", "default": 0, "group": "Motor Failure", "longDesc": "If enabled, the HealthAndArmingChecks will verify that for motors, a minimum amount of ESC current per throttle\nlevel is being consumed.\nOtherwise this indicates an motor failure.\nThis check only works for ESCs that report current consumption.\n", "name": "FD_ACT_EN", "shortDesc": "Enable Actuator Failure check", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 35.0, "group": "Motor Failure", "increment": 1.0, "longDesc": "Determines the slope between expected steady state current and linearized, normalized thrust command.\nE.g. FD_ACT_MOT_C2T A represents the expected steady state current at 100%.\nFD_ACT_LOW_OFF and FD_ACT_HIGH_OFF offset the threshold from that slope.\n", "max": 50.0, "min": 0.0, "name": "MOTFAIL_C2T", "shortDesc": "Motor Failure Current/Throttle Scale", "type": "Float", "units": "A/%"}, {"category": "Standard", "decimalPlaces": 2, "default": 10.0, "group": "Motor Failure", "increment": 1.0, "longDesc": "threshold = FD_ACT_MOT_C2T * thrust + FD_ACT_HIGH_OFF\n", "max": 30.0, "min": 0.0, "name": "MOTFAIL_HIGH_OFF", "shortDesc": "Overcurrent motor failure limit offset", "type": "Float", "units": "A"}, {"category": "Standard", "decimalPlaces": 2, "default": 10.0, "group": "Motor Failure", "increment": 1.0, "longDesc": "threshold = FD_ACT_MOT_C2T * thrust - FD_ACT_LOW_OFF\n", "max": 30.0, "min": 0.0, "name": "MOTFAIL_LOW_OFF", "shortDesc": "Undercurrent motor failure limit offset", "type": "Float", "units": "A"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Motor Failure", "increment": 1.0, "longDesc": "Motor failure only triggers after current thresholds are exceeded for this time.\n", "max": 10.0, "min": 0.01, "name": "MOTFAIL_TIME", "shortDesc": "Motor Failure Hysteresis Time", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "Mount", "longDesc": "Set to true for servo gimbal, false for passthrough.\nThis is required for a gimbal which is not capable of stabilizing itself\nand relies on the IMU's attitude estimation.\n", "name": "MNT_DO_STAB", "shortDesc": "Stabilize the mount", "type": "Int32", "values": [{"description": "Disable", "value": 0}, {"description": "Stabilize all axis", "value": 1}, {"description": "Stabilize yaw for absolute/lock mode.", "value": 2}, {"description": "Stabilize pitch for absolute/lock mode.", "value": 3}]}, {"category": "Standard", "decimalPlaces": 1, "default": 90.0, "group": "Mount", "max": 90.0, "min": -90.0, "name": "MNT_LND_P_MAX", "shortDesc": "Pitch maximum when landed", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": -90.0, "group": "Mount", "max": 90.0, "min": -90.0, "name": "MNT_LND_P_MIN", "shortDesc": "Pitch minimum when landed", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 0, "group": "Mount", "max": 6, "min": 0, "name": "MNT_MAN_PITCH", "shortDesc": "Auxiliary channel to control pitch (in AUX input or manual mode)", "type": "Int32", "values": [{"description": "Disable", "value": 0}, {"description": "AUX1", "value": 1}, {"description": "AUX2", "value": 2}, {"description": "AUX3", "value": 3}, {"description": "AUX4", "value": 4}, {"description": "AUX5", "value": 5}, {"description": "AUX6", "value": 6}]}, {"category": "Standard", "default": 0, "group": "Mount", "max": 6, "min": 0, "name": "MNT_MAN_ROLL", "shortDesc": "Auxiliary channel to control roll (in AUX input or manual mode)", "type": "Int32", "values": [{"description": "Disable", "value": 0}, {"description": "AUX1", "value": 1}, {"description": "AUX2", "value": 2}, {"description": "AUX3", "value": 3}, {"description": "AUX4", "value": 4}, {"description": "AUX5", "value": 5}, {"description": "AUX6", "value": 6}]}, {"category": "Standard", "default": 0, "group": "Mount", "max": 6, "min": 0, "name": "MNT_MAN_YAW", "shortDesc": "Auxiliary channel to control yaw (in AUX input or manual mode)", "type": "Int32", "values": [{"description": "Disable", "value": 0}, {"description": "AUX1", "value": 1}, {"description": "AUX2", "value": 2}, {"description": "AUX3", "value": 3}, {"description": "AUX4", "value": 4}, {"description": "AUX5", "value": 5}, {"description": "AUX6", "value": 6}]}, {"category": "Standard", "default": 154, "group": "Mount", "longDesc": "If MNT_MODE_OUT is MAVLink protocol v2, mount configure/control commands will be sent with this component ID.\n", "name": "MNT_MAV_COMPID", "shortDesc": "Mavlink Component ID of the mount", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Mount", "longDesc": "If MNT_MODE_OUT is MAVLink gimbal protocol v1, mount configure/control commands will be sent with this target ID.\n", "name": "MNT_MAV_SYSID", "shortDesc": "Mavlink System ID of the mount", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 45.0, "group": "Mount", "longDesc": "Use output driver settings to calibrate (e.g. PWM_CENT/_MIN/_MAX).\n", "name": "MNT_MAX_PITCH", "shortDesc": "Max positive angle of pitch setpoint (only in MNT_MODE_OUT=AUX)", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": -45.0, "group": "Mount", "longDesc": "Use output driver settings to calibrate (e.g. PWM_CENT/_MIN/_MAX).\n", "name": "MNT_MIN_PITCH", "shortDesc": "Min negative angle of pitch setpoint (only in MNT_MODE_OUT=AUX)", "type": "Float", "units": "deg"}, {"category": "Standard", "default": -1, "group": "Mount", "longDesc": "This is the protocol used between the ground station and the autopilot.\n\nRecommended is Auto, RC only or MAVLink gimbal protocol v2.\nThe rest will be deprecated.\n", "max": 4, "min": -1, "name": "MNT_MODE_IN", "rebootRequired": true, "shortDesc": "Mount input mode", "type": "Int32", "values": [{"description": "DISABLED", "value": -1}, {"description": "Auto (RC and MAVLink gimbal protocol v2)", "value": 0}, {"description": "RC", "value": 1}, {"description": "MAVLINK_ROI (protocol v1, to be deprecated)", "value": 2}, {"description": "MAVLINK_DO_MOUNT (protocol v1, to be deprecated)", "value": 3}, {"description": "MAVlink gimbal protocol v2", "value": 4}]}, {"category": "Standard", "default": 0, "group": "Mount", "longDesc": "This is the protocol used between the autopilot and a connected gimbal.\n\nRecommended is the MAVLink gimbal protocol v2 if the gimbal supports it.\n", "max": 2, "min": 0, "name": "MNT_MODE_OUT", "rebootRequired": true, "shortDesc": "Mount output mode", "type": "Int32", "values": [{"description": "AUX", "value": 0}, {"description": "MAVLink gimbal protocol v1", "value": 1}, {"description": "MAVLink gimbal protocol v2", "value": 2}]}, {"category": "Standard", "decimalPlaces": 1, "default": 90.0, "group": "Mount", "longDesc": "Use output driver settings to calibrate (e.g. PWM_CENT/_MIN/_MAX). Note that only symmetric angular ranges are supported.\n", "max": 720.0, "min": 1.0, "name": "MNT_RANGE_ROLL", "shortDesc": "Range of roll channel output (only in MNT_MODE_OUT=AUX)", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": 360.0, "group": "Mount", "longDesc": "Use output driver settings to calibrate (e.g. PWM_CENT/_MIN/_MAX). Note that only symmetric angular ranges are supported.\n", "max": 720.0, "min": 1.0, "name": "MNT_RANGE_YAW", "shortDesc": "Range of yaw channel output (only in MNT_MODE_OUT=AUX)", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 30.0, "group": "Mount", "longDesc": "Full stick input [-1..1] translats to [-pitch rate..pitch rate].\n", "max": 90.0, "min": 1.0, "name": "MNT_RATE_PITCH", "shortDesc": "Angular pitch rate for manual input in degrees/second", "type": "Float", "units": "deg/s"}, {"category": "Standard", "default": 30.0, "group": "Mount", "longDesc": "Full stick input [-1..1] translats to [-yaw rate..yaw rate].\n", "max": 90.0, "min": 1.0, "name": "MNT_RATE_YAW", "shortDesc": "Angular yaw rate for manual input in degrees/second", "type": "Float", "units": "deg/s"}, {"category": "Standard", "default": 1, "group": "Mount", "max": 1, "min": 0, "name": "MNT_RC_IN_MODE", "shortDesc": "Input mode for RC gimbal input", "type": "Int32", "values": [{"description": "Angle", "value": 0}, {"description": "Angular rate", "value": 1}]}, {"category": "Standard", "default": 0.3, "group": "Mount", "longDesc": "Use when no angular position feedback is available.\nWith MNT_MODE_OUT set to AUX, the mount operates in open-loop and directly commands the servo output.\nParameters must be tuned for the specific servo to approximate its speed and response.\n", "min": 0.0, "name": "MNT_TAU", "shortDesc": "Alpha filter time constant defining the convergence rate (in seconds) for open-loop AUX mount control", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Multicopter Acro Mode", "longDesc": "Exponential factor for tuning the input curve shape.\n\n0 Purely linear input curve\n1 Purely cubic input curve\n", "max": 1.0, "min": 0.0, "name": "MC_ACRO_EXPO", "shortDesc": "Acro mode roll, pitch expo factor", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Multicopter Acro Mode", "longDesc": "Exponential factor for tuning the input curve shape.\n\n0 Purely linear input curve\n1 Purely cubic input curve\n", "max": 1.0, "min": 0.0, "name": "MC_ACRO_EXPO_Y", "shortDesc": "Acro mode yaw expo factor", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 100.0, "group": "Multicopter Acro Mode", "increment": 5.0, "longDesc": "Full stick deflection leads to this rate.\n", "max": 1800.0, "min": 0.0, "name": "MC_ACRO_P_MAX", "shortDesc": "Acro mode maximum pitch rate", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 100.0, "group": "Multicopter Acro Mode", "increment": 5.0, "longDesc": "Full stick deflection leads to this rate.\n", "max": 1800.0, "min": 0.0, "name": "MC_ACRO_R_MAX", "shortDesc": "Acro mode maximum roll rate", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Multicopter Acro Mode", "longDesc": "\"Superexponential\" factor for refining the input curve shape tuned using MC_ACRO_EXPO.\n\n0 Pure Expo function\n0.7 reasonable shape enhancement for intuitive stick feel\n0.95 very strong bent input curve only near maxima have effect\n", "max": 0.95, "min": 0.0, "name": "MC_ACRO_SUPEXPO", "shortDesc": "Acro mode roll, pitch super expo factor", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Multicopter Acro Mode", "longDesc": "\"Superexponential\" factor for refining the input curve shape tuned using MC_ACRO_EXPO_Y.\n\n0 Pure Expo function\n0.7 reasonable shape enhancement for intuitive stick feel\n0.95 very strong bent input curve only near maxima have effect\n", "max": 0.95, "min": 0.0, "name": "MC_ACRO_SUPEXPOY", "shortDesc": "Acro mode yaw super expo factor", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 100.0, "group": "Multicopter Acro Mode", "increment": 5.0, "longDesc": "Full stick deflection leads to this rate.\n", "max": 1800.0, "min": 0.0, "name": "MC_ACRO_Y_MAX", "shortDesc": "Acro mode maximum yaw rate", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 220.0, "group": "Multicopter Attitude Control", "increment": 5.0, "longDesc": "Limit for pitch rate in manual and auto modes (except acro).\nHas effect for large rotations in autonomous mode, to avoid large control\noutput and mixer saturation.\n\nThis is not only limited by the vehicle's properties, but also by the maximum\nmeasurement rate of the gyro.\n", "max": 1800.0, "min": 0.0, "name": "MC_PITCHRATE_MAX", "shortDesc": "Max pitch rate", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 4.0, "group": "Multicopter Attitude Control", "increment": 0.1, "longDesc": "Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.\n", "max": 12.0, "min": 0.0, "name": "MC_PITCH_P", "shortDesc": "Pitch P gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 220.0, "group": "Multicopter Attitude Control", "increment": 5.0, "longDesc": "Limit for roll rate in manual and auto modes (except acro).\nHas effect for large rotations in autonomous mode, to avoid large control\noutput and mixer saturation.\n\nThis is not only limited by the vehicle's properties, but also by the maximum\nmeasurement rate of the gyro.\n", "max": 1800.0, "min": 0.0, "name": "MC_ROLLRATE_MAX", "shortDesc": "Max roll rate", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 4.0, "group": "Multicopter Attitude Control", "increment": 0.1, "longDesc": "Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.\n", "max": 12.0, "min": 0.0, "name": "MC_ROLL_P", "shortDesc": "Roll P gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 200.0, "group": "Multicopter Attitude Control", "increment": 5.0, "max": 1800.0, "min": 0.0, "name": "MC_YAWRATE_MAX", "shortDesc": "Max yaw rate", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 2.8, "group": "Multicopter Attitude Control", "increment": 0.1, "longDesc": "Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.\n", "max": 5.0, "min": 0.0, "name": "MC_YAW_P", "shortDesc": "Yaw P gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.4, "group": "Multicopter Attitude Control", "increment": 0.1, "longDesc": "A fraction [0,1] deprioritizing yaw compared to roll and pitch in non-linear attitude control.\nDeprioritizing yaw is necessary because multicopters have much less control authority\nin yaw compared to the other axes and it makes sense because yaw is not critical for\nstable hovering or 3D navigation.\n\nFor yaw control tuning use MC_YAW_P. This ratio has no impact on the yaw gain.\n", "max": 1.0, "min": 0.0, "name": "MC_YAW_WEIGHT", "shortDesc": "Yaw weight", "type": "Float"}, {"category": "Standard", "decimalPlaces": 0, "default": 20.0, "group": "Multicopter Attitude Control", "increment": 5.0, "longDesc": "Limits the acceleration of the yaw setpoint to avoid large\ncontrol output and mixer saturation.\n", "max": 360.0, "min": 5.0, "name": "MPC_YAWRAUTO_ACC", "shortDesc": "Maximum yaw acceleration in autonomous modes", "type": "Float", "units": "deg/s^2"}, {"category": "Standard", "decimalPlaces": 0, "default": 60.0, "group": "Multicopter Attitude Control", "increment": 5.0, "longDesc": "Limits the rate of change of the yaw setpoint to avoid large\ncontrol output and mixer saturation.\n", "max": 360.0, "min": 5.0, "name": "MPC_YAWRAUTO_MAX", "shortDesc": "Maximum yaw rate in autonomous modes", "type": "Float", "units": "deg/s"}, {"category": "Standard", "default": 0.4, "group": "Multicopter Position Control", "longDesc": "Only used in Position mode.\n", "max": 1.0, "min": 0.0, "name": "CP_DELAY", "shortDesc": "Average delay of the range sensor message plus the tracking delay of the position controller in seconds", "type": "Float", "units": "s"}, {"category": "Standard", "default": -1.0, "group": "Multicopter Position Control", "longDesc": "Only used in Position mode. Collision avoidance is disabled by setting this parameter to a negative value\n", "max": 15.0, "min": -1.0, "name": "CP_DIST", "shortDesc": "Minimum distance the vehicle should keep to all obstacles", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Multicopter Position Control", "longDesc": "Only used in Position mode.\n", "name": "CP_GO_NO_DATA", "shortDesc": "Boolean to allow moving into directions where there is no sensor data (outside FOV)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 30.0, "group": "Multicopter Position Control", "longDesc": "Only used in Position mode.\n", "max": 90.0, "min": 0.0, "name": "CP_GUIDE_ANG", "shortDesc": "Angle left/right from the commanded setpoint by which the collision prevention algorithm can choose to change the setpoint direction", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Multicopter Position Control", "longDesc": "Setting this parameter to 0 disables the filter\n", "max": 2.0, "min": 0.0, "name": "MC_MAN_TILT_TAU", "shortDesc": "Manual tilt input filter time constant", "type": "Float", "units": "s"}, {"category": "Standard", "default": 1, "group": "Multicopter Position Control", "longDesc": "Set to decouple tilt from vertical acceleration.\nThis provides smoother flight but slightly worse tracking in position and auto modes.\nUnset if accurate position tracking during dynamic maneuvers is more important than a smooth flight.\n", "name": "MPC_ACC_DECOUPLE", "shortDesc": "Acceleration to tilt coupling", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "Multicopter Position Control", "increment": 1.0, "max": 15.0, "min": 2.0, "name": "MPC_ACC_DOWN_MAX", "shortDesc": "Maximum downwards acceleration in climb rate controlled modes", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "When piloting manually, this parameter is only used in MPC_POS_MODE Acceleration based.\n", "max": 15.0, "min": 2.0, "name": "MPC_ACC_HOR", "shortDesc": "Acceleration for autonomous and for manual modes", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 2, "default": 5.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "MPC_POS_MODE\n1 just deceleration\n4 not used, use MPC_ACC_HOR instead\n", "max": 15.0, "min": 2.0, "name": "MPC_ACC_HOR_MAX", "shortDesc": "Maximum horizontal acceleration", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 1, "default": 4.0, "group": "Multicopter Position Control", "increment": 1.0, "max": 15.0, "min": 2.0, "name": "MPC_ACC_UP_MAX", "shortDesc": "Maximum upwards acceleration in climb rate controlled modes", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "default": 2, "group": "Multicopter Position Control", "longDesc": "Control height\n0: relative earth frame origin which may drift due to sensors\n1: relative to ground (requires distance sensor) which changes with terrain variation.\nIt will revert to relative earth frame if the distance to ground estimate becomes invalid.\n2: relative to ground (requires distance sensor) when stationary\nand relative to earth frame when moving horizontally.\nThe speed threshold is MPC_HOLD_MAX_XY\n", "max": 2, "min": 0, "name": "MPC_ALT_MODE", "shortDesc": "Altitude reference mode", "type": "Int32", "values": [{"description": "Altitude following", "value": 0}, {"description": "Terrain following", "value": 1}, {"description": "Terrain hold", "value": 2}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.8, "group": "Multicopter Position Control", "longDesc": "Only used with MPC_POS_MODE Direct velocity or MPC_ALT_MODE 2\n", "max": 3.0, "min": 0.0, "name": "MPC_HOLD_MAX_XY", "shortDesc": "Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.6, "group": "Multicopter Position Control", "longDesc": "Only used with MPC_ALT_MODE 1\n", "max": 3.0, "min": 0.0, "name": "MPC_HOLD_MAX_Z", "shortDesc": "Maximum vertical velocity for which position hold is enabled (use 0 to disable check)", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 4.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "Limit the maximum jerk of the vehicle (how fast the acceleration can change).\nA lower value leads to smoother vehicle motions but also limited agility.\n", "max": 80.0, "min": 1.0, "name": "MPC_JERK_AUTO", "shortDesc": "Jerk limit in autonomous modes", "type": "Float", "units": "m/s^3"}, {"category": "Standard", "decimalPlaces": 0, "default": 8.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "Limit the maximum jerk (acceleration change) of the vehicle.\nA lower value leads to smoother motions but limits agility.\n\nSetting this to the maximum value essentially disables the limit.\n\nOnly used with MPC_POS_MODE Acceleration based.\n", "max": 500.0, "min": 0.5, "name": "MPC_JERK_MAX", "shortDesc": "Maximum horizontal and vertical jerk in Position/Altitude mode", "type": "Float", "units": "m/s^3"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Multicopter Position Control", "longDesc": "Below this altitude descending velocity gets limited to a value\nbetween \"MPC_Z_VEL_MAX_DN\" (or \"MPC_Z_V_AUTO_DN\") and \"MPC_LAND_SPEED\"\nValue needs to be higher than \"MPC_LAND_ALT2\"\n", "max": 122.0, "min": 0.0, "name": "MPC_LAND_ALT1", "shortDesc": "Altitude for 1. step of slow landing (descend)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Multicopter Position Control", "longDesc": "Below this altitude descending velocity gets\nlimited to \"MPC_LAND_SPEED\"\nValue needs to be lower than \"MPC_LAND_ALT1\"\n", "max": 122.0, "min": 0.0, "name": "MPC_LAND_ALT2", "shortDesc": "Altitude for 2. step of slow landing (landing)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Multicopter Position Control", "longDesc": "If a valid distance sensor measurement to the ground is available,\nlimit descending velocity to \"MPC_LAND_CRWL\" below this altitude.\n", "max": 122.0, "min": 0.0, "name": "MPC_LAND_ALT3", "shortDesc": "Altitude for 3. step of slow landing", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.3, "group": "Multicopter Position Control", "longDesc": "Used below MPC_LAND_ALT3 if distance sensor data is availabe.\n", "min": 0.1, "name": "MPC_LAND_CRWL", "shortDesc": "Land crawl descend rate", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 0, "default": -1.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "When nudging is enabled (see MPC_LAND_RC_HELP), this defines the maximum\nallowed horizontal displacement from the original landing point.\n- If inside of the radius, only allow nudging inputs that do not move the vehicle outside of it.\n- If outside of the radius, only allow nudging inputs that move the vehicle back towards it.\n\nSet it to -1 for infinite radius.\n", "min": -1.0, "name": "MPC_LAND_RADIUS", "shortDesc": "User assisted landing radius", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Multicopter Position Control", "longDesc": "Using stick input the vehicle can be moved horizontally and yawed.\nThe descend speed is amended:\nstick full up - 0\nstick centered - MPC_LAND_SPEED\nstick full down - 2 * MPC_LAND_SPEED\n\nManual override during auto modes has to be disabled to use this feature (see COM_RC_OVERRIDE).\n", "max": 1, "min": 0, "name": "MPC_LAND_RC_HELP", "shortDesc": "Enable nudging based on user input during autonomous land routine", "type": "Int32", "values": [{"description": "Nudging disabled", "value": 0}, {"description": "Nudging enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 0.7, "group": "Multicopter Position Control", "min": 0.6, "name": "MPC_LAND_SPEED", "shortDesc": "Landing descend rate", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.08, "group": "Multicopter Position Control", "increment": 0.01, "longDesc": "The value is mapped to the lowest throttle stick position in Stabilized mode.\n\nToo low collective thrust leads to loss of roll/pitch/yaw torque control authority.\nAirmode is used to keep torque authority with zero thrust (see MC_AIRMODE).\n", "max": 1.0, "min": 0.0, "name": "MPC_MANTHR_MIN", "shortDesc": "Minimum collective thrust in Stabilized mode", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 0, "default": 35.0, "group": "Multicopter Position Control", "increment": 1.0, "max": 70.0, "min": 1.0, "name": "MPC_MAN_TILT_MAX", "shortDesc": "Maximal tilt angle in Stabilized, Altitude and Altitude Cruise mode", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 0, "default": 150.0, "group": "Multicopter Position Control", "increment": 10.0, "max": 400.0, "min": 0.0, "name": "MPC_MAN_Y_MAX", "shortDesc": "Max manual yaw rate for Stabilized, Altitude, Position mode", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.08, "group": "Multicopter Position Control", "increment": 0.01, "longDesc": "Not used in Stabilized mode\nSetting this parameter to 0 disables the filter\n", "max": 5.0, "min": 0.0, "name": "MPC_MAN_Y_TAU", "shortDesc": "Manual yaw rate input filter time constant", "type": "Float", "units": "s"}, {"category": "Standard", "default": 4, "group": "Multicopter Position Control", "longDesc": "The supported sub-modes are:\nDirect velocity:\nSticks directly map to velocity setpoints without smoothing.\nAlso applies to vertical direction and Altitude mode.\nUseful for velocity control tuning.\nAcceleration based:\nSticks map to acceleration and there's a virtual brake drag\n", "name": "MPC_POS_MODE", "shortDesc": "Position/Altitude mode variant", "type": "Int32", "values": [{"description": "Direct velocity", "value": 0}, {"description": "Acceleration based", "value": 4}]}, {"category": "Standard", "default": 0, "group": "Multicopter Position Control", "longDesc": "Defines how the throttle stick is mapped to collective thrust in Stabilized mode.\n\nRescale to hover thrust estimate:\nStick input is linearly rescaled, such that a centered throttle stick corresponds to the hover thrust estimator's output.\n\nNo rescale:\nDirectly map the stick 1:1 to the output.\nCan be useful with very low hover thrust which leads to much distortion and the upper half getting sensitive.\n\nRescale to hover thrust parameter:\nSimilar to rescaling to the hover thrust estimate, but it uses the hover thrust parameter value (see MPC_THR_HOVER) instead of estimated value.\nWith MPC_THR_HOVER 0.5 it's equivalent to No rescale.\n", "name": "MPC_THR_CURVE", "shortDesc": "Thrust curve mapping in Stabilized Mode", "type": "Int32", "values": [{"description": "Rescale to estimate", "value": 0}, {"description": "No rescale", "value": 1}, {"description": "Rescale to parameter", "value": 2}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "Multicopter Position Control", "increment": 0.01, "longDesc": "Mapped to center throttle stick in Stabilized mode (see MPC_THR_CURVE).\nUsed for initialization of the hover thrust estimator.\nThe estimated hover thrust is used as base for zero vertical acceleration in altitude control.\nThe hover thrust is important for land detection to work correctly.\n", "max": 0.8, "min": 0.1, "name": "MPC_THR_HOVER", "shortDesc": "Vertical thrust required to hover", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Multicopter Position Control", "increment": 0.05, "longDesc": "Limit allowed thrust e.g. for indoor test of overpowered vehicle.\n", "max": 1.0, "min": 0.0, "name": "MPC_THR_MAX", "shortDesc": "Maximum collective thrust in climb rate controlled modes", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.12, "group": "Multicopter Position Control", "increment": 0.01, "longDesc": "Too low thrust leads to loss of roll/pitch/yaw torque control authority.\nWith airmode enabled this parameters can be set to 0\nwhile still keeping torque authority (see MC_AIRMODE).\n", "max": 0.5, "min": 0.05, "name": "MPC_THR_MIN", "shortDesc": "Minimum collective thrust in climb rate controlled modes", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "Multicopter Position Control", "increment": 0.01, "longDesc": "Margin that is kept for horizontal control when higher priority vertical thrust is saturated.\nTo avoid completely starving horizontal control with high vertical error.\n", "max": 0.5, "min": 0.0, "name": "MPC_THR_XY_MARG", "shortDesc": "Horizontal thrust margin", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 0, "default": 45.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "Absolute maximum for all velocity or acceleration controlled modes.\nAny higher value is truncated.\n", "max": 89.0, "min": 20.0, "name": "MPC_TILTMAX_AIR", "shortDesc": "Maximum tilt angle in air", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 0, "default": 12.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "Tighter tilt limit during takeoff to avoid tip over.\n", "max": 89.0, "min": 5.0, "name": "MPC_TILTMAX_LND", "shortDesc": "Maximum tilt during inital takeoff ramp", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 3.0, "group": "Multicopter Position Control", "longDesc": "Increasing this value will make climb rate controlled takeoff slower.\nIf it's too slow the drone might scratch the ground and tip over.\nA time constant of 0 disables the ramp\n", "max": 5.0, "min": 0.0, "name": "MPC_TKO_RAMP_T", "shortDesc": "Smooth takeoff ramp time constant", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.5, "group": "Multicopter Position Control", "max": 5.0, "min": 1.0, "name": "MPC_TKO_SPEED", "shortDesc": "Takeoff climb rate", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Multicopter Position Control", "increment": 0.5, "longDesc": "A value of 0 disables the filter.\n", "max": 50.0, "min": 0.0, "name": "MPC_VELD_LP", "shortDesc": "Velocity derivative low pass cutoff frequency", "type": "Float", "units": "Hz"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "Multicopter Position Control", "increment": 0.5, "longDesc": "A value of 0 disables the filter.\n", "max": 50.0, "min": 0.0, "name": "MPC_VEL_LP", "shortDesc": "Velocity low pass cutoff frequency", "type": "Float", "units": "Hz"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "Must be smaller than MPC_XY_VEL_MAX.\n\nThe maximum sideways and backward speed can be set differently\nusing MPC_VEL_MAN_SIDE and MPC_VEL_MAN_BACK, respectively.\n", "max": 20.0, "min": 3.0, "name": "MPC_VEL_MANUAL", "shortDesc": "Maximum horizontal velocity setpoint in Position mode", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "If set to a negative value or larger than\nMPC_VEL_MANUAL then MPC_VEL_MANUAL is used.\n", "max": 20.0, "min": -1.0, "name": "MPC_VEL_MAN_BACK", "shortDesc": "Maximum backward velocity in Position mode", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "If set to a negative value or larger than\nMPC_VEL_MANUAL then MPC_VEL_MANUAL is used.\n", "max": 20.0, "min": -1.0, "name": "MPC_VEL_MAN_SIDE", "shortDesc": "Maximum sideways velocity in Position mode", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Multicopter Position Control", "increment": 0.5, "longDesc": "A value of 0 disables the filter.\n", "max": 50.0, "min": 0.0, "name": "MPC_VEL_NF_BW", "shortDesc": "Velocity notch filter bandwidth", "type": "Float", "units": "Hz"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "Multicopter Position Control", "increment": 0.5, "longDesc": "The center frequency for the 2nd order notch filter on the velocity.\nA value of 0 disables the filter.\n", "max": 50.0, "min": 0.0, "name": "MPC_VEL_NF_FRQ", "shortDesc": "Velocity notch filter frequency", "type": "Float", "units": "Hz"}, {"category": "Standard", "decimalPlaces": 0, "default": 5.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "e.g. in Missions, RTL, Goto if the waypoint does not specify differently\n", "max": 20.0, "min": 3.0, "name": "MPC_XY_CRUISE", "shortDesc": "Default horizontal velocity in autonomous modes", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 2.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "The integration speed of the trajectory setpoint is linearly\nreduced with the horizontal position tracking error. When the\nerror is above this parameter, the integration of the\ntrajectory is stopped to wait for the drone.\n\nThis value can be adjusted depending on the tracking\ncapabilities of the vehicle.\n", "max": 10.0, "min": 0.1, "name": "MPC_XY_ERR_MAX", "shortDesc": "Maximum horizontal error allowed by the trajectory generator", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.95, "group": "Multicopter Position Control", "increment": 0.1, "longDesc": "Defined as corrective velocity in m/s per m position error\n", "max": 2.0, "min": 0.0, "name": "MPC_XY_P", "shortDesc": "Proportional gain for horizontal position error", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.5, "group": "Multicopter Position Control", "increment": 0.1, "max": 1.0, "min": 0.1, "name": "MPC_XY_TRAJ_P", "shortDesc": "Proportional gain for horizontal trajectory position error", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": -10.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "If set to a value greater than zero, other parameters are automatically set (such as\nMPC_XY_VEL_MAX or MPC_VEL_MANUAL).\nIf set to a negative value, the existing individual parameters are used.\n", "max": 20.0, "min": -20.0, "name": "MPC_XY_VEL_ALL", "shortDesc": "Overall Horizontal Velocity Limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "Multicopter Position Control", "increment": 0.02, "longDesc": "Defined as corrective acceleration in m/s^2 per m/s^2 velocity derivative\n", "max": 2.0, "min": 0.1, "name": "MPC_XY_VEL_D_ACC", "shortDesc": "Differential gain for horizontal velocity error", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.4, "group": "Multicopter Position Control", "increment": 0.02, "longDesc": "Defined as correction acceleration in m/s^2 per m velocity integral\nAllows to eliminate steady state errors in disturbances like wind.\n", "max": 60.0, "min": 0.0, "name": "MPC_XY_VEL_I_ACC", "shortDesc": "Integral gain for horizontal velocity error", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 12.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "Absolute maximum for all velocity controlled modes.\nAny higher value is truncated.\n", "max": 20.0, "min": 0.0, "name": "MPC_XY_VEL_MAX", "shortDesc": "Maximum horizontal velocity", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.8, "group": "Multicopter Position Control", "increment": 0.1, "longDesc": "Defined as corrective acceleration in m/s^2 per m/s velocity error\n", "max": 5.0, "min": 1.2, "name": "MPC_XY_VEL_P_ACC", "shortDesc": "Proportional gain for horizontal velocity error", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Multicopter Position Control", "increment": 0.1, "longDesc": "Defined as corrective velocity in m/s per m position error\n", "max": 1.5, "min": 0.1, "name": "MPC_Z_P", "shortDesc": "Proportional gain for vertical position error", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": -3.0, "group": "Multicopter Position Control", "increment": 0.5, "longDesc": "If set to a value greater than zero, other parameters are automatically set (such as\nMPC_Z_VEL_MAX_UP or MPC_LAND_SPEED).\nIf set to a negative value, the existing individual parameters are used.\n", "max": 8.0, "min": -3.0, "name": "MPC_Z_VEL_ALL", "shortDesc": "Overall Vertical Velocity Limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Multicopter Position Control", "increment": 0.02, "longDesc": "Defined as corrective acceleration in m/s^2 per m/s^2 velocity derivative\n", "max": 2.0, "min": 0.0, "name": "MPC_Z_VEL_D_ACC", "shortDesc": "Differential gain for vertical velocity error", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 2.0, "group": "Multicopter Position Control", "increment": 0.1, "longDesc": "Defined as corrective acceleration in m/s^2 per m velocity integral\n", "max": 3.0, "min": 0.2, "name": "MPC_Z_VEL_I_ACC", "shortDesc": "Integral gain for vertical velocity error", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.5, "group": "Multicopter Position Control", "increment": 0.1, "longDesc": "Absolute maximum for all climb rate controlled modes.\nIn manually piloted modes full stick deflection commands this velocity.\n\nFor default autonomous velocity see MPC_Z_V_AUTO_UP\n", "max": 4.0, "min": 0.5, "name": "MPC_Z_VEL_MAX_DN", "shortDesc": "Maximum descent velocity", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "Multicopter Position Control", "increment": 0.1, "longDesc": "Absolute maximum for all climb rate controlled modes.\nIn manually piloted modes full stick deflection commands this velocity.\n\nFor default autonomous velocity see MPC_Z_V_AUTO_UP\n", "max": 8.0, "min": 0.5, "name": "MPC_Z_VEL_MAX_UP", "shortDesc": "Maximum ascent velocity", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 4.0, "group": "Multicopter Position Control", "increment": 0.1, "longDesc": "Defined as corrective acceleration in m/s^2 per m/s velocity error\n", "max": 15.0, "min": 2.0, "name": "MPC_Z_VEL_P_ACC", "shortDesc": "Proportional gain for vertical velocity error", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.5, "group": "Multicopter Position Control", "increment": 0.5, "longDesc": "For manual modes and offboard, see MPC_Z_VEL_MAX_DN\n", "max": 4.0, "min": 0.5, "name": "MPC_Z_V_AUTO_DN", "shortDesc": "Descent velocity in autonomous modes", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "Multicopter Position Control", "increment": 0.5, "longDesc": "For manually controlled modes and offboard see MPC_Z_VEL_MAX_UP\n", "max": 8.0, "min": 0.5, "name": "MPC_Z_V_AUTO_UP", "shortDesc": "Ascent velocity in autonomous modes", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": -0.4, "group": "Multicopter Position Control", "increment": 0.05, "longDesc": "Changes the overall responsiveness of the vehicle.\nThe higher the value, the faster the vehicle will react.\n\nIf set to a value greater than zero, other parameters are automatically set (such as\nthe acceleration or jerk limits).\nIf set to a negative value, the existing individual parameters are used.\n", "max": 1.0, "min": -1.0, "name": "SYS_VEHICLE_RESP", "shortDesc": "Responsiveness", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Multicopter Position Control", "name": "WV_EN", "shortDesc": "Enable weathervane", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1.0, "group": "Multicopter Position Control", "max": 5.0, "min": 0.0, "name": "WV_ROLL_MIN", "shortDesc": "Minimum roll angle setpoint for weathervane controller to demand a yaw-rate", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 90.0, "group": "Multicopter Position Control", "max": 120.0, "min": 0.0, "name": "WV_YRATE_MAX", "shortDesc": "Maximum yawrate the weathervane controller is allowed to demand", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 3.0, "group": "Multicopter Position Slow Mode", "increment": 0.1, "longDesc": "This value is used in slow mode if\nno aux channel is mapped and\nno limit is commanded through MAVLink.\n", "min": 0.1, "name": "MC_SLOW_DEF_HVEL", "shortDesc": "Default horizontal velocity limit", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Multicopter Position Slow Mode", "increment": 0.1, "longDesc": "This value is used in slow mode if\nno aux channel is mapped and\nno limit is commanded through MAVLink.\n", "min": 0.1, "name": "MC_SLOW_DEF_VVEL", "shortDesc": "Default vertical velocity limit", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 0, "default": 45.0, "group": "Multicopter Position Slow Mode", "increment": 0.1, "longDesc": "This value is used in slow mode if\nno aux channel is mapped and\nno limit is commanded through MAVLink.\n", "min": 1.0, "name": "MC_SLOW_DEF_YAWR", "shortDesc": "Default yaw rate limit", "type": "Float", "units": "deg/s"}, {"category": "Standard", "default": 0, "group": "Multicopter Position Slow Mode", "name": "MC_SLOW_MAP_HVEL", "shortDesc": "Manual input mapped to scale horizontal velocity in position slow mode", "type": "Int32", "values": [{"description": "No rescaling", "value": 0}, {"description": "AUX1", "value": 1}, {"description": "AUX2", "value": 2}, {"description": "AUX3", "value": 3}, {"description": "AUX4", "value": 4}, {"description": "AUX5", "value": 5}, {"description": "AUX6", "value": 6}]}, {"category": "Standard", "default": 0, "group": "Multicopter Position Slow Mode", "name": "MC_SLOW_MAP_PTCH", "shortDesc": "RC_MAP_AUX{N} to allow for gimbal pitch rate control in position slow mode", "type": "Int32", "values": [{"description": "No pitch rate input", "value": 0}, {"description": "AUX1", "value": 1}, {"description": "AUX2", "value": 2}, {"description": "AUX3", "value": 3}, {"description": "AUX4", "value": 4}, {"description": "AUX5", "value": 5}, {"description": "AUX6", "value": 6}]}, {"category": "Standard", "default": 0, "group": "Multicopter Position Slow Mode", "name": "MC_SLOW_MAP_VVEL", "shortDesc": "Manual input mapped to scale vertical velocity in position slow mode", "type": "Int32", "values": [{"description": "No rescaling", "value": 0}, {"description": "AUX1", "value": 1}, {"description": "AUX2", "value": 2}, {"description": "AUX3", "value": 3}, {"description": "AUX4", "value": 4}, {"description": "AUX5", "value": 5}, {"description": "AUX6", "value": 6}]}, {"category": "Standard", "default": 0, "group": "Multicopter Position Slow Mode", "name": "MC_SLOW_MAP_YAWR", "shortDesc": "Manual input mapped to scale yaw rate in position slow mode", "type": "Int32", "values": [{"description": "No rescaling", "value": 0}, {"description": "AUX1", "value": 1}, {"description": "AUX2", "value": 2}, {"description": "AUX3", "value": 3}, {"description": "AUX4", "value": 4}, {"description": "AUX5", "value": 5}, {"description": "AUX6", "value": 6}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "Multicopter Position Slow Mode", "increment": 0.1, "longDesc": "The lowest input maps and is clamped to this velocity.\n", "min": 0.1, "name": "MC_SLOW_MIN_HVEL", "shortDesc": "Horizontal velocity lower limit", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "Multicopter Position Slow Mode", "increment": 0.1, "longDesc": "The lowest input maps and is clamped to this velocity.\n", "min": 0.1, "name": "MC_SLOW_MIN_VVEL", "shortDesc": "Vertical velocity lower limit", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 0, "default": 3.0, "group": "Multicopter Position Slow Mode", "increment": 0.1, "longDesc": "The lowest input maps and is clamped to this rate.\n", "min": 1.0, "name": "MC_SLOW_MIN_YAWR", "shortDesc": "Yaw rate lower limit", "type": "Float", "units": "deg/s"}, {"category": "Standard", "default": 0, "group": "Multicopter Rate Control", "longDesc": "This compensates for voltage drop of the battery over time by attempting to\nnormalize performance across the operating range of the battery. The copter\nshould constantly behave as if it was fully charged with reduced max acceleration\nat lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery,\nit will still be 0.5 at 60% battery.\n", "name": "MC_BAT_SCALE_EN", "shortDesc": "Battery power level scaler", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 4, "default": 0.003, "group": "Multicopter Rate Control", "increment": 0.0005, "longDesc": "Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.\n", "min": 0.0, "name": "MC_PITCHRATE_D", "shortDesc": "Pitch rate D gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.0, "group": "Multicopter Rate Control", "longDesc": "Improves tracking performance.\n", "min": 0.0, "name": "MC_PITCHRATE_FF", "shortDesc": "Pitch rate feedforward", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.2, "group": "Multicopter Rate Control", "increment": 0.01, "longDesc": "Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.\n", "min": 0.0, "name": "MC_PITCHRATE_I", "shortDesc": "Pitch rate I gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 4, "default": 1.0, "group": "Multicopter Rate Control", "increment": 0.0005, "longDesc": "Global gain of the controller.\n\nThis gain scales the P, I and D terms of the controller:\noutput = MC_PITCHRATE_K * (MC_PITCHRATE_P * error\n+ MC_PITCHRATE_I * error_integral\n+ MC_PITCHRATE_D * error_derivative)\nSet MC_PITCHRATE_P=1 to implement a PID in the ideal form.\nSet MC_PITCHRATE_K=1 to implement a PID in the parallel form.\n", "max": 5.0, "min": 0.01, "name": "MC_PITCHRATE_K", "shortDesc": "Pitch rate controller gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.15, "group": "Multicopter Rate Control", "increment": 0.01, "longDesc": "Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.\n", "max": 0.6, "min": 0.01, "name": "MC_PITCHRATE_P", "shortDesc": "Pitch rate P gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "Multicopter Rate Control", "increment": 0.01, "longDesc": "Pitch rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large pitch moment trim changes.\n", "min": 0.0, "name": "MC_PR_INT_LIM", "shortDesc": "Pitch rate integrator limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.003, "group": "Multicopter Rate Control", "increment": 0.0005, "longDesc": "Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.\n", "max": 0.01, "min": 0.0, "name": "MC_ROLLRATE_D", "shortDesc": "Roll rate D gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.0, "group": "Multicopter Rate Control", "longDesc": "Improves tracking performance.\n", "min": 0.0, "name": "MC_ROLLRATE_FF", "shortDesc": "Roll rate feedforward", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.2, "group": "Multicopter Rate Control", "increment": 0.01, "longDesc": "Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.\n", "min": 0.0, "name": "MC_ROLLRATE_I", "shortDesc": "Roll rate I gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 4, "default": 1.0, "group": "Multicopter Rate Control", "increment": 0.0005, "longDesc": "Global gain of the controller.\n\nThis gain scales the P, I and D terms of the controller:\noutput = MC_ROLLRATE_K * (MC_ROLLRATE_P * error\n+ MC_ROLLRATE_I * error_integral\n+ MC_ROLLRATE_D * error_derivative)\nSet MC_ROLLRATE_P=1 to implement a PID in the ideal form.\nSet MC_ROLLRATE_K=1 to implement a PID in the parallel form.\n", "max": 5.0, "min": 0.01, "name": "MC_ROLLRATE_K", "shortDesc": "Roll rate controller gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.15, "group": "Multicopter Rate Control", "increment": 0.01, "longDesc": "Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.\n", "max": 0.5, "min": 0.01, "name": "MC_ROLLRATE_P", "shortDesc": "Roll rate P gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "Multicopter Rate Control", "increment": 0.01, "longDesc": "Roll rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large roll moment trim changes.\n", "min": 0.0, "name": "MC_RR_INT_LIM", "shortDesc": "Roll rate integrator limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.0, "group": "Multicopter Rate Control", "increment": 0.0005, "longDesc": "Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.\n", "min": 0.0, "name": "MC_YAWRATE_D", "shortDesc": "Yaw rate D gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.0, "group": "Multicopter Rate Control", "longDesc": "Improves tracking performance.\n", "min": 0.0, "name": "MC_YAWRATE_FF", "shortDesc": "Yaw rate feedforward", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.1, "group": "Multicopter Rate Control", "increment": 0.01, "longDesc": "Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.\n", "min": 0.0, "name": "MC_YAWRATE_I", "shortDesc": "Yaw rate I gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 4, "default": 1.0, "group": "Multicopter Rate Control", "increment": 0.0005, "longDesc": "Global gain of the controller.\n\nThis gain scales the P, I and D terms of the controller:\noutput = MC_YAWRATE_K * (MC_YAWRATE_P * error\n+ MC_YAWRATE_I * error_integral\n+ MC_YAWRATE_D * error_derivative)\nSet MC_YAWRATE_P=1 to implement a PID in the ideal form.\nSet MC_YAWRATE_K=1 to implement a PID in the parallel form.\n", "max": 5.0, "min": 0.01, "name": "MC_YAWRATE_K", "shortDesc": "Yaw rate controller gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.2, "group": "Multicopter Rate Control", "increment": 0.01, "longDesc": "Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.\n", "max": 0.6, "min": 0.0, "name": "MC_YAWRATE_P", "shortDesc": "Yaw rate P gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 2.0, "group": "Multicopter Rate Control", "longDesc": "Reduces vibrations by lowering high frequency torque caused by rotor acceleration.\n0 disables the filter\n", "max": 10.0, "min": 0.0, "name": "MC_YAW_TQ_CUTOFF", "shortDesc": "Low pass filter cutoff frequency for yaw torque setpoint", "type": "Float", "units": "Hz"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "Multicopter Rate Control", "increment": 0.01, "longDesc": "Yaw rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large yaw moment trim changes.\n", "min": 0.0, "name": "MC_YR_INT_LIM", "shortDesc": "Yaw rate integrator limit", "type": "Float"}, {"category": "Standard", "default": 0, "group": "OSD", "longDesc": "Controls the vertical position of the crosshair display.\nResolution is limited by OSD to 15 discrete values. Negative\nvalues will display the crosshairs below the horizon\n\n", "max": 8, "min": -8, "name": "OSD_CH_HEIGHT", "shortDesc": "OSD Crosshairs Height", "type": "Int32"}, {"category": "Standard", "default": 500, "group": "OSD", "longDesc": "Amount of time in milliseconds to dwell at the beginning of the display, when scrolling.\n\n", "max": 10000, "min": 100, "name": "OSD_DWELL_TIME", "shortDesc": "OSD Dwell Time (ms)", "type": "Int32"}, {"category": "Standard", "default": 3, "group": "OSD", "longDesc": "Minimum security of log level to display on the OSD.\n\n", "name": "OSD_LOG_LEVEL", "shortDesc": "OSD Warning Level", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "OSD", "longDesc": "Forward RC stick input to VTX when disarmed\n\n", "max": 1, "min": 0, "name": "OSD_RC_STICK", "shortDesc": "OSD RC Stick commands", "type": "Int32"}, {"category": "Standard", "default": 125, "group": "OSD", "longDesc": "Scroll rate in milliseconds for OSD messages longer than available character width.\nThis is lower-bounded by the nominal loop rate of this module.\n\n", "max": 1000, "min": 100, "name": "OSD_SCROLL_RATE", "shortDesc": "OSD Scroll Rate (ms)", "type": "Int32"}, {"bitmask": [{"description": "CRAFT_NAME", "index": 0}, {"description": "DISARMED", "index": 1}, {"description": "GPS_LAT", "index": 2}, {"description": "GPS_LON", "index": 3}, {"description": "GPS_SATS", "index": 4}, {"description": "GPS_SPEED", "index": 5}, {"description": "HOME_DIST", "index": 6}, {"description": "HOME_DIR", "index": 7}, {"description": "MAIN_BATT_VOLTAGE", "index": 8}, {"description": "CURRENT_DRAW", "index": 9}, {"description": "MAH_DRAWN", "index": 10}, {"description": "RSSI_VALUE", "index": 11}, {"description": "ALTITUDE", "index": 12}, {"description": "NUMERICAL_VARIO", "index": 13}, {"description": "(unused) FLYMODE", "index": 14}, {"description": "(unused) ESC_TMP", "index": 15}, {"description": "(unused) PITCH_ANGLE", "index": 16}, {"description": "(unused) ROLL_ANGLE", "index": 17}, {"description": "CROSSHAIRS", "index": 18}, {"description": "AVG_CELL_VOLTAGE", "index": 19}, {"description": "(unused) HORIZON_SIDEBARS", "index": 20}, {"description": "POWER", "index": 21}], "category": "Standard", "default": 16383, "group": "OSD", "longDesc": "Configure / toggle support display options.\n\n", "max": 4194303, "min": 0, "name": "OSD_SYMBOLS", "shortDesc": "OSD Symbol Selection", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "PWM Outputs", "increment": 0.1, "longDesc": "Parameter used to model the nonlinear relationship between\nmotor control signal (e.g. PWM) and static thrust.\n\nThe model is: rel_thrust = factor * rel_signal^2 + (1-factor) * rel_signal,\nwhere rel_thrust is the normalized thrust between 0 and 1, and\nrel_signal is the relative motor control signal between 0 and 1.\n", "max": 1.0, "min": 0.0, "name": "THR_MDL_FAC", "shortDesc": "Thrust to motor control signal model parameter", "type": "Float"}, {"category": "Standard", "default": 1.0, "group": "Payload Deliverer", "longDesc": "Maximum time Gripper will wait while the successful griper actuation isn't recognised.\nIf the gripper has no feedback sensor, it will simply wait for\nthis time before considering gripper actuation successful and publish a\n'VehicleCommandAck' signaling successful gripper action\n\n", "min": 0.0, "name": "PD_GRIPPER_TO", "shortDesc": "Timeout for successful gripper actuation acknowledgement", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "Payload Deliverer", "max": 0, "min": -1, "name": "PD_GRIPPER_TYPE", "shortDesc": "Type of Gripper (Servo, etc.)", "type": "Int32", "values": [{"description": "Undefined", "value": -1}, {"description": "Servo", "value": 0}]}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Precision Land", "increment": 0.5, "longDesc": "Time after which the landing target is considered lost without any new measurements.\n", "max": 50.0, "min": 0.0, "name": "PLD_BTOUT", "shortDesc": "Landing Target Timeout", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "Precision Land", "increment": 0.1, "longDesc": "Allow final approach (without horizontal positioning) if losing landing target closer than this to the ground.\n", "max": 10.0, "min": 0.0, "name": "PLD_FAPPR_ALT", "shortDesc": "Final approach altitude", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "Precision Land", "increment": 0.1, "longDesc": "Start descending if closer above landing target than this.\n", "max": 10.0, "min": 0.0, "name": "PLD_HACC_RAD", "shortDesc": "Horizontal acceptance radius", "type": "Float", "units": "m"}, {"category": "Standard", "default": 3, "group": "Precision Land", "longDesc": "Maximum number of times to search for the landing target if it is lost during the precision landing.\n", "max": 100, "min": 0, "name": "PLD_MAX_SRCH", "shortDesc": "Maximum number of search attempts", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Precision Land", "increment": 0.1, "longDesc": "Altitude above home to which to climb when searching for the landing target.\n", "max": 100.0, "min": 0.0, "name": "PLD_SRCH_ALT", "shortDesc": "Search altitude", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Precision Land", "increment": 0.1, "longDesc": "Time allowed to search for the landing target before falling back to normal landing.\n", "max": 100.0, "min": 0.0, "name": "PLD_SRCH_TOUT", "shortDesc": "Search timeout", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Pure Pursuit", "increment": 0.01, "longDesc": "Lower value -> More aggressive controller (beware overshoot/oscillations)\n", "max": 100.0, "min": 0.1, "name": "PP_LOOKAHD_GAIN", "shortDesc": "Tuning parameter for the pure pursuit controller", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 10.0, "group": "Pure Pursuit", "increment": 0.01, "max": 100.0, "min": 0.1, "name": "PP_LOOKAHD_MAX", "shortDesc": "Maximum lookahead distance for the pure pursuit controller", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Pure Pursuit", "increment": 0.01, "max": 100.0, "min": 0.1, "name": "PP_LOOKAHD_MIN", "shortDesc": "Minimum lookahead distance for the pure pursuit controller", "type": "Float", "units": "m"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.\n", "max": 2200.0, "min": 1500.0, "name": "RC10_MAX", "shortDesc": "RC channel 10 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.\n", "max": 1500.0, "min": 800.0, "name": "RC10_MIN", "shortDesc": "RC channel 10 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.\n", "max": 1.0, "min": -1.0, "name": "RC10_REV", "shortDesc": "RC channel 10 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value\n", "max": 2200.0, "min": 800.0, "name": "RC10_TRIM", "shortDesc": "RC channel 10 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.\n", "max": 2200.0, "min": 1500.0, "name": "RC11_MAX", "shortDesc": "RC channel 11 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.\n", "max": 1500.0, "min": 800.0, "name": "RC11_MIN", "shortDesc": "RC channel 11 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.\n", "max": 1.0, "min": -1.0, "name": "RC11_REV", "shortDesc": "RC channel 11 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value\n", "max": 2200.0, "min": 800.0, "name": "RC11_TRIM", "shortDesc": "RC channel 11 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.\n", "max": 2200.0, "min": 1500.0, "name": "RC12_MAX", "shortDesc": "RC channel 12 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.\n", "max": 1500.0, "min": 800.0, "name": "RC12_MIN", "shortDesc": "RC channel 12 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.\n", "max": 1.0, "min": -1.0, "name": "RC12_REV", "shortDesc": "RC channel 12 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value\n", "max": 2200.0, "min": 800.0, "name": "RC12_TRIM", "shortDesc": "RC channel 12 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.\n", "max": 2200.0, "min": 1500.0, "name": "RC13_MAX", "shortDesc": "RC channel 13 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.\n", "max": 1500.0, "min": 800.0, "name": "RC13_MIN", "shortDesc": "RC channel 13 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.\n", "max": 1.0, "min": -1.0, "name": "RC13_REV", "shortDesc": "RC channel 13 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value\n", "max": 2200.0, "min": 800.0, "name": "RC13_TRIM", "shortDesc": "RC channel 13 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.\n", "max": 2200.0, "min": 1500.0, "name": "RC14_MAX", "shortDesc": "RC channel 14 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.\n", "max": 1500.0, "min": 800.0, "name": "RC14_MIN", "shortDesc": "RC channel 14 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.\n", "max": 1.0, "min": -1.0, "name": "RC14_REV", "shortDesc": "RC channel 14 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value\n", "max": 2200.0, "min": 800.0, "name": "RC14_TRIM", "shortDesc": "RC channel 14 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.\n", "max": 2200.0, "min": 1500.0, "name": "RC15_MAX", "shortDesc": "RC channel 15 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.\n", "max": 1500.0, "min": 800.0, "name": "RC15_MIN", "shortDesc": "RC channel 15 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.\n", "max": 1.0, "min": -1.0, "name": "RC15_REV", "shortDesc": "RC channel 15 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value\n", "max": 2200.0, "min": 800.0, "name": "RC15_TRIM", "shortDesc": "RC channel 15 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.\n", "max": 2200.0, "min": 1500.0, "name": "RC16_MAX", "shortDesc": "RC channel 16 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.\n", "max": 1500.0, "min": 800.0, "name": "RC16_MIN", "shortDesc": "RC channel 16 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.\n", "max": 1.0, "min": -1.0, "name": "RC16_REV", "shortDesc": "RC channel 16 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value\n", "max": 2200.0, "min": 800.0, "name": "RC16_TRIM", "shortDesc": "RC channel 16 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.\n", "max": 2200.0, "min": 1500.0, "name": "RC17_MAX", "shortDesc": "RC channel 17 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.\n", "max": 1500.0, "min": 800.0, "name": "RC17_MIN", "shortDesc": "RC channel 17 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.\n", "max": 1.0, "min": -1.0, "name": "RC17_REV", "shortDesc": "RC channel 17 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value\n", "max": 2200.0, "min": 800.0, "name": "RC17_TRIM", "shortDesc": "RC channel 17 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.\n", "max": 2200.0, "min": 1500.0, "name": "RC18_MAX", "shortDesc": "RC channel 18 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.\n", "max": 1500.0, "min": 800.0, "name": "RC18_MIN", "shortDesc": "RC channel 18 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.\n", "max": 1.0, "min": -1.0, "name": "RC18_REV", "shortDesc": "RC channel 18 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value\n", "max": 2200.0, "min": 800.0, "name": "RC18_TRIM", "shortDesc": "RC channel 18 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for RC channel 1\n", "max": 2200.0, "min": 1500.0, "name": "RC1_MAX", "shortDesc": "RC channel 1 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for RC channel 1\n", "max": 1500.0, "min": 800.0, "name": "RC1_MIN", "shortDesc": "RC channel 1 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.\n", "max": 1.0, "min": -1.0, "name": "RC1_REV", "shortDesc": "RC channel 1 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value\n", "max": 2200.0, "min": 800.0, "name": "RC1_TRIM", "shortDesc": "RC channel 1 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.\n", "max": 2200.0, "min": 1500.0, "name": "RC2_MAX", "shortDesc": "RC channel 2 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.\n", "max": 1500.0, "min": 800.0, "name": "RC2_MIN", "shortDesc": "RC channel 2 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.\n", "max": 1.0, "min": -1.0, "name": "RC2_REV", "shortDesc": "RC channel 2 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value\n", "max": 2200.0, "min": 800.0, "name": "RC2_TRIM", "shortDesc": "RC channel 2 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.\n", "max": 2200.0, "min": 1500.0, "name": "RC3_MAX", "shortDesc": "RC channel 3 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.\n", "max": 1500.0, "min": 800.0, "name": "RC3_MIN", "shortDesc": "RC channel 3 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.\n", "max": 1.0, "min": -1.0, "name": "RC3_REV", "shortDesc": "RC channel 3 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value\n", "max": 2200.0, "min": 800.0, "name": "RC3_TRIM", "shortDesc": "RC channel 3 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.\n", "max": 2200.0, "min": 1500.0, "name": "RC4_MAX", "shortDesc": "RC channel 4 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.\n", "max": 1500.0, "min": 800.0, "name": "RC4_MIN", "shortDesc": "RC channel 4 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.\n", "max": 1.0, "min": -1.0, "name": "RC4_REV", "shortDesc": "RC channel 4 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value\n", "max": 2200.0, "min": 800.0, "name": "RC4_TRIM", "shortDesc": "RC channel 4 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.\n", "max": 2200.0, "min": 1500.0, "name": "RC5_MAX", "shortDesc": "RC channel 5 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.\n", "max": 1500.0, "min": 800.0, "name": "RC5_MIN", "shortDesc": "RC channel 5 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.\n", "max": 1.0, "min": -1.0, "name": "RC5_REV", "shortDesc": "RC channel 5 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value\n", "max": 2200.0, "min": 800.0, "name": "RC5_TRIM", "shortDesc": "RC channel 5 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.\n", "max": 2200.0, "min": 1500.0, "name": "RC6_MAX", "shortDesc": "RC channel 6 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.\n", "max": 1500.0, "min": 800.0, "name": "RC6_MIN", "shortDesc": "RC channel 6 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.\n", "max": 1.0, "min": -1.0, "name": "RC6_REV", "shortDesc": "RC channel 6 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value\n", "max": 2200.0, "min": 800.0, "name": "RC6_TRIM", "shortDesc": "RC channel 6 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.\n", "max": 2200.0, "min": 1500.0, "name": "RC7_MAX", "shortDesc": "RC channel 7 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.\n", "max": 1500.0, "min": 800.0, "name": "RC7_MIN", "shortDesc": "RC channel 7 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.\n", "max": 1.0, "min": -1.0, "name": "RC7_REV", "shortDesc": "RC channel 7 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value\n", "max": 2200.0, "min": 800.0, "name": "RC7_TRIM", "shortDesc": "RC channel 7 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.\n", "max": 2200.0, "min": 1500.0, "name": "RC8_MAX", "shortDesc": "RC channel 8 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.\n", "max": 1500.0, "min": 800.0, "name": "RC8_MIN", "shortDesc": "RC channel 8 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.\n", "max": 1.0, "min": -1.0, "name": "RC8_REV", "shortDesc": "RC channel 8 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value\n", "max": 2200.0, "min": 800.0, "name": "RC8_TRIM", "shortDesc": "RC channel 8 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.\n", "max": 2200.0, "min": 1500.0, "name": "RC9_MAX", "shortDesc": "RC channel 9 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.\n", "max": 1500.0, "min": 800.0, "name": "RC9_MIN", "shortDesc": "RC channel 9 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.\n", "max": 1.0, "min": -1.0, "name": "RC9_REV", "shortDesc": "RC channel 9 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value\n", "max": 2200.0, "min": 800.0, "name": "RC9_TRIM", "shortDesc": "RC channel 9 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "This parameter is used by Ground Station software to save the number\nof channels which were used during RC calibration. It is only meant\nfor ground station use.\n", "max": 18, "min": 0, "name": "RC_CHAN_CNT", "shortDesc": "RC channel count", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "Use RC_MAP_FAILSAFE to specify which channel is used to indicate RC loss via this threshold.\nBy default this is the throttle channel.\n\nSet to a PWM value slightly above the PWM value for the channel (e.g. throttle) in a failsafe event,\nbut below the minimum PWM value for the channel during normal operation.\n\nNote: The default value of 0 disables the feature (it is below the expected range).\n", "max": 2200, "min": 0, "name": "RC_FAILS_THR", "shortDesc": "Failsafe channel PWM threshold", "type": "Int32", "units": "us"}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "max": 18, "min": 0, "name": "RC_MAP_AUX1", "shortDesc": "AUX1 Passthrough RC channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "max": 18, "min": 0, "name": "RC_MAP_AUX2", "shortDesc": "AUX2 Passthrough RC channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "max": 18, "min": 0, "name": "RC_MAP_AUX3", "shortDesc": "AUX3 Passthrough RC channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "max": 18, "min": 0, "name": "RC_MAP_AUX4", "shortDesc": "AUX4 Passthrough RC channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "max": 18, "min": 0, "name": "RC_MAP_AUX5", "shortDesc": "AUX5 Passthrough RC channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "max": 18, "min": 0, "name": "RC_MAP_AUX6", "shortDesc": "AUX6 Passthrough RC channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "max": 18, "min": 0, "name": "RC_MAP_ENG_MOT", "shortDesc": "RC channel to engage the main motor (for helicopters)", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "Configures which RC channel is used by the receiver to indicate the signal was lost\n(on receivers that use output a fixed signal value to report lost signal).\nIf set to 0, the channel mapped to throttle is used.\n\nUse RC_FAILS_THR to set the threshold indicating lost signal. By default it's below\nthe expected range and hence disabled.\n", "max": 18, "min": 0, "name": "RC_MAP_FAILSAFE", "shortDesc": "Failsafe channel mapping", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "Can be used for parameter tuning with the RC. This one is further referenced as the 1st parameter channel.\nSet to 0 to deactivate *\n", "max": 18, "min": 0, "name": "RC_MAP_PARAM1", "shortDesc": "PARAM1 tuning channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "Can be used for parameter tuning with the RC. This one is further referenced as the 2nd parameter channel.\nSet to 0 to deactivate *\n", "max": 18, "min": 0, "name": "RC_MAP_PARAM2", "shortDesc": "PARAM2 tuning channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "Can be used for parameter tuning with the RC. This one is further referenced as the 3th parameter channel.\nSet to 0 to deactivate *\n", "max": 18, "min": 0, "name": "RC_MAP_PARAM3", "shortDesc": "PARAM3 tuning channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "The channel index (starting from 1 for channel 1) indicates\nwhich channel should be used for reading pitch inputs from.\nA value of zero indicates the switch is not assigned.\n", "max": 18, "min": 0, "name": "RC_MAP_PITCH", "shortDesc": "Pitch control channel mapping", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "The channel index (starting from 1 for channel 1) indicates\nwhich channel should be used for reading roll inputs from.\nA value of zero indicates the switch is not assigned.\n", "max": 18, "min": 0, "name": "RC_MAP_ROLL", "shortDesc": "Roll control channel mapping", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "The channel index (starting from 1 for channel 1) indicates\nwhich channel should be used for reading throttle inputs from.\nA value of zero indicates the switch is not assigned.\n", "max": 18, "min": 0, "name": "RC_MAP_THROTTLE", "shortDesc": "Throttle control channel mapping", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "The channel index (starting from 1 for channel 1) indicates\nwhich channel should be used for reading yaw inputs from.\nA value of zero indicates the switch is not assigned.\n", "max": 18, "min": 0, "name": "RC_MAP_YAW", "shortDesc": "Yaw control channel mapping", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "0: do not read RSSI from input channel\n1-18: read RSSI from specified input channel\n\nSpecify the range for RSSI input with RC_RSSI_PWM_MIN and RC_RSSI_PWM_MAX parameters.\n", "max": 18, "min": 0, "name": "RC_RSSI_PWM_CHAN", "shortDesc": "PWM input channel that provides RSSI", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 2000, "group": "Radio Calibration", "longDesc": "Only used if RC_RSSI_PWM_CHAN > 0\n", "max": 2000, "min": 0, "name": "RC_RSSI_PWM_MAX", "shortDesc": "Max input value for RSSI reading", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Radio Calibration", "longDesc": "Only used if RC_RSSI_PWM_CHAN > 0\n", "max": 2000, "min": 0, "name": "RC_RSSI_PWM_MIN", "shortDesc": "Min input value for RSSI reading", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Radio Calibration", "increment": 0.01, "longDesc": "The trim value is the actuator control value the system needs\nfor straight and level flight.\n", "max": 0.5, "min": -0.5, "name": "TRIM_PITCH", "shortDesc": "Pitch trim", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Radio Calibration", "increment": 0.01, "longDesc": "The trim value is the actuator control value the system needs\nfor straight and level flight.\n", "max": 0.5, "min": -0.5, "name": "TRIM_ROLL", "shortDesc": "Roll trim", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Radio Calibration", "increment": 0.01, "longDesc": "The trim value is the actuator control value the system needs\nfor straight and level flight.\n", "max": 0.5, "min": -0.5, "name": "TRIM_YAW", "shortDesc": "Yaw trim", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.75, "group": "Radio Switches", "longDesc": "0-1 indicate where in the full channel range the threshold sits\n0 : min\n1 : max\nsign indicates polarity of comparison\npositive : true when channel>th\nnegative : true when channel<th\n", "max": 1.0, "min": -1.0, "name": "RC_ARMSWITCH_TH", "shortDesc": "Threshold for the arm switch", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.75, "group": "Radio Switches", "longDesc": "0-1 indicate where in the full channel range the threshold sits\n0 : min\n1 : max\nsign indicates polarity of comparison\npositive : true when channel>th\nnegative : true when channel<th\n", "max": 1.0, "min": -1.0, "name": "RC_ENG_MOT_TH", "shortDesc": "Threshold for selecting main motor engage", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.75, "group": "Radio Switches", "longDesc": "0-1 indicate where in the full channel range the threshold sits\n0 : min\n1 : max\nsign indicates polarity of comparison\npositive : true when channel>th\nnegative : true when channel<th\n", "max": 1.0, "min": -1.0, "name": "RC_GEAR_TH", "shortDesc": "Threshold for the landing gear switch", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.75, "group": "Radio Switches", "longDesc": "0-1 indicate where in the full channel range the threshold sits\n0 : min\n1 : max\nsign indicates polarity of comparison\npositive : true when channel>th\nnegative : true when channel<th\n", "max": 1.0, "min": -1.0, "name": "RC_KILLSWITCH_TH", "shortDesc": "Threshold for the kill switch", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.75, "group": "Radio Switches", "longDesc": "0-1 indicate where in the full channel range the threshold sits\n0 : min\n1 : max\nsign indicates polarity of comparison\npositive : true when channel>th\nnegative : true when channel<th\n", "max": 1.0, "min": -1.0, "name": "RC_LOITER_TH", "shortDesc": "Threshold for selecting loiter mode", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Radio Switches", "longDesc": "Use it to arm/disarm via switch instead of default throttle stick. If this is\nassigned, arming and disarming via stick is disabled.\n", "max": 18, "min": 0, "name": "RC_MAP_ARM_SW", "shortDesc": "Arm switch channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Switches", "max": 18, "min": 0, "name": "RC_MAP_FLAPS", "shortDesc": "Flaps channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Switches", "longDesc": "If this parameter is non-zero, flight modes are only selected\nby this channel and are assigned to six slots.\n", "max": 18, "min": 0, "name": "RC_MAP_FLTMODE", "shortDesc": "Single channel flight mode selection", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"bitmask": [{"description": "Mask Channel 1 as a mode button", "index": 0}, {"description": "Mask Channel 2 as a mode button", "index": 1}, {"description": "Mask Channel 3 as a mode button", "index": 2}, {"description": "Mask Channel 4 as a mode button", "index": 3}, {"description": "Mask Channel 5 as a mode button", "index": 4}, {"description": "Mask Channel 6 as a mode button", "index": 5}, {"description": "Mask Channel 7 as a mode button", "index": 6}, {"description": "Mask Channel 8 as a mode button", "index": 7}, {"description": "Mask Channel 9 as a mode button", "index": 8}, {"description": "Mask Channel 10 as a mode button", "index": 9}, {"description": "Mask Channel 11 as a mode button", "index": 10}, {"description": "Mask Channel 12 as a mode button", "index": 11}, {"description": "Mask Channel 13 as a mode button", "index": 12}, {"description": "Mask Channel 14 as a mode button", "index": 13}, {"description": "Mask Channel 15 as a mode button", "index": 14}, {"description": "Mask Channel 16 as a mode button", "index": 15}, {"description": "Mask Channel 17 as a mode button", "index": 16}, {"description": "Mask Channel 18 as a mode button", "index": 17}], "category": "Standard", "default": 0, "group": "Radio Switches", "longDesc": "This bitmask allows to specify multiple channels for changing flight modes using\nmomentary buttons. Each channel is assigned to a mode slot ((lowest channel = slot 1).\nThe resulting modes for each slot X is defined by the COM_FLTMODEX parameters.\nThe functionality can be used only if RC_MAP_FLTMODE is disabled.\n\nThe maximum number of available slots and hence bits set in the mask is 6.", "max": 258048, "min": 0, "name": "RC_MAP_FLTM_BTN", "shortDesc": "Button flight mode selection", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Radio Switches", "max": 18, "min": 0, "name": "RC_MAP_GEAR_SW", "shortDesc": "Landing gear switch channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Switches", "longDesc": "This channel immediately sets all outputs to their disarmed values, parachutes are NOT deployed.\nUnlike termination this can be undone. Quickly flipping the switch back restores control.\nSystem auto-disarms after 5 seconds, preflight checks and re-arming are then required.\n", "max": 18, "min": 0, "name": "RC_MAP_KILL_SW", "shortDesc": "Emergency Kill switch channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Switches", "max": 18, "min": 0, "name": "RC_MAP_LOITER_SW", "shortDesc": "Loiter switch channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Switches", "longDesc": "This is the main flight mode selector.\nThe channel index (starting from 1 for channel 1) indicates\nwhich channel should be used for deciding about the main mode.\nA value of zero indicates the switch is not assigned.\n", "max": 18, "min": 0, "name": "RC_MAP_MODE_SW", "shortDesc": "Mode switch channel mapping (deprecated)", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Switches", "max": 18, "min": 0, "name": "RC_MAP_OFFB_SW", "shortDesc": "Offboard switch channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Switches", "max": 18, "min": 0, "name": "RC_MAP_PAY_SW", "shortDesc": "Payload Power Switch RC channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Switches", "max": 18, "min": 0, "name": "RC_MAP_RETURN_SW", "shortDesc": "Return switch channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Switches", "longDesc": "This channel triggers irreversible flight termination:\nAll outputs are disabled and set to their failsafe values (disarmed by default)\nand MAVLink parachutes are triggered.\n\nUnlike a kill switch, this cannot be undone until system reboot. Use with caution.\n", "max": 18, "min": 0, "name": "RC_MAP_TERM_SW", "shortDesc": "Termination switch channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Switches", "max": 18, "min": 0, "name": "RC_MAP_TRANS_SW", "shortDesc": "VTOL transition switch channel mapping", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.75, "group": "Radio Switches", "longDesc": "0-1 indicate where in the full channel range the threshold sits\n0 : min\n1 : max\nsign indicates polarity of comparison\npositive : true when channel>th\nnegative : true when channel<th\n", "max": 1.0, "min": -1.0, "name": "RC_OFFB_TH", "shortDesc": "Threshold for selecting offboard mode", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.25, "group": "Radio Switches", "longDesc": "0-1 indicate where in the full channel range the threshold sits\n0 : min\n1 : max\nsign indicates polarity of comparison\npositive : true when channel>th\nnegative : true when channel<th\n", "max": 1.0, "min": -1.0, "name": "RC_PAYLOAD_MIDTH", "shortDesc": "Threshold for mid position of payload power switch", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.75, "group": "Radio Switches", "longDesc": "0-1 indicate where in the full channel range the threshold sits\n0 : min\n1 : max\nsign indicates polarity of comparison\npositive : true when channel>th\nnegative : true when channel<th\n", "max": 1.0, "min": -1.0, "name": "RC_PAYLOAD_TH", "shortDesc": "Threshold for on position of payload power switch", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.75, "group": "Radio Switches", "longDesc": "0-1 indicate where in the full channel range the threshold sits\n0 : min\n1 : max\nsign indicates polarity of comparison\npositive : true when channel>th\nnegative : true when channel<th\n", "max": 1.0, "min": -1.0, "name": "RC_RETURN_TH", "shortDesc": "Threshold for selecting return to launch mode", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.75, "group": "Radio Switches", "longDesc": "0-1 indicate where in the full channel range the threshold sits\n0 : min\n1 : max\nsign indicates polarity of comparison\npositive : true when channel>th\nnegative : true when channel<th\n", "max": 1.0, "min": -1.0, "name": "RC_TRANS_TH", "shortDesc": "Threshold for the VTOL transition switch", "type": "Float"}, {"category": "Standard", "default": 45, "group": "Return Mode", "longDesc": "Defines the half-angle of a cone centered around the destination position that\naffects the altitude at which the vehicle returns.\n", "max": 90, "min": 0, "name": "RTL_CONE_ANG", "shortDesc": "Half-angle of the return mode altitude cone", "type": "Int32", "units": "deg", "values": [{"description": "No cone, always climb to RTL_RETURN_ALT above destination.", "value": 0}, {"description": "25 degrees half cone angle.", "value": 25}, {"description": "45 degrees half cone angle.", "value": 45}, {"description": "65 degrees half cone angle.", "value": 65}, {"description": "80 degrees half cone angle.", "value": 80}, {"description": "Only climb to at least RTL_DESCEND_ALT above destination.", "value": 90}]}, {"category": "Standard", "decimalPlaces": 1, "default": 30.0, "group": "Return Mode", "increment": 0.5, "longDesc": "Descend to this altitude (above destination position) after return, and wait for time defined in RTL_LAND_DELAY.\nLand (i.e. slowly descend) from this altitude if autolanding allowed.\nVTOLs do transition to hover in this altitdue above the landing point.\n", "min": 0.0, "name": "RTL_DESCEND_ALT", "shortDesc": "Return mode loiter altitude", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "Return Mode", "increment": 0.5, "longDesc": "Delay before landing (after initial descent) in Return mode.\nIf set to -1 the system will not land but loiter at RTL_DESCEND_ALT.\n", "min": -1.0, "name": "RTL_LAND_DELAY", "shortDesc": "Return mode delay", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 80.0, "group": "Return Mode", "increment": 0.5, "longDesc": "Set the radius for loitering to a safe altitude for VTOL transition.\n", "min": 25.0, "name": "RTL_LOITER_RAD", "shortDesc": "Loiter radius for rtl descend", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Return Mode", "increment": 0.5, "longDesc": "The return altitude will be calculated based on RTL_CONE_ANG parameter.\nThe yaw setpoint will switch to the one defined by corresponding waypoint.\n\n", "min": 0.5, "name": "RTL_MIN_DIST", "shortDesc": "Horizontal radius from return point within which special rules for return mode apply", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Return Mode", "longDesc": "Use precision landing when doing an RTL landing phase.\nThis setting does not apply for RTL destinations planned as part of a mission.\n", "name": "RTL_PLD_MD", "shortDesc": "RTL precision land mode", "type": "Int32", "values": [{"description": "No precision landing", "value": 0}, {"description": "Opportunistic precision landing", "value": 1}, {"description": "Required precision landing", "value": 2}]}, {"category": "Standard", "decimalPlaces": 1, "default": 60.0, "group": "Return Mode", "increment": 0.5, "longDesc": "Default minimum altitude above destination (e.g. home, safe point, landing pattern) for return flight.\nThe vehicle will climb to this altitude when Return mode is enganged, unless it currently is flying higher already.\nThis is affected by RTL_MIN_DIST and RTL_CONE_ANG.\n", "min": 0.0, "name": "RTL_RETURN_ALT", "shortDesc": "Return mode return altitude", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Return Mode", "longDesc": "Return mode destination and flight path (home location, rally point, mission landing pattern, reverse mission)\n", "name": "RTL_TYPE", "shortDesc": "Return type", "type": "Int32", "values": [{"description": "Return to closest safe point (home or rally point) via direct path.", "value": 0}, {"description": "Return to closest safe point other than home (mission landing pattern or rally point), via direct path. If no mission landing or rally points are defined return home via direct path. Always choose closest safe landing point if vehicle is a VTOL in hover mode.", "value": 1}, {"description": "Return to a planned mission landing, if available, using the mission path, else return to home via the reverse mission path. Do not consider rally points.", "value": 2}, {"description": "Return via direct path to closest destination: home, start of mission landing pattern or safe point. If the destination is a mission landing pattern, follow the pattern to land.", "value": 3}, {"description": "Return to the planned mission landing, or to home via the reverse mission path, whichever is closer by counting waypoints. Do not consider rally points.", "value": 4}, {"description": "Return directly to safe landing point (do not consider mission landing and Home)", "value": 5}]}, {"category": "Standard", "default": 0, "group": "Return To Land", "longDesc": "Only consider RTL point, if it has an approach defined.\n", "name": "RTL_APPR_FORCE", "shortDesc": "RTL force approach landing", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 1.1, "group": "Return To Land", "increment": 0.1, "longDesc": "Safety factor that is used to scale the actual RTL time estimate.\nTime with margin = RTL_TIME_FACTOR * time + RTL_TIME_MARGIN\n", "max": 2.0, "min": 1.0, "name": "RTL_TIME_FACTOR", "shortDesc": "RTL time estimate safety margin factor", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 100, "group": "Return To Land", "increment": 1, "longDesc": "Margin that is added to the time estimate, after it has already been scaled\nTime with margin = RTL_TIME_FACTOR * time + RTL_TIME_MARGIN\n", "max": 3600, "min": 0, "name": "RTL_TIME_MARGIN", "shortDesc": "RTL time estimate safety margin offset", "type": "Int32", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Rover Ackermann", "increment": 0.01, "longDesc": "The geometric ideal acceptance radius is multiplied by this factor\nto account for kinematic and dynamic effects.\nHigher value -> The rover starts to cut the corner earlier.\n\n", "max": 100.0, "min": 1.0, "name": "RA_ACC_RAD_GAIN", "shortDesc": "Tuning parameter for corner cutting", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Rover Ackermann", "increment": 0.01, "longDesc": "The controller scales the acceptance radius based on the angle between\nthe previous, current and next waypoint.\nHigher value -> smoother trajectory at the cost of how close the rover gets\nto the waypoint (Set to -1 to disable corner cutting).\n\n", "max": 100.0, "min": -1.0, "name": "RA_ACC_RAD_MAX", "shortDesc": "Maximum acceptance radius for the waypoints", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Rover Ackermann", "increment": 0.01, "max": 1.5708, "min": 0.0, "name": "RA_MAX_STR_ANG", "shortDesc": "Maximum steering angle", "type": "Float", "units": "rad"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Rover Ackermann", "increment": 0.01, "longDesc": "Set to -1 to disable.\n", "max": 1000.0, "min": -1.0, "name": "RA_STR_RATE_LIM", "shortDesc": "Steering rate limit", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Rover Ackermann", "increment": 0.001, "longDesc": "Distance from the front to the rear axle.\n", "max": 100.0, "min": 0.0, "name": "RA_WHEEL_BASE", "shortDesc": "Wheel base", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Rover Attitude Control", "increment": 0.01, "max": 100.0, "min": 0.0, "name": "RO_YAW_P", "shortDesc": "Proportional gain for closed loop yaw controller", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.174533, "group": "Rover Differential", "increment": 0.01, "longDesc": "This threshold is used for the state machine to switch from driving to turning based on the\nerror between the desired and actual yaw. It is also used as the threshold whether the rover should come\nto a smooth stop at the next waypoint. This slow down effect is active if the angle between the\nline segments from prevWP-currWP and currWP-nextWP is smaller then 180 - RD_TRANS_DRV_TRN.\n\n", "max": 3.14159, "min": 0.001, "name": "RD_TRANS_DRV_TRN", "shortDesc": "Yaw error threshhold to switch from driving to spot turning", "type": "Float", "units": "rad"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0872665, "group": "Rover Differential", "increment": 0.01, "longDesc": "This threshold is used for the state machine to switch from turning to driving based on the\nerror between the desired and actual yaw.\n\n", "max": 3.14159, "min": 0.001, "name": "RD_TRANS_TRN_DRV", "shortDesc": "Yaw error threshhold to switch from spot turning to driving", "type": "Float", "units": "rad"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Rover Differential", "increment": 0.001, "longDesc": "Distance from the center of the right wheel to the center of the left wheel.\n", "max": 100.0, "min": 0.0, "name": "RD_WHEEL_TRACK", "shortDesc": "Wheel track", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Rover Differential", "increment": 0.01, "longDesc": "Assign value <1.0 to decrease stick response for yaw control.\n", "max": 1.0, "min": 0.1, "name": "RD_YAW_STK_GAIN", "shortDesc": "Yaw stick gain for Manual mode", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.17, "group": "Rover Mecanum", "increment": 0.01, "longDesc": "Threshold for the angle between the active cruise direction and the cruise direction given\nby the stick inputs.\nThis can be understood as a deadzone for the combined stick inputs for forward/backwards\nand lateral speed which defines a course direction.\n\n", "max": 3.14, "min": 0.0, "name": "RM_COURSE_CTL_TH", "shortDesc": "Threshold to update course control in manual position mode", "type": "Float", "units": "rad"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Rover Mecanum", "increment": 0.001, "longDesc": "Distance from the center of the right wheel to the center of the left wheel.\n", "max": 100.0, "min": 0.0, "name": "RM_WHEEL_TRACK", "shortDesc": "Wheel track", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Rover Mecanum", "increment": 0.01, "longDesc": "Assign value <1.0 to decrease stick response for yaw control.\n", "max": 1.0, "min": 0.1, "name": "RM_YAW_STK_GAIN", "shortDesc": "Yaw stick gain for Manual mode", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Rover Rate Control", "increment": 0.01, "longDesc": "Used to cap how quickly the magnitude of yaw rate setpoints can increase.\nSet to -1 to disable.\n", "max": 10000.0, "min": -1.0, "name": "RO_YAW_ACCEL_LIM", "shortDesc": "Yaw acceleration limit", "type": "Float", "units": "deg/s^2"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Rover Rate Control", "increment": 0.01, "longDesc": "Used to cap how quickly the magnitude of yaw rate setpoints can decrease.\nSet to -1 to disable.\n", "max": 10000.0, "min": -1.0, "name": "RO_YAW_DECEL_LIM", "shortDesc": "Yaw deceleration limit", "type": "Float", "units": "deg/s^2"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Rover Rate Control", "longDesc": "Exponential factor for tuning the input curve shape.\n\n0 Purely linear input curve\n1 Purely cubic input curve\n", "max": 1.0, "min": 0.0, "name": "RO_YAW_EXPO", "shortDesc": "Yaw rate expo factor", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Rover Rate Control", "increment": 0.01, "longDesc": "Multiplicative correction factor for the feedforward mapping of the yaw rate controller.\nIncrease this value (x > 1) if the measured yaw rate is lower than the setpoint, decrease (0 < x < 1) otherwise.\nNote: Tuning this is particularly useful for skid-steered rovers, or rovers with misaligned wheels/steering axes\nthat cause a lot of friction when turning.\n", "max": 10000.0, "min": 0.01, "name": "RO_YAW_RATE_CORR", "shortDesc": "Yaw rate correction factor", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Rover Rate Control", "increment": 0.01, "max": 100.0, "min": 0.0, "name": "RO_YAW_RATE_I", "shortDesc": "Integral gain for closed loop yaw rate controller", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Rover Rate Control", "increment": 0.01, "longDesc": "Used to cap yaw rate setpoints and map controller inputs to yaw rate setpoints\nin Acro, Stabilized and Position mode.\n", "max": 10000.0, "min": 0.0, "name": "RO_YAW_RATE_LIM", "shortDesc": "Yaw rate limit", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Rover Rate Control", "increment": 0.01, "max": 100.0, "min": 0.0, "name": "RO_YAW_RATE_P", "shortDesc": "Proportional gain for closed loop yaw rate controller", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 3.0, "group": "Rover Rate Control", "increment": 0.01, "longDesc": "The minimum threshold for the yaw rate measurement not to be interpreted as zero.\n", "max": 100.0, "min": 0.0, "name": "RO_YAW_RATE_TH", "shortDesc": "Yaw rate measurement threshold", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "Rover Rate Control", "increment": 0.01, "longDesc": "Percentage of stick input range that will be interpreted as zero around the stick centered value.\n", "max": 1.0, "min": 0.0, "name": "RO_YAW_STICK_DZ", "shortDesc": "Yaw stick deadzone", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Rover Rate Control", "longDesc": "\"Superexponential\" factor for refining the input curve shape tuned using RO_YAW_EXPO.\n\n0 Pure Expo function\n0.7 reasonable shape enhancement for intuitive stick feel\n0.95 very strong bent input curve only near maxima have effect\n", "max": 0.95, "min": 0.0, "name": "RO_YAW_SUPEXPO", "shortDesc": "Yaw rate super expo factor", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Rover Velocity Control", "increment": 0.01, "longDesc": "Set to -1 to disable.\nFor mecanum rovers this limit is used for longitudinal and lateral acceleration.\n", "max": 100.0, "min": -1.0, "name": "RO_ACCEL_LIM", "shortDesc": "Acceleration limit", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Rover Velocity Control", "increment": 0.01, "longDesc": "Set to -1 to disable.\nNote that if it is disabled the rover will not slow down when approaching waypoints in auto modes.\nFor mecanum rovers this limit is used for longitudinal and lateral deceleration.\n", "max": 100.0, "min": -1.0, "name": "RO_DECEL_LIM", "shortDesc": "Deceleration limit", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Rover Velocity Control", "increment": 0.01, "longDesc": "Set to -1 to disable.\nNote that if it is disabled the rover will not slow down when approaching waypoints in auto modes.\nFor mecanum rovers this limit is used for longitudinal and lateral jerk.\n", "max": 100.0, "min": -1.0, "name": "RO_JERK_LIM", "shortDesc": "Jerk limit", "type": "Float", "units": "m/s^3"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Rover Velocity Control", "increment": 0.01, "longDesc": "Used to linearly map speeds [m/s] to throttle values [-1. 1].\n", "max": 100.0, "min": 0.0, "name": "RO_MAX_THR_SPEED", "shortDesc": "Speed the rover drives at maximum throttle", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Rover Velocity Control", "increment": 0.001, "max": 100.0, "min": 0.0, "name": "RO_SPEED_I", "shortDesc": "Integral gain for ground speed controller", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Rover Velocity Control", "increment": 0.01, "longDesc": "Used to cap speed setpoints and map controller inputs to speed setpoints in Position mode.\n", "max": 100.0, "min": -1.0, "name": "RO_SPEED_LIM", "shortDesc": "Speed limit", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Rover Velocity Control", "increment": 0.01, "max": 100.0, "min": 0.0, "name": "RO_SPEED_P", "shortDesc": "Proportional gain for ground speed controller", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Rover Velocity Control", "increment": 0.01, "longDesc": "Reduced_speed = RO_MAX_THR_SPEED * (1 - normalized_course_error * RO_SPEED_RED)\nThe normalized course error is the angle between the current course and the bearing setpoint\ninterpolated from [0, 180] -> [0, 1].\nHigher value -> More speed reduction.\nNote: This is also used to calculate the speed at which the vehicle arrives at a waypoint in auto modes.\nSet to -1 to disable bearing error based speed reduction.\n", "max": 100.0, "min": -1.0, "name": "RO_SPEED_RED", "shortDesc": "Tuning parameter for the speed reduction based on the course error", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "Rover Velocity Control", "increment": 0.01, "longDesc": "Set to -1 to disable.\nThe minimum threshold for the speed measurement not to be interpreted as zero.\n", "max": 100.0, "min": 0.0, "name": "RO_SPEED_TH", "shortDesc": "Speed measurement threshold", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Runway Takeoff", "increment": 0.01, "max": 1.0, "min": 0.0, "name": "RWTO_MAX_THR", "shortDesc": "Throttle during runway takeoff", "type": "Float", "units": "norm"}, {"category": "Standard", "default": 1, "group": "Runway Takeoff", "longDesc": "This is useful when map, GNSS, or yaw errors on ground are misaligned with what the operator intends for takeoff course.\nParticularly useful for skinny runways or if the wheel servo is a bit off trim.\n", "name": "RWTO_NUDGE", "shortDesc": "Enable use of yaw stick for nudging the wheel during runway ground roll", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "Runway Takeoff", "increment": 0.5, "longDesc": "A taildragger with steerable wheel might need to pitch up\na little to keep its wheel on the ground before airspeed\nto takeoff is reached.\n", "max": 20.0, "min": -10.0, "name": "RWTO_PSP", "shortDesc": "Pitch setpoint during taxi / before takeoff rotation airspeed is reached", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 2.0, "group": "Runway Takeoff", "increment": 0.1, "max": 15.0, "min": 1.0, "name": "RWTO_RAMP_TIME", "shortDesc": "Throttle ramp up time for runway takeoff", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "Runway Takeoff", "increment": 0.1, "longDesc": "The calibrated airspeed threshold during the takeoff ground roll when the plane should start rotating (pitching up).\nMust be less than the takeoff airspeed, will otherwise be capped at the takeoff airpeed (see FW_TKO_AIRSPD).\n\nIf set <= 0.0, defaults to 0.9 * takeoff airspeed (see FW_TKO_AIRSPD)\n", "min": -1.0, "name": "RWTO_ROT_AIRSPD", "shortDesc": "Takeoff rotation airspeed", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Runway Takeoff", "increment": 0.1, "longDesc": "This is the time desired to linearly ramp in takeoff pitch constraints during the takeoff rotation\n", "min": 0.1, "name": "RWTO_ROT_TIME", "shortDesc": "Takeoff rotation time", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "Runway Takeoff", "name": "RWTO_TKOFF", "shortDesc": "Runway takeoff with landing gear", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"bitmask": [{"description": "SD card logging", "index": 0}, {"description": "Mavlink logging", "index": 1}], "category": "Standard", "default": 3, "group": "SD Logging", "longDesc": "If no logging is set the logger will not be started. Set bits true to enable: 0: SD card logging 1: Mavlink logging\n", "max": 3, "min": 0, "name": "SDLOG_BACKEND", "rebootRequired": true, "shortDesc": "Logging Backend (integer bitmask)", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "SD Logging", "longDesc": "When enabled, logging will not start from boot if battery power is not detected (e.g. powered via USB on a test bench). This prevents extraneous flight logs from being created during bench testing. Note that this only applies to log-from-boot modes. This has no effect on arm-based modes.\n", "name": "SDLOG_BOOT_BAT", "shortDesc": "Battery-only Logging", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "SD Logging", "longDesc": "If there are more log directories than this value, the system will delete the oldest directories during startup. In addition, the system will delete old logs if there is not enough free space left. The minimum amount is 300 MB. If this is set to 0, old directories will only be removed if the free space falls below the minimum. Note: this does not apply to mission log files.\n", "max": 1000, "min": 0, "name": "SDLOG_DIRS_MAX", "rebootRequired": true, "shortDesc": "Maximum number of log directories to keep", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "SD Logging", "longDesc": "If enabled, a small additional \"mission\" log file will be written to the SD card. The log contains just those messages that are useful for tasks like generating flight statistics and geotagging. The different modes can be used to further reduce the logged data (and thus the log file size). For example, choose geotagging mode to only log data required for geotagging. Note that the normal/full log is still created, and contains all the data in the mission log (and more).\n", "name": "SDLOG_MISSION", "rebootRequired": true, "shortDesc": "Mission Log", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "All mission messages", "value": 1}, {"description": "Geotagging messages", "value": 2}]}, {"category": "Standard", "default": 0, "group": "SD Logging", "longDesc": "Determines when to start and stop logging. By default, logging is started when arming the system, and stopped when disarming. Note: The logging start/end points that can be configured here only apply to SD logging. The mavlink backend is started/stopped independently of these points.\n", "name": "SDLOG_MODE", "rebootRequired": true, "shortDesc": "Logging Mode", "type": "Int32", "values": [{"description": "when armed until disarm (default)", "value": 0}, {"description": "from boot until disarm", "value": 1}, {"description": "from boot until shutdown", "value": 2}, {"description": "while manual input AUX1 >30%", "value": 3}, {"description": "from 1st armed until shutdown", "value": 4}]}, {"bitmask": [{"description": "Default set (general log analysis)", "index": 0}, {"description": "Estimator replay (EKF2)", "index": 1}, {"description": "Thermal calibration", "index": 2}, {"description": "System identification", "index": 3}, {"description": "High rate", "index": 4}, {"description": "Debug", "index": 5}, {"description": "Sensor comparison", "index": 6}, {"description": "Computer Vision and Avoidance", "index": 7}, {"description": "Raw FIFO high-rate IMU (Gyro)", "index": 8}, {"description": "Raw FIFO high-rate IMU (Accel)", "index": 9}, {"description": "Mavlink tunnel message logging", "index": 10}, {"description": "High rate sensors", "index": 11}], "category": "Standard", "default": 1, "group": "SD Logging", "longDesc": "This integer bitmask controls the set and rates of logged topics. The default allows for general log analysis while keeping the log file size reasonably small. Enabling multiple sets leads to higher bandwidth requirements and larger log files. Set bits true to enable: 0 : Default set (used for general log analysis) 1 : Full rate estimator (EKF2) replay topics 2 : Topics for thermal calibration (high rate raw IMU and Baro sensor data) 3 : Topics for system identification (high rate actuator control and IMU data) 4 : Full rates for analysis of fast maneuvers (RC, attitude, rates and actuators) 5 : Debugging topics (debug_*.msg topics, for custom code) 6 : Topics for sensor comparison (low rate raw IMU, Baro and magnetometer data) 7 : Topics for computer vision and collision prevention 8 : Raw FIFO high-rate IMU (Gyro) 9 : Raw FIFO high-rate IMU (Accel) 10: Logging of mavlink tunnel message (useful for payload communication debugging)\n", "max": 4095, "min": 0, "name": "SDLOG_PROFILE", "rebootRequired": true, "shortDesc": "Logging topic profile (integer bitmask)", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "SD Logging", "longDesc": "the difference in hours and minutes from Coordinated Universal Time (UTC) for a your place and date. for example, In case of South Korea(UTC+09:00), UTC offset is 540 min (9*60) refer to https://en.wikipedia.org/wiki/List_of_UTC_time_offsets\n", "max": 1000, "min": -1000, "name": "SDLOG_UTC_OFFSET", "shortDesc": "UTC offset (unit: min)", "type": "Int32", "units": "min"}, {"category": "Standard", "default": 1, "group": "SD Logging", "longDesc": "If set to 1, add an ID to the log, which uniquely identifies the vehicle\n", "name": "SDLOG_UUID", "shortDesc": "Log UUID", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 60.0, "group": "SITL", "increment": 1.0, "max": 86400.0, "min": 1.0, "name": "SIM_BAT_DRAIN", "shortDesc": "Simulator Battery drain interval", "type": "Float", "units": "s"}, {"category": "Standard", "default": 1, "group": "SITL", "longDesc": "Enable or disable the internal battery simulation. This is useful\nwhen the battery is simulated externally and interfaced with PX4\nthrough MAVLink for example.\n", "name": "SIM_BAT_ENABLE", "shortDesc": "Simulator Battery enabled", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 50.0, "group": "SITL", "increment": 0.1, "longDesc": "Can be used to alter the battery level during SITL- or HITL-simulation on the fly.\nParticularly useful for testing different low-battery behaviour.\n", "max": 100.0, "min": 0.0, "name": "SIM_BAT_MIN_PCT", "shortDesc": "Simulator Battery minimal percentage", "type": "Float", "units": "%"}, {"category": "System", "decimalPlaces": 3, "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the accelerometer this calibration applies to.\n", "name": "CAL_ACC0_ID", "shortDesc": "Accelerometer 0 calibration device ID", "type": "Int32"}, {"category": "System", "decimalPlaces": 3, "default": -1, "group": "Sensor Calibration", "name": "CAL_ACC0_PRIO", "shortDesc": "Accelerometer 0 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": -1, "group": "Sensor Calibration", "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.\n\n", "max": 40, "min": -1, "name": "CAL_ACC0_ROT", "shortDesc": "Accelerometer 0 rotation relative to airframe", "type": "Int32", "values": [{"description": "Internal", "value": -1}, {"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}, {"description": "Roll 180\u00b0", "value": 8}, {"description": "Roll 180\u00b0, Yaw 45\u00b0", "value": 9}, {"description": "Roll 180\u00b0, Yaw 90\u00b0", "value": 10}, {"description": "Roll 180\u00b0, Yaw 135\u00b0", "value": 11}, {"description": "Pitch 180\u00b0", "value": 12}, {"description": "Roll 180\u00b0, Yaw 225\u00b0", "value": 13}, {"description": "Roll 180\u00b0, Yaw 270\u00b0", "value": 14}, {"description": "Roll 180\u00b0, Yaw 315\u00b0", "value": 15}, {"description": "Roll 90\u00b0", "value": 16}, {"description": "Roll 90\u00b0, Yaw 45\u00b0", "value": 17}, {"description": "Roll 90\u00b0, Yaw 90\u00b0", "value": 18}, {"description": "Roll 90\u00b0, Yaw 135\u00b0", "value": 19}, {"description": "Roll 270\u00b0", "value": 20}, {"description": "Roll 270\u00b0, Yaw 45\u00b0", "value": 21}, {"description": "Roll 270\u00b0, Yaw 90\u00b0", "value": 22}, {"description": "Roll 270\u00b0, Yaw 135\u00b0", "value": 23}, {"description": "Pitch 90\u00b0", "value": 24}, {"description": "Pitch 270\u00b0", "value": 25}, {"description": "Pitch 180\u00b0, Yaw 90\u00b0", "value": 26}, {"description": "Pitch 180\u00b0, Yaw 270\u00b0", "value": 27}, {"description": "Roll 90\u00b0, Pitch 90\u00b0", "value": 28}, {"description": "Roll 180\u00b0, Pitch 90\u00b0", "value": 29}, {"description": "Roll 270\u00b0, Pitch 90\u00b0", "value": 30}, {"description": "Roll 90\u00b0, Pitch 180\u00b0", "value": 31}, {"description": "Roll 270\u00b0, Pitch 180\u00b0", "value": 32}, {"description": "Roll 90\u00b0, Pitch 270\u00b0", "value": 33}, {"description": "Roll 180\u00b0, Pitch 270\u00b0", "value": 34}, {"description": "Roll 270\u00b0, Pitch 270\u00b0", "value": 35}, {"description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0", "value": 36}, {"description": "Roll 90\u00b0, Yaw 270\u00b0", "value": 37}, {"description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0", "value": 38}, {"description": "Pitch 315\u00b0", "value": 39}, {"description": "Roll 90\u00b0, Pitch 315\u00b0", "value": 40}]}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_ACC0_XOFF", "shortDesc": "Accelerometer 0 X-axis offset", "type": "Float", "units": "m/s^2", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_ACC0_XSCALE", "shortDesc": "Accelerometer 0 X-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_ACC0_YOFF", "shortDesc": "Accelerometer 0 Y-axis offset", "type": "Float", "units": "m/s^2", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_ACC0_YSCALE", "shortDesc": "Accelerometer 0 Y-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_ACC0_ZOFF", "shortDesc": "Accelerometer 0 Z-axis offset", "type": "Float", "units": "m/s^2", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_ACC0_ZSCALE", "shortDesc": "Accelerometer 0 Z-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the accelerometer this calibration applies to.\n", "name": "CAL_ACC1_ID", "shortDesc": "Accelerometer 1 calibration device ID", "type": "Int32"}, {"category": "System", "decimalPlaces": 3, "default": -1, "group": "Sensor Calibration", "name": "CAL_ACC1_PRIO", "shortDesc": "Accelerometer 1 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": -1, "group": "Sensor Calibration", "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.\n\n", "max": 40, "min": -1, "name": "CAL_ACC1_ROT", "shortDesc": "Accelerometer 1 rotation relative to airframe", "type": "Int32", "values": [{"description": "Internal", "value": -1}, {"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}, {"description": "Roll 180\u00b0", "value": 8}, {"description": "Roll 180\u00b0, Yaw 45\u00b0", "value": 9}, {"description": "Roll 180\u00b0, Yaw 90\u00b0", "value": 10}, {"description": "Roll 180\u00b0, Yaw 135\u00b0", "value": 11}, {"description": "Pitch 180\u00b0", "value": 12}, {"description": "Roll 180\u00b0, Yaw 225\u00b0", "value": 13}, {"description": "Roll 180\u00b0, Yaw 270\u00b0", "value": 14}, {"description": "Roll 180\u00b0, Yaw 315\u00b0", "value": 15}, {"description": "Roll 90\u00b0", "value": 16}, {"description": "Roll 90\u00b0, Yaw 45\u00b0", "value": 17}, {"description": "Roll 90\u00b0, Yaw 90\u00b0", "value": 18}, {"description": "Roll 90\u00b0, Yaw 135\u00b0", "value": 19}, {"description": "Roll 270\u00b0", "value": 20}, {"description": "Roll 270\u00b0, Yaw 45\u00b0", "value": 21}, {"description": "Roll 270\u00b0, Yaw 90\u00b0", "value": 22}, {"description": "Roll 270\u00b0, Yaw 135\u00b0", "value": 23}, {"description": "Pitch 90\u00b0", "value": 24}, {"description": "Pitch 270\u00b0", "value": 25}, {"description": "Pitch 180\u00b0, Yaw 90\u00b0", "value": 26}, {"description": "Pitch 180\u00b0, Yaw 270\u00b0", "value": 27}, {"description": "Roll 90\u00b0, Pitch 90\u00b0", "value": 28}, {"description": "Roll 180\u00b0, Pitch 90\u00b0", "value": 29}, {"description": "Roll 270\u00b0, Pitch 90\u00b0", "value": 30}, {"description": "Roll 90\u00b0, Pitch 180\u00b0", "value": 31}, {"description": "Roll 270\u00b0, Pitch 180\u00b0", "value": 32}, {"description": "Roll 90\u00b0, Pitch 270\u00b0", "value": 33}, {"description": "Roll 180\u00b0, Pitch 270\u00b0", "value": 34}, {"description": "Roll 270\u00b0, Pitch 270\u00b0", "value": 35}, {"description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0", "value": 36}, {"description": "Roll 90\u00b0, Yaw 270\u00b0", "value": 37}, {"description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0", "value": 38}, {"description": "Pitch 315\u00b0", "value": 39}, {"description": "Roll 90\u00b0, Pitch 315\u00b0", "value": 40}]}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_ACC1_XOFF", "shortDesc": "Accelerometer 1 X-axis offset", "type": "Float", "units": "m/s^2", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_ACC1_XSCALE", "shortDesc": "Accelerometer 1 X-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_ACC1_YOFF", "shortDesc": "Accelerometer 1 Y-axis offset", "type": "Float", "units": "m/s^2", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_ACC1_YSCALE", "shortDesc": "Accelerometer 1 Y-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_ACC1_ZOFF", "shortDesc": "Accelerometer 1 Z-axis offset", "type": "Float", "units": "m/s^2", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_ACC1_ZSCALE", "shortDesc": "Accelerometer 1 Z-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the accelerometer this calibration applies to.\n", "name": "CAL_ACC2_ID", "shortDesc": "Accelerometer 2 calibration device ID", "type": "Int32"}, {"category": "System", "decimalPlaces": 3, "default": -1, "group": "Sensor Calibration", "name": "CAL_ACC2_PRIO", "shortDesc": "Accelerometer 2 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": -1, "group": "Sensor Calibration", "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.\n\n", "max": 40, "min": -1, "name": "CAL_ACC2_ROT", "shortDesc": "Accelerometer 2 rotation relative to airframe", "type": "Int32", "values": [{"description": "Internal", "value": -1}, {"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}, {"description": "Roll 180\u00b0", "value": 8}, {"description": "Roll 180\u00b0, Yaw 45\u00b0", "value": 9}, {"description": "Roll 180\u00b0, Yaw 90\u00b0", "value": 10}, {"description": "Roll 180\u00b0, Yaw 135\u00b0", "value": 11}, {"description": "Pitch 180\u00b0", "value": 12}, {"description": "Roll 180\u00b0, Yaw 225\u00b0", "value": 13}, {"description": "Roll 180\u00b0, Yaw 270\u00b0", "value": 14}, {"description": "Roll 180\u00b0, Yaw 315\u00b0", "value": 15}, {"description": "Roll 90\u00b0", "value": 16}, {"description": "Roll 90\u00b0, Yaw 45\u00b0", "value": 17}, {"description": "Roll 90\u00b0, Yaw 90\u00b0", "value": 18}, {"description": "Roll 90\u00b0, Yaw 135\u00b0", "value": 19}, {"description": "Roll 270\u00b0", "value": 20}, {"description": "Roll 270\u00b0, Yaw 45\u00b0", "value": 21}, {"description": "Roll 270\u00b0, Yaw 90\u00b0", "value": 22}, {"description": "Roll 270\u00b0, Yaw 135\u00b0", "value": 23}, {"description": "Pitch 90\u00b0", "value": 24}, {"description": "Pitch 270\u00b0", "value": 25}, {"description": "Pitch 180\u00b0, Yaw 90\u00b0", "value": 26}, {"description": "Pitch 180\u00b0, Yaw 270\u00b0", "value": 27}, {"description": "Roll 90\u00b0, Pitch 90\u00b0", "value": 28}, {"description": "Roll 180\u00b0, Pitch 90\u00b0", "value": 29}, {"description": "Roll 270\u00b0, Pitch 90\u00b0", "value": 30}, {"description": "Roll 90\u00b0, Pitch 180\u00b0", "value": 31}, {"description": "Roll 270\u00b0, Pitch 180\u00b0", "value": 32}, {"description": "Roll 90\u00b0, Pitch 270\u00b0", "value": 33}, {"description": "Roll 180\u00b0, Pitch 270\u00b0", "value": 34}, {"description": "Roll 270\u00b0, Pitch 270\u00b0", "value": 35}, {"description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0", "value": 36}, {"description": "Roll 90\u00b0, Yaw 270\u00b0", "value": 37}, {"description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0", "value": 38}, {"description": "Pitch 315\u00b0", "value": 39}, {"description": "Roll 90\u00b0, Pitch 315\u00b0", "value": 40}]}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_ACC2_XOFF", "shortDesc": "Accelerometer 2 X-axis offset", "type": "Float", "units": "m/s^2", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_ACC2_XSCALE", "shortDesc": "Accelerometer 2 X-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_ACC2_YOFF", "shortDesc": "Accelerometer 2 Y-axis offset", "type": "Float", "units": "m/s^2", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_ACC2_YSCALE", "shortDesc": "Accelerometer 2 Y-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_ACC2_ZOFF", "shortDesc": "Accelerometer 2 Z-axis offset", "type": "Float", "units": "m/s^2", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_ACC2_ZSCALE", "shortDesc": "Accelerometer 2 Z-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the accelerometer this calibration applies to.\n", "name": "CAL_ACC3_ID", "shortDesc": "Accelerometer 3 calibration device ID", "type": "Int32"}, {"category": "System", "decimalPlaces": 3, "default": -1, "group": "Sensor Calibration", "name": "CAL_ACC3_PRIO", "shortDesc": "Accelerometer 3 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": -1, "group": "Sensor Calibration", "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.\n\n", "max": 40, "min": -1, "name": "CAL_ACC3_ROT", "shortDesc": "Accelerometer 3 rotation relative to airframe", "type": "Int32", "values": [{"description": "Internal", "value": -1}, {"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}, {"description": "Roll 180\u00b0", "value": 8}, {"description": "Roll 180\u00b0, Yaw 45\u00b0", "value": 9}, {"description": "Roll 180\u00b0, Yaw 90\u00b0", "value": 10}, {"description": "Roll 180\u00b0, Yaw 135\u00b0", "value": 11}, {"description": "Pitch 180\u00b0", "value": 12}, {"description": "Roll 180\u00b0, Yaw 225\u00b0", "value": 13}, {"description": "Roll 180\u00b0, Yaw 270\u00b0", "value": 14}, {"description": "Roll 180\u00b0, Yaw 315\u00b0", "value": 15}, {"description": "Roll 90\u00b0", "value": 16}, {"description": "Roll 90\u00b0, Yaw 45\u00b0", "value": 17}, {"description": "Roll 90\u00b0, Yaw 90\u00b0", "value": 18}, {"description": "Roll 90\u00b0, Yaw 135\u00b0", "value": 19}, {"description": "Roll 270\u00b0", "value": 20}, {"description": "Roll 270\u00b0, Yaw 45\u00b0", "value": 21}, {"description": "Roll 270\u00b0, Yaw 90\u00b0", "value": 22}, {"description": "Roll 270\u00b0, Yaw 135\u00b0", "value": 23}, {"description": "Pitch 90\u00b0", "value": 24}, {"description": "Pitch 270\u00b0", "value": 25}, {"description": "Pitch 180\u00b0, Yaw 90\u00b0", "value": 26}, {"description": "Pitch 180\u00b0, Yaw 270\u00b0", "value": 27}, {"description": "Roll 90\u00b0, Pitch 90\u00b0", "value": 28}, {"description": "Roll 180\u00b0, Pitch 90\u00b0", "value": 29}, {"description": "Roll 270\u00b0, Pitch 90\u00b0", "value": 30}, {"description": "Roll 90\u00b0, Pitch 180\u00b0", "value": 31}, {"description": "Roll 270\u00b0, Pitch 180\u00b0", "value": 32}, {"description": "Roll 90\u00b0, Pitch 270\u00b0", "value": 33}, {"description": "Roll 180\u00b0, Pitch 270\u00b0", "value": 34}, {"description": "Roll 270\u00b0, Pitch 270\u00b0", "value": 35}, {"description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0", "value": 36}, {"description": "Roll 90\u00b0, Yaw 270\u00b0", "value": 37}, {"description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0", "value": 38}, {"description": "Pitch 315\u00b0", "value": 39}, {"description": "Roll 90\u00b0, Pitch 315\u00b0", "value": 40}]}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_ACC3_XOFF", "shortDesc": "Accelerometer 3 X-axis offset", "type": "Float", "units": "m/s^2", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_ACC3_XSCALE", "shortDesc": "Accelerometer 3 X-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_ACC3_YOFF", "shortDesc": "Accelerometer 3 Y-axis offset", "type": "Float", "units": "m/s^2", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_ACC3_YSCALE", "shortDesc": "Accelerometer 3 Y-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_ACC3_ZOFF", "shortDesc": "Accelerometer 3 Z-axis offset", "type": "Float", "units": "m/s^2", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_ACC3_ZSCALE", "shortDesc": "Accelerometer 3 Z-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the barometer this calibration applies to.\n", "name": "CAL_BARO0_ID", "shortDesc": "Barometer 0 calibration device ID", "type": "Int32"}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_BARO0_OFF", "shortDesc": "Barometer 0 offset", "type": "Float", "volatile": true}, {"category": "System", "default": -1, "group": "Sensor Calibration", "name": "CAL_BARO0_PRIO", "shortDesc": "Barometer 0 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the barometer this calibration applies to.\n", "name": "CAL_BARO1_ID", "shortDesc": "Barometer 1 calibration device ID", "type": "Int32"}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_BARO1_OFF", "shortDesc": "Barometer 1 offset", "type": "Float", "volatile": true}, {"category": "System", "default": -1, "group": "Sensor Calibration", "name": "CAL_BARO1_PRIO", "shortDesc": "Barometer 1 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the barometer this calibration applies to.\n", "name": "CAL_BARO2_ID", "shortDesc": "Barometer 2 calibration device ID", "type": "Int32"}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_BARO2_OFF", "shortDesc": "Barometer 2 offset", "type": "Float", "volatile": true}, {"category": "System", "default": -1, "group": "Sensor Calibration", "name": "CAL_BARO2_PRIO", "shortDesc": "Barometer 2 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the barometer this calibration applies to.\n", "name": "CAL_BARO3_ID", "shortDesc": "Barometer 3 calibration device ID", "type": "Int32"}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_BARO3_OFF", "shortDesc": "Barometer 3 offset", "type": "Float", "volatile": true}, {"category": "System", "default": -1, "group": "Sensor Calibration", "name": "CAL_BARO3_PRIO", "shortDesc": "Barometer 3 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the gyroscope this calibration applies to.\n", "name": "CAL_GYRO0_ID", "shortDesc": "Gyroscope 0 calibration device ID", "type": "Int32"}, {"category": "System", "default": -1, "group": "Sensor Calibration", "name": "CAL_GYRO0_PRIO", "shortDesc": "Gyroscope 0 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": -1, "group": "Sensor Calibration", "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.\n\n", "max": 40, "min": -1, "name": "CAL_GYRO0_ROT", "shortDesc": "Gyroscope 0 rotation relative to airframe", "type": "Int32", "values": [{"description": "Internal", "value": -1}, {"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}, {"description": "Roll 180\u00b0", "value": 8}, {"description": "Roll 180\u00b0, Yaw 45\u00b0", "value": 9}, {"description": "Roll 180\u00b0, Yaw 90\u00b0", "value": 10}, {"description": "Roll 180\u00b0, Yaw 135\u00b0", "value": 11}, {"description": "Pitch 180\u00b0", "value": 12}, {"description": "Roll 180\u00b0, Yaw 225\u00b0", "value": 13}, {"description": "Roll 180\u00b0, Yaw 270\u00b0", "value": 14}, {"description": "Roll 180\u00b0, Yaw 315\u00b0", "value": 15}, {"description": "Roll 90\u00b0", "value": 16}, {"description": "Roll 90\u00b0, Yaw 45\u00b0", "value": 17}, {"description": "Roll 90\u00b0, Yaw 90\u00b0", "value": 18}, {"description": "Roll 90\u00b0, Yaw 135\u00b0", "value": 19}, {"description": "Roll 270\u00b0", "value": 20}, {"description": "Roll 270\u00b0, Yaw 45\u00b0", "value": 21}, {"description": "Roll 270\u00b0, Yaw 90\u00b0", "value": 22}, {"description": "Roll 270\u00b0, Yaw 135\u00b0", "value": 23}, {"description": "Pitch 90\u00b0", "value": 24}, {"description": "Pitch 270\u00b0", "value": 25}, {"description": "Pitch 180\u00b0, Yaw 90\u00b0", "value": 26}, {"description": "Pitch 180\u00b0, Yaw 270\u00b0", "value": 27}, {"description": "Roll 90\u00b0, Pitch 90\u00b0", "value": 28}, {"description": "Roll 180\u00b0, Pitch 90\u00b0", "value": 29}, {"description": "Roll 270\u00b0, Pitch 90\u00b0", "value": 30}, {"description": "Roll 90\u00b0, Pitch 180\u00b0", "value": 31}, {"description": "Roll 270\u00b0, Pitch 180\u00b0", "value": 32}, {"description": "Roll 90\u00b0, Pitch 270\u00b0", "value": 33}, {"description": "Roll 180\u00b0, Pitch 270\u00b0", "value": 34}, {"description": "Roll 270\u00b0, Pitch 270\u00b0", "value": 35}, {"description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0", "value": 36}, {"description": "Roll 90\u00b0, Yaw 270\u00b0", "value": 37}, {"description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0", "value": 38}, {"description": "Pitch 315\u00b0", "value": 39}, {"description": "Roll 90\u00b0, Pitch 315\u00b0", "value": 40}]}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_GYRO0_XOFF", "shortDesc": "Gyroscope 0 X-axis offset", "type": "Float", "units": "rad/s", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_GYRO0_YOFF", "shortDesc": "Gyroscope 0 Y-axis offset", "type": "Float", "units": "rad/s", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_GYRO0_ZOFF", "shortDesc": "Gyroscope 0 Z-axis offset", "type": "Float", "units": "rad/s", "volatile": true}, {"category": "System", "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the gyroscope this calibration applies to.\n", "name": "CAL_GYRO1_ID", "shortDesc": "Gyroscope 1 calibration device ID", "type": "Int32"}, {"category": "System", "default": -1, "group": "Sensor Calibration", "name": "CAL_GYRO1_PRIO", "shortDesc": "Gyroscope 1 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": -1, "group": "Sensor Calibration", "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.\n\n", "max": 40, "min": -1, "name": "CAL_GYRO1_ROT", "shortDesc": "Gyroscope 1 rotation relative to airframe", "type": "Int32", "values": [{"description": "Internal", "value": -1}, {"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}, {"description": "Roll 180\u00b0", "value": 8}, {"description": "Roll 180\u00b0, Yaw 45\u00b0", "value": 9}, {"description": "Roll 180\u00b0, Yaw 90\u00b0", "value": 10}, {"description": "Roll 180\u00b0, Yaw 135\u00b0", "value": 11}, {"description": "Pitch 180\u00b0", "value": 12}, {"description": "Roll 180\u00b0, Yaw 225\u00b0", "value": 13}, {"description": "Roll 180\u00b0, Yaw 270\u00b0", "value": 14}, {"description": "Roll 180\u00b0, Yaw 315\u00b0", "value": 15}, {"description": "Roll 90\u00b0", "value": 16}, {"description": "Roll 90\u00b0, Yaw 45\u00b0", "value": 17}, {"description": "Roll 90\u00b0, Yaw 90\u00b0", "value": 18}, {"description": "Roll 90\u00b0, Yaw 135\u00b0", "value": 19}, {"description": "Roll 270\u00b0", "value": 20}, {"description": "Roll 270\u00b0, Yaw 45\u00b0", "value": 21}, {"description": "Roll 270\u00b0, Yaw 90\u00b0", "value": 22}, {"description": "Roll 270\u00b0, Yaw 135\u00b0", "value": 23}, {"description": "Pitch 90\u00b0", "value": 24}, {"description": "Pitch 270\u00b0", "value": 25}, {"description": "Pitch 180\u00b0, Yaw 90\u00b0", "value": 26}, {"description": "Pitch 180\u00b0, Yaw 270\u00b0", "value": 27}, {"description": "Roll 90\u00b0, Pitch 90\u00b0", "value": 28}, {"description": "Roll 180\u00b0, Pitch 90\u00b0", "value": 29}, {"description": "Roll 270\u00b0, Pitch 90\u00b0", "value": 30}, {"description": "Roll 90\u00b0, Pitch 180\u00b0", "value": 31}, {"description": "Roll 270\u00b0, Pitch 180\u00b0", "value": 32}, {"description": "Roll 90\u00b0, Pitch 270\u00b0", "value": 33}, {"description": "Roll 180\u00b0, Pitch 270\u00b0", "value": 34}, {"description": "Roll 270\u00b0, Pitch 270\u00b0", "value": 35}, {"description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0", "value": 36}, {"description": "Roll 90\u00b0, Yaw 270\u00b0", "value": 37}, {"description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0", "value": 38}, {"description": "Pitch 315\u00b0", "value": 39}, {"description": "Roll 90\u00b0, Pitch 315\u00b0", "value": 40}]}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_GYRO1_XOFF", "shortDesc": "Gyroscope 1 X-axis offset", "type": "Float", "units": "rad/s", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_GYRO1_YOFF", "shortDesc": "Gyroscope 1 Y-axis offset", "type": "Float", "units": "rad/s", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_GYRO1_ZOFF", "shortDesc": "Gyroscope 1 Z-axis offset", "type": "Float", "units": "rad/s", "volatile": true}, {"category": "System", "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the gyroscope this calibration applies to.\n", "name": "CAL_GYRO2_ID", "shortDesc": "Gyroscope 2 calibration device ID", "type": "Int32"}, {"category": "System", "default": -1, "group": "Sensor Calibration", "name": "CAL_GYRO2_PRIO", "shortDesc": "Gyroscope 2 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": -1, "group": "Sensor Calibration", "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.\n\n", "max": 40, "min": -1, "name": "CAL_GYRO2_ROT", "shortDesc": "Gyroscope 2 rotation relative to airframe", "type": "Int32", "values": [{"description": "Internal", "value": -1}, {"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}, {"description": "Roll 180\u00b0", "value": 8}, {"description": "Roll 180\u00b0, Yaw 45\u00b0", "value": 9}, {"description": "Roll 180\u00b0, Yaw 90\u00b0", "value": 10}, {"description": "Roll 180\u00b0, Yaw 135\u00b0", "value": 11}, {"description": "Pitch 180\u00b0", "value": 12}, {"description": "Roll 180\u00b0, Yaw 225\u00b0", "value": 13}, {"description": "Roll 180\u00b0, Yaw 270\u00b0", "value": 14}, {"description": "Roll 180\u00b0, Yaw 315\u00b0", "value": 15}, {"description": "Roll 90\u00b0", "value": 16}, {"description": "Roll 90\u00b0, Yaw 45\u00b0", "value": 17}, {"description": "Roll 90\u00b0, Yaw 90\u00b0", "value": 18}, {"description": "Roll 90\u00b0, Yaw 135\u00b0", "value": 19}, {"description": "Roll 270\u00b0", "value": 20}, {"description": "Roll 270\u00b0, Yaw 45\u00b0", "value": 21}, {"description": "Roll 270\u00b0, Yaw 90\u00b0", "value": 22}, {"description": "Roll 270\u00b0, Yaw 135\u00b0", "value": 23}, {"description": "Pitch 90\u00b0", "value": 24}, {"description": "Pitch 270\u00b0", "value": 25}, {"description": "Pitch 180\u00b0, Yaw 90\u00b0", "value": 26}, {"description": "Pitch 180\u00b0, Yaw 270\u00b0", "value": 27}, {"description": "Roll 90\u00b0, Pitch 90\u00b0", "value": 28}, {"description": "Roll 180\u00b0, Pitch 90\u00b0", "value": 29}, {"description": "Roll 270\u00b0, Pitch 90\u00b0", "value": 30}, {"description": "Roll 90\u00b0, Pitch 180\u00b0", "value": 31}, {"description": "Roll 270\u00b0, Pitch 180\u00b0", "value": 32}, {"description": "Roll 90\u00b0, Pitch 270\u00b0", "value": 33}, {"description": "Roll 180\u00b0, Pitch 270\u00b0", "value": 34}, {"description": "Roll 270\u00b0, Pitch 270\u00b0", "value": 35}, {"description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0", "value": 36}, {"description": "Roll 90\u00b0, Yaw 270\u00b0", "value": 37}, {"description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0", "value": 38}, {"description": "Pitch 315\u00b0", "value": 39}, {"description": "Roll 90\u00b0, Pitch 315\u00b0", "value": 40}]}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_GYRO2_XOFF", "shortDesc": "Gyroscope 2 X-axis offset", "type": "Float", "units": "rad/s", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_GYRO2_YOFF", "shortDesc": "Gyroscope 2 Y-axis offset", "type": "Float", "units": "rad/s", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_GYRO2_ZOFF", "shortDesc": "Gyroscope 2 Z-axis offset", "type": "Float", "units": "rad/s", "volatile": true}, {"category": "System", "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the gyroscope this calibration applies to.\n", "name": "CAL_GYRO3_ID", "shortDesc": "Gyroscope 3 calibration device ID", "type": "Int32"}, {"category": "System", "default": -1, "group": "Sensor Calibration", "name": "CAL_GYRO3_PRIO", "shortDesc": "Gyroscope 3 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": -1, "group": "Sensor Calibration", "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.\n\n", "max": 40, "min": -1, "name": "CAL_GYRO3_ROT", "shortDesc": "Gyroscope 3 rotation relative to airframe", "type": "Int32", "values": [{"description": "Internal", "value": -1}, {"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}, {"description": "Roll 180\u00b0", "value": 8}, {"description": "Roll 180\u00b0, Yaw 45\u00b0", "value": 9}, {"description": "Roll 180\u00b0, Yaw 90\u00b0", "value": 10}, {"description": "Roll 180\u00b0, Yaw 135\u00b0", "value": 11}, {"description": "Pitch 180\u00b0", "value": 12}, {"description": "Roll 180\u00b0, Yaw 225\u00b0", "value": 13}, {"description": "Roll 180\u00b0, Yaw 270\u00b0", "value": 14}, {"description": "Roll 180\u00b0, Yaw 315\u00b0", "value": 15}, {"description": "Roll 90\u00b0", "value": 16}, {"description": "Roll 90\u00b0, Yaw 45\u00b0", "value": 17}, {"description": "Roll 90\u00b0, Yaw 90\u00b0", "value": 18}, {"description": "Roll 90\u00b0, Yaw 135\u00b0", "value": 19}, {"description": "Roll 270\u00b0", "value": 20}, {"description": "Roll 270\u00b0, Yaw 45\u00b0", "value": 21}, {"description": "Roll 270\u00b0, Yaw 90\u00b0", "value": 22}, {"description": "Roll 270\u00b0, Yaw 135\u00b0", "value": 23}, {"description": "Pitch 90\u00b0", "value": 24}, {"description": "Pitch 270\u00b0", "value": 25}, {"description": "Pitch 180\u00b0, Yaw 90\u00b0", "value": 26}, {"description": "Pitch 180\u00b0, Yaw 270\u00b0", "value": 27}, {"description": "Roll 90\u00b0, Pitch 90\u00b0", "value": 28}, {"description": "Roll 180\u00b0, Pitch 90\u00b0", "value": 29}, {"description": "Roll 270\u00b0, Pitch 90\u00b0", "value": 30}, {"description": "Roll 90\u00b0, Pitch 180\u00b0", "value": 31}, {"description": "Roll 270\u00b0, Pitch 180\u00b0", "value": 32}, {"description": "Roll 90\u00b0, Pitch 270\u00b0", "value": 33}, {"description": "Roll 180\u00b0, Pitch 270\u00b0", "value": 34}, {"description": "Roll 270\u00b0, Pitch 270\u00b0", "value": 35}, {"description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0", "value": 36}, {"description": "Roll 90\u00b0, Yaw 270\u00b0", "value": 37}, {"description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0", "value": 38}, {"description": "Pitch 315\u00b0", "value": 39}, {"description": "Roll 90\u00b0, Pitch 315\u00b0", "value": 40}]}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_GYRO3_XOFF", "shortDesc": "Gyroscope 3 X-axis offset", "type": "Float", "units": "rad/s", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_GYRO3_YOFF", "shortDesc": "Gyroscope 3 Y-axis offset", "type": "Float", "units": "rad/s", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_GYRO3_ZOFF", "shortDesc": "Gyroscope 3 Z-axis offset", "type": "Float", "units": "rad/s", "volatile": true}, {"category": "System", "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the magnetometer this calibration applies to.\n", "name": "CAL_MAG0_ID", "shortDesc": "Magnetometer 0 calibration device ID", "type": "Int32"}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG0_ROT to \"Custom Euler Angle\"\n", "max": 180.0, "min": -180.0, "name": "CAL_MAG0_PITCH", "shortDesc": "Magnetometer 0 Custom Euler Pitch Angle", "type": "Float", "units": "deg"}, {"category": "System", "default": -1, "group": "Sensor Calibration", "name": "CAL_MAG0_PRIO", "shortDesc": "Magnetometer 0 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG0_ROT to \"Custom Euler Angle\"\n", "max": 180.0, "min": -180.0, "name": "CAL_MAG0_ROLL", "shortDesc": "Magnetometer 0 Custom Euler Roll Angle", "type": "Float", "units": "deg"}, {"category": "System", "default": -1, "group": "Sensor Calibration", "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.\nSet to \"Custom Euler Angle\" to define the rotation using CAL_MAG0_ROLL, CAL_MAG0_PITCH and CAL_MAG0_YAW.\n\n", "max": 100, "min": -1, "name": "CAL_MAG0_ROT", "shortDesc": "Magnetometer 0 rotation relative to airframe", "type": "Int32", "values": [{"description": "Internal", "value": -1}, {"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}, {"description": "Roll 180\u00b0", "value": 8}, {"description": "Roll 180\u00b0, Yaw 45\u00b0", "value": 9}, {"description": "Roll 180\u00b0, Yaw 90\u00b0", "value": 10}, {"description": "Roll 180\u00b0, Yaw 135\u00b0", "value": 11}, {"description": "Pitch 180\u00b0", "value": 12}, {"description": "Roll 180\u00b0, Yaw 225\u00b0", "value": 13}, {"description": "Roll 180\u00b0, Yaw 270\u00b0", "value": 14}, {"description": "Roll 180\u00b0, Yaw 315\u00b0", "value": 15}, {"description": "Roll 90\u00b0", "value": 16}, {"description": "Roll 90\u00b0, Yaw 45\u00b0", "value": 17}, {"description": "Roll 90\u00b0, Yaw 90\u00b0", "value": 18}, {"description": "Roll 90\u00b0, Yaw 135\u00b0", "value": 19}, {"description": "Roll 270\u00b0", "value": 20}, {"description": "Roll 270\u00b0, Yaw 45\u00b0", "value": 21}, {"description": "Roll 270\u00b0, Yaw 90\u00b0", "value": 22}, {"description": "Roll 270\u00b0, Yaw 135\u00b0", "value": 23}, {"description": "Pitch 90\u00b0", "value": 24}, {"description": "Pitch 270\u00b0", "value": 25}, {"description": "Pitch 180\u00b0, Yaw 90\u00b0", "value": 26}, {"description": "Pitch 180\u00b0, Yaw 270\u00b0", "value": 27}, {"description": "Roll 90\u00b0, Pitch 90\u00b0", "value": 28}, {"description": "Roll 180\u00b0, Pitch 90\u00b0", "value": 29}, {"description": "Roll 270\u00b0, Pitch 90\u00b0", "value": 30}, {"description": "Roll 90\u00b0, Pitch 180\u00b0", "value": 31}, {"description": "Roll 270\u00b0, Pitch 180\u00b0", "value": 32}, {"description": "Roll 90\u00b0, Pitch 270\u00b0", "value": 33}, {"description": "Roll 180\u00b0, Pitch 270\u00b0", "value": 34}, {"description": "Roll 270\u00b0, Pitch 270\u00b0", "value": 35}, {"description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0", "value": 36}, {"description": "Roll 90\u00b0, Yaw 270\u00b0", "value": 37}, {"description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0", "value": 38}, {"description": "Pitch 315\u00b0", "value": 39}, {"description": "Roll 90\u00b0, Pitch 315\u00b0", "value": 40}, {"description": "Custom Euler Angle", "value": 100}]}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between\nX component of magnetometer in body frame axis\nand either current or throttle depending on value of CAL_MAG_COMP_TYP.\nUnit for throttle-based compensation is [G] and\nfor current-based compensation [G/kA]\n\n", "name": "CAL_MAG0_XCOMP", "shortDesc": "Magnetometer 0 X Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG0_XODIAG", "shortDesc": "Magnetometer 0 X-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG0_XOFF", "shortDesc": "Magnetometer 0 X-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG0_XSCALE", "shortDesc": "Magnetometer 0 X-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG0_ROT to \"Custom Euler Angle\"\n", "max": 180.0, "min": -180.0, "name": "CAL_MAG0_YAW", "shortDesc": "Magnetometer 0 Custom Euler Yaw Angle", "type": "Float", "units": "deg"}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between\nY component of magnetometer in body frame axis\nand either current or throttle depending on value of CAL_MAG_COMP_TYP.\nUnit for throttle-based compensation is [G] and\nfor current-based compensation [G/kA]\n\n", "name": "CAL_MAG0_YCOMP", "shortDesc": "Magnetometer 0 Y Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG0_YODIAG", "shortDesc": "Magnetometer 0 Y-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG0_YOFF", "shortDesc": "Magnetometer 0 Y-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG0_YSCALE", "shortDesc": "Magnetometer 0 Y-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between\nZ component of magnetometer in body frame axis\nand either current or throttle depending on value of CAL_MAG_COMP_TYP.\nUnit for throttle-based compensation is [G] and\nfor current-based compensation [G/kA]\n\n", "name": "CAL_MAG0_ZCOMP", "shortDesc": "Magnetometer 0 Z Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG0_ZODIAG", "shortDesc": "Magnetometer 0 Z-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG0_ZOFF", "shortDesc": "Magnetometer 0 Z-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG0_ZSCALE", "shortDesc": "Magnetometer 0 Z-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the magnetometer this calibration applies to.\n", "name": "CAL_MAG1_ID", "shortDesc": "Magnetometer 1 calibration device ID", "type": "Int32"}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG1_ROT to \"Custom Euler Angle\"\n", "max": 180.0, "min": -180.0, "name": "CAL_MAG1_PITCH", "shortDesc": "Magnetometer 1 Custom Euler Pitch Angle", "type": "Float", "units": "deg"}, {"category": "System", "default": -1, "group": "Sensor Calibration", "name": "CAL_MAG1_PRIO", "shortDesc": "Magnetometer 1 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG1_ROT to \"Custom Euler Angle\"\n", "max": 180.0, "min": -180.0, "name": "CAL_MAG1_ROLL", "shortDesc": "Magnetometer 1 Custom Euler Roll Angle", "type": "Float", "units": "deg"}, {"category": "System", "default": -1, "group": "Sensor Calibration", "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.\nSet to \"Custom Euler Angle\" to define the rotation using CAL_MAG1_ROLL, CAL_MAG1_PITCH and CAL_MAG1_YAW.\n\n", "max": 100, "min": -1, "name": "CAL_MAG1_ROT", "shortDesc": "Magnetometer 1 rotation relative to airframe", "type": "Int32", "values": [{"description": "Internal", "value": -1}, {"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}, {"description": "Roll 180\u00b0", "value": 8}, {"description": "Roll 180\u00b0, Yaw 45\u00b0", "value": 9}, {"description": "Roll 180\u00b0, Yaw 90\u00b0", "value": 10}, {"description": "Roll 180\u00b0, Yaw 135\u00b0", "value": 11}, {"description": "Pitch 180\u00b0", "value": 12}, {"description": "Roll 180\u00b0, Yaw 225\u00b0", "value": 13}, {"description": "Roll 180\u00b0, Yaw 270\u00b0", "value": 14}, {"description": "Roll 180\u00b0, Yaw 315\u00b0", "value": 15}, {"description": "Roll 90\u00b0", "value": 16}, {"description": "Roll 90\u00b0, Yaw 45\u00b0", "value": 17}, {"description": "Roll 90\u00b0, Yaw 90\u00b0", "value": 18}, {"description": "Roll 90\u00b0, Yaw 135\u00b0", "value": 19}, {"description": "Roll 270\u00b0", "value": 20}, {"description": "Roll 270\u00b0, Yaw 45\u00b0", "value": 21}, {"description": "Roll 270\u00b0, Yaw 90\u00b0", "value": 22}, {"description": "Roll 270\u00b0, Yaw 135\u00b0", "value": 23}, {"description": "Pitch 90\u00b0", "value": 24}, {"description": "Pitch 270\u00b0", "value": 25}, {"description": "Pitch 180\u00b0, Yaw 90\u00b0", "value": 26}, {"description": "Pitch 180\u00b0, Yaw 270\u00b0", "value": 27}, {"description": "Roll 90\u00b0, Pitch 90\u00b0", "value": 28}, {"description": "Roll 180\u00b0, Pitch 90\u00b0", "value": 29}, {"description": "Roll 270\u00b0, Pitch 90\u00b0", "value": 30}, {"description": "Roll 90\u00b0, Pitch 180\u00b0", "value": 31}, {"description": "Roll 270\u00b0, Pitch 180\u00b0", "value": 32}, {"description": "Roll 90\u00b0, Pitch 270\u00b0", "value": 33}, {"description": "Roll 180\u00b0, Pitch 270\u00b0", "value": 34}, {"description": "Roll 270\u00b0, Pitch 270\u00b0", "value": 35}, {"description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0", "value": 36}, {"description": "Roll 90\u00b0, Yaw 270\u00b0", "value": 37}, {"description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0", "value": 38}, {"description": "Pitch 315\u00b0", "value": 39}, {"description": "Roll 90\u00b0, Pitch 315\u00b0", "value": 40}, {"description": "Custom Euler Angle", "value": 100}]}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between\nX component of magnetometer in body frame axis\nand either current or throttle depending on value of CAL_MAG_COMP_TYP.\nUnit for throttle-based compensation is [G] and\nfor current-based compensation [G/kA]\n\n", "name": "CAL_MAG1_XCOMP", "shortDesc": "Magnetometer 1 X Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG1_XODIAG", "shortDesc": "Magnetometer 1 X-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG1_XOFF", "shortDesc": "Magnetometer 1 X-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG1_XSCALE", "shortDesc": "Magnetometer 1 X-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG1_ROT to \"Custom Euler Angle\"\n", "max": 180.0, "min": -180.0, "name": "CAL_MAG1_YAW", "shortDesc": "Magnetometer 1 Custom Euler Yaw Angle", "type": "Float", "units": "deg"}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between\nY component of magnetometer in body frame axis\nand either current or throttle depending on value of CAL_MAG_COMP_TYP.\nUnit for throttle-based compensation is [G] and\nfor current-based compensation [G/kA]\n\n", "name": "CAL_MAG1_YCOMP", "shortDesc": "Magnetometer 1 Y Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG1_YODIAG", "shortDesc": "Magnetometer 1 Y-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG1_YOFF", "shortDesc": "Magnetometer 1 Y-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG1_YSCALE", "shortDesc": "Magnetometer 1 Y-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between\nZ component of magnetometer in body frame axis\nand either current or throttle depending on value of CAL_MAG_COMP_TYP.\nUnit for throttle-based compensation is [G] and\nfor current-based compensation [G/kA]\n\n", "name": "CAL_MAG1_ZCOMP", "shortDesc": "Magnetometer 1 Z Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG1_ZODIAG", "shortDesc": "Magnetometer 1 Z-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG1_ZOFF", "shortDesc": "Magnetometer 1 Z-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG1_ZSCALE", "shortDesc": "Magnetometer 1 Z-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the magnetometer this calibration applies to.\n", "name": "CAL_MAG2_ID", "shortDesc": "Magnetometer 2 calibration device ID", "type": "Int32"}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG2_ROT to \"Custom Euler Angle\"\n", "max": 180.0, "min": -180.0, "name": "CAL_MAG2_PITCH", "shortDesc": "Magnetometer 2 Custom Euler Pitch Angle", "type": "Float", "units": "deg"}, {"category": "System", "default": -1, "group": "Sensor Calibration", "name": "CAL_MAG2_PRIO", "shortDesc": "Magnetometer 2 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG2_ROT to \"Custom Euler Angle\"\n", "max": 180.0, "min": -180.0, "name": "CAL_MAG2_ROLL", "shortDesc": "Magnetometer 2 Custom Euler Roll Angle", "type": "Float", "units": "deg"}, {"category": "System", "default": -1, "group": "Sensor Calibration", "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.\nSet to \"Custom Euler Angle\" to define the rotation using CAL_MAG2_ROLL, CAL_MAG2_PITCH and CAL_MAG2_YAW.\n\n", "max": 100, "min": -1, "name": "CAL_MAG2_ROT", "shortDesc": "Magnetometer 2 rotation relative to airframe", "type": "Int32", "values": [{"description": "Internal", "value": -1}, {"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}, {"description": "Roll 180\u00b0", "value": 8}, {"description": "Roll 180\u00b0, Yaw 45\u00b0", "value": 9}, {"description": "Roll 180\u00b0, Yaw 90\u00b0", "value": 10}, {"description": "Roll 180\u00b0, Yaw 135\u00b0", "value": 11}, {"description": "Pitch 180\u00b0", "value": 12}, {"description": "Roll 180\u00b0, Yaw 225\u00b0", "value": 13}, {"description": "Roll 180\u00b0, Yaw 270\u00b0", "value": 14}, {"description": "Roll 180\u00b0, Yaw 315\u00b0", "value": 15}, {"description": "Roll 90\u00b0", "value": 16}, {"description": "Roll 90\u00b0, Yaw 45\u00b0", "value": 17}, {"description": "Roll 90\u00b0, Yaw 90\u00b0", "value": 18}, {"description": "Roll 90\u00b0, Yaw 135\u00b0", "value": 19}, {"description": "Roll 270\u00b0", "value": 20}, {"description": "Roll 270\u00b0, Yaw 45\u00b0", "value": 21}, {"description": "Roll 270\u00b0, Yaw 90\u00b0", "value": 22}, {"description": "Roll 270\u00b0, Yaw 135\u00b0", "value": 23}, {"description": "Pitch 90\u00b0", "value": 24}, {"description": "Pitch 270\u00b0", "value": 25}, {"description": "Pitch 180\u00b0, Yaw 90\u00b0", "value": 26}, {"description": "Pitch 180\u00b0, Yaw 270\u00b0", "value": 27}, {"description": "Roll 90\u00b0, Pitch 90\u00b0", "value": 28}, {"description": "Roll 180\u00b0, Pitch 90\u00b0", "value": 29}, {"description": "Roll 270\u00b0, Pitch 90\u00b0", "value": 30}, {"description": "Roll 90\u00b0, Pitch 180\u00b0", "value": 31}, {"description": "Roll 270\u00b0, Pitch 180\u00b0", "value": 32}, {"description": "Roll 90\u00b0, Pitch 270\u00b0", "value": 33}, {"description": "Roll 180\u00b0, Pitch 270\u00b0", "value": 34}, {"description": "Roll 270\u00b0, Pitch 270\u00b0", "value": 35}, {"description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0", "value": 36}, {"description": "Roll 90\u00b0, Yaw 270\u00b0", "value": 37}, {"description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0", "value": 38}, {"description": "Pitch 315\u00b0", "value": 39}, {"description": "Roll 90\u00b0, Pitch 315\u00b0", "value": 40}, {"description": "Custom Euler Angle", "value": 100}]}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between\nX component of magnetometer in body frame axis\nand either current or throttle depending on value of CAL_MAG_COMP_TYP.\nUnit for throttle-based compensation is [G] and\nfor current-based compensation [G/kA]\n\n", "name": "CAL_MAG2_XCOMP", "shortDesc": "Magnetometer 2 X Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG2_XODIAG", "shortDesc": "Magnetometer 2 X-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG2_XOFF", "shortDesc": "Magnetometer 2 X-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG2_XSCALE", "shortDesc": "Magnetometer 2 X-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG2_ROT to \"Custom Euler Angle\"\n", "max": 180.0, "min": -180.0, "name": "CAL_MAG2_YAW", "shortDesc": "Magnetometer 2 Custom Euler Yaw Angle", "type": "Float", "units": "deg"}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between\nY component of magnetometer in body frame axis\nand either current or throttle depending on value of CAL_MAG_COMP_TYP.\nUnit for throttle-based compensation is [G] and\nfor current-based compensation [G/kA]\n\n", "name": "CAL_MAG2_YCOMP", "shortDesc": "Magnetometer 2 Y Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG2_YODIAG", "shortDesc": "Magnetometer 2 Y-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG2_YOFF", "shortDesc": "Magnetometer 2 Y-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG2_YSCALE", "shortDesc": "Magnetometer 2 Y-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between\nZ component of magnetometer in body frame axis\nand either current or throttle depending on value of CAL_MAG_COMP_TYP.\nUnit for throttle-based compensation is [G] and\nfor current-based compensation [G/kA]\n\n", "name": "CAL_MAG2_ZCOMP", "shortDesc": "Magnetometer 2 Z Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG2_ZODIAG", "shortDesc": "Magnetometer 2 Z-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG2_ZOFF", "shortDesc": "Magnetometer 2 Z-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG2_ZSCALE", "shortDesc": "Magnetometer 2 Z-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the magnetometer this calibration applies to.\n", "name": "CAL_MAG3_ID", "shortDesc": "Magnetometer 3 calibration device ID", "type": "Int32"}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG3_ROT to \"Custom Euler Angle\"\n", "max": 180.0, "min": -180.0, "name": "CAL_MAG3_PITCH", "shortDesc": "Magnetometer 3 Custom Euler Pitch Angle", "type": "Float", "units": "deg"}, {"category": "System", "default": -1, "group": "Sensor Calibration", "name": "CAL_MAG3_PRIO", "shortDesc": "Magnetometer 3 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG3_ROT to \"Custom Euler Angle\"\n", "max": 180.0, "min": -180.0, "name": "CAL_MAG3_ROLL", "shortDesc": "Magnetometer 3 Custom Euler Roll Angle", "type": "Float", "units": "deg"}, {"category": "System", "default": -1, "group": "Sensor Calibration", "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.\nSet to \"Custom Euler Angle\" to define the rotation using CAL_MAG3_ROLL, CAL_MAG3_PITCH and CAL_MAG3_YAW.\n\n", "max": 100, "min": -1, "name": "CAL_MAG3_ROT", "shortDesc": "Magnetometer 3 rotation relative to airframe", "type": "Int32", "values": [{"description": "Internal", "value": -1}, {"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}, {"description": "Roll 180\u00b0", "value": 8}, {"description": "Roll 180\u00b0, Yaw 45\u00b0", "value": 9}, {"description": "Roll 180\u00b0, Yaw 90\u00b0", "value": 10}, {"description": "Roll 180\u00b0, Yaw 135\u00b0", "value": 11}, {"description": "Pitch 180\u00b0", "value": 12}, {"description": "Roll 180\u00b0, Yaw 225\u00b0", "value": 13}, {"description": "Roll 180\u00b0, Yaw 270\u00b0", "value": 14}, {"description": "Roll 180\u00b0, Yaw 315\u00b0", "value": 15}, {"description": "Roll 90\u00b0", "value": 16}, {"description": "Roll 90\u00b0, Yaw 45\u00b0", "value": 17}, {"description": "Roll 90\u00b0, Yaw 90\u00b0", "value": 18}, {"description": "Roll 90\u00b0, Yaw 135\u00b0", "value": 19}, {"description": "Roll 270\u00b0", "value": 20}, {"description": "Roll 270\u00b0, Yaw 45\u00b0", "value": 21}, {"description": "Roll 270\u00b0, Yaw 90\u00b0", "value": 22}, {"description": "Roll 270\u00b0, Yaw 135\u00b0", "value": 23}, {"description": "Pitch 90\u00b0", "value": 24}, {"description": "Pitch 270\u00b0", "value": 25}, {"description": "Pitch 180\u00b0, Yaw 90\u00b0", "value": 26}, {"description": "Pitch 180\u00b0, Yaw 270\u00b0", "value": 27}, {"description": "Roll 90\u00b0, Pitch 90\u00b0", "value": 28}, {"description": "Roll 180\u00b0, Pitch 90\u00b0", "value": 29}, {"description": "Roll 270\u00b0, Pitch 90\u00b0", "value": 30}, {"description": "Roll 90\u00b0, Pitch 180\u00b0", "value": 31}, {"description": "Roll 270\u00b0, Pitch 180\u00b0", "value": 32}, {"description": "Roll 90\u00b0, Pitch 270\u00b0", "value": 33}, {"description": "Roll 180\u00b0, Pitch 270\u00b0", "value": 34}, {"description": "Roll 270\u00b0, Pitch 270\u00b0", "value": 35}, {"description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0", "value": 36}, {"description": "Roll 90\u00b0, Yaw 270\u00b0", "value": 37}, {"description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0", "value": 38}, {"description": "Pitch 315\u00b0", "value": 39}, {"description": "Roll 90\u00b0, Pitch 315\u00b0", "value": 40}, {"description": "Custom Euler Angle", "value": 100}]}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between\nX component of magnetometer in body frame axis\nand either current or throttle depending on value of CAL_MAG_COMP_TYP.\nUnit for throttle-based compensation is [G] and\nfor current-based compensation [G/kA]\n\n", "name": "CAL_MAG3_XCOMP", "shortDesc": "Magnetometer 3 X Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG3_XODIAG", "shortDesc": "Magnetometer 3 X-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG3_XOFF", "shortDesc": "Magnetometer 3 X-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG3_XSCALE", "shortDesc": "Magnetometer 3 X-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG3_ROT to \"Custom Euler Angle\"\n", "max": 180.0, "min": -180.0, "name": "CAL_MAG3_YAW", "shortDesc": "Magnetometer 3 Custom Euler Yaw Angle", "type": "Float", "units": "deg"}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between\nY component of magnetometer in body frame axis\nand either current or throttle depending on value of CAL_MAG_COMP_TYP.\nUnit for throttle-based compensation is [G] and\nfor current-based compensation [G/kA]\n\n", "name": "CAL_MAG3_YCOMP", "shortDesc": "Magnetometer 3 Y Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG3_YODIAG", "shortDesc": "Magnetometer 3 Y-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG3_YOFF", "shortDesc": "Magnetometer 3 Y-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG3_YSCALE", "shortDesc": "Magnetometer 3 Y-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between\nZ component of magnetometer in body frame axis\nand either current or throttle depending on value of CAL_MAG_COMP_TYP.\nUnit for throttle-based compensation is [G] and\nfor current-based compensation [G/kA]\n\n", "name": "CAL_MAG3_ZCOMP", "shortDesc": "Magnetometer 3 Z Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG3_ZODIAG", "shortDesc": "Magnetometer 3 Z-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG3_ZOFF", "shortDesc": "Magnetometer 3 Z-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG3_ZSCALE", "shortDesc": "Magnetometer 3 Z-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "default": 0, "group": "Sensor Calibration", "name": "CAL_MAG_COMP_TYP", "shortDesc": "Type of magnetometer compensation", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Throttle-based compensation", "value": 1}, {"description": "Current-based compensation (battery_status instance 0)", "value": 2}, {"description": "Current-based compensation (battery_status instance 1)", "value": 3}]}, {"category": "Standard", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Pick the appropriate scaling from the datasheet.\nthis number defines the (linear) conversion from voltage\nto Pascal (pa). For the MPXV7002DP this is 1000.\n\nNOTE: If the sensor always registers zero, try switching\nthe static and dynamic tubes.\n", "name": "SENS_DPRES_ANSC", "shortDesc": "Differential pressure sensor analog scaling", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "The offset (zero-reading) in Pascal\n", "name": "SENS_DPRES_OFF", "shortDesc": "Differential pressure sensor offset", "type": "Float", "volatile": true}, {"category": "System", "default": 0, "group": "Sensor Calibration", "longDesc": "Reverse the raw measurements of all differential pressure sensors.\nThis can be enabled if the sensors have static and dynamic ports swapped.\n", "name": "SENS_DPRES_REV", "shortDesc": "Reverse differential pressure sensor readings", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 100.0, "group": "Sensor Calibration", "increment": 0.1, "longDesc": "This parameter defines the maximum distance from ground at which the optical flow sensor operates reliably.\nThe height setpoint will be limited to be no greater than this value when the navigation system\nis completely reliant on optical flow data and the height above ground estimate is valid.\nThe sensor may be usable above this height, but accuracy will progressively degrade.\n", "max": 100.0, "min": 1.0, "name": "SENS_FLOW_MAXHGT", "shortDesc": "Maximum height above ground when reliant on optical flow", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 8.0, "group": "Sensor Calibration", "longDesc": "Optical flow data will not fused by the estimators if the magnitude of the flow rate exceeds this value and\ncontrol loops will be instructed to limit ground speed such that the flow rate produced by movement over ground\nis less than 50% of this value.\n", "min": 1.0, "name": "SENS_FLOW_MAXR", "shortDesc": "Magnitude of maximum angular flow rate reliably measurable by the optical flow sensor", "type": "Float", "units": "rad/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.08, "group": "Sensor Calibration", "increment": 0.1, "longDesc": "This parameter defines the minimum distance from ground at which the optical flow sensor operates reliably.\nThe sensor may be usable below this height, but accuracy will progressively reduce to loss of focus.\n", "max": 1.0, "min": 0.0, "name": "SENS_FLOW_MINHGT", "shortDesc": "Minimum height above ground when reliant on optical flow", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "Model with Pitot\nCAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed.\nCAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor.\nModel without Pitot (1.5 mm tubes)\nCAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed.\nCAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor.\nTube Pressure Drop\nCAL_AIR_TUBED_MM: Diameter in mm of the pitot and tubes, must have the same diameter.\nCAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor and the static + dynamic port length of the pitot.\n", "name": "CAL_AIR_CMODEL", "shortDesc": "Airspeed sensor compensation model for the SDP3x", "type": "Int32", "values": [{"description": "Model with Pitot", "value": 0}, {"description": "Model without Pitot (1.5 mm tubes)", "value": 1}, {"description": "Tube Pressure Drop", "value": 2}]}, {"category": "Standard", "default": 1.5, "group": "Sensors", "max": 100.0, "min": 1.5, "name": "CAL_AIR_TUBED_MM", "shortDesc": "Airspeed sensor tube diameter. Only used for the Tube Pressure Drop Compensation", "type": "Float", "units": "mm"}, {"category": "Standard", "default": 0.2, "group": "Sensors", "longDesc": "See the CAL_AIR_CMODEL explanation on how this parameter should be set.\n", "max": 2.0, "min": 0.01, "name": "CAL_AIR_TUBELEN", "shortDesc": "Airspeed sensor tube length", "type": "Float", "units": "m"}, {"category": "Developer", "default": 63, "group": "Sensors", "longDesc": "Use SENS_MAG_SIDES instead\n", "name": "CAL_MAG_SIDES", "shortDesc": "For legacy QGC support only", "type": "Int32"}, {"category": "Standard", "default": 30.0, "group": "Sensors", "longDesc": "The cutoff frequency for the 2nd order butterworth filter on the primary accelerometer.\nThis only affects the signal sent to the controllers, not the estimators. 0 disables the filter.\n", "max": 1000.0, "min": 0.0, "name": "IMU_ACCEL_CUTOFF", "rebootRequired": true, "shortDesc": "Low pass filter cutoff frequency for accel", "type": "Float", "units": "Hz"}, {"category": "Standard", "decimalPlaces": 1, "default": 20.0, "group": "Sensors", "increment": 0.1, "longDesc": "The cutoff frequency for the 2nd order butterworth filter used on\nthe time derivative of the measured angular velocity, also known as\nthe D-term filter in the rate controller. The D-term uses the derivative of\nthe rate and thus is the most susceptible to noise. Therefore, using\na D-term filter allows to increase IMU_GYRO_CUTOFF, which\nleads to reduced control latency and permits to increase the P gains.\n\nA value of 0 disables the filter.\n", "max": 1000.0, "min": 0.0, "name": "IMU_DGYRO_CUTOFF", "rebootRequired": true, "shortDesc": "Cutoff frequency for angular acceleration (D-Term filter)", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 1, "group": "Sensors", "name": "IMU_GYRO_CAL_EN", "rebootRequired": true, "shortDesc": "IMU gyro auto calibration enable", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 40.0, "group": "Sensors", "increment": 0.1, "longDesc": "The cutoff frequency for the 2nd order butterworth filter on the primary gyro.\nThis only affects the angular velocity sent to the controllers, not the estimators.\nIt applies also to the angular acceleration (D-Term filter), see IMU_DGYRO_CUTOFF.\n\nA value of 0 disables the filter.\n", "max": 1000.0, "min": 0.0, "name": "IMU_GYRO_CUTOFF", "rebootRequired": true, "shortDesc": "Low pass filter cutoff frequency for gyro", "type": "Float", "units": "Hz"}, {"category": "Standard", "decimalPlaces": 1, "default": 15.0, "group": "Sensors", "increment": 0.1, "longDesc": "Bandwidth per notch filter when using dynamic notch filtering with ESC RPM.\n", "max": 30.0, "min": 5.0, "name": "IMU_GYRO_DNF_BW", "shortDesc": "IMU gyro ESC notch filter bandwidth", "type": "Float", "units": "Hz"}, {"bitmask": [{"description": "ESC RPM", "index": 0}, {"description": "FFT", "index": 1}], "category": "Standard", "default": 0, "group": "Sensors", "longDesc": "Enable bank of dynamically updating notch filters.\nRequires ESC RPM feedback or onboard FFT (IMU_GYRO_FFT_EN).", "max": 3, "min": 0, "name": "IMU_GYRO_DNF_EN", "shortDesc": "IMU gyro dynamic notch filtering", "type": "Int32"}, {"category": "Standard", "default": 3, "group": "Sensors", "longDesc": "ESC RPM number of harmonics (multiples of RPM) for ESC RPM dynamic notch filtering.\n", "max": 7, "min": 1, "name": "IMU_GYRO_DNF_HMC", "shortDesc": "IMU gyro dynamic notch filter harmonics", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 25.0, "group": "Sensors", "increment": 0.1, "longDesc": "Minimum notch filter frequency in Hz.\n", "name": "IMU_GYRO_DNF_MIN", "shortDesc": "IMU gyro dynamic notch filter minimum frequency", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 0, "group": "Sensors", "name": "IMU_GYRO_FFT_EN", "rebootRequired": true, "shortDesc": "IMU gyro FFT enable", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 512, "group": "Sensors", "name": "IMU_GYRO_FFT_LEN", "rebootRequired": true, "shortDesc": "IMU gyro FFT length", "type": "Int32", "units": "Hz", "values": [{"description": "256", "value": 256}, {"description": "512", "value": 512}, {"description": "1024", "value": 1024}, {"description": "4096", "value": 4096}]}, {"category": "Standard", "default": 150.0, "group": "Sensors", "max": 1000.0, "min": 1.0, "name": "IMU_GYRO_FFT_MAX", "rebootRequired": true, "shortDesc": "IMU gyro FFT maximum frequency", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 30.0, "group": "Sensors", "max": 1000.0, "min": 1.0, "name": "IMU_GYRO_FFT_MIN", "rebootRequired": true, "shortDesc": "IMU gyro FFT minimum frequency", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 10.0, "group": "Sensors", "max": 30.0, "min": 1.0, "name": "IMU_GYRO_FFT_SNR", "shortDesc": "IMU gyro FFT SNR", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 20.0, "group": "Sensors", "increment": 0.1, "longDesc": "The frequency width of the stop band for the 2nd order notch filter on the primary gyro.\nSee \"IMU_GYRO_NF0_FRQ\" to activate the filter and to set the notch frequency.\nApplies to both angular velocity and angular acceleration sent to the controllers.\n", "max": 100.0, "min": 0.0, "name": "IMU_GYRO_NF0_BW", "rebootRequired": true, "shortDesc": "Notch filter bandwidth for gyro", "type": "Float", "units": "Hz"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "Sensors", "increment": 0.1, "longDesc": "The center frequency for the 2nd order notch filter on the primary gyro.\nThis filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency.\nThis only affects the signal sent to the controllers, not the estimators.\nApplies to both angular velocity and angular acceleration sent to the controllers.\nSee \"IMU_GYRO_NF0_BW\" to set the bandwidth of the filter.\n\nA value of 0 disables the filter.\n", "max": 1000.0, "min": 0.0, "name": "IMU_GYRO_NF0_FRQ", "rebootRequired": true, "shortDesc": "Notch filter frequency for gyro", "type": "Float", "units": "Hz"}, {"category": "Standard", "decimalPlaces": 1, "default": 20.0, "group": "Sensors", "increment": 0.1, "longDesc": "The frequency width of the stop band for the 2nd order notch filter on the primary gyro.\nSee \"IMU_GYRO_NF1_FRQ\" to activate the filter and to set the notch frequency.\nApplies to both angular velocity and angular acceleration sent to the controllers.\n", "max": 100.0, "min": 0.0, "name": "IMU_GYRO_NF1_BW", "rebootRequired": true, "shortDesc": "Notch filter 1 bandwidth for gyro", "type": "Float", "units": "Hz"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "Sensors", "increment": 0.1, "longDesc": "The center frequency for the 2nd order notch filter on the primary gyro.\nThis filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency.\nThis only affects the signal sent to the controllers, not the estimators.\nApplies to both angular velocity and angular acceleration sent to the controllers.\nSee \"IMU_GYRO_NF1_BW\" to set the bandwidth of the filter.\n\nA value of 0 disables the filter.\n", "max": 1000.0, "min": 0.0, "name": "IMU_GYRO_NF1_FRQ", "rebootRequired": true, "shortDesc": "Notch filter 2 frequency for gyro", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 400, "group": "Sensors", "longDesc": "The maximum rate the gyro control data (vehicle_angular_velocity) will be\nallowed to publish at. This is the loop rate for the rate controller and outputs.\n\nNote: sensor data is always read and filtered at the full raw rate (eg commonly 8 kHz) regardless of this setting.\n", "max": 2000, "min": 100, "name": "IMU_GYRO_RATEMAX", "rebootRequired": true, "shortDesc": "Gyro control data maximum publication rate (inner loop rate)", "type": "Int32", "units": "Hz", "values": [{"description": "100 Hz", "value": 100}, {"description": "250 Hz", "value": 250}, {"description": "400 Hz", "value": 400}, {"description": "800 Hz", "value": 800}, {"description": "1000 Hz", "value": 1000}, {"description": "2000 Hz", "value": 2000}]}, {"category": "Standard", "default": 200, "group": "Sensors", "longDesc": "The rate at which raw IMU data is integrated to produce delta angles and delta velocities.\nRecommended to set this to a multiple of the estimator update period (currently 10 ms for ekf2).\n", "max": 1000, "min": 100, "name": "IMU_INTEG_RATE", "rebootRequired": true, "shortDesc": "IMU integration rate", "type": "Int32", "units": "Hz", "values": [{"description": "100 Hz", "value": 100}, {"description": "200 Hz", "value": 200}, {"description": "250 Hz", "value": 250}, {"description": "400 Hz", "value": 400}]}, {"category": "Standard", "default": 1013.25, "group": "Sensors", "max": 1500.0, "min": 500.0, "name": "SENS_BARO_QNH", "shortDesc": "QNH for barometer", "type": "Float", "units": "hPa"}, {"category": "Standard", "default": 20.0, "group": "Sensors", "longDesc": "Barometric air data maximum publication rate. This is an upper bound,\nactual barometric data rate is still dependent on the sensor.\n", "max": 200.0, "min": 1.0, "name": "SENS_BARO_RATE", "shortDesc": "Baro max rate", "type": "Float", "units": "Hz"}, {"category": "System", "default": 1, "group": "Sensors", "longDesc": "Automatically calibrate barometer based on the GNSS height\n", "name": "SENS_BAR_AUTOCAL", "shortDesc": "Barometer auto calibration", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "This parameter defines the rotation of the FMU board relative to the platform.\n", "max": 40, "min": -1, "name": "SENS_BOARD_ROT", "rebootRequired": true, "shortDesc": "Board rotation", "type": "Int32", "values": [{"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}, {"description": "Roll 180\u00b0", "value": 8}, {"description": "Roll 180\u00b0, Yaw 45\u00b0", "value": 9}, {"description": "Roll 180\u00b0, Yaw 90\u00b0", "value": 10}, {"description": "Roll 180\u00b0, Yaw 135\u00b0", "value": 11}, {"description": "Pitch 180\u00b0", "value": 12}, {"description": "Roll 180\u00b0, Yaw 225\u00b0", "value": 13}, {"description": "Roll 180\u00b0, Yaw 270\u00b0", "value": 14}, {"description": "Roll 180\u00b0, Yaw 315\u00b0", "value": 15}, {"description": "Roll 90\u00b0", "value": 16}, {"description": "Roll 90\u00b0, Yaw 45\u00b0", "value": 17}, {"description": "Roll 90\u00b0, Yaw 90\u00b0", "value": 18}, {"description": "Roll 90\u00b0, Yaw 135\u00b0", "value": 19}, {"description": "Roll 270\u00b0", "value": 20}, {"description": "Roll 270\u00b0, Yaw 45\u00b0", "value": 21}, {"description": "Roll 270\u00b0, Yaw 90\u00b0", "value": 22}, {"description": "Roll 270\u00b0, Yaw 135\u00b0", "value": 23}, {"description": "Pitch 90\u00b0", "value": 24}, {"description": "Pitch 270\u00b0", "value": 25}, {"description": "Pitch 180\u00b0, Yaw 90\u00b0", "value": 26}, {"description": "Pitch 180\u00b0, Yaw 270\u00b0", "value": 27}, {"description": "Roll 90\u00b0, Pitch 90\u00b0", "value": 28}, {"description": "Roll 180\u00b0, Pitch 90\u00b0", "value": 29}, {"description": "Roll 270\u00b0, Pitch 90\u00b0", "value": 30}, {"description": "Roll 90\u00b0, Pitch 180\u00b0", "value": 31}, {"description": "Roll 270\u00b0, Pitch 180\u00b0", "value": 32}, {"description": "Roll 90\u00b0, Pitch 270\u00b0", "value": 33}, {"description": "Roll 180\u00b0, Pitch 270\u00b0", "value": 34}, {"description": "Roll 270\u00b0, Pitch 270\u00b0", "value": 35}, {"description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0", "value": 36}, {"description": "Roll 90\u00b0, Yaw 270\u00b0", "value": 37}, {"description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0", "value": 38}, {"description": "Pitch 315\u00b0", "value": 39}, {"description": "Roll 90\u00b0, Pitch 315\u00b0", "value": 40}]}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "Sensors", "longDesc": "Rotation from flight controller board to vehicle body frame.\nThis parameter gets set during the \"level horizon\" calibration or can be\nset manually.\n", "max": 45.0, "min": -45.0, "name": "SENS_BOARD_X_OFF", "shortDesc": "Board rotation X (roll) offset", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "Sensors", "longDesc": "Rotation from flight controller board to vehicle body frame.\nThis parameter gets set during the \"level horizon\" calibration or can be\nset manually.\n", "max": 45.0, "min": -45.0, "name": "SENS_BOARD_Y_OFF", "shortDesc": "Board rotation Y (pitch) offset", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "Sensors", "longDesc": "Rotation from flight controller board to vehicle body frame.\nHas to be set manually (not set by any calibration).\n", "max": 45.0, "min": -45.0, "name": "SENS_BOARD_Z_OFF", "shortDesc": "Board rotation Z (yaw) offset", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 0, "group": "Sensors", "max": 1, "min": 0, "name": "SENS_EN_AGPSIM", "rebootRequired": true, "shortDesc": "Simulate Aux Global Position (AGP)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "max": 1, "min": 0, "name": "SENS_EN_ARSPDSIM", "rebootRequired": true, "shortDesc": "Enable simulated airspeed sensor instance", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "max": 1, "min": 0, "name": "SENS_EN_BAROSIM", "rebootRequired": true, "shortDesc": "Enable simulated barometer sensor instance", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "max": 1, "min": 0, "name": "SENS_EN_GPSSIM", "rebootRequired": true, "shortDesc": "Enable simulated GPS sinstance", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "max": 1, "min": 0, "name": "SENS_EN_MAGSIM", "rebootRequired": true, "shortDesc": "Enable simulated magnetometer sensor instance", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "System", "default": -1, "group": "Sensors", "name": "SENS_EN_THERMAL", "shortDesc": "Thermal control of sensor temperature", "type": "Int32", "values": [{"description": "Thermal control unavailable", "value": -1}, {"description": "Thermal control off", "value": 0}, {"description": "Thermal control enabled", "value": 1}]}, {"category": "System", "default": 1, "group": "Sensors", "longDesc": "Probe for optional external I2C devices.\n", "name": "SENS_EXT_I2C_PRB", "shortDesc": "External I2C probe", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 70.0, "group": "Sensors", "longDesc": "Optical flow data maximum publication rate. This is an upper bound,\nactual optical flow data rate is still dependent on the sensor.\n", "max": 200.0, "min": 1.0, "name": "SENS_FLOW_RATE", "rebootRequired": true, "shortDesc": "Optical flow max rate", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "This parameter defines the yaw rotation of the optical flow relative to the vehicle body frame.\nZero rotation is defined as X on flow board pointing towards front of vehicle.\n", "name": "SENS_FLOW_ROT", "shortDesc": "Optical flow rotation", "type": "Int32", "values": [{"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}]}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Sensors", "max": 1.5, "min": 0.5, "name": "SENS_FLOW_SCALE", "shortDesc": "Optical flow scale factor", "type": "Float"}, {"bitmask": [{"description": "use speed accuracy", "index": 0}, {"description": "use hpos accuracy", "index": 1}, {"description": "use vpos accuracy", "index": 2}], "category": "Standard", "default": 7, "group": "Sensors", "longDesc": "Set bits in the following positions to set which GPS accuracy metrics will be used to calculate the blending weight. Set to zero to disable and always used first GPS instance.\n0 : Set to true to use speed accuracy\n1 : Set to true to use horizontal position accuracy\n2 : Set to true to use vertical position accuracy\n", "max": 7, "min": 0, "name": "SENS_GPS_MASK", "shortDesc": "Multi GPS Blending Control Mask", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "When no blending is active, this defines the preferred GPS receiver instance.\nThe GPS selection logic waits until the primary receiver is available to\nsend data to the EKF even if a secondary instance is already available.\nThe secondary instance is then only used if the primary one times out.\n\nAccepted values:\n-1 : Auto (equal priority for all instances)\n0 : Main serial GPS instance\n1 : Secondary serial GPS instance\n2-127 : UAVCAN module node ID\n\nThis parameter has no effect if blending is active.\n", "max": 127, "min": -1, "name": "SENS_GPS_PRIME", "shortDesc": "Multi GPS primary instance", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Sensors", "longDesc": "Sets the longest time constant that will be applied to the calculation of GPS position and height offsets used to correct data from multiple GPS data for steady state position differences.\n\n", "max": 100.0, "min": 1.0, "name": "SENS_GPS_TAU", "shortDesc": "Multi GPS Blending Time Constant", "type": "Float", "units": "s"}, {"category": "System", "default": 1, "group": "Sensors", "longDesc": "Automatically initialize IMU (accel/gyro) calibration from bias estimates if available.\n", "name": "SENS_IMU_AUTOCAL", "shortDesc": "IMU auto calibration", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "System", "default": 1, "group": "Sensors", "longDesc": "Notify the user if the IMU is clipping\n", "name": "SENS_IMU_CLPNOTI", "shortDesc": "IMU notify clipping", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "System", "default": 1, "group": "Sensors", "name": "SENS_IMU_MODE", "rebootRequired": true, "shortDesc": "Sensors hub IMU mode", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Publish primary IMU selection", "value": 1}]}, {"category": "System", "default": 1, "group": "Sensors", "longDesc": "For systems with an external barometer, this should be set to false to make sure that the external is used.\n", "name": "SENS_INT_BARO_EN", "rebootRequired": true, "shortDesc": "Enable internal barometers", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "System", "default": 1, "group": "Sensors", "longDesc": "Automatically initialize magnetometer calibration from bias estimate if available.\n", "name": "SENS_MAG_AUTOCAL", "shortDesc": "Magnetometer auto calibration", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "Sensors", "longDesc": "During calibration attempt to automatically determine the rotation of external magnetometers.\n", "name": "SENS_MAG_AUTOROT", "shortDesc": "Automatically set external rotations", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "System", "default": 1, "group": "Sensors", "name": "SENS_MAG_MODE", "rebootRequired": true, "shortDesc": "Sensors hub mag mode", "type": "Int32", "values": [{"description": "Publish all magnetometers", "value": 0}, {"description": "Publish primary magnetometer", "value": 1}]}, {"category": "Standard", "default": 15.0, "group": "Sensors", "longDesc": "Magnetometer data maximum publication rate. This is an upper bound,\nactual magnetometer data rate is still dependent on the sensor.\n", "max": 200.0, "min": 1.0, "name": "SENS_MAG_RATE", "rebootRequired": true, "shortDesc": "Magnetometer max rate", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 63, "group": "Sensors", "longDesc": "If set to two side calibration, only the offsets are estimated, the scale\ncalibration is left unchanged. Thus an initial six side calibration is\nrecommended.\n\nBits:\nORIENTATION_TAIL_DOWN = 1\nORIENTATION_NOSE_DOWN = 2\nORIENTATION_LEFT = 4\nORIENTATION_RIGHT = 8\nORIENTATION_UPSIDE_DOWN = 16\nORIENTATION_RIGHTSIDE_UP = 32\n", "max": 63, "min": 34, "name": "SENS_MAG_SIDES", "shortDesc": "Bitfield selecting mag sides for calibration", "type": "Int32", "values": [{"description": "Two side calibration", "value": 34}, {"description": "Three side calibration", "value": 38}, {"description": "Six side calibration", "value": 63}]}, {"category": "Standard", "default": 0, "group": "Sensors", "max": 1, "min": 0, "name": "SIM_ARSPD_FAIL", "rebootRequired": true, "shortDesc": "Dynamically simulate failure of airspeed sensor instance", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "Septentrio", "longDesc": "By default, the receiver is automatically configured. Sometimes it may be used for multiple purposes.\nIf the offered parameters aren't sufficient, this parameter can be disabled to have full control of the receiver configuration.\nA good way to use this is to enable automatic configuration, let the receiver be configured, and then disable it to make manual adjustments.\n\n", "name": "SEP_AUTO_CONFIG", "rebootRequired": true, "shortDesc": "Toggle automatic receiver configuration", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"bitmask": [{"description": "GPS", "index": 0}, {"description": "GLONASS", "index": 1}, {"description": "Galileo", "index": 2}, {"description": "SBAS", "index": 3}, {"description": "BeiDou", "index": 4}], "category": "Standard", "default": 0, "group": "Septentrio", "longDesc": "Choice of which constellations the receiver should use for PVT computation.\n\nWhen this is 0, the constellation usage isn't changed.\n\n", "max": 63, "min": 0, "name": "SEP_CONST_USAGE", "rebootRequired": true, "shortDesc": "Usage of different constellations", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Septentrio", "longDesc": "Log raw communication between the driver and connected receivers.\nFor example, \"To receiver\" will log all commands and corrections sent by the driver to the receiver.\n\n", "max": 3, "min": 0, "name": "SEP_DUMP_COMM", "shortDesc": "Log GPS communication data", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "From receiver", "value": 1}, {"description": "To receiver", "value": 2}, {"description": "Both", "value": 3}]}, {"category": "Standard", "default": 0, "group": "Septentrio", "longDesc": "Setup and expected use of the hardware.\n\n- Default: Use two receivers as completely separate instances.\n- Moving base: Use two receivers in a rover & moving base setup for heading.\n\n", "max": 1, "min": 0, "name": "SEP_HARDW_SETUP", "rebootRequired": true, "shortDesc": "Setup and expected use of the hardware", "type": "Int32", "values": [{"description": "Default", "value": 0}, {"description": "Moving base", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Septentrio", "longDesc": "When the receiver is already set up to log data, this decides whether extra logged data should be added or overwrite existing data.\n\n", "name": "SEP_LOG_FORCE", "rebootRequired": true, "shortDesc": "Whether to overwrite or add to existing logging", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Septentrio", "longDesc": "Select the frequency at which the connected receiver should log data to its internal storage.\n\n", "max": 10, "min": 0, "name": "SEP_LOG_HZ", "rebootRequired": true, "shortDesc": "Logging frequency for the receiver", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "0.1 Hz", "value": 1}, {"description": "0.2 Hz", "value": 2}, {"description": "0.5 Hz", "value": 3}, {"description": "1 Hz", "value": 4}, {"description": "2 Hz", "value": 5}, {"description": "5 Hz", "value": 6}, {"description": "10 Hz", "value": 7}, {"description": "20 Hz", "value": 8}, {"description": "25 Hz", "value": 9}, {"description": "50 Hz", "value": 10}]}, {"category": "Standard", "default": 2, "group": "Septentrio", "longDesc": "Select the level of detail that needs to be logged by the receiver.\n\n", "max": 3, "min": 0, "name": "SEP_LOG_LEVEL", "rebootRequired": true, "shortDesc": "Logging level for the receiver", "type": "Int32", "values": [{"description": "Lite", "value": 0}, {"description": "Basic", "value": 1}, {"description": "Default", "value": 2}, {"description": "Full", "value": 3}]}, {"category": "Standard", "default": 1, "group": "Septentrio", "longDesc": "The output frequency of the main SBF blocks needed for PVT information.\n\n", "max": 3, "min": 0, "name": "SEP_OUTP_HZ", "rebootRequired": true, "shortDesc": "Output frequency of main SBF blocks", "type": "Int32", "values": [{"description": "5 Hz", "value": 0}, {"description": "10 Hz", "value": 1}, {"description": "20 Hz", "value": 2}, {"description": "25 Hz", "value": 3}]}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Septentrio", "longDesc": "Vertical offsets can be compensated for by adjusting the Pitch offset.\n\nNote that this can be interpreted as the \"roll\" angle in case the antennas are aligned along the perpendicular axis.\nThis occurs in situations where the two antenna ARPs may not be exactly at the same height in the vehicle reference frame.\nSince pitch is defined as the right-handed rotation about the vehicle Y axis,\na situation where the main antenna is mounted lower than the aux antenna (assuming the default antenna setup) will result in a positive pitch.\n\n", "max": 90.0, "min": -90.0, "name": "SEP_PITCH_OFFS", "rebootRequired": true, "shortDesc": "Pitch offset for dual antenna GPS", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 0, "group": "Septentrio", "longDesc": "Enable publication of satellite info (ORB_ID(satellite_info)) if possible.\n\n", "name": "SEP_SAT_INFO", "rebootRequired": true, "shortDesc": "Enable sat info", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 2, "group": "Septentrio", "longDesc": "The stream the autopilot sets up on the receiver to output the logging data.\n\nSet this to another value if the default stream is already used for another purpose.\n\n", "max": 10, "min": 1, "name": "SEP_STREAM_LOG", "rebootRequired": true, "shortDesc": "Logging stream used during automatic configuration", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Septentrio", "longDesc": "The stream the autopilot sets up on the receiver to output the main data.\n\nSet this to another value if the default stream is already used for another purpose.\n\n", "max": 10, "min": 1, "name": "SEP_STREAM_MAIN", "rebootRequired": true, "shortDesc": "Main stream used during automatic configuration", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Septentrio", "longDesc": "Heading offset angle for dual antenna GPS setups that support heading estimation.\n\nSet this to 0 if the antennas are parallel to the forward-facing direction\nof the vehicle and the rover antenna is in front.\n\nThe offset angle increases clockwise.\n\nSet this to 90 if the rover antenna is placed on the\nright side of the vehicle and the moving base antenna is on the left side.\n\n", "max": 360.0, "min": -360.0, "name": "SEP_YAW_OFFS", "rebootRequired": true, "shortDesc": "Heading/Yaw offset for dual antenna GPS", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 4, "default": 100.0, "group": "Simulation In Hardware", "increment": 0.01, "max": 1000.0, "min": 0.0, "name": "SIH_DISTSNSR_MAX", "shortDesc": "distance sensor maximum range", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.0, "group": "Simulation In Hardware", "increment": 0.01, "max": 10.0, "min": 0.0, "name": "SIH_DISTSNSR_MIN", "shortDesc": "distance sensor minimum range", "type": "Float", "units": "m"}, {"category": "Standard", "default": -1.0, "group": "Simulation In Hardware", "longDesc": "Absolute value superior to 10000 will disable distance sensor\n", "name": "SIH_DISTSNSR_OVR", "shortDesc": "if >= 0 the distance sensor measures will be overridden by this value", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.025, "group": "Simulation In Hardware", "increment": 0.005, "longDesc": "The inertia is a 3 by 3 symmetric matrix.\nIt represents the difficulty of the vehicle to modify its angular rate.\n", "min": 0.0, "name": "SIH_IXX", "shortDesc": "Vehicle inertia about X axis", "type": "Float", "units": "kg m^2"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Simulation In Hardware", "increment": 0.005, "longDesc": "The inertia is a 3 by 3 symmetric matrix.\nThis value can be set to 0 for a quad symmetric about its center of mass.\n", "name": "SIH_IXY", "shortDesc": "Vehicle cross term inertia xy", "type": "Float", "units": "kg m^2"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Simulation In Hardware", "increment": 0.005, "longDesc": "The inertia is a 3 by 3 symmetric matrix.\nThis value can be set to 0 for a quad symmetric about its center of mass.\n", "name": "SIH_IXZ", "shortDesc": "Vehicle cross term inertia xz", "type": "Float", "units": "kg m^2"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.025, "group": "Simulation In Hardware", "increment": 0.005, "longDesc": "The inertia is a 3 by 3 symmetric matrix.\nIt represents the difficulty of the vehicle to modify its angular rate.\n", "min": 0.0, "name": "SIH_IYY", "shortDesc": "Vehicle inertia about Y axis", "type": "Float", "units": "kg m^2"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Simulation In Hardware", "increment": 0.005, "longDesc": "The inertia is a 3 by 3 symmetric matrix.\nThis value can be set to 0 for a quad symmetric about its center of mass.\n", "name": "SIH_IYZ", "shortDesc": "Vehicle cross term inertia yz", "type": "Float", "units": "kg m^2"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.03, "group": "Simulation In Hardware", "increment": 0.005, "longDesc": "The inertia is a 3 by 3 symmetric matrix.\nIt represents the difficulty of the vehicle to modify its angular rate.\n", "min": 0.0, "name": "SIH_IZZ", "shortDesc": "Vehicle inertia about Z axis", "type": "Float", "units": "kg m^2"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Simulation In Hardware", "increment": 0.05, "longDesc": "Physical coefficient representing the friction with air particules.\nThe greater this value, the slower the quad will move.\n\nDrag force function of velocity: D=-KDV*V.\nThe maximum freefall velocity can be computed as V=10*MASS/KDV [m/s]\n", "min": 0.0, "name": "SIH_KDV", "shortDesc": "First order drag coefficient", "type": "Float", "units": "N/(m/s)"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.025, "group": "Simulation In Hardware", "increment": 0.005, "longDesc": "Physical coefficient representing the friction with air particules during rotations.\nThe greater this value, the slower the quad will rotate.\n\nAerodynamic moment function of body rate: Ma=-KDW*W_B.\nThis value can be set to 0 if unknown.\n", "min": 0.0, "name": "SIH_KDW", "shortDesc": "First order angular damper coefficient", "type": "Float", "units": "Nm/(rad/s)"}, {"category": "Standard", "decimalPlaces": 2, "default": 489.4, "group": "Simulation In Hardware", "increment": 0.01, "longDesc": "This value represents the Above Mean Sea Level (AMSL) altitude where the simulation begins.\n\nIf using FlightGear as a visual animation,\nthis value can be tweaked such that the vehicle lies on the ground at takeoff.\n\nLAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others\nto represent a physical ground location on Earth.\n\n", "max": 8848.0, "min": -420.0, "name": "SIH_LOC_H0", "shortDesc": "Initial AMSL ground altitude", "type": "Float", "units": "m"}, {"category": "Standard", "default": 47.397742, "group": "Simulation In Hardware", "longDesc": "This value represents the North-South location on Earth where the simulation begins.\n\nLAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others\nto represent a physical ground location on Earth.\n", "max": 90.0, "min": -90.0, "name": "SIH_LOC_LAT0", "shortDesc": "Initial geodetic latitude", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 8.545594, "group": "Simulation In Hardware", "longDesc": "This value represents the East-West location on Earth where the simulation begins.\n\nLAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others\nto represent a physical ground location on Earth.\n", "max": 180.0, "min": -180.0, "name": "SIH_LOC_LON0", "shortDesc": "Initial geodetic longitude", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "Simulation In Hardware", "increment": 0.05, "longDesc": "This is the arm length generating the pitching moment\n\nThis value can be measured with a ruler.\nThis corresponds to half the distance between the front and rear motors.\n", "min": 0.0, "name": "SIH_L_PITCH", "shortDesc": "Pitch arm length", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "Simulation In Hardware", "increment": 0.05, "longDesc": "This is the arm length generating the rolling moment\n\nThis value can be measured with a ruler.\nThis corresponds to half the distance between the left and right motors.\n", "min": 0.0, "name": "SIH_L_ROLL", "shortDesc": "Roll arm length", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Simulation In Hardware", "increment": 0.1, "longDesc": "This value can be measured by weighting the quad on a scale.\n", "min": 0.0, "name": "SIH_MASS", "shortDesc": "Vehicle mass", "type": "Float", "units": "kg"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.1, "group": "Simulation In Hardware", "increment": 0.05, "longDesc": "This is the maximum torque delivered by one propeller\nwhen the motor is running at full speed.\n\nThis value is usually about few percent of the maximum thrust force.\n", "min": 0.0, "name": "SIH_Q_MAX", "shortDesc": "Max propeller torque", "type": "Float", "units": "Nm"}, {"category": "Standard", "decimalPlaces": 2, "default": 5.0, "group": "Simulation In Hardware", "increment": 0.5, "longDesc": "This is the maximum force delivered by one propeller\nwhen the motor is running at full speed.\n\nThis value is usually about 5 times the mass of the quadrotor.\n", "min": 0.0, "name": "SIH_T_MAX", "shortDesc": "Max propeller thrust force", "type": "Float", "units": "N"}, {"category": "Standard", "default": 0.05, "group": "Simulation In Hardware", "longDesc": "the time taken for the thruster to step from 0 to 100% should be about 4 times tau\n", "name": "SIH_T_TAU", "shortDesc": "thruster time constant tau", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "Simulation In Hardware", "name": "SIH_VEHICLE_TYPE", "rebootRequired": true, "shortDesc": "Vehicle type", "type": "Int32", "values": [{"description": "Quadcopter", "value": 0}, {"description": "Fixed-Wing", "value": 1}, {"description": "Tailsitter", "value": 2}, {"description": "Standard VTOL", "value": 3}, {"description": "Hexacopter", "value": 4}, {"description": "Rover Ackermann", "value": 5}]}, {"category": "Standard", "default": 0.0, "group": "Simulation In Hardware", "name": "SIH_WIND_E", "shortDesc": "Wind velocity from east direction", "type": "Float", "units": "m/s"}, {"category": "Standard", "default": 0.0, "group": "Simulation In Hardware", "name": "SIH_WIND_N", "shortDesc": "Wind velocity from north direction", "type": "Float", "units": "m/s"}, {"bitmask": [{"description": "Stuck", "index": 0}, {"description": "Drift", "index": 1}], "category": "Standard", "default": 0, "group": "Simulator", "longDesc": "Stuck: freeze the measurement to the current location\nDrift: add a linearly growing bias to the sensor data\n", "max": 3, "min": 0, "name": "SIM_AGP_FAIL", "shortDesc": "AGP failure mode", "type": "Int32"}, {"category": "Standard", "default": 0.0, "group": "Simulator", "name": "SIM_BARO_OFF_P", "shortDesc": "simulated barometer pressure offset", "type": "Float"}, {"category": "Standard", "default": 0.0, "group": "Simulator", "name": "SIM_BARO_OFF_T", "shortDesc": "simulated barometer temperature offset", "type": "Float", "units": "celcius"}, {"category": "Standard", "default": 10, "group": "Simulator", "max": 50, "min": 0, "name": "SIM_GPS_USED", "shortDesc": "simulated GPS number of satellites used", "type": "Int32"}, {"category": "Standard", "default": 0.0, "group": "Simulator", "name": "SIM_MAG_OFFSET_X", "shortDesc": "simulated magnetometer X offset", "type": "Float", "units": "gauss"}, {"category": "Standard", "default": 0.0, "group": "Simulator", "name": "SIM_MAG_OFFSET_Y", "shortDesc": "simulated magnetometer Y offset", "type": "Float", "units": "gauss"}, {"category": "Standard", "default": 0.0, "group": "Simulator", "name": "SIM_MAG_OFFSET_Z", "shortDesc": "simulated magnetometer Z offset", "type": "Float", "units": "gauss"}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "Set to 1 to reset parameters on next system startup (setting defaults).\nPlatform-specific values are used if available.\nRC* parameters are preserved.\n", "name": "SYS_AUTOCONFIG", "shortDesc": "Automatically configure default values", "type": "Int32", "values": [{"description": "Keep parameters", "value": 0}, {"description": "Reset parameters to airframe defaults", "value": 1}]}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "CHANGING THIS VALUE REQUIRES A RESTART. Defines the auto-start script used to bootstrap the system.\n", "max": 9999999, "min": 0, "name": "SYS_AUTOSTART", "rebootRequired": true, "shortDesc": "Auto-start script index", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "If enabled, update the bootloader on the next boot.\n\nWARNING: do not cut the power during an update process, otherwise you will\nhave to recover using some alternative method (e.g. JTAG).\n\nInstructions:\n- Insert an SD card\n- Enable this parameter\n- Reboot the board (plug the power or send a reboot command)\n- Wait until the board comes back up (or at least 2 minutes)\n- If it does not come back, check the file bootlog.txt on the SD card\n", "name": "SYS_BL_UPDATE", "rebootRequired": true, "shortDesc": "Bootloader update", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "0 : Set to 0 to do nothing\n1 : Set to 1 to start a calibration at next boot\nThis parameter is reset to zero when the temperature calibration starts.\n\ndefault (0, no calibration)\n", "max": 1, "min": 0, "name": "SYS_CAL_ACCEL", "shortDesc": "Enable auto start of accelerometer thermal calibration at the next power up", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "0 : Set to 0 to do nothing\n1 : Set to 1 to start a calibration at next boot\nThis parameter is reset to zero when the temperature calibration starts.\n\ndefault (0, no calibration)\n", "max": 1, "min": 0, "name": "SYS_CAL_BARO", "shortDesc": "Enable auto start of barometer thermal calibration at the next power up", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "0 : Set to 0 to do nothing\n1 : Set to 1 to start a calibration at next boot\nThis parameter is reset to zero when the temperature calibration starts.\n\ndefault (0, no calibration)\n", "max": 1, "min": 0, "name": "SYS_CAL_GYRO", "shortDesc": "Enable auto start of rate gyro thermal calibration at the next power up", "type": "Int32"}, {"category": "Standard", "default": 24, "group": "System", "longDesc": "A temperature increase greater than this value is required during calibration.\nCalibration will complete for each sensor when the temperature increase above the starting temperature exceeds the value set by SYS_CAL_TDEL.\nIf the temperature rise is insufficient, the calibration will continue indefinitely and the board will need to be repowered to exit.\n", "min": 10, "name": "SYS_CAL_TDEL", "shortDesc": "Required temperature rise during thermal calibration", "type": "Int32", "units": "celcius"}, {"category": "Standard", "default": 10, "group": "System", "longDesc": "Temperature calibration will not start if the temperature of any sensor is higher than the value set by SYS_CAL_TMAX.\n", "name": "SYS_CAL_TMAX", "shortDesc": "Maximum starting temperature for thermal calibration", "type": "Int32", "units": "celcius"}, {"category": "Standard", "default": 5, "group": "System", "longDesc": "Temperature calibration for each sensor will ignore data if the temperature is lower than the value set by SYS_CAL_TMIN.\n", "name": "SYS_CAL_TMIN", "shortDesc": "Minimum starting temperature for thermal calibration", "type": "Int32", "units": "celcius"}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "If the board supports persistent storage (i.e., the KConfig variable DATAMAN_PERSISTENT_STORAGE is set),\nthe 'Default storage' backend uses a file on persistent storage. If not supported, this backend uses\nnon-persistent storage in RAM.\n", "name": "SYS_DM_BACKEND", "rebootRequired": true, "shortDesc": "Dataman storage backend", "type": "Int32", "values": [{"description": "Dataman disabled", "value": -1}, {"description": "Default storage", "value": 0}, {"description": "RAM storage", "value": 1}]}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "If enabled, future sensor calibrations will be stored to /fs/mtd_caldata.\n\nNote: this is only supported on boards with a separate calibration storage\n/fs/mtd_caldata.\n", "name": "SYS_FAC_CAL_MODE", "shortDesc": "Enable factory calibration mode", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "All sensors", "value": 1}, {"description": "All sensors except mag", "value": 2}]}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "If enabled allows MAVLink INJECT_FAILURE commands.\n\nWARNING: the failures can easily cause crashes and are to be used with caution!\n", "name": "SYS_FAILURE_EN", "shortDesc": "Enable failure injection", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "System", "longDesc": "Disable this if the board has no barometer, such as some of the Omnibus\nF4 SD variants.\nIf disabled, the preflight checks will not check for the presence of a\nbarometer.\n", "name": "SYS_HAS_BARO", "rebootRequired": true, "shortDesc": "Control if the vehicle has a barometer", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "System", "longDesc": "Disable this if the system has no GPS.\nIf disabled, the sensors hub will not process sensor_gps,\nand GPS will not be available for the rest of the system.\n", "name": "SYS_HAS_GPS", "rebootRequired": true, "shortDesc": "Control if the vehicle has a GPS", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "System", "longDesc": "0: System has no magnetometer, preflight checks should pass without one.\n1-N: Require the presence of N magnetometer sensors for check to pass.\n", "name": "SYS_HAS_MAG", "rebootRequired": true, "shortDesc": "Control if and how many magnetometers are expected", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "Set this to 0 if the board has no airspeed sensor.\nIf set to 0, the preflight checks will not check for the presence of an\nairspeed sensor.\n", "max": 1, "min": 0, "name": "SYS_HAS_NUM_ASPD", "shortDesc": "Control if the vehicle has an airspeed sensor", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "The preflight check will fail if fewer than this number of distance sensors with valid data is present.\n\nDisable the check with 0.\n", "max": 4, "min": 0, "name": "SYS_HAS_NUM_DIST", "shortDesc": "Number of distance sensors to check being available", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "The preflight check will fail if fewer than this number of optical flow sensors with valid data are present.\n", "max": 1, "min": 0, "name": "SYS_HAS_NUM_OF", "shortDesc": "Number of optical flow sensors required to be available", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "While enabled the system will boot in Hardware-In-The-Loop (HITL)\nor Simulation-In-Hardware (SIH) mode and not enable all sensors and checks.\nWhen disabled the same vehicle can be flown normally.\n\nSet to 'external HITL', if the system should perform as if it were a real\nvehicle (the only difference to a real system is then only the parameter\nvalue, which can be used for log analysis).\n", "name": "SYS_HITL", "rebootRequired": true, "shortDesc": "Enable HITL/SIH mode on next boot", "type": "Int32", "values": [{"description": "external HITL", "value": -1}, {"description": "HITL and SIH disabled", "value": 0}, {"description": "HITL enabled", "value": 1}, {"description": "SIH enabled", "value": 2}]}, {"category": "Standard", "default": 1, "group": "System", "longDesc": "This is used internally only: an airframe configuration might set an expected\nparameter version value via PARAM_DEFAULTS_VER. This is checked on bootup\nagainst SYS_PARAM_VER, and if they do not match, parameters are reset and\nreloaded from the airframe configuration.\n", "min": 0, "name": "SYS_PARAM_VER", "shortDesc": "Parameter version", "type": "Int32"}, {"category": "Standard", "default": 1.0, "group": "System", "longDesc": "Set to 0 to disable, 1 for maximum brightness\n", "name": "SYS_RGB_MAXBRT", "shortDesc": "RGB Led brightness limit", "type": "Float", "units": "%"}, {"category": "Standard", "default": 1, "group": "System", "name": "SYS_STCK_EN", "shortDesc": "Enable stack checking", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 2, "group": "Testing", "name": "TEST_1", "shortDesc": "TEST_1", "type": "Int32"}, {"category": "Standard", "default": 4, "group": "Testing", "name": "TEST_2", "shortDesc": "TEST_2", "type": "Int32"}, {"category": "Standard", "default": 5.0, "group": "Testing", "name": "TEST_3", "shortDesc": "TEST_3", "type": "Float"}, {"category": "Standard", "default": 0.01, "group": "Testing", "name": "TEST_D", "shortDesc": "TEST_D", "type": "Float"}, {"category": "Standard", "default": 2.0, "group": "Testing", "name": "TEST_DEV", "shortDesc": "TEST_DEV", "type": "Float"}, {"category": "Standard", "default": 10.0, "group": "Testing", "name": "TEST_D_LP", "shortDesc": "TEST_D_LP", "type": "Float"}, {"category": "Standard", "default": 10.0, "group": "Testing", "name": "TEST_HP", "shortDesc": "TEST_HP", "type": "Float"}, {"category": "Standard", "default": 0.1, "group": "Testing", "name": "TEST_I", "shortDesc": "TEST_I", "type": "Float"}, {"category": "Standard", "default": 1.0, "group": "Testing", "name": "TEST_I_MAX", "shortDesc": "TEST_I_MAX", "type": "Float"}, {"category": "Standard", "default": 10.0, "group": "Testing", "name": "TEST_LP", "shortDesc": "TEST_LP", "type": "Float"}, {"category": "Standard", "default": 1.0, "group": "Testing", "name": "TEST_MAX", "shortDesc": "TEST_MAX", "type": "Float"}, {"category": "Standard", "default": 1.0, "group": "Testing", "name": "TEST_MEAN", "shortDesc": "TEST_MEAN", "type": "Float"}, {"category": "Standard", "default": -1.0, "group": "Testing", "name": "TEST_MIN", "shortDesc": "TEST_MIN", "type": "Float"}, {"category": "Standard", "default": 0.2, "group": "Testing", "name": "TEST_P", "shortDesc": "TEST_P", "type": "Float"}, {"category": "Standard", "default": 12345678, "group": "Testing", "name": "TEST_PARAMS", "shortDesc": "TEST_PARAMS", "type": "Int32"}, {"category": "Standard", "default": 16, "group": "Testing", "name": "TEST_RC2_X", "shortDesc": "TEST_RC2_X", "type": "Int32"}, {"category": "Standard", "default": 8, "group": "Testing", "name": "TEST_RC_X", "shortDesc": "TEST_RC_X", "type": "Int32"}, {"category": "Standard", "default": 0.5, "group": "Testing", "name": "TEST_TRIM", "shortDesc": "TEST_TRIM", "type": "Float"}, {"category": "System", "default": 0, "group": "Thermal Compensation", "name": "TC_A0_ID", "shortDesc": "ID of Accelerometer that the calibration is for", "type": "Int32"}, {"category": "System", "default": 100.0, "group": "Thermal Compensation", "name": "TC_A0_TMAX", "shortDesc": "Accelerometer calibration maximum temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_TMIN", "shortDesc": "Accelerometer calibration minimum temperature", "type": "Float"}, {"category": "System", "default": 25.0, "group": "Thermal Compensation", "name": "TC_A0_TREF", "shortDesc": "Accelerometer calibration reference temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X0_0", "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X0_1", "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X0_2", "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X1_0", "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X1_1", "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X1_2", "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X2_0", "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X2_1", "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X2_2", "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X3_0", "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X3_1", "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X3_2", "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0, "group": "Thermal Compensation", "name": "TC_A1_ID", "shortDesc": "ID of Accelerometer that the calibration is for", "type": "Int32"}, {"category": "System", "default": 100.0, "group": "Thermal Compensation", "name": "TC_A1_TMAX", "shortDesc": "Accelerometer calibration maximum temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_TMIN", "shortDesc": "Accelerometer calibration minimum temperature", "type": "Float"}, {"category": "System", "default": 25.0, "group": "Thermal Compensation", "name": "TC_A1_TREF", "shortDesc": "Accelerometer calibration reference temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X0_0", "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X0_1", "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X0_2", "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X1_0", "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X1_1", "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X1_2", "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X2_0", "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X2_1", "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X2_2", "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X3_0", "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X3_1", "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X3_2", "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0, "group": "Thermal Compensation", "name": "TC_A2_ID", "shortDesc": "ID of Accelerometer that the calibration is for", "type": "Int32"}, {"category": "System", "default": 100.0, "group": "Thermal Compensation", "name": "TC_A2_TMAX", "shortDesc": "Accelerometer calibration maximum temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A2_TMIN", "shortDesc": "Accelerometer calibration minimum temperature", "type": "Float"}, {"category": "System", "default": 25.0, "group": "Thermal Compensation", "name": "TC_A2_TREF", "shortDesc": "Accelerometer calibration reference temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A2_X0_0", "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", 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[{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "System", "default": 0, "group": "Thermal Compensation", "name": "TC_M0_ID", "shortDesc": "ID of Magnetometer that the calibration is for", "type": "Int32"}, {"category": "System", "default": 100.0, "group": "Thermal Compensation", "name": "TC_M0_TMAX", "shortDesc": "Magnetometer calibration maximum temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M0_TMIN", "shortDesc": "Magnetometer calibration minimum temperature", "type": "Float"}, {"category": "System", "default": 25.0, "group": "Thermal Compensation", "name": "TC_M0_TREF", "shortDesc": "Magnetometer calibration reference temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M0_X0_0", "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M0_X0_1", "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M0_X0_2", "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M0_X1_0", "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M0_X1_1", "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M0_X1_2", "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M0_X2_0", "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M0_X2_1", "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M0_X2_2", "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M0_X3_0", "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M0_X3_1", "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M0_X3_2", "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0, "group": "Thermal Compensation", "name": "TC_M1_ID", "shortDesc": "ID of Magnetometer that the calibration is for", "type": "Int32"}, {"category": "System", "default": 100.0, "group": "Thermal Compensation", "name": "TC_M1_TMAX", "shortDesc": "Magnetometer calibration maximum temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_TMIN", "shortDesc": "Magnetometer calibration minimum temperature", "type": "Float"}, {"category": "System", "default": 25.0, "group": "Thermal Compensation", "name": "TC_M1_TREF", "shortDesc": "Magnetometer calibration reference temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X0_0", "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X0_1", "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X0_2", "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X1_0", "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X1_1", "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X1_2", "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X2_0", "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X2_1", "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X2_2", "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X3_0", "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X3_1", "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X3_2", "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0, "group": "Thermal Compensation", "name": "TC_M2_ID", "shortDesc": "ID of Magnetometer that the calibration is for", "type": "Int32"}, {"category": "System", "default": 100.0, "group": "Thermal Compensation", "name": "TC_M2_TMAX", "shortDesc": "Magnetometer calibration maximum temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_TMIN", "shortDesc": "Magnetometer calibration minimum temperature", "type": "Float"}, {"category": "System", "default": 25.0, "group": "Thermal Compensation", "name": "TC_M2_TREF", "shortDesc": "Magnetometer calibration reference temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X0_0", "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X0_1", "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X0_2", "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X1_0", "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X1_1", "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X1_2", "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X2_0", "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X2_1", "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X2_2", "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X3_0", "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X3_1", "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X3_2", "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0, "group": "Thermal Compensation", "name": "TC_M3_ID", "shortDesc": "ID of Magnetometer that the calibration is for", "type": "Int32"}, {"category": "System", "default": 100.0, "group": "Thermal Compensation", "name": "TC_M3_TMAX", "shortDesc": "Magnetometer calibration maximum temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_TMIN", "shortDesc": "Magnetometer calibration minimum temperature", "type": "Float"}, {"category": "System", "default": 25.0, "group": "Thermal Compensation", "name": "TC_M3_TREF", "shortDesc": "Magnetometer calibration reference temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X0_0", "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X0_1", "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X0_2", "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X1_0", "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X1_1", "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X1_2", "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X2_0", "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X2_1", "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X2_2", "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X3_0", "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X3_1", "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X3_2", "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - Z axis", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Thermal Compensation", "name": "TC_M_ENABLE", "rebootRequired": true, "shortDesc": "Thermal compensation for magnetometer sensors", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 12, "group": "UUV Attitude Control", "max": 16, "min": 0, "name": "UUV_HGT_B_DOWN", "shortDesc": "Height rc-button down", "type": "Int32"}, {"category": "Standard", "default": 11, "group": "UUV Attitude Control", "max": 16, "min": 0, "name": "UUV_HGT_B_UP", "shortDesc": "Height rc-button up", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "UUV Attitude Control", "name": "UUV_HGT_D", "shortDesc": "Height differential gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "UUV Attitude Control", "name": "UUV_HGT_I", "shortDesc": "Height integrational gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "UUV Attitude Control", "name": "UUV_HGT_I_SPD", "shortDesc": "sum speed of error for integrational gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "UUV Attitude Control", "name": "UUV_HGT_MAX_DIFF", "shortDesc": "maximum Height distance controlled by manual input. Diff between actual and desired Height cant be higher than that", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "UUV Attitude Control", "name": "UUV_HGT_P", "shortDesc": "Height proportional gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "UUV Attitude Control", "name": "UUV_HGT_STR", "shortDesc": "Height change strength from manual input", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.05, "group": "UUV Attitude Control", "min": 0.0, "name": "UUV_MGM_PITCH", "shortDesc": "Pitch gain for manual inputs in manual control mode", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.05, "group": "UUV Attitude Control", "min": 0.0, "name": "UUV_MGM_ROLL", "shortDesc": "Roll gain for manual inputs in manual control mode", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "UUV Attitude Control", "min": 0.0, "name": "UUV_MGM_THRTL", "shortDesc": "Throttle gain for manual inputs in manual control mode", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.05, "group": "UUV Attitude Control", "min": 0.0, "name": "UUV_MGM_YAW", "shortDesc": "Yaw gain for manual inputs in manual control mode", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 2.0, "group": "UUV Attitude Control", "name": "UUV_PITCH_D", "shortDesc": "Pitch differential gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 4.0, "group": "UUV Attitude Control", "name": "UUV_PITCH_P", "shortDesc": "Pitch proportional gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 100.0, "group": "UUV Attitude Control", "min": 0.0, "name": "UUV_RGM_PITCH", "shortDesc": "Pitch gain for manual inputs in rate control mode", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 100.0, "group": "UUV Attitude Control", "min": 0.0, "name": "UUV_RGM_ROLL", "shortDesc": "Roll gain for manual inputs in rate control mode", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 10.0, "group": "UUV Attitude Control", "min": 0.0, "name": "UUV_RGM_THRTL", "shortDesc": "Throttle gain for manual inputs in rate control mode", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 100.0, "group": "UUV Attitude Control", "min": 0.0, "name": "UUV_RGM_YAW", "shortDesc": "Yaw gain for manual inputs in rate control mode", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.5, "group": "UUV Attitude Control", "name": "UUV_ROLL_D", "shortDesc": "Roll differential gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 4.0, "group": "UUV Attitude Control", "name": "UUV_ROLL_P", "shortDesc": "Roll proportional gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "UUV Attitude Control", "min": 0.0, "name": "UUV_SGM_PITCH", "shortDesc": "Pitch gain for manual inputs in attitude control mode", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "UUV Attitude Control", "min": 0.0, "name": "UUV_SGM_ROLL", "shortDesc": "Roll gain for manual inputs in attitude control mode", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "UUV Attitude Control", "min": 0.0, "name": "UUV_SGM_THRTL", "shortDesc": "Throttle gain for manual inputs in attitude control mode", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "UUV Attitude Control", "min": 0.0, "name": "UUV_SGM_YAW", "shortDesc": "Yaw gain for manual inputs in attitude control mode", "type": "Float"}, {"category": "Standard", "default": 2.0, "group": "UUV Attitude Control", "name": "UUV_SP_MAX_AGE", "shortDesc": "Maximum time (in seconds) before resetting setpoint", "type": "Float"}, {"category": "Standard", "default": 0, "group": "UUV Attitude Control", "max": 1, "min": 0, "name": "UUV_STICK_MODE", "shortDesc": "Stick mode selector (0=Heave/sway control, roll/pitch leveled; 1=Pitch/roll control)", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "UUV Attitude Control", "max": 1.0, "min": 0.0, "name": "UUV_THRUST_SAT", "shortDesc": "UUV Thrust setpoint Saturation", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "UUV Attitude Control", "max": 1.0, "min": 0.0, "name": "UUV_TORQUE_SAT", "shortDesc": "UUV Torque setpoint Saturation", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 2.0, "group": "UUV Attitude Control", "name": "UUV_YAW_D", "shortDesc": "Yaw differential gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 4.0, "group": "UUV Attitude Control", "name": "UUV_YAW_P", "shortDesc": "Yawh proportional gain", "type": "Float"}, {"category": "Standard", "default": 0.2, "group": "UUV Position Control", "name": "UUV_GAIN_X_D", "shortDesc": "Gain of D controller X", "type": "Float"}, {"category": "Standard", "default": 1.0, "group": "UUV Position Control", "name": "UUV_GAIN_X_P", "shortDesc": "Gain of P controller X", "type": "Float"}, {"category": "Standard", "default": 0.2, "group": "UUV Position Control", "name": "UUV_GAIN_Y_D", "shortDesc": "Gain of D controller Y", "type": "Float"}, {"category": "Standard", "default": 1.0, "group": "UUV Position Control", "name": "UUV_GAIN_Y_P", "shortDesc": "Gain of P controller Y", "type": "Float"}, {"category": "Standard", "default": 0.2, "group": "UUV Position Control", "name": "UUV_GAIN_Z_D", "shortDesc": "Gain of D controller Z", "type": "Float"}, {"category": "Standard", "default": 1.0, "group": "UUV Position Control", "name": "UUV_GAIN_Z_P", "shortDesc": "Gain of P controller Z", "type": "Float"}, {"category": "Standard", "default": 0.5, "group": "UUV Position Control", "name": "UUV_PGM_VEL", "shortDesc": "Gain for position control velocity setpoint update", "type": "Float"}, {"category": "Standard", "default": 1, "group": "UUV Position Control", "name": "UUV_POS_MODE", "shortDesc": "Stabilization mode(1) or Position Control(0)", "type": "Int32", "values": [{"description": "Moves position setpoint in world frame", "value": 0}, {"description": "Moves position setpoint in body frame", "value": 1}]}, {"category": "Standard", "default": 0.1, "group": "UUV Position Control", "name": "UUV_POS_STICK_DB", "shortDesc": "Deadband for changing position setpoint", "type": "Float"}, {"category": "Standard", "default": 1, "group": "UUV Position Control", "name": "UUV_STAB_MODE", "shortDesc": "Stabilization mode(1) or Position Control(0)", "type": "Int32", "values": [{"description": "Tracks previous attitude setpoint", "value": 0}, {"description": "Tracks horizontal attitude (allows yaw change)", "value": 1}]}, {"category": "Standard", "default": 2130706433, "group": "UXRCE-DDS Client", "longDesc": "If ethernet is enabled and is the selected configuration for uXRCE-DDS,\nthe selected Agent IP address will be set and used.\nDecimal dot notation is not supported. IP address must be provided\nin int32 format. For example, 192.168.1.2 is mapped to -1062731518;\n127.0.0.1 is mapped to 2130706433.\n\n", "name": "UXRCE_DDS_AG_IP", "rebootRequired": true, "shortDesc": "uXRCE-DDS Agent IP address", "type": "Int32"}, {"category": "System", "default": 0, "group": "UXRCE-DDS Client", "longDesc": "uXRCE-DDS domain ID\n", "name": "UXRCE_DDS_DOM_ID", "rebootRequired": true, "shortDesc": "uXRCE-DDS domain ID", "type": "Int32"}, {"category": "System", "default": 0, "group": "UXRCE-DDS Client", "longDesc": "This is used to enable flow control for the serial uXRCE instance.\nUsed for reliable high bandwidth communication.\n\n", "name": "UXRCE_DDS_FLCTRL", "rebootRequired": true, "shortDesc": "Enable serial flow control for UXRCE interface", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "System", "default": 1, "group": "UXRCE-DDS Client", "longDesc": "uXRCE-DDS key, must be different from zero.\nIn a single agent - multi client configuration, each client\nmust have a unique session key.\n\n", "name": "UXRCE_DDS_KEY", "rebootRequired": true, "shortDesc": "uXRCE-DDS session key", "type": "Int32"}, {"category": "System", "default": -1, "group": "UXRCE-DDS Client", "longDesc": "Defines an index-based namespace for DDS messages, e.g, uav_0, uav_1, up to uav_9999\nA value less than zero leaves the namespace empty\n\n", "max": 9999, "min": -1, "name": "UXRCE_DDS_NS_IDX", "rebootRequired": true, "shortDesc": "Define an index-based message namespace", "type": "Int32"}, {"category": "Standard", "default": 8888, "group": "UXRCE-DDS Client", "longDesc": "If ethernet is enabled and is the selected configuration for uXRCE-DDS,\nthe selected UDP port will be set and used.\n\n", "max": 65535, "min": 0, "name": "UXRCE_DDS_PRT", "rebootRequired": true, "shortDesc": "uXRCE-DDS UDP port", "type": "Int32"}, {"category": "System", "default": 0, "group": "UXRCE-DDS Client", "longDesc": "Set the participant configuration on the Agent's system.\n0: Use the default configuration.\n1: Restrict messages to localhost\n(use in combination with ROS_LOCALHOST_ONLY=1).\n2: Use a custom participant with the profile name \"px4_participant\".\n\n", "max": 2, "min": 0, "name": "UXRCE_DDS_PTCFG", "rebootRequired": true, "shortDesc": "uXRCE-DDS participant configuration", "type": "Int32", "values": [{"description": "Default", "value": 0}, {"description": "Localhost-only", "value": 1}, {"description": "Custom participant", "value": 2}]}, {"category": "System", "default": -1, "group": "UXRCE-DDS Client", "longDesc": "Specifies after how many seconds without receiving data the DDS connection is reestablished.\nA value less than one disables the RX rate timeout.\n\n", "name": "UXRCE_DDS_RX_TO", "rebootRequired": true, "shortDesc": "RX rate timeout configuration", "type": "Int32", "units": "s"}, {"category": "System", "default": 0, "group": "UXRCE-DDS Client", "longDesc": "When enabled along with UXRCE_DDS_SYNCT, uxrce_dds_client will set the system clock using the agents UTC timestamp.\n", "name": "UXRCE_DDS_SYNCC", "rebootRequired": true, "shortDesc": "Enable uXRCE-DDS system clock synchronization", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "System", "default": 1, "group": "UXRCE-DDS Client", "longDesc": "When enabled, uxrce_dds_client will synchronize the timestamps of the incoming and outgoing messages measuring the offset between the Agent OS time and the PX4 time.\n", "name": "UXRCE_DDS_SYNCT", "rebootRequired": true, "shortDesc": "Enable uXRCE-DDS timestamp synchronization", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "System", "default": 3, "group": "UXRCE-DDS Client", "longDesc": "Specifies after how many seconds without sending data the DDS connection is reestablished.\nA value less than one disables the TX rate timeout.\n\n", "name": "UXRCE_DDS_TX_TO", "rebootRequired": true, "shortDesc": "TX rate timeout configuration", "type": "Int32", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 8.0, "group": "VTOL Attitude Control", "increment": 1.0, "longDesc": "Airspeed at which we can start blending both fw and mc controls. Set to 0 to disable.\n", "max": 30.0, "min": 0.0, "name": "VT_ARSP_BLEND", "shortDesc": "Transition blending airspeed", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 10.0, "group": "VTOL Attitude Control", "increment": 1.0, "longDesc": "Airspeed at which we can switch to fw mode\n", "max": 30.0, "min": 0.0, "name": "VT_ARSP_TRANS", "shortDesc": "Transition airspeed", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "VTOL Attitude Control", "increment": 0.1, "longDesc": "Time in seconds it takes to tilt form VT_TILT_FW to VT_TILT_MC.\n", "max": 10.0, "min": 0.1, "name": "VT_BT_TILT_DUR", "shortDesc": "Duration motor tilt up in backtransition", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "VTOL Attitude Control", "increment": 0.05, "max": 0.3, "min": 0.0, "name": "VT_B_DEC_I", "shortDesc": "Backtransition deceleration setpoint to tilt I gain", "type": "Float", "units": "rad s/m"}, {"category": "Standard", "decimalPlaces": 2, "default": 2.0, "group": "VTOL Attitude Control", "increment": 0.1, "longDesc": "Used to calculate back transition distance in an auto mode.\nFor standard vtol and tiltrotors a controller is used to track this value during the transition.\n", "max": 10.0, "min": 0.5, "name": "VT_B_DEC_MSS", "shortDesc": "Approximate deceleration during back transition", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 2, "default": 10.0, "group": "VTOL Attitude Control", "increment": 1.0, "longDesc": "Transition is also declared over if the groundspeed drops below MPC_XY_CRUISE.\n", "max": 20.0, "min": 0.1, "name": "VT_B_TRANS_DUR", "shortDesc": "Maximum duration of a back transition", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "VTOL Attitude Control", "increment": 0.1, "longDesc": "This sets the duration during which the MC motors ramp up to the commanded thrust during the back transition stage.\n", "max": 20.0, "min": 0.0, "name": "VT_B_TRANS_RAMP", "shortDesc": "Back transition MC motor ramp up time", "type": "Float", "units": "s"}, {"category": "Standard", "default": 1, "group": "VTOL Attitude Control", "longDesc": "If set to 1 the control surfaces are locked at the disarmed value in multicopter mode.\n", "name": "VT_ELEV_MC_LOCK", "shortDesc": "Lock control surfaces in hover", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "VTOL Attitude Control", "longDesc": "Prevents downforce from pitching the body down when facing wind.\nUses puller/pusher (standard VTOL), or forward-tilt (tiltrotor VTOL) to accelerate forward instead.\nOnly active if demanded pitch  is below VT_PITCH_MIN.\nUse VT_FWD_THRUST_SC to tune it.\nDescend mode is treated as Landing too.\n\nOnly active (if enabled) in height-rate controlled modes.\n", "name": "VT_FWD_THRUST_EN", "shortDesc": "Use fixed-wing actuation in hover to accelerate forward", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled (except LANDING)", "value": 1}, {"description": "Enabled if above MPC_LAND_ALT1", "value": 2}, {"description": "Enabled if above MPC_LAND_ALT2", "value": 3}, {"description": "Enabled constantly", "value": 4}, {"description": "Enabled if above MPC_LAND_ALT1 (except LANDING)", "value": 5}, {"description": "Enabled if above MPC_LAND_ALT2 (except LANDING)", "value": 6}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.7, "group": "VTOL Attitude Control", "increment": 0.01, "longDesc": "Scale applied to the demanded pitch (below VT_PITCH_MIN) to get the fixed-wing forward actuation in hover mode.\nEnabled via VT_FWD_THRUST_EN.\n", "max": 5.0, "min": 0.0, "name": "VT_FWD_THRUST_SC", "shortDesc": "Fixed-wing actuation thrust scale in hover", "type": "Float"}, {"bitmask": [{"description": "Yaw", "index": 0}, {"description": "Roll", "index": 1}, {"description": "Pitch", "index": 2}], "category": "Standard", "default": 0, "group": "VTOL Attitude Control", "longDesc": "Enable differential thrust seperately for roll, pitch, yaw in forward (fixed-wing) mode.\nThe effectiveness of differential thrust around the corresponding axis can be\ntuned by setting VT_FW_DIFTHR_S_R / VT_FW_DIFTHR_S_P / VT_FW_DIFTHR_S_Y.\n", "max": 7, "min": 0, "name": "VT_FW_DIFTHR_EN", "shortDesc": "Differential thrust in forwards flight", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "VTOL Attitude Control", "increment": 0.1, "longDesc": "Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.\n", "max": 2.0, "min": 0.0, "name": "VT_FW_DIFTHR_S_P", "shortDesc": "Pitch differential thrust factor in forward flight", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "VTOL Attitude Control", "increment": 0.1, "longDesc": "Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.\n", "max": 2.0, "min": 0.0, "name": "VT_FW_DIFTHR_S_R", "shortDesc": "Roll differential thrust factor in forward flight", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "VTOL Attitude Control", "increment": 0.1, "longDesc": "Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.\n", "max": 2.0, "min": 0.0, "name": "VT_FW_DIFTHR_S_Y", "shortDesc": "Yaw differential thrust factor in forward flight", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "VTOL Attitude Control", "increment": 1.0, "longDesc": "Minimum altitude for fixed-wing flight. When the vehicle is in fixed-wing mode\nand the altitude drops below this altitude (relative altitude above local origin),\nit will instantly switch back to MC mode and execute behavior defined in COM_QC_ACT.\n", "max": 200.0, "min": 0.0, "name": "VT_FW_MIN_ALT", "shortDesc": "Quad-chute altitude", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "VTOL Attitude Control", "increment": 1, "longDesc": "Maximum height above the ground (if available, otherwise above\nHome if available, otherwise above the local origin) where triggering a quad-chute is possible.\nAt high altitudes there is a big risk to deplete the battery and therefore crash if quad-chuting there.\n", "min": 0, "name": "VT_FW_QC_HMAX", "shortDesc": "Quad-chute maximum height", "type": "Int32", "units": "m"}, {"category": "Standard", "default": 0, "group": "VTOL Attitude Control", "longDesc": "Absolute pitch threshold for quad-chute triggering in FW mode.\nAbove this the vehicle will transition back to MC mode and execute behavior defined in COM_QC_ACT.\nSet to 0 do disable this threshold.\n", "max": 180, "min": 0, "name": "VT_FW_QC_P", "shortDesc": "Quad-chute max pitch threshold", "type": "Int32", "units": "deg"}, {"category": "Standard", "default": 0, "group": "VTOL Attitude Control", "longDesc": "Absolute roll threshold for quad-chute triggering in FW mode.\nAbove this the vehicle will transition back to MC mode and execute behavior defined in COM_QC_ACT.\nSet to 0 do disable this threshold.\n", "max": 180, "min": 0, "name": "VT_FW_QC_R", "shortDesc": "Quad-chute max roll threshold", "type": "Int32", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 5.0, "group": "VTOL Attitude Control", "increment": 1.0, "longDesc": "Time in seconds used for a transition\n", "max": 20.0, "min": 0.1, "name": "VT_F_TRANS_DUR", "shortDesc": "Duration of a front transition", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "VTOL Attitude Control", "increment": 0.01, "max": 1.0, "min": 0.0, "name": "VT_F_TRANS_THR", "shortDesc": "Target throttle value for the transition to fixed-wing flight", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.0, "group": "VTOL Attitude Control", "increment": 0.5, "longDesc": "The duration of the front transition when there is no airspeed feedback available.\nWhen airspeed is used, transition timeout is declared if airspeed does not\nreach VT_ARSP_BLEND after this time.\n", "max": 30.0, "min": 1.0, "name": "VT_F_TR_OL_TM", "shortDesc": "Airspeed-less front transition time (open loop)", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "VTOL Attitude Control", "increment": 0.1, "longDesc": "Overrides VT_PITCH_MIN when the vehicle is in LAND mode (hovering).\nDuring landing it can be beneficial to reduce the pitch angle to reduce the generated lift in head wind.\n", "max": 45.0, "min": -10.0, "name": "VT_LND_PITCH_MIN", "shortDesc": "Minimum pitch angle during hover landing", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "VTOL Attitude Control", "increment": 0.1, "longDesc": "Any pitch setpoint below this value is translated to a forward force by the fixed-wing forward actuation if\nVT_FWD_TRHUST_EN is set.\n", "max": 45.0, "min": -10.0, "name": "VT_PITCH_MIN", "shortDesc": "Minimum pitch angle during hover", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.33, "group": "VTOL Attitude Control", "increment": 0.01, "longDesc": "Defines the slew rate of the puller/pusher throttle during transitions.\nZero will deactivate the slew rate limiting and thus produce an instant throttle\nrise to the transition throttle VT_F_TRANS_THR.\n", "min": 0.0, "name": "VT_PSHER_SLEW", "shortDesc": "Pusher throttle ramp up slew rate", "type": "Float", "units": "1/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "VTOL Attitude Control", "increment": 1.0, "longDesc": "Altitude error threshold for quad-chute triggering during fixed-wing flight.\nThe check is only active if altitude is controlled and the vehicle is below the current altitude reference.\nThe altitude error is relative to the highest altitude the vehicle has achieved since it has flown below the current\naltitude reference.\n\nSet to 0 do disable.\n", "max": 200.0, "min": 0.0, "name": "VT_QC_ALT_LOSS", "shortDesc": "Quad-chute uncommanded descent threshold", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 20.0, "group": "VTOL Attitude Control", "increment": 1.0, "longDesc": "Altitude loss threshold for quad-chute triggering during VTOL transition to fixed-wing flight\nin altitude-controlled flight modes.\nActive until 5s after completing transition to fixed-wing.\nIf the current altitude is more than this value below the altitude at the beginning of the\ntransition, it will instantly switch back to MC mode and execute behavior defined in COM_QC_ACT.\n\nSet to 0 do disable this threshold.\n", "max": 50.0, "min": 0.0, "name": "VT_QC_T_ALT_LOSS", "shortDesc": "Quad-chute transition altitude loss threshold", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "VTOL Attitude Control", "increment": 0.1, "max": 1.0, "min": -1.0, "name": "VT_SPOILER_MC_LD", "shortDesc": "Spoiler setting while landing (hover)", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "VTOL Attitude Control", "increment": 0.01, "max": 1.0, "min": 0.0, "name": "VT_TILT_FW", "shortDesc": "Normalized tilt in FW", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "VTOL Attitude Control", "increment": 0.01, "max": 1.0, "min": 0.0, "name": "VT_TILT_MC", "shortDesc": "Normalized tilt in Hover", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.4, "group": "VTOL Attitude Control", "increment": 0.01, "max": 1.0, "min": 0.0, "name": "VT_TILT_TRANS", "shortDesc": "Normalized tilt in transition to FW", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 2.0, "group": "VTOL Attitude Control", "increment": 0.1, "longDesc": "Minimum time in seconds for front transition.\n", "max": 20.0, "min": 0.0, "name": "VT_TRANS_MIN_TM", "shortDesc": "Front transition minimum time", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.5, "group": "VTOL Attitude Control", "increment": 0.01, "longDesc": "Time in seconds it takes to tilt form VT_TILT_TRANS to VT_TILT_FW.\n", "max": 5.0, "min": 0.1, "name": "VT_TRANS_P2_DUR", "shortDesc": "Duration of front transition phase 2", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 15.0, "group": "VTOL Attitude Control", "increment": 1.0, "longDesc": "Time in seconds after which transition will be cancelled.\n", "max": 30.0, "min": 0.1, "name": "VT_TRANS_TIMEOUT", "shortDesc": "Front transition timeout", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "VTOL Attitude Control", "max": 2, "min": 0, "name": "VT_TYPE", "rebootRequired": true, "shortDesc": "VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2)", "type": "Int32", "values": [{"description": "Tailsitter", "value": 0}, {"description": "Tiltrotor", "value": 1}, {"description": "Standard", "value": 2}]}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "VTOL Attitude Control", "increment": 0.01, "longDesc": "The desired gain to convert roll sp into yaw rate sp.\n", "max": 3.0, "min": 0.0, "name": "WV_GAIN", "shortDesc": "Weather-vane roll angle to yawrate", "type": "Float", "units": "Hz"}, {"category": "Standard", "decimalPlaces": 1, "default": 80.0, "group": "VTOL Takeoff", "increment": 1.0, "longDesc": "Altitude relative to home at which vehicle will loiter after front transition.\n", "max": 300.0, "min": 20.0, "name": "VTO_LOITER_ALT", "shortDesc": "VTOL Takeoff relative loiter altitude", "type": "Float", "units": "m"}], "translation": {"items": {"parameters": {"list": {"items": {"bitmask": {"list": {"key": "index", "translate": ["description"]}}, "values": {"list": {"key": "value", "translate": ["description"]}}}, "key": "name", "translate": ["shortDesc", "longDesc"], "translate-global": ["category", "group"]}}}}, "version": 1}