<parameters>
  <version>3</version>
  <parameter_version_major>1</parameter_version_major>
  <parameter_version_minor>15</parameter_version_minor>
  <group name="UAVCAN Motor Parameters" no_code_generation="true">
    <parameter default="75" name="ctl_bw" type="INT32">
      <short_desc>Speed controller bandwidth</short_desc>
      <long_desc>Speed controller bandwidth, in Hz. Higher values result in faster speed and current rise times, but may result in overshoot and higher current consumption. For fixed-wing aircraft, this value should be less than 50 Hz; for multirotors, values up to 100 Hz may provide improvements in responsiveness.</long_desc>
      <min>10</min>
      <max>250</max>
      <unit>Hz</unit>
    </parameter>
    <parameter default="1" name="ctl_dir" type="INT32">
      <short_desc>Reverse direction</short_desc>
      <long_desc>Motor spin direction as detected during initial enumeration. Use 0 or 1 to reverse direction.</long_desc>
      <min>0</min>
      <max>1</max>
    </parameter>
    <parameter default="1" name="ctl_gain" type="FLOAT">
      <short_desc>Speed (RPM) controller gain</short_desc>
      <long_desc>Speed (RPM) controller gain. Determines controller
            aggressiveness; units are amp-seconds per radian. Systems with
            higher rotational inertia (large props) will need gain increased;
            systems with low rotational inertia (small props) may need gain
            decreased. Higher values result in faster response, but may result
            in oscillation and excessive overshoot. Lower values result in a
            slower, smoother response.</long_desc>
      <min>0.00</min>
      <max>1.00</max>
      <unit>C/rad</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="3.5" name="ctl_hz_idle" type="FLOAT">
      <short_desc>Idle speed (e Hz)</short_desc>
      <long_desc>Idle speed (e Hz)</long_desc>
      <min>0.0</min>
      <max>100.0</max>
      <unit>Hz</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="25" name="ctl_start_rate" type="INT32">
      <short_desc>Spin-up rate (e Hz/s)</short_desc>
      <long_desc>Spin-up rate (e Hz/s)</long_desc>
      <min>5</min>
      <max>1000</max>
      <unit>1/s^2</unit>
    </parameter>
    <parameter default="0" name="esc_index" type="INT32">
      <short_desc>Index of this ESC in throttle command messages.</short_desc>
      <long_desc>Index of this ESC in throttle command messages.</long_desc>
      <min>0</min>
      <max>15</max>
    </parameter>
    <parameter default="20034" name="id_ext_status" type="INT32">
      <short_desc>Extended status ID</short_desc>
      <long_desc>Extended status ID</long_desc>
      <min>1</min>
      <max>1000000</max>
    </parameter>
    <parameter default="50000" name="int_ext_status" type="INT32">
      <short_desc>Extended status interval (µs)</short_desc>
      <long_desc>Extended status interval (µs)</long_desc>
      <min>0</min>
      <max>1000000</max>
      <unit>us</unit>
    </parameter>
    <parameter default="50000" name="int_status" type="INT32">
      <short_desc>ESC status interval (µs)</short_desc>
      <long_desc>ESC status interval (µs)</long_desc>
      <max>1000000</max>
      <unit>us</unit>
    </parameter>
    <parameter default="12" name="mot_i_max" type="FLOAT">
      <short_desc>Motor current limit in amps</short_desc>
      <long_desc>Motor current limit in amps. This determines the maximum
            current controller setpoint, as well as the maximum allowable
            current setpoint slew rate. This value should generally be set to
            the continuous current rating listed in the motor’s specification
            sheet, or set equal to the motor’s specified continuous power
            divided by the motor voltage limit.</long_desc>
      <min>1</min>
      <max>80</max>
      <unit>A</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="2300" name="mot_kv" type="INT32">
      <short_desc>Motor Kv in RPM per volt</short_desc>
      <long_desc>Motor Kv in RPM per volt. This can be taken from the motor’s
            specification sheet; accuracy will help control performance but
            some deviation from the specified value is acceptable.</long_desc>
      <min>0</min>
      <max>4000</max>
      <unit>rpm/V</unit>
    </parameter>
    <parameter default="0.0" name="mot_ls" type="FLOAT">
      <short_desc>READ ONLY: Motor inductance in henries.</short_desc>
      <long_desc>READ ONLY: Motor inductance in henries. This is measured on start-up.</long_desc>
      <unit>H</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="14" name="mot_num_poles" type="INT32">
      <short_desc>Number of motor poles.</short_desc>
      <long_desc>Number of motor poles. Used to convert mechanical speeds to
            electrical speeds. This number should be taken from the motor’s
            specification sheet.</long_desc>
      <min>2</min>
      <max>40</max>
    </parameter>
    <parameter default="0.0" name="mot_rs" type="FLOAT">
      <short_desc>READ ONLY: Motor resistance in ohms</short_desc>
      <long_desc>READ ONLY: Motor resistance in ohms. This is measured on start-up. When
            tuning a new motor, check that this value is approximately equal
            to the value shown in the motor’s specification sheet.</long_desc>
      <unit>Ohm</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0.5" name="mot_v_accel" type="FLOAT">
      <short_desc>Acceleration limit (V)</short_desc>
      <long_desc>Acceleration limit (V)</long_desc>
      <min>0.01</min>
      <max>1.00</max>
      <unit>V</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="14.8" name="mot_v_max" type="FLOAT">
      <short_desc>Motor voltage limit in volts</short_desc>
      <long_desc>Motor voltage limit in volts. The current controller’s
            commanded voltage will never exceed this value. Note that this may
            safely be above the nominal voltage of the motor; to determine the
            actual motor voltage limit, divide the motor’s rated power by the
            motor current limit.</long_desc>
      <min>0</min>
      <unit>V</unit>
      <decimal>3</decimal>
    </parameter>
  </group>
  <group name="UAVCAN GNSS" no_code_generation="true">
    <parameter default="2" name="gnss.dyn_model" type="INT32">
      <short_desc>GNSS dynamic model</short_desc>
      <long_desc>Dynamic model used in the GNSS positioning engine. 0 –
        Automotive, 1 – Sea, 2 – Airborne.
      </long_desc>
      <min>0</min>
      <max>2</max>
      <values>
        <value code="0">Automotive</value>
        <value code="1">Sea</value>
        <value code="2">Airborne</value>
      </values>
    </parameter>
    <parameter default="1" name="gnss.old_fix_msg" type="INT32">
      <short_desc>Broadcast old GNSS fix message</short_desc>
      <long_desc>Broadcast the old (deprecated) GNSS fix message
        uavcan.equipment.gnss.Fix alongside the new alternative
        uavcan.equipment.gnss.Fix2. It is recommended to
        disable this feature to reduce the CAN bus traffic.
      </long_desc>
      <min>0</min>
      <max>1</max>
      <values>
        <value code="0">Fix2</value>
        <value code="1">Fix and Fix2</value>
      </values>
    </parameter>
    <parameter default="0" name="gnss.warn_dimens" type="INT32">
      <short_desc>device health warning</short_desc>
      <long_desc>Set the device health to Warning if the dimensionality of
              the GNSS solution is less than this value. 3 for the full (3D)
              solution, 2 for planar (2D) solution, 1 for time-only solution,
              0 disables the feature.
      </long_desc>
      <min>0</min>
      <max>3</max>
      <values>
        <value code="0">disables the feature</value>
        <value code="1">time-only solution</value>
        <value code="2">planar (2D) solution</value>
        <value code="3">full (3D) solution</value>
      </values>
    </parameter>
    <parameter default="0" name="gnss.warn_sats" type="INT32">
      <short_desc />
      <long_desc>Set the device health to Warning if the number of satellites
        used in the GNSS solution is below this threshold. Zero
        disables the feature
      </long_desc>
    </parameter>
    <parameter default="0" name="uavcan.pubp-pres" type="INT32">
      <short_desc />
      <long_desc>Set the device health to Warning if the number of satellites
        used in the GNSS solution is below this threshold. Zero
        disables the feature
      </long_desc>
      <min>0</min>
      <max>1000000</max>
      <unit>us</unit>
    </parameter>
  </group>
  <group name="Airspeed Validator">
    <parameter default="1" name="ASPD_BETA_GATE" type="INT32">
      <short_desc>Airspeed Selector: Gate size for sideslip angle fusion</short_desc>
      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
      <min>1</min>
      <max>5</max>
      <unit>SD</unit>
    </parameter>
    <parameter default="0.3" name="ASPD_BETA_NOISE" type="FLOAT">
      <short_desc>Airspeed Selector: Wind estimator sideslip measurement noise</short_desc>
      <long_desc>Sideslip measurement noise of the internal wind estimator(s) of the airspeed selector.</long_desc>
      <min>0</min>
      <max>1</max>
      <unit>rad</unit>
    </parameter>
    <parameter boolean="true" default="1" name="ASPD_DO_CHECKS" type="INT32">
      <short_desc>Enable checks on airspeed sensors</short_desc>
      <long_desc>If set to true then the data comming from the airspeed sensors is checked for validity. Only applied if ASPD_PRIMARY &gt; 0.</long_desc>
    </parameter>
    <parameter boolean="true" default="0" name="ASPD_FALLBACK_GW" type="INT32">
      <short_desc>Enable fallback to sensor-less airspeed estimation</short_desc>
      <long_desc>If set to true and airspeed checks are enabled, it will use a sensor-less airspeed estimation based on groundspeed minus windspeed if no other airspeed sensor available to fall back to.</long_desc>
      <values>
        <value code="0">Disable fallback to sensor-less estimation</value>
        <value code="1">Enable fallback to sensor-less estimation</value>
      </values>
    </parameter>
    <parameter default="1.0" name="ASPD_FS_INNOV" type="FLOAT">
      <short_desc>Airspeed failsafe consistency threshold</short_desc>
      <long_desc>This specifies the minimum airspeed test ratio required to trigger a failsafe. Larger values make the check less sensitive, smaller values make it more sensitive. Start with a value of 1.0 when tuning. When tas_test_ratio is &gt; 1.0 it indicates the inconsistency between predicted and measured airspeed is large enough to cause the wind EKF to reject airspeed measurements. The 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.</long_desc>
      <min>0.5</min>
      <max>3.0</max>
    </parameter>
    <parameter default="5.0" name="ASPD_FS_INTEG" type="FLOAT">
      <short_desc>Airspeed failsafe consistency delay</short_desc>
      <long_desc>This sets the time integral of airspeed test ratio exceedance above ASPD_FS_INNOV required to trigger a failsafe. For example if ASPD_FS_INNOV is 1 and estimator_status.tas_test_ratio is 2.0, then the exceedance is 1.0 and the integral will rise at a rate of 1.0/second. A negative value disables the check. Larger positive values make the check less sensitive, smaller positive values make it more sensitive.</long_desc>
      <max>30.0</max>
      <unit>s</unit>
    </parameter>
    <parameter default="-1" name="ASPD_FS_T_START" type="INT32">
      <short_desc>Airspeed failsafe start delay</short_desc>
      <long_desc>Delay before switching back to using airspeed sensor if checks indicate sensor is good. Set to a negative value to disable the re-enabling in flight.</long_desc>
      <min>-1</min>
      <max>1000</max>
      <unit>s</unit>
    </parameter>
    <parameter default="2" name="ASPD_FS_T_STOP" type="INT32">
      <short_desc>Airspeed failsafe stop delay</short_desc>
      <long_desc>Delay before stopping use of airspeed sensor if checks indicate sensor is bad.</long_desc>
      <min>1</min>
      <max>10</max>
      <unit>s</unit>
    </parameter>
    <parameter default="1" name="ASPD_PRIMARY" type="INT32">
      <short_desc>Index or primary airspeed measurement source</short_desc>
      <reboot_required>true</reboot_required>
      <values>
        <value code="-1">Disabled</value>
        <value code="0">Groundspeed minus windspeed</value>
        <value code="1">First airspeed sensor</value>
        <value code="2">Second airspeed sensor</value>
        <value code="3">Third airspeed sensor</value>
      </values>
    </parameter>
    <parameter default="1.0" name="ASPD_SCALE" type="FLOAT">
      <short_desc>Airspeed scale (scale from IAS to CAS)</short_desc>
      <long_desc>Scale can either be entered manually, or estimated in-flight by setting ASPD_SCALE_EST to 1.</long_desc>
      <min>0.5</min>
      <max>1.5</max>
    </parameter>
    <parameter boolean="true" default="0" name="ASPD_SCALE_EST" type="INT32">
      <short_desc>Automatic airspeed scale estimation on</short_desc>
      <long_desc>Turns the automatic airspeed scale (scale from IAS to CAS) on or off. It is recommended to fly level altitude while performing the estimation. Set to 1 to start estimation (best when already flying). Set to 0 to end scale estimation. The estimated scale is then saved using the ASPD_SCALE parameter.</long_desc>
    </parameter>
    <parameter default="0.0001" name="ASPD_SC_P_NOISE" type="FLOAT">
      <short_desc>Airspeed Selector: Wind estimator true airspeed scale process noise</short_desc>
      <long_desc>Airspeed scale process noise of the internal wind estimator(s) of the airspeed selector.</long_desc>
      <min>0</min>
      <max>0.1</max>
      <unit>Hz</unit>
    </parameter>
    <parameter default="10.0" name="ASPD_STALL" type="FLOAT">
      <short_desc>Airspeed fault detection stall airspeed</short_desc>
      <long_desc>This is the minimum indicated airspeed at which the wing can produce 1g of lift. It is used by the airspeed sensor fault detection and failsafe calculation to detect a significant airspeed low measurement error condition and should be set based on flight test for reliable operation.</long_desc>
      <unit>m/s</unit>
    </parameter>
    <parameter default="3" name="ASPD_TAS_GATE" type="INT32">
      <short_desc>Airspeed Selector: Gate size for true airspeed fusion</short_desc>
      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
      <min>1</min>
      <max>5</max>
      <unit>SD</unit>
    </parameter>
    <parameter default="1.4" name="ASPD_TAS_NOISE" type="FLOAT">
      <short_desc>Airspeed Selector: Wind estimator true airspeed measurement noise</short_desc>
      <long_desc>True airspeed measurement noise of the internal wind estimator(s) of the airspeed selector.</long_desc>
      <min>0</min>
      <max>4</max>
      <unit>m/s</unit>
    </parameter>
    <parameter default="0.1" name="ASPD_W_P_NOISE" type="FLOAT">
      <short_desc>Airspeed Selector: Wind estimator wind process noise</short_desc>
      <long_desc>Wind process noise of the internal wind estimator(s) of the airspeed selector.</long_desc>
      <min>0</min>
      <max>1</max>
      <unit>m/s^2</unit>
    </parameter>
  </group>
  <group name="Attitude Q estimator">
    <parameter boolean="true" default="1" name="ATT_ACC_COMP" type="INT32">
      <short_desc>Acceleration compensation based on GPS velocity</short_desc>
    </parameter>
    <parameter default="0.05" name="ATT_BIAS_MAX" type="FLOAT">
      <short_desc>Gyro bias limit</short_desc>
      <min>0</min>
      <max>2</max>
      <unit>rad/s</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0" name="ATT_EXT_HDG_M" type="INT32">
      <short_desc>External heading usage mode (from Motion capture/Vision)</short_desc>
      <long_desc>Set to 1 to use heading estimate from vision. Set to 2 to use heading from motion capture.</long_desc>
      <min>0</min>
      <max>2</max>
      <values>
        <value code="0">None</value>
        <value code="1">Vision</value>
        <value code="2">Motion Capture</value>
      </values>
    </parameter>
    <parameter default="0.0" name="ATT_MAG_DECL" type="FLOAT">
      <short_desc>Magnetic declination, in degrees</short_desc>
      <long_desc>This parameter is not used in normal operation, as the declination is looked up based on the GPS coordinates of the vehicle.</long_desc>
      <unit>deg</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter boolean="true" default="1" name="ATT_MAG_DECL_A" type="INT32">
      <short_desc>Automatic GPS based declination compensation</short_desc>
    </parameter>
    <parameter default="0.2" name="ATT_W_ACC" type="FLOAT">
      <short_desc>Complimentary filter accelerometer weight</short_desc>
      <min>0</min>
      <max>1</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.1" name="ATT_W_EXT_HDG" type="FLOAT">
      <short_desc>Complimentary filter external heading weight</short_desc>
      <min>0</min>
      <max>1</max>
    </parameter>
    <parameter default="0.1" name="ATT_W_GYRO_BIAS" type="FLOAT">
      <short_desc>Complimentary filter gyroscope bias weight</short_desc>
      <min>0</min>
      <max>1</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.1" name="ATT_W_MAG" type="FLOAT">
      <short_desc>Complimentary filter magnetometer weight</short_desc>
      <long_desc>Set to 0 to avoid using the magnetometer.</long_desc>
      <min>0</min>
      <max>1</max>
      <decimal>2</decimal>
    </parameter>
  </group>
  <group name="Battery Calibration">
    <parameter default="-1.0" name="BAT1_CAPACITY" type="FLOAT">
      <short_desc>Battery 1 capacity</short_desc>
      <long_desc>Defines the capacity of battery 1 in mAh.</long_desc>
      <min>-1.0</min>
      <max>100000</max>
      <unit>mAh</unit>
      <decimal>0</decimal>
      <increment>50</increment>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="0" name="BAT1_N_CELLS" type="INT32">
      <short_desc>Number of cells for battery 1</short_desc>
      <long_desc>Defines the number of cells the attached battery consists of.</long_desc>
      <reboot_required>True</reboot_required>
      <values>
        <value code="2">2S Battery</value>
        <value code="3">3S Battery</value>
        <value code="4">4S Battery</value>
        <value code="5">5S Battery</value>
        <value code="6">6S Battery</value>
        <value code="7">7S Battery</value>
        <value code="8">8S Battery</value>
        <value code="9">9S Battery</value>
        <value code="10">10S Battery</value>
        <value code="11">11S Battery</value>
        <value code="12">12S Battery</value>
        <value code="13">13S Battery</value>
        <value code="14">14S Battery</value>
        <value code="15">15S Battery</value>
        <value code="16">16S Battery</value>
      </values>
    </parameter>
    <parameter default="-1.0" name="BAT1_R_INTERNAL" type="FLOAT">
      <short_desc>Explicitly defines the per cell internal resistance for battery 1</short_desc>
      <long_desc>If non-negative, then this will be used in place of BAT1_V_LOAD_DROP for all calculations.</long_desc>
      <min>-1.0</min>
      <max>0.2</max>
      <unit>Ohm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="0" name="BAT1_SOURCE" type="INT32">
      <short_desc>Battery 1 monitoring source</short_desc>
      <long_desc>This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.</long_desc>
      <reboot_required>True</reboot_required>
      <values>
        <value code="-1">Disabled</value>
        <value code="0">Power Module</value>
        <value code="1">External</value>
        <value code="2">ESCs</value>
      </values>
    </parameter>
    <parameter default="4.05" name="BAT1_V_CHARGED" type="FLOAT">
      <short_desc>Full cell voltage (5C load)</short_desc>
      <long_desc>Defines the voltage where a single cell of battery 1 is considered full under a mild load. This will never be the nominal voltage of 4.2V</long_desc>
      <unit>V</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="3.5" name="BAT1_V_EMPTY" type="FLOAT">
      <short_desc>Empty cell voltage (5C load)</short_desc>
      <long_desc>Defines the voltage where a single cell of battery 1 is considered empty. The voltage should be chosen before the steep dropoff to 2.8V. A typical lithium battery can only be discharged down to 10% before it drops off to a voltage level damaging the cells.</long_desc>
      <unit>V</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="0.3" name="BAT1_V_LOAD_DROP" type="FLOAT">
      <short_desc>Voltage drop per cell on full throttle</short_desc>
      <long_desc>This implicitely defines the internal resistance to maximum current ratio for battery 1 and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT1_R_INTERNAL is set.</long_desc>
      <min>0.07</min>
      <max>0.5</max>
      <unit>V</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="-1.0" name="BAT2_CAPACITY" type="FLOAT">
      <short_desc>Battery 2 capacity</short_desc>
      <long_desc>Defines the capacity of battery 2 in mAh.</long_desc>
      <min>-1.0</min>
      <max>100000</max>
      <unit>mAh</unit>
      <decimal>0</decimal>
      <increment>50</increment>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="0" name="BAT2_N_CELLS" type="INT32">
      <short_desc>Number of cells for battery 2</short_desc>
      <long_desc>Defines the number of cells the attached battery consists of.</long_desc>
      <reboot_required>True</reboot_required>
      <values>
        <value code="2">2S Battery</value>
        <value code="3">3S Battery</value>
        <value code="4">4S Battery</value>
        <value code="5">5S Battery</value>
        <value code="6">6S Battery</value>
        <value code="7">7S Battery</value>
        <value code="8">8S Battery</value>
        <value code="9">9S Battery</value>
        <value code="10">10S Battery</value>
        <value code="11">11S Battery</value>
        <value code="12">12S Battery</value>
        <value code="13">13S Battery</value>
        <value code="14">14S Battery</value>
        <value code="15">15S Battery</value>
        <value code="16">16S Battery</value>
      </values>
    </parameter>
    <parameter default="-1.0" name="BAT2_R_INTERNAL" type="FLOAT">
      <short_desc>Explicitly defines the per cell internal resistance for battery 2</short_desc>
      <long_desc>If non-negative, then this will be used in place of BAT2_V_LOAD_DROP for all calculations.</long_desc>
      <min>-1.0</min>
      <max>0.2</max>
      <unit>Ohm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="-1" name="BAT2_SOURCE" type="INT32">
      <short_desc>Battery 2 monitoring source</short_desc>
      <long_desc>This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.</long_desc>
      <reboot_required>True</reboot_required>
      <values>
        <value code="-1">Disabled</value>
        <value code="0">Power Module</value>
        <value code="1">External</value>
        <value code="2">ESCs</value>
      </values>
    </parameter>
    <parameter default="4.05" name="BAT2_V_CHARGED" type="FLOAT">
      <short_desc>Full cell voltage (5C load)</short_desc>
      <long_desc>Defines the voltage where a single cell of battery 1 is considered full under a mild load. This will never be the nominal voltage of 4.2V</long_desc>
      <unit>V</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="3.5" name="BAT2_V_EMPTY" type="FLOAT">
      <short_desc>Empty cell voltage (5C load)</short_desc>
      <long_desc>Defines the voltage where a single cell of battery 1 is considered empty. The voltage should be chosen before the steep dropoff to 2.8V. A typical lithium battery can only be discharged down to 10% before it drops off to a voltage level damaging the cells.</long_desc>
      <unit>V</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="0.3" name="BAT2_V_LOAD_DROP" type="FLOAT">
      <short_desc>Voltage drop per cell on full throttle</short_desc>
      <long_desc>This implicitely defines the internal resistance to maximum current ratio for battery 1 and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT2_R_INTERNAL is set.</long_desc>
      <min>0.07</min>
      <max>0.5</max>
      <unit>V</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="-1.0" name="BAT_A_PER_V" type="FLOAT">
      <short_desc>This parameter is deprecated. Please use BAT1_A_PER_V</short_desc>
      <decimal>8</decimal>
    </parameter>
    <parameter default="-1.0" name="BAT_CAPACITY" type="FLOAT">
      <short_desc>This parameter is deprecated. Please use BAT1_CAPACITY instead</short_desc>
      <long_desc>Defines the capacity of battery 1.</long_desc>
      <min>-1.0</min>
      <max>100000</max>
      <unit>mAh</unit>
      <decimal>0</decimal>
      <increment>50</increment>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0.07" name="BAT_CRIT_THR" type="FLOAT">
      <short_desc>Critical threshold</short_desc>
      <long_desc>Sets the threshold when the battery will be reported as critically low. This has to be lower than the low threshold. This threshold commonly will trigger RTL.</long_desc>
      <min>0.05</min>
      <max>0.25</max>
      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0.05" name="BAT_EMERGEN_THR" type="FLOAT">
      <short_desc>Emergency threshold</short_desc>
      <long_desc>Sets the threshold when the battery will be reported as dangerously low. This has to be lower than the critical threshold. This threshold commonly will trigger landing.</long_desc>
      <min>0.03</min>
      <max>0.1</max>
      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0.15" name="BAT_LOW_THR" type="FLOAT">
      <short_desc>Low threshold</short_desc>
      <long_desc>Sets the threshold when the battery will be reported as low. This has to be higher than the critical threshold.</long_desc>
      <min>0.12</min>
      <max>0.5</max>
      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="BAT_N_CELLS" type="INT32">
      <short_desc>This parameter is deprecated. Please use BAT1_N_CELLS instead</short_desc>
      <long_desc>Defines the number of cells the attached battery consists of.</long_desc>
      <unit>S</unit>
      <reboot_required>true</reboot_required>
      <values>
        <value code="0">Unconfigured</value>
        <value code="2">2S Battery</value>
        <value code="3">3S Battery</value>
        <value code="4">4S Battery</value>
        <value code="5">5S Battery</value>
        <value code="6">6S Battery</value>
        <value code="7">7S Battery</value>
        <value code="8">8S Battery</value>
        <value code="9">9S Battery</value>
        <value code="10">10S Battery</value>
        <value code="11">11S Battery</value>
        <value code="12">12S Battery</value>
        <value code="13">13S Battery</value>
        <value code="14">14S Battery</value>
        <value code="15">15S Battery</value>
        <value code="16">16S Battery</value>
      </values>
    </parameter>
    <parameter default="-1.0" name="BAT_R_INTERNAL" type="FLOAT">
      <short_desc>This parameter is deprecated. Please use BAT1_R_INTERNAL instead</short_desc>
      <long_desc>If non-negative, then this will be used in place of BAT_V_LOAD_DROP for all calculations.</long_desc>
      <min>-1.0</min>
      <max>0.2</max>
      <unit>Ohm</unit>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="BAT_SOURCE" type="INT32">
      <short_desc>This parameter is deprecated. Please use BAT1_SOURCE instead</short_desc>
      <long_desc>Battery monitoring source. This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages.</long_desc>
      <min>0</min>
      <max>1</max>
      <values>
        <value code="0">Power Module</value>
        <value code="1">External</value>
      </values>
    </parameter>
    <parameter default="4.05" name="BAT_V_CHARGED" type="FLOAT">
      <short_desc>This parameter is deprecated. Please use BAT1_V_CHARGED instead</short_desc>
      <long_desc>Defines the voltage where a single cell of battery 1 is considered full under a mild load. This will never be the nominal voltage of 4.2V</long_desc>
      <unit>V</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="-1.0" name="BAT_V_DIV" type="FLOAT">
      <short_desc>This parameter is deprecated. Please use BAT1_V_DIV</short_desc>
      <decimal>8</decimal>
    </parameter>
    <parameter default="3.5" name="BAT_V_EMPTY" type="FLOAT">
      <short_desc>This parameter is deprecated. Please use BAT1_V_EMPTY instead</short_desc>
      <long_desc>Defines the voltage where a single cell of battery 1 is considered empty. The voltage should be chosen before the steep dropoff to 2.8V. A typical lithium battery can only be discharged down to 10% before it drops off to a voltage level damaging the cells.</long_desc>
      <unit>V</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0.3" name="BAT_V_LOAD_DROP" type="FLOAT">
      <short_desc>This parameter is deprecated. Please use BAT1_V_LOAD_DROP instead</short_desc>
      <long_desc>This implicitely defines the internal resistance to maximum current ratio for battery 1 and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT_R_INTERNAL is set.</long_desc>
      <min>0.07</min>
      <max>0.5</max>
      <unit>V</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
      <reboot_required>true</reboot_required>
    </parameter>
  </group>
  <group name="Camera Capture">
    <parameter default="0.0" name="CAM_CAP_DELAY" type="FLOAT">
      <short_desc>Camera strobe delay</short_desc>
      <long_desc>This parameter sets the delay between image integration start and strobe firing</long_desc>
      <min>0.0</min>
      <max>100.0</max>
      <unit>ms</unit>
      <decimal>1</decimal>
    </parameter>
  </group>
  <group name="Camera Control">
    <parameter default="0" name="CAM_CAP_EDGE" type="INT32">
      <short_desc>Camera capture edge</short_desc>
      <reboot_required>true</reboot_required>
      <values>
        <value code="0">Falling edge</value>
        <value code="1">Rising edge</value>
      </values>
    </parameter>
    <parameter boolean="true" default="0" name="CAM_CAP_FBACK" type="INT32">
      <short_desc>Camera capture feedback</short_desc>
      <long_desc>Enables camera capture feedback</long_desc>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="CAM_CAP_MODE" type="INT32">
      <short_desc>Camera capture timestamping mode</short_desc>
      <long_desc>Change time measurement</long_desc>
      <reboot_required>true</reboot_required>
      <values>
        <value code="0">Get absolute timestamp</value>
        <value code="1">Get timestamp of mid exposure (active high)</value>
        <value code="2">Get timestamp of mid exposure (active low)</value>
      </values>
    </parameter>
  </group>
  <group name="Camera trigger">
    <parameter default="40.0" name="TRIG_ACT_TIME" type="FLOAT">
      <short_desc>Camera trigger activation time</short_desc>
      <long_desc>This parameter sets the time the trigger needs to pulled high or low.</long_desc>
      <min>0.1</min>
      <max>3000</max>
      <unit>ms</unit>
      <decimal>1</decimal>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="25.0" name="TRIG_DISTANCE" type="FLOAT">
      <short_desc>Camera trigger distance</short_desc>
      <long_desc>Sets the distance at which to trigger the camera.</long_desc>
      <min>0</min>
      <unit>m</unit>
      <decimal>1</decimal>
      <increment>1</increment>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="4" name="TRIG_INTERFACE" type="INT32">
      <short_desc>Camera trigger Interface</short_desc>
      <long_desc>Selects the trigger interface</long_desc>
      <reboot_required>true</reboot_required>
      <values>
        <value code="1">GPIO</value>
        <value code="2">Seagull MAP2 (over PWM)</value>
        <value code="3">MAVLink (forward via MAV_CMD_IMAGE_START_CAPTURE)</value>
        <value code="4">Generic PWM (IR trigger, servo)</value>
      </values>
    </parameter>
    <parameter default="40.0" name="TRIG_INTERVAL" type="FLOAT">
      <short_desc>Camera trigger interval</short_desc>
      <long_desc>This parameter sets the time between two consecutive trigger events</long_desc>
      <min>4.0</min>
      <max>10000.0</max>
      <unit>ms</unit>
      <decimal>1</decimal>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="1.0" name="TRIG_MIN_INTERVA" type="FLOAT">
      <short_desc>Minimum camera trigger interval</short_desc>
      <long_desc>This parameter sets the minimum time between two consecutive trigger events the specific camera setup is supporting.</long_desc>
      <min>1.0</min>
      <max>10000.0</max>
      <unit>ms</unit>
      <decimal>1</decimal>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="TRIG_MODE" type="INT32">
      <short_desc>Camera trigger mode</short_desc>
      <min>0</min>
      <max>4</max>
      <reboot_required>true</reboot_required>
      <values>
        <value code="0">Disable</value>
        <value code="1">Time based, on command</value>
        <value code="2">Time based, always on</value>
        <value code="3">Distance based, always on</value>
        <value code="4">Distance based, on command (Survey mode)</value>
      </values>
    </parameter>
    <parameter default="56" name="TRIG_PINS" type="INT32">
      <short_desc>Camera trigger pin</short_desc>
      <long_desc>Selects which FMU pin is used (range: AUX1-AUX8 on Pixhawk controllers with an I/O board, MAIN1-MAIN8 on controllers without an I/O board. The PWM interface takes two pins per camera, while relay triggers on every pin individually. Example: Value 56 would trigger on pins 5 and 6. For GPIO mode Pin 6 will be triggered followed by 5. With a value of 65 pin 5 will be triggered followed by 6. Pins may be non contiguous. I.E. 16 or 61. In GPIO mode the delay pin to pin is &lt; .2 uS. Note: only with a value of 56 or 78 it is possible to use the lower pins for actuator outputs (e.g. ESC's).</long_desc>
      <min>1</min>
      <max>12345678</max>
      <decimal>0</decimal>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="TRIG_POLARITY" type="INT32">
      <short_desc>Camera trigger polarity</short_desc>
      <long_desc>This parameter sets the polarity of the trigger (0 = active low, 1 = active high )</long_desc>
      <min>0</min>
      <max>1</max>
      <reboot_required>true</reboot_required>
      <values>
        <value code="0">Active low</value>
        <value code="1">Active high</value>
      </values>
    </parameter>
    <parameter default="1500" name="TRIG_PWM_NEUTRAL" type="INT32">
      <short_desc>PWM neutral output on trigger pin</short_desc>
      <min>1000</min>
      <max>2000</max>
      <unit>us</unit>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="1900" name="TRIG_PWM_SHOOT" type="INT32">
      <short_desc>PWM output to trigger shot</short_desc>
      <min>1000</min>
      <max>2000</max>
      <unit>us</unit>
      <reboot_required>true</reboot_required>
    </parameter>
  </group>
  <group name="Circuit Breaker">
    <parameter category="Developer" default="0" name="CBRK_AIRSPD_CHK" type="INT32">
      <short_desc>Circuit breaker for airspeed sensor</short_desc>
      <long_desc>Setting this parameter to 162128 will disable the check for an airspeed sensor. The sensor driver will not be started and it cannot be calibrated. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
      <min>0</min>
      <max>162128</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter category="Developer" default="0" name="CBRK_BUZZER" type="INT32">
      <short_desc>Circuit breaker for disabling buzzer</short_desc>
      <long_desc>Setting this parameter to 782097 will disable the buzzer audio notification. Setting this parameter to 782090 will disable the startup tune, while keeping all others enabled.</long_desc>
      <min>0</min>
      <max>782097</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter category="Developer" default="284953" name="CBRK_ENGINEFAIL" type="INT32">
      <short_desc>Circuit breaker for engine failure detection</short_desc>
      <long_desc>Setting this parameter to 284953 will disable the engine failure detection. If the aircraft is in engine failure mode the engine failure flag will be set to healthy WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
      <min>0</min>
      <max>284953</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter category="Developer" default="121212" name="CBRK_FLIGHTTERM" type="INT32">
      <short_desc>Circuit breaker for flight termination</short_desc>
      <long_desc>Setting this parameter to 121212 will disable the flight termination action if triggered by the FailureDetector logic or if FMU is lost. This circuit breaker does not affect the RC loss, data link loss, geofence, and takeoff failure detection safety logic.</long_desc>
      <min>0</min>
      <max>121212</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter category="Developer" default="22027" name="CBRK_IO_SAFETY" type="INT32">
      <short_desc>Circuit breaker for IO safety</short_desc>
      <long_desc>Setting this parameter to 22027 will disable IO safety. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
      <min>0</min>
      <max>22027</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter category="Developer" default="0" name="CBRK_RATE_CTRL" type="INT32">
      <short_desc>Circuit breaker for rate controller output</short_desc>
      <long_desc>Setting this parameter to 140253 will disable the rate controller uORB publication. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
      <min>0</min>
      <max>140253</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter category="Developer" default="0" name="CBRK_SUPPLY_CHK" type="INT32">
      <short_desc>Circuit breaker for power supply check</short_desc>
      <long_desc>Setting this parameter to 894281 will disable the power valid checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
      <min>0</min>
      <max>894281</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter category="Developer" default="0" name="CBRK_USB_CHK" type="INT32">
      <short_desc>Circuit breaker for USB link check</short_desc>
      <long_desc>Setting this parameter to 197848 will disable the USB connected checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
      <min>0</min>
      <max>197848</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter category="Developer" default="0" name="CBRK_VELPOSERR" type="INT32">
      <short_desc>Circuit breaker for position error check</short_desc>
      <long_desc>Setting this parameter to 201607 will disable the position and velocity accuracy checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
      <min>0</min>
      <max>201607</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter category="Developer" default="0" name="CBRK_VTOLARMING" type="INT32">
      <short_desc>Circuit breaker for arming in fixed-wing mode check</short_desc>
      <long_desc>Setting this parameter to 159753 will enable arming in fixed-wing mode for VTOLs. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
      <min>0</min>
      <max>159753</max>
      <reboot_required>true</reboot_required>
    </parameter>
  </group>
  <group name="Commander">
    <parameter default="1" name="COM_ARM_ARSP_EN" type="INT32">
      <short_desc>Enable preflight check for maximal allowed airspeed when arming</short_desc>
      <long_desc>Deny arming if the current airspeed measurement is greater than half the stall speed (ASPD_STALL). Excessive airspeed measurements on ground are either caused by wind or bad airspeed calibration.</long_desc>
      <values>
        <value code="0">Disabled</value>
        <value code="1">Enabled</value>
      </values>
    </parameter>
    <parameter default="10" name="COM_ARM_AUTH_ID" type="INT32">
      <short_desc>Arm authorizer system id</short_desc>
      <long_desc>Used if arm authorization is requested by COM_ARM_AUTH_REQ.</long_desc>
    </parameter>
    <parameter default="0" name="COM_ARM_AUTH_MET" type="INT32">
      <short_desc>Arm authorization method</short_desc>
      <long_desc>Methods: - one arm: request authorization and arm when authorization is received - two step arm: 1st arm command request an authorization and 2nd arm command arm the drone if authorized Used if arm authorization is requested by COM_ARM_AUTH_REQ.</long_desc>
      <values>
        <value code="0">one arm</value>
        <value code="1">two step arm</value>
      </values>
    </parameter>
    <parameter boolean="true" default="0" name="COM_ARM_AUTH_REQ" type="INT32">
      <short_desc>Require arm authorization to arm</short_desc>
      <long_desc>By default off. The default allows to arm the vehicle without a arm authorization.</long_desc>
    </parameter>
    <parameter default="1" name="COM_ARM_AUTH_TO" type="FLOAT">
      <short_desc>Arm authorization timeout</short_desc>
      <long_desc>Timeout for authorizer answer. Used if arm authorization is requested by COM_ARM_AUTH_REQ.</long_desc>
      <unit>s</unit>
      <decimal>1</decimal>
      <increment>0.1</increment>
    </parameter>
    <parameter boolean="true" default="1" name="COM_ARM_CHK_ESCS" type="INT32">
      <short_desc>Require all the ESCs to be detected to arm</short_desc>
      <long_desc>This param is specific for ESCs reporting status. Normal ESCs configurations are not affected by the change of this param.</long_desc>
    </parameter>
    <parameter default="1.0" name="COM_ARM_EKF_HGT" type="FLOAT">
      <short_desc>Maximum EKF height innovation test ratio that will allow arming</short_desc>
      <min>0.1</min>
      <max>1.0</max>
      <decimal>2</decimal>
      <increment>0.05</increment>
    </parameter>
    <parameter default="0.5" name="COM_ARM_EKF_POS" type="FLOAT">
      <short_desc>Maximum EKF position innovation test ratio that will allow arming</short_desc>
      <min>0.1</min>
      <max>1.0</max>
      <decimal>2</decimal>
      <increment>0.05</increment>
    </parameter>
    <parameter default="0.5" name="COM_ARM_EKF_VEL" type="FLOAT">
      <short_desc>Maximum EKF velocity innovation test ratio that will allow arming</short_desc>
      <min>0.1</min>
      <max>1.0</max>
      <decimal>2</decimal>
      <increment>0.05</increment>
    </parameter>
    <parameter default="0.5" name="COM_ARM_EKF_YAW" type="FLOAT">
      <short_desc>Maximum EKF yaw innovation test ratio that will allow arming</short_desc>
      <min>0.1</min>
      <max>1.0</max>
      <decimal>2</decimal>
      <increment>0.05</increment>
    </parameter>
    <parameter default="0.7" name="COM_ARM_IMU_ACC" type="FLOAT">
      <short_desc>Maximum accelerometer inconsistency between IMU units that will allow arming</short_desc>
      <min>0.1</min>
      <max>1.0</max>
      <unit>m/s^2</unit>
      <decimal>2</decimal>
      <increment>0.05</increment>
    </parameter>
    <parameter default="0.25" name="COM_ARM_IMU_GYR" type="FLOAT">
      <short_desc>Maximum rate gyro inconsistency between IMU units that will allow arming</short_desc>
      <min>0.02</min>
      <max>0.3</max>
      <unit>rad/s</unit>
      <decimal>3</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="45" name="COM_ARM_MAG_ANG" type="INT32">
      <short_desc>Maximum magnetic field inconsistency between units that will allow arming</short_desc>
      <long_desc>Set -1 to disable the check.</long_desc>
      <min>3</min>
      <max>180</max>
      <unit>deg</unit>
    </parameter>
    <parameter boolean="true" default="1" name="COM_ARM_MAG_STR" type="INT32">
      <short_desc>Enable mag strength preflight check</short_desc>
      <long_desc>Deny arming if the estimator detects a strong magnetic disturbance (check enabled by EKF2_MAG_CHECK)</long_desc>
    </parameter>
    <parameter boolean="true" default="0" name="COM_ARM_MIS_REQ" type="INT32">
      <short_desc>Require valid mission to arm</short_desc>
      <long_desc>The default allows to arm the vehicle without a valid mission.</long_desc>
    </parameter>
    <parameter default="1" name="COM_ARM_SDCARD" type="INT32">
      <short_desc>Enable FMU SD card detection check</short_desc>
      <long_desc>This check detects if the FMU SD card is missing. Depending on the value of the parameter, the check can be disabled, warn only or deny arming.</long_desc>
      <values>
        <value code="0">Disabled</value>
        <value code="1">Warning only</value>
        <value code="2">Enforce SD card presence</value>
      </values>
    </parameter>
    <parameter boolean="true" default="0" name="COM_ARM_SWISBTN" type="INT32">
      <short_desc>Arm switch is a momentary button</short_desc>
      <long_desc>0: Arming/disarming triggers on switch transition. 1: Arming/disarming triggers when holding the momentary button down for COM_RC_ARM_HYST like the stick gesture.</long_desc>
    </parameter>
    <parameter default="1" name="COM_ARM_WO_GPS" type="INT32">
      <short_desc>Allow arming without GPS</short_desc>
      <long_desc>The default allows to arm the vehicle without GPS signal.</long_desc>
      <values>
        <value code="0">Allow arming without GPS</value>
        <value code="1">Require GPS lock to arm</value>
      </values>
    </parameter>
    <parameter default="90.0" name="COM_CPU_MAX" type="FLOAT">
      <short_desc>Maximum allowed CPU load to still arm</short_desc>
      <long_desc>A negative value disables the check.</long_desc>
      <min>-1</min>
      <max>100</max>
      <unit>%</unit>
      <increment>1</increment>
    </parameter>
    <parameter default="2.0" name="COM_DISARM_LAND" type="FLOAT">
      <short_desc>Time-out for auto disarm after landing</short_desc>
      <long_desc>A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period. A zero or negative value means that automatic disarming triggered by landing detection is disabled.</long_desc>
      <unit>s</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="10.0" name="COM_DISARM_PRFLT" type="FLOAT">
      <short_desc>Time-out for auto disarm if too slow to takeoff</short_desc>
      <long_desc>A non-zero, positive value specifies the time after arming, in seconds, within which the vehicle must take off (after which it will automatically disarm). A zero or negative value means that automatic disarming triggered by a pre-takeoff timeout is disabled.</long_desc>
      <unit>s</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="10" name="COM_DL_LOSS_T" type="INT32">
      <short_desc>Datalink loss time threshold</short_desc>
      <long_desc>After this amount of seconds without datalink the data link lost mode triggers</long_desc>
      <min>5</min>
      <max>300</max>
      <unit>s</unit>
      <decimal>1</decimal>
      <increment>1</increment>
    </parameter>
    <parameter default="5.0" name="COM_EF_C2T" type="FLOAT">
      <short_desc>Engine Failure Current/Throttle Threshold</short_desc>
      <long_desc>Engine failure triggers only below this current value</long_desc>
      <min>0.0</min>
      <max>50.0</max>
      <unit>A/%</unit>
      <decimal>2</decimal>
      <increment>1</increment>
    </parameter>
    <parameter default="0.5" name="COM_EF_THROT" type="FLOAT">
      <short_desc>Engine Failure Throttle Threshold</short_desc>
      <long_desc>Engine failure triggers only above this throttle value</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="10.0" name="COM_EF_TIME" type="FLOAT">
      <short_desc>Engine Failure Time Threshold</short_desc>
      <long_desc>Engine failure triggers only if the throttle threshold and the current to throttle threshold are violated for this time</long_desc>
      <min>0.0</min>
      <max>60.0</max>
      <unit>s</unit>
      <decimal>1</decimal>
      <increment>1</increment>
    </parameter>
    <parameter category="System" default="0" name="COM_FLIGHT_UUID" type="INT32" volatile="true">
      <short_desc>Next flight UUID</short_desc>
      <long_desc>This number is incremented automatically after every flight on disarming in order to remember the next flight UUID. The first flight is 0.</long_desc>
      <min>0</min>
    </parameter>
    <parameter default="-1" name="COM_FLTMODE1" type="INT32">
      <short_desc>First flightmode slot (1000-1160)</short_desc>
      <long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
      <values>
        <value code="-1">Unassigned</value>
        <value code="0">Manual</value>
        <value code="1">Altitude</value>
        <value code="2">Position</value>
        <value code="3">Mission</value>
        <value code="4">Hold</value>
        <value code="5">Return</value>
        <value code="6">Acro</value>
        <value code="7">Offboard</value>
        <value code="8">Stabilized</value>
        <value code="10">Takeoff</value>
        <value code="11">Land</value>
        <value code="12">Follow Me</value>
      </values>
    </parameter>
    <parameter default="-1" name="COM_FLTMODE2" type="INT32">
      <short_desc>Second flightmode slot (1160-1320)</short_desc>
      <long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
      <values>
        <value code="-1">Unassigned</value>
        <value code="0">Manual</value>
        <value code="1">Altitude</value>
        <value code="2">Position</value>
        <value code="3">Mission</value>
        <value code="4">Hold</value>
        <value code="5">Return</value>
        <value code="6">Acro</value>
        <value code="7">Offboard</value>
        <value code="8">Stabilized</value>
        <value code="10">Takeoff</value>
        <value code="11">Land</value>
        <value code="12">Follow Me</value>
      </values>
    </parameter>
    <parameter default="-1" name="COM_FLTMODE3" type="INT32">
      <short_desc>Third flightmode slot (1320-1480)</short_desc>
      <long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
      <values>
        <value code="-1">Unassigned</value>
        <value code="0">Manual</value>
        <value code="1">Altitude</value>
        <value code="2">Position</value>
        <value code="3">Mission</value>
        <value code="4">Hold</value>
        <value code="5">Return</value>
        <value code="6">Acro</value>
        <value code="7">Offboard</value>
        <value code="8">Stabilized</value>
        <value code="10">Takeoff</value>
        <value code="11">Land</value>
        <value code="12">Follow Me</value>
      </values>
    </parameter>
    <parameter default="-1" name="COM_FLTMODE4" type="INT32">
      <short_desc>Fourth flightmode slot (1480-1640)</short_desc>
      <long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
      <values>
        <value code="-1">Unassigned</value>
        <value code="0">Manual</value>
        <value code="1">Altitude</value>
        <value code="2">Position</value>
        <value code="3">Mission</value>
        <value code="4">Hold</value>
        <value code="5">Return</value>
        <value code="6">Acro</value>
        <value code="7">Offboard</value>
        <value code="8">Stabilized</value>
        <value code="10">Takeoff</value>
        <value code="11">Land</value>
        <value code="12">Follow Me</value>
      </values>
    </parameter>
    <parameter default="-1" name="COM_FLTMODE5" type="INT32">
      <short_desc>Fifth flightmode slot (1640-1800)</short_desc>
      <long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
      <values>
        <value code="-1">Unassigned</value>
        <value code="0">Manual</value>
        <value code="1">Altitude</value>
        <value code="2">Position</value>
        <value code="3">Mission</value>
        <value code="4">Hold</value>
        <value code="5">Return</value>
        <value code="6">Acro</value>
        <value code="7">Offboard</value>
        <value code="8">Stabilized</value>
        <value code="10">Takeoff</value>
        <value code="11">Land</value>
        <value code="12">Follow Me</value>
      </values>
    </parameter>
    <parameter default="-1" name="COM_FLTMODE6" type="INT32">
      <short_desc>Sixth flightmode slot (1800-2000)</short_desc>
      <long_desc>If the main switch channel is in this range the selected flight mode will be applied.</long_desc>
      <values>
        <value code="-1">Unassigned</value>
        <value code="0">Manual</value>
        <value code="1">Altitude</value>
        <value code="2">Position</value>
        <value code="3">Mission</value>
        <value code="4">Hold</value>
        <value code="5">Return</value>
        <value code="6">Acro</value>
        <value code="7">Offboard</value>
        <value code="8">Stabilized</value>
        <value code="10">Takeoff</value>
        <value code="11">Land</value>
        <value code="12">Follow Me</value>
      </values>
    </parameter>
    <parameter default="0" name="COM_FLT_PROFILE" type="INT32">
      <short_desc>User Flight Profile</short_desc>
      <long_desc>Describes the intended use of the vehicle. Can be used by ground control software or log post processing. This param does not influence the behavior within the firmware. This means for example the control logic is independent of the setting of this param (but depends on other params).</long_desc>
      <values>
        <value code="0">Default</value>
        <value code="100">Pro User</value>
        <value code="200">Flight Tester</value>
        <value code="300">Developer</value>
      </values>
    </parameter>
    <parameter default="120" name="COM_HLDL_LOSS_T" type="INT32">
      <short_desc>High Latency Datalink loss time threshold</short_desc>
      <long_desc>After this amount of seconds without datalink the data link lost mode triggers</long_desc>
      <min>60</min>
      <max>3600</max>
      <unit>s</unit>
    </parameter>
    <parameter default="0" name="COM_HLDL_REG_T" type="INT32">
      <short_desc>High Latency Datalink regain time threshold</short_desc>
      <long_desc>After a data link loss: after this number of seconds with a healthy datalink the 'datalink loss' flag is set back to false</long_desc>
      <min>0</min>
      <max>60</max>
      <unit>s</unit>
    </parameter>
    <parameter default="5.0" name="COM_HOME_H_T" type="FLOAT">
      <short_desc>Home set horizontal threshold</short_desc>
      <long_desc>The home position will be set if the estimated positioning accuracy is below the threshold.</long_desc>
      <min>2</min>
      <max>15</max>
      <unit>m</unit>
      <decimal>2</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter boolean="true" default="0" name="COM_HOME_IN_AIR" type="INT32">
      <short_desc>Allows setting the home position after takeoff</short_desc>
      <long_desc>If set to true, the autopilot is allowed to set its home position after takeoff The true home position is back-computed if a local position is estimate if available. If no local position is available, home is set to the current position.</long_desc>
    </parameter>
    <parameter default="10.0" name="COM_HOME_V_T" type="FLOAT">
      <short_desc>Home set vertical threshold</short_desc>
      <long_desc>The home position will be set if the estimated positioning accuracy is below the threshold.</long_desc>
      <min>5</min>
      <max>25</max>
      <unit>m</unit>
      <decimal>2</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="5.0" name="COM_KILL_DISARM" type="FLOAT">
      <short_desc>Timeout value for disarming when kill switch is engaged</short_desc>
      <min>0.0</min>
      <max>30.0</max>
      <unit>s</unit>
      <increment>0.1</increment>
    </parameter>
    <parameter default="3.0" name="COM_LKDOWN_TKO" type="FLOAT">
      <short_desc>Timeout for detecting a failure after takeoff</short_desc>
      <long_desc>A non-zero, positive value specifies the timeframe in seconds within failure detector is allowed to put the vehicle into a lockdown state if attitude exceeds the limits defined in FD_FAIL_P and FD_FAIL_R. The check is not executed for flight modes that do support acrobatic maneuvers, e.g: Acro (MC/FW) and Manual (FW). A zero or negative value means that the check is disabled.</long_desc>
      <min>-1.0</min>
      <max>5.0</max>
      <unit>s</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0" name="COM_LOW_BAT_ACT" type="INT32">
      <short_desc>Battery failsafe mode</short_desc>
      <long_desc>Action the system takes at critical battery. See also BAT_CRIT_THR and BAT_EMERGEN_THR for definition of battery states.</long_desc>
      <decimal>0</decimal>
      <increment>1</increment>
      <values>
        <value code="0">Warning</value>
        <value code="2">Land mode</value>
        <value code="3">Return at critical level, land at emergency level</value>
      </values>
    </parameter>
    <parameter boolean="true" default="1" name="COM_MOT_TEST_EN" type="INT32">
      <short_desc>Enable Motor Testing</short_desc>
      <long_desc>If set, enables the motor test interface via MAVLink (DO_MOTOR_TEST), that allows spinning the motors for testing purposes.</long_desc>
    </parameter>
    <parameter default="0" name="COM_OBL_ACT" type="INT32">
      <short_desc>Set offboard loss failsafe mode</short_desc>
      <long_desc>The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds.</long_desc>
      <values>
        <value code="-1">Disabled</value>
        <value code="0">Land mode</value>
        <value code="1">Hold mode</value>
        <value code="2">Return mode</value>
        <value code="3">Terminate</value>
        <value code="4">Lockdown</value>
      </values>
    </parameter>
    <parameter default="0" name="COM_OBL_RC_ACT" type="INT32">
      <short_desc>Set offboard loss failsafe mode when RC is available</short_desc>
      <long_desc>The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds.</long_desc>
      <values>
        <value code="-1">Disabled</value>
        <value code="0">Position mode</value>
        <value code="1">Altitude mode</value>
        <value code="2">Manual</value>
        <value code="3">Return mode</value>
        <value code="4">Land mode</value>
        <value code="5">Hold mode</value>
        <value code="6">Terminate</value>
        <value code="7">Lockdown</value>
      </values>
    </parameter>
    <parameter default="1.0" name="COM_OF_LOSS_T" type="FLOAT">
      <short_desc>Time-out to wait when offboard connection is lost before triggering offboard lost action</short_desc>
      <long_desc>See COM_OBL_ACT and COM_OBL_RC_ACT to configure action.</long_desc>
      <min>0</min>
      <max>60</max>
      <unit>s</unit>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0" name="COM_POSCTL_NAVL" type="INT32">
      <short_desc>Position control navigation loss response</short_desc>
      <long_desc>This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control. Navigation accuracy checks can be disabled using the CBRK_VELPOSERR parameter, but doing so will remove protection for all flight modes.</long_desc>
      <values>
        <value code="0">Altitude/Manual. Assume use of remote control after fallback. Switch to Altitude mode if a height estimate is available, else switch to MANUAL.</value>
        <value code="1">Land/Terminate. Assume no use of remote control after fallback. Switch to Land mode if a height estimate is available, else switch to TERMINATION.</value>
      </values>
    </parameter>
    <parameter default="1" name="COM_POS_FS_DELAY" type="INT32">
      <short_desc>Loss of position failsafe activation delay</short_desc>
      <long_desc>This sets number of seconds that the position checks need to be failed before the failsafe will activate. The default value has been optimised for rotary wing applications. For fixed wing applications, a larger value between 5 and 10 should be used.</long_desc>
      <min>1</min>
      <max>100</max>
      <unit>s</unit>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="5" name="COM_POS_FS_EPH" type="FLOAT">
      <short_desc>Horizontal position error threshold</short_desc>
      <long_desc>This is the horizontal position error (EPH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.</long_desc>
      <unit>m</unit>
    </parameter>
    <parameter default="10" name="COM_POS_FS_EPV" type="FLOAT">
      <short_desc>Vertical position error threshold</short_desc>
      <long_desc>This is the vertical position error (EPV) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.</long_desc>
      <unit>m</unit>
    </parameter>
    <parameter default="10" name="COM_POS_FS_GAIN" type="INT32">
      <short_desc>Loss of position probation gain factor</short_desc>
      <long_desc>This sets the rate that the loss of position probation time grows when position checks are failing. The default value has been optimised for rotary wing applications. For fixed wing applications a value of 0 should be used.</long_desc>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="30" name="COM_POS_FS_PROB" type="INT32">
      <short_desc>Loss of position probation delay at takeoff</short_desc>
      <long_desc>The probation delay is the number of seconds that the EKF innovation checks need to pass for the position to be declared good after it has been declared bad. The probation delay will be reset to this parameter value when takeoff is detected. After takeoff, if position checks are passing, the probation delay will reduce by one second for every lapsed second of valid position down to a minimum of 1 second. If position checks are failing, the probation delay will increase by COM_POS_FS_GAIN seconds for every lapsed second up to a maximum of 100 seconds. The default value has been optimised for rotary wing applications. For fixed wing applications, a value of 1 should be used.</long_desc>
      <min>1</min>
      <max>100</max>
      <unit>s</unit>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="1" name="COM_POWER_COUNT" type="INT32">
      <short_desc>Required number of redundant power modules</short_desc>
      <long_desc>This configures a check to verify the expected number of 5V rail power supplies are present. By default only one is expected. Note: CBRK_SUPPLY_CHK disables all power checks including this one.</long_desc>
      <min>0</min>
      <max>4</max>
    </parameter>
    <parameter default="1" name="COM_PREARM_MODE" type="INT32">
      <short_desc>Condition to enter prearmed mode</short_desc>
      <long_desc>Condition to enter the prearmed state, an intermediate state between disarmed and armed in which non-throttling actuators are active.</long_desc>
      <values>
        <value code="0">Disabled</value>
        <value code="1">Safety button</value>
        <value code="2">Always</value>
      </values>
    </parameter>
    <parameter default="15.0" name="COM_RCL_ACT_T" type="FLOAT">
      <short_desc>Delay between RC loss and configured reaction</short_desc>
      <long_desc>RC signal not updated -&gt; still use data for COM_RC_LOSS_T seconds Consider RC signal lost -&gt; wait COM_RCL_ACT_T seconds on the spot waiting to regain signal React with failsafe action NAV_RCL_ACT A zero value disables the delay.</long_desc>
      <min>0.0</min>
      <max>25.0</max>
      <unit>s</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="1000" name="COM_RC_ARM_HYST" type="INT32">
      <short_desc>RC input arm/disarm command duration</short_desc>
      <long_desc>The default value of 1000 requires the stick to be held in the arm or disarm position for 1 second.</long_desc>
      <min>100</min>
      <max>1500</max>
      <unit>ms</unit>
    </parameter>
    <parameter default="0" name="COM_RC_IN_MODE" type="INT32">
      <short_desc>RC control input mode</short_desc>
      <long_desc>The default value of 0 requires a valid RC transmitter setup. Setting this to 1 allows joystick control and disables RC input handling and the associated checks. A value of 2 will generate RC control data from manual input received via MAVLink instead of directly forwarding the manual input data.</long_desc>
      <min>0</min>
      <max>2</max>
      <values>
        <value code="0">RC Transmitter</value>
        <value code="1">Joystick/No RC Checks</value>
        <value code="2">Virtual RC by Joystick</value>
      </values>
    </parameter>
    <parameter default="0.5" name="COM_RC_LOSS_T" type="FLOAT">
      <short_desc>RC loss time threshold</short_desc>
      <long_desc>After this amount of seconds without RC connection it's considered lost and not used anymore</long_desc>
      <min>0</min>
      <max>35</max>
      <unit>s</unit>
      <decimal>1</decimal>
      <increment>0.1</increment>
    </parameter>
    <parameter default="1" name="COM_RC_OVERRIDE" type="INT32">
      <short_desc>Enable RC stick override of auto and/or offboard modes</short_desc>
      <long_desc>When RC stick override is enabled, moving the RC sticks more than COM_RC_STICK_OV from their center position immediately gives control back to the pilot by switching to Position mode. Note: Only has an effect on multicopters, and VTOLs in multicopter mode.</long_desc>
      <min>0</min>
      <max>7</max>
      <bitmask>
        <bit index="0">Enable override during auto modes (except for in critical battery reaction)</bit>
        <bit index="1">Enable override during offboard mode</bit>
        <bit index="2">Ignore throttle stick</bit>
      </bitmask>
    </parameter>
    <parameter default="30.0" name="COM_RC_STICK_OV" type="FLOAT">
      <short_desc>RC stick override threshold</short_desc>
      <long_desc>If COM_RC_OVERRIDE is enabled and the joystick input is moved more than this threshold the autopilot the pilot takes over control.</long_desc>
      <min>5</min>
      <max>80</max>
      <unit>%</unit>
      <decimal>0</decimal>
      <increment>0.05</increment>
    </parameter>
    <parameter boolean="true" default="1" name="COM_REARM_GRACE" type="INT32">
      <short_desc>Rearming grace period</short_desc>
      <long_desc>Re-arming grace allows to rearm the drone with manual command without running prearmcheck during 5 s after disarming.</long_desc>
    </parameter>
    <parameter default="1" name="COM_VEL_FS_EVH" type="FLOAT">
      <short_desc>Horizontal velocity error threshold</short_desc>
      <long_desc>This is the horizontal velocity error (EVH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.</long_desc>
      <unit>m/s</unit>
    </parameter>
    <parameter default="15" name="RTL_FLT_TIME" type="FLOAT">
      <short_desc>Maximum allowed RTL flight in minutes</short_desc>
      <long_desc>This is used to determine when the vehicle should be switched to RTL due to low battery. Note, particularly for multirotors this should reflect flight time at cruise speed, not while stationary</long_desc>
      <unit>min</unit>
    </parameter>
  </group>
  <group name="Data Link Loss">
    <parameter default="600.0" name="NAV_AH_ALT" type="FLOAT">
      <short_desc>Airfield home alt</short_desc>
      <long_desc>Altitude of airfield home waypoint</long_desc>
      <min>-50</min>
      <unit>m</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="-265847810" name="NAV_AH_LAT" type="INT32">
      <short_desc>Airfield home Lat</short_desc>
      <long_desc>Latitude of airfield home waypoint</long_desc>
      <min>-900000000</min>
      <max>900000000</max>
      <unit>deg*1e7</unit>
    </parameter>
    <parameter default="1518423250" name="NAV_AH_LON" type="INT32">
      <short_desc>Airfield home Lon</short_desc>
      <long_desc>Longitude of airfield home waypoint</long_desc>
      <min>-1800000000</min>
      <max>1800000000</max>
      <unit>deg*1e7</unit>
    </parameter>
  </group>
  <group name="EKF2">
    <parameter default="0.2" name="EKF2_ABIAS_INIT" type="FLOAT">
      <short_desc>1-sigma IMU accelerometer switch-on bias</short_desc>
      <min>0.0</min>
      <max>0.5</max>
      <unit>m/s^2</unit>
      <decimal>2</decimal>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="25.0" name="EKF2_ABL_ACCLIM" type="FLOAT">
      <short_desc>Maximum IMU accel magnitude that allows IMU bias learning</short_desc>
      <long_desc>If the magnitude of the IMU accelerometer vector exceeds this value, the EKF delta velocity state estimation will be inhibited. This reduces the adverse effect of high manoeuvre accelerations and IMU nonlinerity and scale factor errors on the delta velocity bias estimates.</long_desc>
      <min>20.0</min>
      <max>200.0</max>
      <unit>m/s^2</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="3.0" name="EKF2_ABL_GYRLIM" type="FLOAT">
      <short_desc>Maximum IMU gyro angular rate magnitude that allows IMU bias learning</short_desc>
      <long_desc>If the magnitude of the IMU angular rate vector exceeds this value, the EKF delta velocity state estimation will be inhibited. This reduces the adverse effect of rapid rotation rates and associated errors on the delta velocity bias estimates.</long_desc>
      <min>2.0</min>
      <max>20.0</max>
      <unit>rad/s</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="0.4" name="EKF2_ABL_LIM" type="FLOAT">
      <short_desc>Accelerometer bias learning limit</short_desc>
      <long_desc>The ekf delta velocity bias states will be limited to within a range equivalent to +- of this value.</long_desc>
      <min>0.0</min>
      <max>0.8</max>
      <unit>m/s^2</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.5" name="EKF2_ABL_TAU" type="FLOAT">
      <short_desc>Time constant used by acceleration and angular rate magnitude checks used to inhibit delta velocity bias learning</short_desc>
      <long_desc>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.</long_desc>
      <min>0.1</min>
      <max>1.0</max>
      <unit>s</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="3.0e-3" name="EKF2_ACC_B_NOISE" type="FLOAT">
      <short_desc>Process noise for IMU accelerometer bias prediction</short_desc>
      <min>0.0</min>
      <max>0.01</max>
      <unit>m/s^3</unit>
      <decimal>6</decimal>
    </parameter>
    <parameter default="3.5e-1" name="EKF2_ACC_NOISE" type="FLOAT">
      <short_desc>Accelerometer noise for covariance prediction</short_desc>
      <min>0.01</min>
      <max>1.0</max>
      <unit>m/s^2</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="1" name="EKF2_AID_MASK" type="INT32">
      <short_desc>Integer bitmask controlling data fusion and aiding methods</short_desc>
      <long_desc>Set bits in the following positions to enable: 0 : Set to true to use GPS data if available 1 : Set to true to use optical flow data if available 2 : Set to true to inhibit IMU delta velocity bias estimation 3 : Set to true to enable vision position fusion 4 : Set to true to enable vision yaw fusion. Cannot be used if bit position 7 is true. 5 : Set to true to enable multi-rotor drag specific force fusion 6 : set to true if the EV observations are in a non NED reference frame and need to be rotated before being used 7 : Set to true to enable GPS yaw fusion. Cannot be used if bit position 4 is true.</long_desc>
      <min>0</min>
      <max>511</max>
      <reboot_required>true</reboot_required>
      <bitmask>
        <bit index="0">use GPS</bit>
        <bit index="1">use optical flow</bit>
        <bit index="2">inhibit IMU bias estimation</bit>
        <bit index="3">vision position fusion</bit>
        <bit index="4">vision yaw fusion</bit>
        <bit index="5">multi-rotor drag fusion</bit>
        <bit index="6">rotate external vision</bit>
        <bit index="7">GPS yaw fusion</bit>
        <bit index="8">vision velocity fusion</bit>
      </bitmask>
    </parameter>
    <parameter default="0.1" name="EKF2_ANGERR_INIT" type="FLOAT">
      <short_desc>1-sigma tilt angle uncertainty after gravity vector alignment</short_desc>
      <min>0.0</min>
      <max>0.5</max>
      <unit>rad</unit>
      <decimal>3</decimal>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0.0" name="EKF2_ARSP_THR" type="FLOAT">
      <short_desc>Airspeed fusion threshold</short_desc>
      <long_desc>A value of zero will deactivate airspeed fusion. Any other positive value will determine the minimum airspeed which will still be fused. Set to about 90% of the vehicles stall speed. Both airspeed fusion and sideslip fusion must be active for the EKF to continue navigating after loss of GPS. Use EKF2_FUSE_BETA to activate sideslip fusion.</long_desc>
      <min>0.0</min>
      <unit>m/s</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="20.0" name="EKF2_ASPD_MAX" type="FLOAT">
      <short_desc>Upper limit on airspeed along individual axes used to correct baro for position error effects</short_desc>
      <min>5.0</min>
      <max>50.0</max>
      <unit>m/s</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="100" name="EKF2_ASP_DELAY" type="FLOAT">
      <short_desc>Airspeed measurement delay relative to IMU measurements</short_desc>
      <min>0</min>
      <max>300</max>
      <unit>ms</unit>
      <decimal>1</decimal>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="5" name="EKF2_AVEL_DELAY" type="FLOAT">
      <short_desc>Auxillary Velocity Estimate (e.g from a landing target) delay relative to IMU measurements</short_desc>
      <min>0</min>
      <max>300</max>
      <unit>ms</unit>
      <decimal>1</decimal>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="EKF2_BARO_DELAY" type="FLOAT">
      <short_desc>Barometer measurement delay relative to IMU measurements</short_desc>
      <min>0</min>
      <max>300</max>
      <unit>ms</unit>
      <decimal>1</decimal>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="5.0" name="EKF2_BARO_GATE" type="FLOAT">
      <short_desc>Gate size for barometric and GPS height fusion</short_desc>
      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
      <min>1.0</min>
      <unit>SD</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="3.5" name="EKF2_BARO_NOISE" type="FLOAT">
      <short_desc>Measurement noise for barometric altitude</short_desc>
      <min>0.01</min>
      <max>15.0</max>
      <unit>m</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="25.0" name="EKF2_BCOEF_X" type="FLOAT">
      <short_desc>X-axis ballistic coefficient used by the multi-rotor specific drag force model</short_desc>
      <long_desc>This should be adjusted to minimise variance of the X-axis drag specific force innovation sequence.</long_desc>
      <min>1.0</min>
      <max>100.0</max>
      <unit>kg/m^2</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="25.0" name="EKF2_BCOEF_Y" type="FLOAT">
      <short_desc>Y-axis ballistic coefficient used by the multi-rotor specific drag force model</short_desc>
      <long_desc>This should be adjusted to minimise variance of the Y-axis drag specific force innovation sequence.</long_desc>
      <min>1.0</min>
      <max>100.0</max>
      <unit>kg/m^2</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="5.0" name="EKF2_BETA_GATE" type="FLOAT">
      <short_desc>Gate size for synthetic sideslip fusion</short_desc>
      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
      <min>1.0</min>
      <unit>SD</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="0.3" name="EKF2_BETA_NOISE" type="FLOAT">
      <short_desc>Noise for synthetic sideslip fusion</short_desc>
      <min>0.1</min>
      <max>1.0</max>
      <unit>m/s</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="7" name="EKF2_DECL_TYPE" type="INT32">
      <short_desc>Integer bitmask controlling handling of magnetic declination</short_desc>
      <long_desc>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. 2 : Set to true to always use the declination as an observation when 3-axis magnetometer fusion is being used.</long_desc>
      <min>0</min>
      <max>7</max>
      <reboot_required>true</reboot_required>
      <bitmask>
        <bit index="0">use geo_lookup declination</bit>
        <bit index="1">save EKF2_MAG_DECL on disarm</bit>
        <bit index="2">use declination as an observation</bit>
      </bitmask>
    </parameter>
    <parameter default="2.5" name="EKF2_DRAG_NOISE" type="FLOAT">
      <short_desc>Specific drag force observation noise variance used by the multi-rotor specific drag force model</short_desc>
      <long_desc>Increasing this makes the multi-rotor wind estimates adjust more slowly.</long_desc>
      <min>0.5</min>
      <max>10.0</max>
      <unit>(m/s^2)^2</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="1.4" name="EKF2_EAS_NOISE" type="FLOAT">
      <short_desc>Measurement noise for airspeed fusion</short_desc>
      <min>0.5</min>
      <max>5.0</max>
      <unit>m/s</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="0.05" name="EKF2_EVA_NOISE" type="FLOAT">
      <short_desc>Measurement noise for vision angle observations used to lower bound or replace the uncertainty included in the message</short_desc>
      <min>0.05</min>
      <unit>rad</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="5.0" name="EKF2_EVP_GATE" type="FLOAT">
      <short_desc>Gate size for vision position fusion</short_desc>
      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
      <min>1.0</min>
      <unit>SD</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="0.1" name="EKF2_EVP_NOISE" type="FLOAT">
      <short_desc>Measurement noise for vision position observations used to lower bound or replace the uncertainty included in the message</short_desc>
      <min>0.01</min>
      <unit>m</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="3.0" name="EKF2_EVV_GATE" type="FLOAT">
      <short_desc>Gate size for vision velocity estimate fusion</short_desc>
      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
      <min>1.0</min>
      <unit>SD</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="0.1" name="EKF2_EVV_NOISE" type="FLOAT">
      <short_desc>Measurement noise for vision velocity observations used to lower bound or replace the uncertainty included in the message</short_desc>
      <min>0.01</min>
      <unit>m/s</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="175" name="EKF2_EV_DELAY" type="FLOAT">
      <short_desc>Vision Position Estimator delay relative to IMU measurements</short_desc>
      <min>0</min>
      <max>300</max>
      <unit>ms</unit>
      <decimal>1</decimal>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter boolean="true" default="0" name="EKF2_EV_NOISE_MD" type="INT32">
      <short_desc>Whether to set the external vision observation noise from the parameter or from vision message</short_desc>
      <long_desc>If set to true the observation noise is set from the parameters directly, if set to false the measurement noise is taken from the vision message and the parameter are used as a lower bound.</long_desc>
    </parameter>
    <parameter default="0.0" name="EKF2_EV_POS_X" type="FLOAT">
      <short_desc>X position of VI sensor focal point in body frame (forward axis with origin relative to vehicle centre of gravity)</short_desc>
      <unit>m</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0.0" name="EKF2_EV_POS_Y" type="FLOAT">
      <short_desc>Y position of VI sensor focal point in body frame (right axis with origin relative to vehicle centre of gravity)</short_desc>
      <unit>m</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0.0" name="EKF2_EV_POS_Z" type="FLOAT">
      <short_desc>Z position of VI sensor focal point in body frame (down axis with origin relative to vehicle centre of gravity)</short_desc>
      <unit>m</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter boolean="true" default="0" name="EKF2_FUSE_BETA" type="INT32">
      <short_desc>Boolean determining if synthetic sideslip measurements should fused</short_desc>
      <long_desc>A value of 1 indicates that fusion is active Both  sideslip fusion and airspeed fusion must be active for the EKF to continue navigating after loss of GPS. Use EKF2_ARSP_THR to activate airspeed fusion.</long_desc>
    </parameter>
    <parameter default="0.1" name="EKF2_GBIAS_INIT" type="FLOAT">
      <short_desc>1-sigma IMU gyro switch-on bias</short_desc>
      <min>0.0</min>
      <max>0.2</max>
      <unit>rad/s</unit>
      <decimal>2</decimal>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0.0" name="EKF2_GND_EFF_DZ" type="FLOAT">
      <short_desc>Baro deadzone range for height fusion</short_desc>
      <long_desc>Sets the value of deadzone applied to negative baro innovations. Deadzone is enabled when EKF2_GND_EFF_DZ &gt; 0.</long_desc>
      <min>0.0</min>
      <max>10.0</max>
      <unit>m</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="0.5" name="EKF2_GND_MAX_HGT" type="FLOAT">
      <short_desc>Height above ground level for ground effect zone</short_desc>
      <long_desc>Sets the maximum distance to the ground level where negative baro innovations are expected.</long_desc>
      <min>0.0</min>
      <max>5.0</max>
      <unit>m</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="245" name="EKF2_GPS_CHECK" type="INT32">
      <short_desc>Integer bitmask controlling GPS checks</short_desc>
      <long_desc>Set bits to 1 to enable checks. Checks enabled by the following bit positions 0 : Minimum required sat count set by EKF2_REQ_NSATS 1 : Maximum allowed PDOP set by EKF2_REQ_PDOP 2 : Maximum allowed horizontal position error set by EKF2_REQ_EPH 3 : Maximum allowed vertical position error set by EKF2_REQ_EPV 4 : Maximum allowed speed error set by EKF2_REQ_SACC 5 : Maximum allowed horizontal position rate set by EKF2_REQ_HDRIFT. This check will only run when the vehicle is on ground and stationary. Detecton of the stationary condition is controlled by the EKF2_MOVE_TEST parameter. 6 : Maximum allowed vertical position rate set by EKF2_REQ_VDRIFT. This check will only run when the vehicle is on ground and stationary. Detecton of the stationary condition is controlled by the EKF2_MOVE_TEST parameter. 7 : Maximum allowed horizontal speed set by EKF2_REQ_HDRIFT. This check will only run when the vehicle is on ground and stationary. Detecton of the stationary condition is controlled by the EKF2_MOVE_TEST parameter. 8 : Maximum allowed vertical velocity discrepancy set by EKF2_REQ_VDRIFT</long_desc>
      <min>0</min>
      <max>511</max>
      <bitmask>
        <bit index="0">Min sat count (EKF2_REQ_NSATS)</bit>
        <bit index="1">Max PDOP (EKF2_REQ_PDOP)</bit>
        <bit index="2">Max horizontal position error (EKF2_REQ_EPH)</bit>
        <bit index="3">Max vertical position error (EKF2_REQ_EPV)</bit>
        <bit index="4">Max speed error (EKF2_REQ_SACC)</bit>
        <bit index="5">Max horizontal position rate (EKF2_REQ_HDRIFT)</bit>
        <bit index="6">Max vertical position rate (EKF2_REQ_VDRIFT)</bit>
        <bit index="7">Max horizontal speed (EKF2_REQ_HDRIFT)</bit>
        <bit index="8">Max vertical velocity discrepancy (EKF2_REQ_VDRIFT)</bit>
      </bitmask>
    </parameter>
    <parameter default="110" name="EKF2_GPS_DELAY" type="FLOAT">
      <short_desc>GPS measurement delay relative to IMU measurements</short_desc>
      <min>0</min>
      <max>300</max>
      <unit>ms</unit>
      <decimal>1</decimal>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0.0" name="EKF2_GPS_POS_X" type="FLOAT">
      <short_desc>X position of GPS antenna in body frame (forward axis with origin relative to vehicle centre of gravity)</short_desc>
      <unit>m</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0.0" name="EKF2_GPS_POS_Y" type="FLOAT">
      <short_desc>Y position of GPS antenna in body frame (right axis with origin relative to vehicle centre of gravity)</short_desc>
      <unit>m</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0.0" name="EKF2_GPS_POS_Z" type="FLOAT">
      <short_desc>Z position of GPS antenna in body frame (down axis with origin relative to vehicle centre of gravity)</short_desc>
      <unit>m</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="5.0" name="EKF2_GPS_P_GATE" type="FLOAT">
      <short_desc>Gate size for GPS horizontal position fusion</short_desc>
      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
      <min>1.0</min>
      <unit>SD</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="0.5" name="EKF2_GPS_P_NOISE" type="FLOAT">
      <short_desc>Measurement noise for gps position</short_desc>
      <min>0.01</min>
      <max>10.0</max>
      <unit>m</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="5.0" name="EKF2_GPS_V_GATE" type="FLOAT">
      <short_desc>Gate size for GPS velocity fusion</short_desc>
      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
      <min>1.0</min>
      <unit>SD</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="0.3" name="EKF2_GPS_V_NOISE" type="FLOAT">
      <short_desc>Measurement noise for gps horizontal velocity</short_desc>
      <min>0.01</min>
      <max>5.0</max>
      <unit>m/s</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="15.0" name="EKF2_GSF_TAS" type="FLOAT">
      <short_desc>Default value of true airspeed used in EKF-GSF AHRS calculation</short_desc>
      <long_desc>If no airspeed measurements are avalable, 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.</long_desc>
      <min>0.0</min>
      <max>100.0</max>
      <unit>m/s</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="1.0e-3" name="EKF2_GYR_B_NOISE" type="FLOAT">
      <short_desc>Process noise for IMU rate gyro bias prediction</short_desc>
      <min>0.0</min>
      <max>0.01</max>
      <unit>rad/s^2</unit>
      <decimal>6</decimal>
    </parameter>
    <parameter default="1.5e-2" name="EKF2_GYR_NOISE" type="FLOAT">
      <short_desc>Rate gyro noise for covariance prediction</short_desc>
      <min>0.0001</min>
      <max>0.1</max>
      <unit>rad/s</unit>
      <decimal>4</decimal>
    </parameter>
    <parameter default="2.6" name="EKF2_HDG_GATE" type="FLOAT">
      <short_desc>Gate size for magnetic heading fusion</short_desc>
      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
      <min>1.0</min>
      <unit>SD</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="0.3" name="EKF2_HEAD_NOISE" type="FLOAT">
      <short_desc>Measurement noise for magnetic heading fusion</short_desc>
      <min>0.01</min>
      <max>1.0</max>
      <unit>rad</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0" name="EKF2_HGT_MODE" type="INT32">
      <short_desc>Determines the primary source of height data used by the EKF</short_desc>
      <long_desc>The range sensor option should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level.</long_desc>
      <reboot_required>true</reboot_required>
      <values>
        <value code="0">Barometric pressure</value>
        <value code="1">GPS</value>
        <value code="2">Range sensor</value>
        <value code="3">Vision</value>
      </values>
    </parameter>
    <parameter default="0.0" name="EKF2_IMU_POS_X" type="FLOAT">
      <short_desc>X position of IMU in body frame (forward axis with origin relative to vehicle centre of gravity)</short_desc>
      <unit>m</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0.0" name="EKF2_IMU_POS_Y" type="FLOAT">
      <short_desc>Y position of IMU in body frame (right axis with origin relative to vehicle centre of gravity)</short_desc>
      <unit>m</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0.0" name="EKF2_IMU_POS_Z" type="FLOAT">
      <short_desc>Z position of IMU in body frame (down axis with origin relative to vehicle centre of gravity)</short_desc>
      <unit>m</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0.5" name="EKF2_MAG_ACCLIM" type="FLOAT">
      <short_desc>Horizontal acceleration threshold used by automatic selection of magnetometer fusion method</short_desc>
      <long_desc>This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered horizontal acceleration is greater than this parameter value, then the EKF will use 3-axis magnetomer fusion.</long_desc>
      <min>0.0</min>
      <max>5.0</max>
      <unit>m/s^2</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="1.0e-4" name="EKF2_MAG_B_NOISE" type="FLOAT">
      <short_desc>Process noise for body magnetic field prediction</short_desc>
      <min>0.0</min>
      <max>0.1</max>
      <unit>gauss/s</unit>
      <decimal>6</decimal>
    </parameter>
    <parameter boolean="true" default="0" name="EKF2_MAG_CHECK" type="INT32">
      <short_desc>Magnetic field strength test selection</short_desc>
      <long_desc>When set, the EKF checks the strength of the magnetic field to decide whether the magnetometer data is valid. If GPS 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.</long_desc>
    </parameter>
    <parameter category="System" default="0" name="EKF2_MAG_DECL" type="FLOAT" volatile="true">
      <short_desc>Magnetic declination</short_desc>
      <unit>deg</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="0" name="EKF2_MAG_DELAY" type="FLOAT">
      <short_desc>Magnetometer measurement delay relative to IMU measurements</short_desc>
      <min>0</min>
      <max>300</max>
      <unit>ms</unit>
      <decimal>1</decimal>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="1.0e-3" name="EKF2_MAG_E_NOISE" type="FLOAT">
      <short_desc>Process noise for earth magnetic field prediction</short_desc>
      <min>0.0</min>
      <max>0.1</max>
      <unit>gauss/s</unit>
      <decimal>6</decimal>
    </parameter>
    <parameter default="3.0" name="EKF2_MAG_GATE" type="FLOAT">
      <short_desc>Gate size for magnetometer XYZ component fusion</short_desc>
      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
      <min>1.0</min>
      <unit>SD</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="5.0e-2" name="EKF2_MAG_NOISE" type="FLOAT">
      <short_desc>Measurement noise for magnetometer 3-axis fusion</short_desc>
      <min>0.001</min>
      <max>1.0</max>
      <unit>gauss</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0" name="EKF2_MAG_TYPE" type="INT32">
      <short_desc>Type of magnetometer fusion</short_desc>
      <long_desc>Integer controlling the type of magnetometer fusion used - magnetic heading or 3-component vector. The fuson of magnetomer 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 with fallback to magnetic heading fusion if there is insufficient motion to make yaw or magnetic field states observable. If set to 'Magnetic heading' magnetic heading fusion is used at all times If set to '3-axis' 3-axis field fusion is used at all times. If set to 'VTOL custom' the behaviour is the same as 'Automatic', but if fusing airspeed, magnetometer fusion is only allowed to modify the magnetic field states. This can be used by VTOL platforms with large magnetic field disturbances to prevent incorrect bias states being learned during forward flight operation which can adversely affect estimation accuracy after transition to hovering flight. If set to 'MC custom' the behaviour is the same as 'Automatic, but if there are no earth frame position or velocity observations being used, the magnetometer will not be used. This enables vehicles to operate with no GPS in environments where the magnetic field cannot be used to provide a heading reference. Prior to flight, the yaw angle is assumed to be constant if movement tests controlled by the EKF2_MOVE_TEST parameter indicate that the vehicle is static. This allows the vehicle to be placed on the ground to learn the yaw gyro bias prior to flight. 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 GPS velocity measurements to align the yaw angle with the timer required (depending on the amount of movement and GPS data quality). Other external sources of yaw may be used if selected via the EKF2_AID_MASK parameter.</long_desc>
      <reboot_required>true</reboot_required>
      <values>
        <value code="0">Automatic</value>
        <value code="1">Magnetic heading</value>
        <value code="2">3-axis</value>
        <value code="3">VTOL custom</value>
        <value code="4">MC custom</value>
        <value code="5">None</value>
      </values>
    </parameter>
    <parameter default="0.25" name="EKF2_MAG_YAWLIM" type="FLOAT">
      <short_desc>Yaw rate threshold used by automatic selection of magnetometer fusion method</short_desc>
      <long_desc>This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered yaw rate is greater than this parameter value, then the EKF will use 3-axis magnetomer fusion.</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <unit>rad/s</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="20" name="EKF2_MIN_OBS_DT" type="INT32">
      <short_desc>Minimum time of arrival delta between non-IMU observations before data is downsampled</short_desc>
      <long_desc>Baro and Magnetometer data will be averaged before downsampling, other data will be point sampled resulting in loss of information.</long_desc>
      <min>10</min>
      <max>50</max>
      <unit>ms</unit>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0.1" name="EKF2_MIN_RNG" type="FLOAT">
      <short_desc>Expected range finder reading when on ground</short_desc>
      <long_desc>If the vehicle is on ground, is not moving as determined by the motion test controlled by EKF2_MOVE_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 avilable at the start of flight in situations where the range finder may be inside its minimum measurements distance when on ground.</long_desc>
      <min>0.01</min>
      <unit>m</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="1.0" name="EKF2_MOVE_TEST" type="FLOAT">
      <short_desc>Vehicle movement test threshold</short_desc>
      <long_desc>Scales the threshold tests applied to IMU data used to determine if the vehicle is static or moving. See parameter descriptions for EKF2_GPS_CHECK and EKF2_MAG_TYPE for further information on the functionality affected by this parameter.</long_desc>
      <min>0.1</min>
      <max>10.0</max>
      <decimal>1</decimal>
    </parameter>
    <parameter default="0" name="EKF2_MULTI_IMU" type="INT32">
      <short_desc>Multi-EKF IMUs</short_desc>
      <long_desc>Maximum number of IMUs to use for Multi-EKF. Set 0 to disable. Requires SENS_IMU_MODE 0.</long_desc>
      <min>0</min>
      <max>4</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="EKF2_MULTI_MAG" type="INT32">
      <short_desc>Multi-EKF Magnetometers</short_desc>
      <long_desc>Maximum number of magnetometers to use for Multi-EKF. Set 0 to disable. Requires SENS_MAG_MODE 0.</long_desc>
      <min>0</min>
      <max>4</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="10.0" name="EKF2_NOAID_NOISE" type="FLOAT">
      <short_desc>Measurement noise for non-aiding position hold</short_desc>
      <min>0.5</min>
      <max>50.0</max>
      <unit>m</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="5000000" name="EKF2_NOAID_TOUT" type="INT32">
      <short_desc>Maximum lapsed time from last fusion of measurements that constrain velocity drift before the EKF will report the horizontal nav solution as invalid</short_desc>
      <min>500000</min>
      <max>10000000</max>
      <unit>us</unit>
    </parameter>
    <parameter default="20" name="EKF2_OF_DELAY" type="FLOAT">
      <short_desc>Optical flow measurement delay relative to IMU measurements</short_desc>
      <long_desc>Assumes measurement is timestamped at trailing edge of integration period</long_desc>
      <min>0</min>
      <max>300</max>
      <unit>ms</unit>
      <decimal>1</decimal>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="3.0" name="EKF2_OF_GATE" type="FLOAT">
      <short_desc>Gate size for optical flow fusion</short_desc>
      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
      <min>1.0</min>
      <unit>SD</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="0.5" name="EKF2_OF_N_MAX" type="FLOAT">
      <short_desc>Measurement noise for the optical flow sensor</short_desc>
      <long_desc>(when it's reported quality metric is at the minimum set by EKF2_OF_QMIN). The following condition must be met: EKF2_OF_N_MAXN &gt;= EKF2_OF_N_MIN</long_desc>
      <min>0.05</min>
      <unit>rad/s</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.15" name="EKF2_OF_N_MIN" type="FLOAT">
      <short_desc>Measurement noise for the optical flow sensor when it's reported quality metric is at the maximum</short_desc>
      <min>0.05</min>
      <unit>rad/s</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.0" name="EKF2_OF_POS_X" type="FLOAT">
      <short_desc>X position of optical flow focal point in body frame (forward axis with origin relative to vehicle centre of gravity)</short_desc>
      <unit>m</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0.0" name="EKF2_OF_POS_Y" type="FLOAT">
      <short_desc>Y position of optical flow focal point in body frame (right axis with origin relative to vehicle centre of gravity)</short_desc>
      <unit>m</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0.0" name="EKF2_OF_POS_Z" type="FLOAT">
      <short_desc>Z position of optical flow focal point in body frame (down axis with origin relative to vehicle centre of gravity)</short_desc>
      <unit>m</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="1" name="EKF2_OF_QMIN" type="INT32">
      <short_desc>Optical Flow data will only be used if the sensor reports a quality metric &gt;= EKF2_OF_QMIN</short_desc>
      <min>0</min>
      <max>255</max>
    </parameter>
    <parameter default="0.0" name="EKF2_PCOEF_XN" type="FLOAT">
      <short_desc>Static pressure position error coefficient for the negative X axis</short_desc>
      <long_desc>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.</long_desc>
      <min>-0.5</min>
      <max>0.5</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.0" name="EKF2_PCOEF_XP" type="FLOAT">
      <short_desc>Static pressure position error coefficient for the positive X axis</short_desc>
      <long_desc>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.</long_desc>
      <min>-0.5</min>
      <max>0.5</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.0" name="EKF2_PCOEF_YN" type="FLOAT">
      <short_desc>Pressure position error coefficient for the negative Y axis</short_desc>
      <long_desc>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.</long_desc>
      <min>-0.5</min>
      <max>0.5</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.0" name="EKF2_PCOEF_YP" type="FLOAT">
      <short_desc>Pressure position error coefficient for the positive Y axis</short_desc>
      <long_desc>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.</long_desc>
      <min>-0.5</min>
      <max>0.5</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.0" name="EKF2_PCOEF_Z" type="FLOAT">
      <short_desc>Static pressure position error coefficient for the Z axis</short_desc>
      <long_desc>This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the Z body axis.</long_desc>
      <min>-0.5</min>
      <max>0.5</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="3.0" name="EKF2_REQ_EPH" type="FLOAT">
      <short_desc>Required EPH to use GPS</short_desc>
      <min>2</min>
      <max>100</max>
      <unit>m</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="5.0" name="EKF2_REQ_EPV" type="FLOAT">
      <short_desc>Required EPV to use GPS</short_desc>
      <min>2</min>
      <max>100</max>
      <unit>m</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="10.0" name="EKF2_REQ_GPS_H" type="FLOAT">
      <short_desc>Required GPS health time on startup</short_desc>
      <long_desc>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.</long_desc>
      <min>0.1</min>
      <unit>s</unit>
      <decimal>1</decimal>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0.1" name="EKF2_REQ_HDRIFT" type="FLOAT">
      <short_desc>Maximum horizontal drift speed to use GPS</short_desc>
      <min>0.1</min>
      <max>1.0</max>
      <unit>m/s</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="6" name="EKF2_REQ_NSATS" type="INT32">
      <short_desc>Required satellite count to use GPS</short_desc>
      <min>4</min>
      <max>12</max>
    </parameter>
    <parameter default="2.5" name="EKF2_REQ_PDOP" type="FLOAT">
      <short_desc>Maximum PDOP to use GPS</short_desc>
      <min>1.5</min>
      <max>5.0</max>
      <decimal>1</decimal>
    </parameter>
    <parameter default="0.5" name="EKF2_REQ_SACC" type="FLOAT">
      <short_desc>Required speed accuracy to use GPS</short_desc>
      <min>0.5</min>
      <max>5.0</max>
      <unit>m/s</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.2" name="EKF2_REQ_VDRIFT" type="FLOAT">
      <short_desc>Maximum vertical drift speed to use GPS</short_desc>
      <min>0.1</min>
      <max>1.5</max>
      <unit>m/s</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0" name="EKF2_RNG_AID" type="INT32">
      <short_desc>Range sensor aid</short_desc>
      <long_desc>If this parameter is enabled then the estimator will make use of the range finder measurements to estimate it's height even if range sensor is not the primary height source. It will only do so if conditions for range measurement fusion are met. This enables the range finder to be used during low speed and low altitude 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. If vehicle motion causes repeated switching between the primary height sensor and range finder, an offset in the local position origin can accumulate. Also 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.</long_desc>
      <values>
        <value code="0">Range aid disabled</value>
        <value code="1">Range aid enabled</value>
      </values>
    </parameter>
    <parameter default="5.0" name="EKF2_RNG_A_HMAX" type="FLOAT">
      <short_desc>Maximum absolute altitude (height above ground level) allowed for range aid mode</short_desc>
      <long_desc>If the vehicle absolute altitude exceeds this value then the estimator will not fuse range measurements to estimate it's height. This only applies when range aid mode is activated (EKF2_RNG_AID = enabled).</long_desc>
      <min>1.0</min>
      <max>10.0</max>
      <unit>m</unit>
    </parameter>
    <parameter default="1.0" name="EKF2_RNG_A_IGATE" type="FLOAT">
      <short_desc>Gate size used for innovation consistency checks for range aid fusion</short_desc>
      <long_desc>A lower value means HAGL needs to be more stable in order to use range finder for height estimation in range aid mode</long_desc>
      <min>0.1</min>
      <max>5.0</max>
      <unit>SD</unit>
    </parameter>
    <parameter default="1.0" name="EKF2_RNG_A_VMAX" type="FLOAT">
      <short_desc>Maximum horizontal velocity allowed for range aid mode</short_desc>
      <long_desc>If the vehicle horizontal speed exceeds this value then the estimator will not fuse range measurements to estimate it's height. This only applies when range aid mode is activated (EKF2_RNG_AID = enabled).</long_desc>
      <min>0.1</min>
      <max>2</max>
      <unit>m/s</unit>
    </parameter>
    <parameter default="5" name="EKF2_RNG_DELAY" type="FLOAT">
      <short_desc>Range finder measurement delay relative to IMU measurements</short_desc>
      <min>0</min>
      <max>300</max>
      <unit>ms</unit>
      <decimal>1</decimal>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="5.0" name="EKF2_RNG_GATE" type="FLOAT">
      <short_desc>Gate size for range finder fusion</short_desc>
      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
      <min>1.0</min>
      <unit>SD</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="0.1" name="EKF2_RNG_NOISE" type="FLOAT">
      <short_desc>Measurement noise for range finder fusion</short_desc>
      <min>0.01</min>
      <unit>m</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.0" name="EKF2_RNG_PITCH" type="FLOAT">
      <short_desc>Range sensor pitch offset</short_desc>
      <min>-0.75</min>
      <max>0.75</max>
      <unit>rad</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0.0" name="EKF2_RNG_POS_X" type="FLOAT">
      <short_desc>X position of range finder origin in body frame (forward axis with origin relative to vehicle centre of gravity)</short_desc>
      <unit>m</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0.0" name="EKF2_RNG_POS_Y" type="FLOAT">
      <short_desc>Y position of range finder origin in body frame (right axis with origin relative to vehicle centre of gravity)</short_desc>
      <unit>m</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0.0" name="EKF2_RNG_POS_Z" type="FLOAT">
      <short_desc>Z position of range finder origin in body frame (down axis with origin relative to vehicle centre of gravity)</short_desc>
      <unit>m</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="1.0" name="EKF2_RNG_QLTY_T" type="FLOAT">
      <short_desc>Minimum duration during which the reported range finder signal quality needs to be non-zero in order to be declared valid (s)</short_desc>
      <min>0.1</min>
      <max>5</max>
      <unit>s</unit>
    </parameter>
    <parameter default="0.05" name="EKF2_RNG_SFE" type="FLOAT">
      <short_desc>Range finder range dependant noise scaler</short_desc>
      <long_desc>Specifies the increase in range finder noise with range.</long_desc>
      <min>0.0</min>
      <max>0.2</max>
      <unit>m/m</unit>
    </parameter>
    <parameter default="0.2" name="EKF2_SEL_ERR_RED" type="FLOAT">
      <short_desc>Selector error reduce threshold</short_desc>
      <long_desc>EKF2 instances have to be better than the selected by at least this amount before their relative score can be reduced.</long_desc>
    </parameter>
    <parameter default="1.0" name="EKF2_SEL_IMU_ACC" type="FLOAT">
      <short_desc>Selector acceleration threshold</short_desc>
      <long_desc>EKF2 selector acceleration error threshold for comparing accelerometers. Acceleration vector differences larger than this will result in accumulated velocity error.</long_desc>
      <unit>m/s^2</unit>
    </parameter>
    <parameter default="15.0" name="EKF2_SEL_IMU_ANG" type="FLOAT">
      <short_desc>Selector angular threshold</short_desc>
      <long_desc>EKF2 selector maximum accumulated angular error threshold for comparing gyros. Accumulated angular error larger than this will result in the sensor being declared faulty.</long_desc>
      <unit>deg</unit>
    </parameter>
    <parameter default="7.0" name="EKF2_SEL_IMU_RAT" type="FLOAT">
      <short_desc>Selector angular rate threshold</short_desc>
      <long_desc>EKF2 selector angular rate error threshold for comparing gyros. Angular rate vector differences larger than this will result in accumulated angular error.</long_desc>
      <unit>deg/s</unit>
    </parameter>
    <parameter default="2.0" name="EKF2_SEL_IMU_VEL" type="FLOAT">
      <short_desc>Selector angular threshold</short_desc>
      <long_desc>EKF2 selector maximum accumulated velocity threshold for comparing accelerometers. Accumulated velocity error larger than this will result in the sensor being declared faulty.</long_desc>
      <unit>m/s</unit>
    </parameter>
    <parameter boolean="true" default="0" name="EKF2_SYNT_MAG_Z" type="INT32">
      <short_desc>Enable synthetic magnetometer Z component measurement</short_desc>
      <long_desc>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 ingored instead of fusing the synthetic value.</long_desc>
    </parameter>
    <parameter default="3.0" name="EKF2_TAS_GATE" type="FLOAT">
      <short_desc>Gate size for TAS fusion</short_desc>
      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
      <min>1.0</min>
      <unit>SD</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="0.25" name="EKF2_TAU_POS" type="FLOAT">
      <short_desc>Time constant of the position output prediction and smoothing filter. Controls how tightly the output track the EKF states</short_desc>
      <min>0.1</min>
      <max>1.0</max>
      <unit>s</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.25" name="EKF2_TAU_VEL" type="FLOAT">
      <short_desc>Time constant of the velocity output prediction and smoothing filter</short_desc>
      <max>1.0</max>
      <unit>s</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.5" name="EKF2_TERR_GRAD" type="FLOAT">
      <short_desc>Magnitude of terrain gradient</short_desc>
      <min>0.0</min>
      <unit>m/m</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="3" name="EKF2_TERR_MASK" type="INT32">
      <short_desc>Integer bitmask controlling fusion sources of the terrain estimator</short_desc>
      <long_desc>Set bits in the following positions to enable: 0 : Set to true to use range finder data if available 1 : Set to true to use optical flow data if available</long_desc>
      <min>0</min>
      <max>3</max>
      <bitmask>
        <bit index="0">use range finder</bit>
        <bit index="1">use optical flow</bit>
      </bitmask>
    </parameter>
    <parameter default="5.0" name="EKF2_TERR_NOISE" type="FLOAT">
      <short_desc>Terrain altitude process noise - accounts for instability in vehicle height estimate</short_desc>
      <min>0.5</min>
      <unit>m/s</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="1.0e-1" name="EKF2_WIND_NOISE" type="FLOAT">
      <short_desc>Process noise for wind velocity prediction</short_desc>
      <min>0.0</min>
      <max>1.0</max>
      <unit>m/s^2</unit>
      <decimal>3</decimal>
    </parameter>
  </group>
  <group name="Events">
    <parameter boolean="true" default="0" name="EV_TSK_RC_LOSS" type="INT32">
      <short_desc>RC Loss Alarm</short_desc>
      <long_desc>Enable/disable event task for RC Loss. When enabled, an alarm tune will be played via buzzer or ESCs, if supported. The alarm will sound after a disarm, if the vehicle was previously armed and only if the vehicle had RC signal at some point. Particularly useful for locating crashed drones without a GPS sensor.</long_desc>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter boolean="true" default="0" name="EV_TSK_STAT_DIS" type="INT32">
      <short_desc>Status Display</short_desc>
      <long_desc>Enable/disable event task for displaying the vehicle status using arm-mounted LEDs. When enabled and if the vehicle supports it, LEDs will flash indicating various vehicle status changes. Currently PX4 has not implemented any specific status events. -</long_desc>
      <reboot_required>true</reboot_required>
    </parameter>
  </group>
  <group name="FW Attitude Control">
    <parameter default="90" name="FW_ACRO_X_MAX" type="FLOAT">
      <short_desc>Acro body x max rate</short_desc>
      <long_desc>This is the rate the controller is trying to achieve if the user applies full roll stick input in acro mode.</long_desc>
      <min>45</min>
      <max>720</max>
      <unit>deg</unit>
    </parameter>
    <parameter default="90" name="FW_ACRO_Y_MAX" type="FLOAT">
      <short_desc>Acro body y max rate</short_desc>
      <long_desc>This is the body y rate the controller is trying to achieve if the user applies full pitch stick input in acro mode.</long_desc>
      <min>45</min>
      <max>720</max>
      <unit>deg</unit>
    </parameter>
    <parameter default="45" name="FW_ACRO_Z_MAX" type="FLOAT">
      <short_desc>Acro body z max rate</short_desc>
      <long_desc>This is the body z rate the controller is trying to achieve if the user applies full yaw stick input in acro mode.</long_desc>
      <min>10</min>
      <max>180</max>
      <unit>deg</unit>
    </parameter>
    <parameter default="0" name="FW_ARSP_MODE" type="INT32">
      <short_desc>Airspeed mode</short_desc>
      <long_desc>For small wings or VTOL without airspeed sensor this parameter can be used to enable flying without an airspeed reading</long_desc>
      <values>
        <value code="0">Normal (use airspeed if available)</value>
        <value code="1">Airspeed disabled</value>
      </values>
    </parameter>
    <parameter boolean="true" default="1" name="FW_ARSP_SCALE_EN" type="INT32">
      <short_desc>Enable airspeed scaling</short_desc>
      <long_desc>This enables a logic that automatically adjusts the output of the rate controller to take into account the real torque produced by an aerodynamic control surface given the current deviation from the trim airspeed (FW_AIRSPD_TRIM). Enable when using aerodynamic control surfaces (e.g.: plane) Disable when using rotor wings (e.g.: autogyro)</long_desc>
    </parameter>
    <parameter boolean="true" default="0" name="FW_BAT_SCALE_EN" type="INT32">
      <short_desc>Whether to scale throttle by battery power level</short_desc>
      <long_desc>This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The fixed wing should constantly behave as if it was fully charged with reduced max thrust at lower battery percentages. i.e. if cruise speed is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery.</long_desc>
    </parameter>
    <parameter default="0.0" name="FW_DTRIM_P_FLPS" type="FLOAT">
      <short_desc>Pitch trim increment for flaps configuration</short_desc>
      <long_desc>This increment is added to the pitch trim whenever flaps are fully deployed.</long_desc>
      <min>-0.25</min>
      <max>0.25</max>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.0" name="FW_DTRIM_P_VMAX" type="FLOAT">
      <short_desc>Pitch trim increment at maximum airspeed</short_desc>
      <long_desc>This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MAX.</long_desc>
      <min>-0.25</min>
      <max>0.25</max>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.0" name="FW_DTRIM_P_VMIN" type="FLOAT">
      <short_desc>Pitch trim increment at minimum airspeed</short_desc>
      <long_desc>This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MIN.</long_desc>
      <min>-0.25</min>
      <max>0.25</max>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.0" name="FW_DTRIM_R_FLPS" type="FLOAT">
      <short_desc>Roll trim increment for flaps configuration</short_desc>
      <long_desc>This increment is added to TRIM_ROLL whenever flaps are fully deployed.</long_desc>
      <min>-0.25</min>
      <max>0.25</max>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.0" name="FW_DTRIM_R_VMAX" type="FLOAT">
      <short_desc>Roll trim increment at maximum airspeed</short_desc>
      <long_desc>This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MAX.</long_desc>
      <min>-0.25</min>
      <max>0.25</max>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.0" name="FW_DTRIM_R_VMIN" type="FLOAT">
      <short_desc>Roll trim increment at minimum airspeed</short_desc>
      <long_desc>This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MIN.</long_desc>
      <min>-0.25</min>
      <max>0.25</max>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.0" name="FW_DTRIM_Y_VMAX" type="FLOAT">
      <short_desc>Yaw trim increment at maximum airspeed</short_desc>
      <long_desc>This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MAX.</long_desc>
      <min>-0.25</min>
      <max>0.25</max>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.0" name="FW_DTRIM_Y_VMIN" type="FLOAT">
      <short_desc>Yaw trim increment at minimum airspeed</short_desc>
      <long_desc>This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MIN.</long_desc>
      <min>-0.25</min>
      <max>0.25</max>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.0" name="FW_FLAPERON_SCL" type="FLOAT">
      <short_desc>Scale factor for flaperons</short_desc>
      <min>0.0</min>
      <max>1.0</max>
      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="1.0" name="FW_FLAPS_LND_SCL" type="FLOAT">
      <short_desc>Flaps setting during landing</short_desc>
      <long_desc>Sets a fraction of full flaps (FW_FLAPS_SCL) during landing</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="1.0" name="FW_FLAPS_SCL" type="FLOAT">
      <short_desc>Scale factor for flaps</short_desc>
      <min>0.0</min>
      <max>1.0</max>
      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.0" name="FW_FLAPS_TO_SCL" type="FLOAT">
      <short_desc>Flaps setting during take-off</short_desc>
      <long_desc>Sets a fraction of full flaps (FW_FLAPS_SCL) during take-off</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="45.0" name="FW_MAN_P_MAX" type="FLOAT">
      <short_desc>Max manual pitch</short_desc>
      <long_desc>Max pitch for manual control in attitude stabilized mode</long_desc>
      <min>0.0</min>
      <max>90.0</max>
      <unit>deg</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="1.0" name="FW_MAN_P_SC" type="FLOAT">
      <short_desc>Manual pitch scale</short_desc>
      <long_desc>Scale factor applied to the desired pitch actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.</long_desc>
      <min>0.0</min>
      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="45.0" name="FW_MAN_R_MAX" type="FLOAT">
      <short_desc>Max manual roll</short_desc>
      <long_desc>Max roll for manual control in attitude stabilized mode</long_desc>
      <min>0.0</min>
      <max>90.0</max>
      <unit>deg</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="1.0" name="FW_MAN_R_SC" type="FLOAT">
      <short_desc>Manual roll scale</short_desc>
      <long_desc>Scale factor applied to the desired roll actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="1.0" name="FW_MAN_Y_SC" type="FLOAT">
      <short_desc>Manual yaw scale</short_desc>
      <long_desc>Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.</long_desc>
      <min>0.0</min>
      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.5" name="FW_PR_FF" type="FLOAT">
      <short_desc>Pitch rate feed forward</short_desc>
      <long_desc>Direct feed forward from rate setpoint to control surface output</long_desc>
      <min>0.0</min>
      <max>10.0</max>
      <unit>%/rad/s</unit>
      <decimal>2</decimal>
      <increment>0.05</increment>
    </parameter>
    <parameter default="0.1" name="FW_PR_I" type="FLOAT">
      <short_desc>Pitch rate integrator gain</short_desc>
      <long_desc>This gain defines how much control response will result out of a steady state error. It trims any constant error.</long_desc>
      <min>0.005</min>
      <max>0.5</max>
      <unit>%/rad</unit>
      <decimal>3</decimal>
      <increment>0.005</increment>
    </parameter>
    <parameter default="0.4" name="FW_PR_IMAX" type="FLOAT">
      <short_desc>Pitch rate integrator limit</short_desc>
      <long_desc>The portion of the integrator part in the control surface deflection is limited to this value</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <decimal>2</decimal>
      <increment>0.05</increment>
    </parameter>
    <parameter default="0.08" name="FW_PR_P" type="FLOAT">
      <short_desc>Pitch rate proportional gain</short_desc>
      <long_desc>This defines how much the elevator input will be commanded depending on the current body angular rate error.</long_desc>
      <min>0.005</min>
      <max>1.0</max>
      <unit>%/rad/s</unit>
      <decimal>3</decimal>
      <increment>0.005</increment>
    </parameter>
    <parameter default="0.0" name="FW_PSP_OFF" type="FLOAT">
      <short_desc>Pitch setpoint offset (pitch at level flight)</short_desc>
      <long_desc>An airframe specific offset of the pitch setpoint in degrees, the value is added to the pitch setpoint and should correspond to the pitch at typical cruise speed of the airframe.</long_desc>
      <min>-90.0</min>
      <max>90.0</max>
      <unit>deg</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="60.0" name="FW_P_RMAX_NEG" type="FLOAT">
      <short_desc>Maximum negative / down pitch rate</short_desc>
      <long_desc>This limits the maximum pitch down up angular rate the controller will output (in degrees per second).</long_desc>
      <min>0.0</min>
      <max>90.0</max>
      <unit>deg/s</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="60.0" name="FW_P_RMAX_POS" type="FLOAT">
      <short_desc>Maximum positive / up pitch rate</short_desc>
      <long_desc>This limits the maximum pitch up angular rate the controller will output (in degrees per second).</long_desc>
      <min>0.0</min>
      <max>90.0</max>
      <unit>deg/s</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="0.4" name="FW_P_TC" type="FLOAT">
      <short_desc>Attitude pitch time constant</short_desc>
      <long_desc>This defines the latency between a pitch step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed.</long_desc>
      <min>0.2</min>
      <max>1.0</max>
      <unit>s</unit>
      <decimal>2</decimal>
      <increment>0.05</increment>
    </parameter>
    <parameter default="0.0" name="FW_RLL_TO_YAW_FF" type="FLOAT">
      <short_desc>Roll control to yaw control feedforward gain</short_desc>
      <long_desc>This gain can be used to counteract the "adverse yaw" effect for fixed wings. When the plane enters a roll it will tend to yaw the nose out of the turn. This gain enables the use of a yaw actuator (rudder, airbrakes, ...) to counteract this effect.</long_desc>
      <min>0.0</min>
      <decimal>1</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.5" name="FW_RR_FF" type="FLOAT">
      <short_desc>Roll rate feed forward</short_desc>
      <long_desc>Direct feed forward from rate setpoint to control surface output. Use this to obtain a tigher response of the controller without introducing noise amplification.</long_desc>
      <min>0.0</min>
      <max>10.0</max>
      <unit>%/rad/s</unit>
      <decimal>2</decimal>
      <increment>0.05</increment>
    </parameter>
    <parameter default="0.1" name="FW_RR_I" type="FLOAT">
      <short_desc>Roll rate integrator Gain</short_desc>
      <long_desc>This gain defines how much control response will result out of a steady state error. It trims any constant error.</long_desc>
      <min>0.005</min>
      <max>0.2</max>
      <unit>%/rad</unit>
      <decimal>3</decimal>
      <increment>0.005</increment>
    </parameter>
    <parameter default="0.2" name="FW_RR_IMAX" type="FLOAT">
      <short_desc>Roll integrator anti-windup</short_desc>
      <long_desc>The portion of the integrator part in the control surface deflection is limited to this value.</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <decimal>2</decimal>
      <increment>0.05</increment>
    </parameter>
    <parameter default="0.05" name="FW_RR_P" type="FLOAT">
      <short_desc>Roll rate proportional Gain</short_desc>
      <long_desc>This defines how much the aileron input will be commanded depending on the current body angular rate error.</long_desc>
      <min>0.005</min>
      <max>1.0</max>
      <unit>%/rad/s</unit>
      <decimal>3</decimal>
      <increment>0.005</increment>
    </parameter>
    <parameter default="70.0" name="FW_R_RMAX" type="FLOAT">
      <short_desc>Maximum roll rate</short_desc>
      <long_desc>This limits the maximum roll rate the controller will output (in degrees per second).</long_desc>
      <min>0.0</min>
      <max>90.0</max>
      <unit>deg/s</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="0.4" name="FW_R_TC" type="FLOAT">
      <short_desc>Attitude Roll Time Constant</short_desc>
      <long_desc>This defines the latency between a roll step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed.</long_desc>
      <min>0.4</min>
      <max>1.0</max>
      <unit>s</unit>
      <decimal>2</decimal>
      <increment>0.05</increment>
    </parameter>
    <parameter default="0.2" name="FW_WR_FF" type="FLOAT">
      <short_desc>Wheel steering rate feed forward</short_desc>
      <long_desc>Direct feed forward from rate setpoint to control surface output</long_desc>
      <min>0.0</min>
      <max>10.0</max>
      <unit>%/rad/s</unit>
      <decimal>2</decimal>
      <increment>0.05</increment>
    </parameter>
    <parameter default="0.1" name="FW_WR_I" type="FLOAT">
      <short_desc>Wheel steering rate integrator gain</short_desc>
      <long_desc>This gain defines how much control response will result out of a steady state error. It trims any constant error.</long_desc>
      <min>0.005</min>
      <max>0.5</max>
      <unit>%/rad</unit>
      <decimal>3</decimal>
      <increment>0.005</increment>
    </parameter>
    <parameter default="1.0" name="FW_WR_IMAX" type="FLOAT">
      <short_desc>Wheel steering rate integrator limit</short_desc>
      <long_desc>The portion of the integrator part in the control surface deflection is limited to this value</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <decimal>2</decimal>
      <increment>0.05</increment>
    </parameter>
    <parameter default="0.5" name="FW_WR_P" type="FLOAT">
      <short_desc>Wheel steering rate proportional gain</short_desc>
      <long_desc>This defines how much the wheel steering input will be commanded depending on the current body angular rate error.</long_desc>
      <min>0.005</min>
      <max>1.0</max>
      <unit>%/rad/s</unit>
      <decimal>3</decimal>
      <increment>0.005</increment>
    </parameter>
    <parameter boolean="true" default="0" name="FW_W_EN" type="INT32">
      <short_desc>Enable wheel steering controller</short_desc>
    </parameter>
    <parameter default="30.0" name="FW_W_RMAX" type="FLOAT">
      <short_desc>Maximum wheel steering rate</short_desc>
      <long_desc>This limits the maximum wheel steering rate the controller will output (in degrees per second).</long_desc>
      <min>0.0</min>
      <max>90.0</max>
      <unit>deg/s</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="0.3" name="FW_YR_FF" type="FLOAT">
      <short_desc>Yaw rate feed forward</short_desc>
      <long_desc>Direct feed forward from rate setpoint to control surface output</long_desc>
      <min>0.0</min>
      <max>10.0</max>
      <unit>%/rad/s</unit>
      <decimal>2</decimal>
      <increment>0.05</increment>
    </parameter>
    <parameter default="0.1" name="FW_YR_I" type="FLOAT">
      <short_desc>Yaw rate integrator gain</short_desc>
      <long_desc>This gain defines how much control response will result out of a steady state error. It trims any constant error.</long_desc>
      <min>0.0</min>
      <max>50.0</max>
      <unit>%/rad</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="0.2" name="FW_YR_IMAX" type="FLOAT">
      <short_desc>Yaw rate integrator limit</short_desc>
      <long_desc>The portion of the integrator part in the control surface deflection is limited to this value</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <decimal>2</decimal>
      <increment>0.05</increment>
    </parameter>
    <parameter default="0.05" name="FW_YR_P" type="FLOAT">
      <short_desc>Yaw rate proportional gain</short_desc>
      <long_desc>This defines how much the rudder input will be commanded depending on the current body angular rate error.</long_desc>
      <min>0.005</min>
      <max>1.0</max>
      <unit>%/rad/s</unit>
      <decimal>3</decimal>
      <increment>0.005</increment>
    </parameter>
    <parameter default="50.0" name="FW_Y_RMAX" type="FLOAT">
      <short_desc>Maximum yaw rate</short_desc>
      <long_desc>This limits the maximum yaw rate the controller will output (in degrees per second).</long_desc>
      <min>0.0</min>
      <max>90.0</max>
      <unit>deg/s</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
  </group>
  <group name="FW L1 Control">
    <parameter default="10.0" name="FW_CLMBOUT_DIFF" type="FLOAT">
      <short_desc>Climbout Altitude difference</short_desc>
      <long_desc>If the altitude error exceeds this parameter, the system will climb out with maximum throttle and minimum airspeed until it is closer than this distance to the desired altitude. Mostly used for takeoff waypoints / modes. Set to 0 to disable climbout mode (not recommended).</long_desc>
      <min>0.0</min>
      <max>150.0</max>
      <unit>m</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="0.75" name="FW_L1_DAMPING" type="FLOAT">
      <short_desc>L1 damping</short_desc>
      <long_desc>Damping factor for L1 control.</long_desc>
      <min>0.6</min>
      <max>0.9</max>
      <decimal>2</decimal>
      <increment>0.05</increment>
    </parameter>
    <parameter default="20.0" name="FW_L1_PERIOD" type="FLOAT">
      <short_desc>L1 period</short_desc>
      <long_desc>This is the L1 distance and defines the tracking point ahead of the aircraft its following. A value of 18-25 meters works for most aircraft. Shorten slowly during tuning until response is sharp without oscillation.</long_desc>
      <min>12.0</min>
      <max>50.0</max>
      <unit>m</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="90.0" name="FW_L1_R_SLEW_MAX" type="FLOAT">
      <short_desc>L1 controller roll slew rate limit</short_desc>
      <long_desc>The maxium change in roll angle setpoint per second.</long_desc>
      <min>0</min>
      <unit>deg/s</unit>
      <increment>1</increment>
    </parameter>
    <parameter default="1.3" name="FW_LND_AIRSPD_SC" type="FLOAT">
      <short_desc>Min. airspeed scaling factor for landing</short_desc>
      <long_desc>Multiplying this factor with the minimum airspeed of the plane gives the target airspeed the landing approach. FW_AIRSPD_MIN * FW_LND_AIRSPD_SC</long_desc>
      <min>1.0</min>
      <max>1.5</max>
      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="5.0" name="FW_LND_ANG" type="FLOAT">
      <short_desc>Landing slope angle</short_desc>
      <min>1.0</min>
      <max>15.0</max>
      <unit>deg</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter boolean="true" default="0" name="FW_LND_EARLYCFG" type="INT32">
      <short_desc>Early landing configuration deployment</short_desc>
      <long_desc>When disabled, the landing configuration (flaps, landing airspeed, etc.) is only activated on the final approach to landing. When enabled, it is already activated when entering the final loiter-down (loiter-to-alt) waypoint before the landing approach. This shifts the (often large) altitude and airspeed errors caused by the configuration change away from the ground such that these are not so critical. It also gives the controller enough time to adapt to the new configuration such that the landing approach starts with a cleaner initial state.</long_desc>
    </parameter>
    <parameter default="3.0" name="FW_LND_FLALT" type="FLOAT">
      <short_desc>Landing flare altitude (relative to landing altitude)</short_desc>
      <min>0.0</min>
      <max>25.0</max>
      <unit>m</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="15.0" name="FW_LND_FL_PMAX" type="FLOAT">
      <short_desc>Flare, maximum pitch</short_desc>
      <long_desc>Maximum pitch during flare, a positive sign means nose up Applied once FW_LND_FLALT is reached</long_desc>
      <min>0</min>
      <max>45.0</max>
      <unit>deg</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="2.5" name="FW_LND_FL_PMIN" type="FLOAT">
      <short_desc>Flare, minimum pitch</short_desc>
      <long_desc>Minimum pitch during flare, a positive sign means nose up Applied once FW_LND_FLALT is reached</long_desc>
      <min>0</min>
      <max>15.0</max>
      <unit>deg</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="15.0" name="FW_LND_HHDIST" type="FLOAT">
      <short_desc>Landing heading hold horizontal distance</short_desc>
      <long_desc>Set to 0 to disable heading hold.</long_desc>
      <min>0</min>
      <max>30.0</max>
      <unit>m</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="10.0" name="FW_LND_HVIRT" type="FLOAT">
      <short_desc>FW_LND_HVIRT</short_desc>
      <min>1.0</min>
      <max>15.0</max>
      <unit>m</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="1.0" name="FW_LND_THRTC_SC" type="FLOAT">
      <short_desc>Altitude time constant factor for landing</short_desc>
      <long_desc>Set this parameter to less than 1.0 to make TECS react faster to altitude errors during landing than during normal flight (i.e. giving efficiency and low motor wear at high altitudes but control accuracy during landing). During landing, the TECS altitude time constant (FW_T_ALT_TC) is multiplied by this value.</long_desc>
      <min>0.2</min>
      <max>1.0</max>
      <unit />
      <increment>0.1</increment>
    </parameter>
    <parameter default="-1.0" name="FW_LND_TLALT" type="FLOAT">
      <short_desc>Landing throttle limit altitude (relative landing altitude)</short_desc>
      <long_desc>Default of -1.0 lets the system default to applying throttle limiting at 2/3 of the flare altitude.</long_desc>
      <min>-1.0</min>
      <max>30.0</max>
      <unit>m</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter boolean="true" default="0" name="FW_LND_USETER" type="INT32">
      <short_desc>Use terrain estimate during landing</short_desc>
      <long_desc>This is turned off by default and a waypoint or return altitude is normally used (or sea level for an arbitrary land position).</long_desc>
    </parameter>
    <parameter default="0" name="FW_POSCTL_INV_ST" type="INT32">
      <short_desc>RC stick mapping fixed-wing</short_desc>
      <long_desc>Set RC/joystick configuration for fixed-wing position and altitude controlled flight.</long_desc>
      <min>0</min>
      <max>1</max>
      <values>
        <value code="0">Normal stick configuration (airspeed on throttle stick, altitude on pitch stick)</value>
        <value code="1">Alternative stick configuration (altitude on throttle stick, airspeed on pitch stick)</value>
      </values>
    </parameter>
    <parameter default="45.0" name="FW_P_LIM_MAX" type="FLOAT">
      <short_desc>Positive pitch limit</short_desc>
      <long_desc>The maximum positive pitch the controller will output.</long_desc>
      <min>0.0</min>
      <max>60.0</max>
      <unit>deg</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="-45.0" name="FW_P_LIM_MIN" type="FLOAT">
      <short_desc>Negative pitch limit</short_desc>
      <long_desc>The minimum negative pitch the controller will output.</long_desc>
      <min>-60.0</min>
      <max>0.0</max>
      <unit>deg</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="50.0" name="FW_R_LIM" type="FLOAT">
      <short_desc>Controller roll limit</short_desc>
      <long_desc>The maximum roll the controller will output.</long_desc>
      <min>35.0</min>
      <max>65.0</max>
      <unit>deg</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="0.0" name="FW_THR_ALT_SCL" type="FLOAT">
      <short_desc>Scale throttle by pressure change</short_desc>
      <long_desc>Automatically adjust throttle to account for decreased air density at higher altitudes. Start with a scale factor of 1.0 and adjust for different propulsion systems. When flying without airspeed sensor this will help to keep a constant performance over large altitude ranges. The default value of 0 will disable scaling.</long_desc>
      <min>0.0</min>
      <max>10.0</max>
      <decimal>1</decimal>
      <increment>0.1</increment>
    </parameter>
    <parameter default="0.6" name="FW_THR_CRUISE" type="FLOAT">
      <short_desc>Cruise throttle</short_desc>
      <long_desc>This is the throttle setting required to achieve the desired cruise speed. Most airframes have a value of 0.5-0.7.</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.15" name="FW_THR_IDLE" type="FLOAT">
      <short_desc>Idle throttle</short_desc>
      <long_desc>This is the minimum throttle while on the ground For aircraft with internal combustion engine this parameter should be set above desired idle rpm.</long_desc>
      <min>0.0</min>
      <max>0.4</max>
      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="1.0" name="FW_THR_LND_MAX" type="FLOAT">
      <short_desc>Throttle limit during landing below throttle limit altitude</short_desc>
      <long_desc>During the flare of the autonomous landing process, this value will be set as throttle limit when the aircraft altitude is below FW_LND_TLALT.</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="1.0" name="FW_THR_MAX" type="FLOAT">
      <short_desc>Throttle limit max</short_desc>
      <long_desc>This is the maximum throttle % that can be used by the controller. For overpowered aircraft, this should be reduced to a value that provides sufficient thrust to climb at the maximum pitch angle PTCH_MAX.</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.0" name="FW_THR_MIN" type="FLOAT">
      <short_desc>Throttle limit min</short_desc>
      <long_desc>This is the minimum throttle % that can be used by the controller. For electric aircraft this will normally be set to zero, but can be set to a small non-zero value if a folding prop is fitted to prevent the prop from folding and unfolding repeatedly in-flight or to provide some aerodynamic drag from a turning prop to improve the descent rate. For aircraft with internal combustion engine this parameter should be set for desired idle rpm.</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.0" name="FW_THR_SLEW_MAX" type="FLOAT">
      <short_desc>Throttle max slew rate</short_desc>
      <long_desc>Maximum slew rate for the commanded throttle</long_desc>
      <min>0.0</min>
      <max>1.0</max>
    </parameter>
    <parameter default="10.0" name="FW_TKO_PITCH_MIN" type="FLOAT">
      <short_desc>Minimum pitch during takeoff</short_desc>
      <min>-5.0</min>
      <max>30.0</max>
      <unit>deg</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
  </group>
  <group name="FW Launch detection">
    <parameter boolean="true" default="0" name="LAUN_ALL_ON" type="INT32">
      <short_desc>Launch detection</short_desc>
    </parameter>
    <parameter default="30.0" name="LAUN_CAT_A" type="FLOAT">
      <short_desc>Catapult accelerometer threshold</short_desc>
      <long_desc>LAUN_CAT_A for LAUN_CAT_T serves as threshold to trigger launch detection.</long_desc>
      <min>0</min>
      <unit>m/s^2</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="0.0" name="LAUN_CAT_MDEL" type="FLOAT">
      <short_desc>Motor delay</short_desc>
      <long_desc>Delay between starting attitude control and powering up the throttle (giving throttle control to the controller) Before this timespan is up the throttle will be set to FW_THR_IDLE, set to 0 to deactivate</long_desc>
      <min>0.0</min>
      <max>10.0</max>
      <unit>s</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="30.0" name="LAUN_CAT_PMAX" type="FLOAT">
      <short_desc>Maximum pitch before the throttle is powered up (during motor delay phase)</short_desc>
      <long_desc>This is an extra limit for the maximum pitch which is imposed in the phase before the throttle turns on. This allows to limit the maximum pitch angle during a bungee launch (make the launch less steep).</long_desc>
      <min>0.0</min>
      <max>45.0</max>
      <unit>deg</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="0.05" name="LAUN_CAT_T" type="FLOAT">
      <short_desc>Catapult time threshold</short_desc>
      <long_desc>LAUN_CAT_A for LAUN_CAT_T serves as threshold to trigger launch detection.</long_desc>
      <min>0.0</min>
      <max>5.0</max>
      <unit>s</unit>
      <decimal>2</decimal>
      <increment>0.05</increment>
    </parameter>
  </group>
  <group name="FW TECS">
    <parameter default="20.0" name="FW_AIRSPD_MAX" type="FLOAT">
      <short_desc>Maximum Airspeed (CAS)</short_desc>
      <long_desc>If the CAS (calibrated airspeed) is above this value, the TECS controller will try to decrease airspeed more aggressively.</long_desc>
      <min>0.5</min>
      <max>40</max>
      <unit>m/s</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="10.0" name="FW_AIRSPD_MIN" type="FLOAT">
      <short_desc>Minimum Airspeed (CAS)</short_desc>
      <long_desc>If the CAS (calibrated airspeed) falls below this value, the TECS controller will try to increase airspeed more aggressively.</long_desc>
      <min>0.5</min>
      <max>40</max>
      <unit>m/s</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="15.0" name="FW_AIRSPD_TRIM" type="FLOAT">
      <short_desc>Cruise Airspeed (CAS)</short_desc>
      <long_desc>The trim CAS (calibrated airspeed) of the vehicle. If an airspeed controller is active, this is the default airspeed setpoint that the controller will try to achieve if no other airspeed setpoint sources are present (e.g. through non-centered RC sticks).</long_desc>
      <min>0.5</min>
      <max>40</max>
      <unit>m/s</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="5.0" name="FW_GND_SPD_MIN" type="FLOAT">
      <short_desc>Minimum groundspeed</short_desc>
      <long_desc>The controller will increase the commanded airspeed to maintain this minimum groundspeed to the next waypoint.</long_desc>
      <min>0.0</min>
      <max>40</max>
      <unit>m/s</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="5.0" name="FW_T_ALT_TC" type="FLOAT">
      <short_desc>Altitude error time constant</short_desc>
      <min>2.0</min>
      <decimal>2</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="5.0" name="FW_T_CLMB_MAX" type="FLOAT">
      <short_desc>Maximum climb rate</short_desc>
      <long_desc>This is the best climb rate that the aircraft can achieve with the throttle set to THR_MAX and the airspeed set to the default value. For electric aircraft make sure this number can be achieved towards the end of flight when the battery voltage has reduced. The setting of this parameter can be checked by commanding a positive altitude change of 100m in loiter, RTL or guided mode. If the throttle required to climb is close to THR_MAX and the aircraft is maintaining airspeed, then this parameter is set correctly. If the airspeed starts to reduce, then the parameter is set to high, and if the throttle demand required to climb and maintain speed is noticeably less than FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or FW_THR_MAX reduced.</long_desc>
      <min>1.0</min>
      <max>15.0</max>
      <unit>m/s</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="0.3" name="FW_T_HRATE_FF" type="FLOAT">
      <short_desc>Height rate feed forward</short_desc>
      <min>0.0</min>
      <max>1.0</max>
      <decimal>2</decimal>
      <increment>0.05</increment>
    </parameter>
    <parameter default="0.1" name="FW_T_I_GAIN_PIT" type="FLOAT">
      <short_desc>Integrator gain pitch</short_desc>
      <long_desc>This is the integrator gain on the pitch part of the control loop. Increasing this gain increases the speed at which speed and height offsets are trimmed out, but reduces damping and increases overshoot. Set this value to zero to completely disable all integrator action.</long_desc>
      <min>0.0</min>
      <max>2.0</max>
      <decimal>2</decimal>
      <increment>0.05</increment>
    </parameter>
    <parameter default="0.3" name="FW_T_I_GAIN_THR" type="FLOAT">
      <short_desc>Integrator gain throttle</short_desc>
      <long_desc>This is the integrator gain on the throttle part of the control loop. Increasing this gain increases the speed at which speed and height offsets are trimmed out, but reduces damping and increases overshoot. Set this value to zero to completely disable all integrator action.</long_desc>
      <min>0.0</min>
      <max>2.0</max>
      <decimal>2</decimal>
      <increment>0.05</increment>
    </parameter>
    <parameter default="0.1" name="FW_T_PTCH_DAMP" type="FLOAT">
      <short_desc>Pitch damping factor</short_desc>
      <long_desc>This is the damping gain for the pitch demand loop. Increase to add damping to correct for oscillations in height. The default value of 0.0 will work well provided the pitch to servo controller has been tuned properly.</long_desc>
      <min>0.0</min>
      <max>2.0</max>
      <decimal>2</decimal>
      <increment>0.1</increment>
    </parameter>
    <parameter default="15.0" name="FW_T_RLL2THR" type="FLOAT">
      <short_desc>Roll -&gt; Throttle feedforward</short_desc>
      <long_desc>Increasing this gain turn increases the amount of throttle that will be used to compensate for the additional drag created by turning. Ideally this should be set to  approximately 10 x the extra sink rate in m/s created by a 45 degree bank turn. Increase this gain if the aircraft initially loses energy in turns and reduce if the aircraft initially gains energy in turns. Efficient high aspect-ratio aircraft (eg powered sailplanes) can use a lower value, whereas inefficient low aspect-ratio models (eg delta wings) can use a higher value.</long_desc>
      <min>0.0</min>
      <max>20.0</max>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="1.0" name="FW_T_SEB_R_FF" type="FLOAT">
      <short_desc>Specific total energy balance rate feedforward gain</short_desc>
      <min>0.5</min>
      <max>3</max>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="5.0" name="FW_T_SINK_MAX" type="FLOAT">
      <short_desc>Maximum descent rate</short_desc>
      <long_desc>This sets the maximum descent rate that the controller will use. If this value is too large, the aircraft can over-speed on descent. This should be set to a value that can be achieved without exceeding the lower pitch angle limit and without over-speeding the aircraft.</long_desc>
      <min>1.0</min>
      <max>15.0</max>
      <unit>m/s</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="2.0" name="FW_T_SINK_MIN" type="FLOAT">
      <short_desc>Minimum descent rate</short_desc>
      <long_desc>This is the sink rate of the aircraft with the throttle set to THR_MIN and flown at the same airspeed as used to measure FW_T_CLMB_MAX.</long_desc>
      <min>1.0</min>
      <max>5.0</max>
      <unit>m/s</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="1.0" name="FW_T_SPDWEIGHT" type="FLOAT">
      <short_desc>Speed &lt;--&gt; Altitude priority</short_desc>
      <long_desc>This parameter adjusts the amount of weighting that the pitch control applies to speed vs height errors. Setting it to 0.0 will cause the pitch control to control height and ignore speed errors. This will normally improve height accuracy but give larger airspeed errors. Setting it to 2.0 will cause the pitch control loop to control speed and ignore height errors. This will normally reduce airspeed errors, but give larger height errors. The default value of 1.0 allows the pitch control to simultaneously control height and speed. Note to Glider Pilots - set this parameter to 2.0 (The glider will adjust its pitch angle to maintain airspeed, ignoring changes in height).</long_desc>
      <min>0.0</min>
      <max>2.0</max>
      <decimal>1</decimal>
      <increment>1.0</increment>
    </parameter>
    <parameter default="2.0" name="FW_T_SPD_OMEGA" type="FLOAT">
      <short_desc>Complementary filter "omega" parameter for speed</short_desc>
      <long_desc>This is the cross-over frequency (in radians/second) of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain an improved airspeed estimate. Increasing this frequency weights the solution more towards use of the airspeed sensor, whilst reducing it weights the solution more towards use of the accelerometer data.</long_desc>
      <min>1.0</min>
      <max>10.0</max>
      <unit>rad/s</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="0.4" name="FW_T_STE_R_TC" type="FLOAT">
      <short_desc>Specific total energy rate first order filter time constant</short_desc>
      <long_desc>This filter is applied to the specific total energy rate used for throttle damping.</long_desc>
      <min>0.0</min>
      <max>2</max>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.2" name="FW_T_TAS_R_TC" type="FLOAT">
      <short_desc>True airspeed rate first order filter time constant</short_desc>
      <long_desc>This filter is applied to the true airspeed rate.</long_desc>
      <min>0.0</min>
      <max>2</max>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="5.0" name="FW_T_TAS_TC" type="FLOAT">
      <short_desc>True airspeed error time constant</short_desc>
      <min>2.0</min>
      <decimal>2</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="0.1" name="FW_T_THR_DAMP" type="FLOAT">
      <short_desc>Throttle damping factor</short_desc>
      <long_desc>This is the damping gain for the throttle demand loop. Increase to add damping to correct for oscillations in speed and height.</long_desc>
      <min>0.0</min>
      <max>2.0</max>
      <decimal>2</decimal>
      <increment>0.1</increment>
    </parameter>
    <parameter default="7.0" name="FW_T_VERT_ACC" type="FLOAT">
      <short_desc>Maximum vertical acceleration</short_desc>
      <long_desc>This is the maximum vertical acceleration (in m/s/s) either up or down that the controller will use to correct speed or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) allows for reasonably aggressive pitch changes if required to recover from under-speed conditions.</long_desc>
      <min>1.0</min>
      <max>10.0</max>
      <unit>m/s^2</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
  </group>
  <group name="Failure Detector">
    <parameter boolean="true" default="1" name="FD_ESCS_EN" type="INT32">
      <short_desc>Enable checks on ESCs that report their arming state</short_desc>
      <long_desc>If enabled, failure detector will verify that all the ESCs have successfully armed when the vehicle has transitioned to the armed state. Timeout for receiving an acknowledgement from the ESCs is 0.3s, if no feedback is received the failure detector will auto disarm the vehicle.</long_desc>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter boolean="true" default="0" name="FD_EXT_ATS_EN" type="INT32">
      <short_desc>Enable PWM input on for engaging failsafe from an external automatic trigger system (ATS)</short_desc>
      <long_desc>Enabled on either AUX5 or MAIN5 depending on board. External ATS is required by ASTM F3322-18.</long_desc>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="1900" name="FD_EXT_ATS_TRIG" type="INT32">
      <short_desc>The PWM threshold from external automatic trigger system for engaging failsafe</short_desc>
      <long_desc>External ATS is required by ASTM F3322-18.</long_desc>
      <unit>us</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="60" name="FD_FAIL_P" type="INT32">
      <short_desc>FailureDetector Max Pitch</short_desc>
      <long_desc>Maximum pitch angle before FailureDetector triggers the attitude_failure flag. The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0), which sets outputs to their failsafe values. On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM), which disarms motors but does not set outputs to failsafe values. Setting this parameter to 0 disables the check</long_desc>
      <min>60</min>
      <max>180</max>
      <unit>deg</unit>
    </parameter>
    <parameter default="0.3" name="FD_FAIL_P_TTRI" type="FLOAT">
      <short_desc>Pitch failure trigger time</short_desc>
      <long_desc>Seconds (decimal) that pitch has to exceed FD_FAIL_P before being considered as a failure.</long_desc>
      <min>0.02</min>
      <max>5</max>
      <unit>s</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="60" name="FD_FAIL_R" type="INT32">
      <short_desc>FailureDetector Max Roll</short_desc>
      <long_desc>Maximum roll angle before FailureDetector triggers the attitude_failure flag. The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0), which sets outputs to their failsafe values. On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM), which disarms motors but does not set outputs to failsafe values. Setting this parameter to 0 disables the check</long_desc>
      <min>60</min>
      <max>180</max>
      <unit>deg</unit>
    </parameter>
    <parameter default="0.3" name="FD_FAIL_R_TTRI" type="FLOAT">
      <short_desc>Roll failure trigger time</short_desc>
      <long_desc>Seconds (decimal) that roll has to exceed FD_FAIL_R before being considered as a failure.</long_desc>
      <min>0.02</min>
      <max>5</max>
      <unit>s</unit>
      <decimal>2</decimal>
    </parameter>
  </group>
  <group name="Follow target">
    <parameter default="8.0" name="NAV_FT_DST" type="FLOAT">
      <short_desc>Distance to follow target from</short_desc>
      <long_desc>The distance in meters to follow the target at</long_desc>
      <min>1.0</min>
      <unit>m</unit>
    </parameter>
    <parameter default="1" name="NAV_FT_FS" type="INT32">
      <short_desc>Side to follow target from</short_desc>
      <long_desc>The side to follow the target from (front right = 0, behind = 1, front = 2, front left = 3)</long_desc>
      <min>0</min>
      <max>3</max>
    </parameter>
    <parameter default="0.5" name="NAV_FT_RS" type="FLOAT">
      <short_desc>Dynamic filtering algorithm responsiveness to target movement</short_desc>
      <long_desc>lower numbers increase the responsiveness to changing long lat but also ignore less noise</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="8.0" name="NAV_MIN_FT_HT" type="FLOAT">
      <short_desc>Minimum follow target altitude</short_desc>
      <long_desc>The minimum height in meters relative to home for following a target</long_desc>
      <min>8.0</min>
      <unit>m</unit>
    </parameter>
  </group>
  <group name="GPS">
    <parameter default="0" name="GPS_1_GNSS" type="INT32">
      <short_desc>GNSS Systems for Primary GPS (integer bitmask)</short_desc>
      <long_desc>This integer bitmask controls the set of GNSS systems used by the receiver. Check your receiver's documentation on how many systems are supported to be used in parallel. Currently this functionality is just implemented for u-blox receivers. When no bits are set, the receiver's default configuration should be used. Set bits true to enable: 0 : Use GPS (with QZSS) 1 : Use SBAS (multiple GPS augmentation systems) 2 : Use Galileo 3 : Use BeiDou 4 : Use GLONASS</long_desc>
      <min>0</min>
      <max>31</max>
      <reboot_required>true</reboot_required>
      <bitmask>
        <bit index="0">GPS (with QZSS)</bit>
        <bit index="1">SBAS</bit>
        <bit index="2">Galileo</bit>
        <bit index="3">BeiDou</bit>
        <bit index="4">GLONASS</bit>
      </bitmask>
    </parameter>
    <parameter default="1" name="GPS_1_PROTOCOL" type="INT32">
      <short_desc>Protocol for Main GPS</short_desc>
      <long_desc>Select the GPS protocol over serial. Auto-detection will probe all protocols, and thus is a bit slower.</long_desc>
      <min>0</min>
      <max>4</max>
      <reboot_required>true</reboot_required>
      <values>
        <value code="0">Auto detect</value>
        <value code="1">u-blox</value>
        <value code="2">MTK</value>
        <value code="3">Ashtech / Trimble</value>
        <value code="4">Emlid Reach</value>
      </values>
    </parameter>
    <parameter default="0" name="GPS_2_GNSS" type="INT32">
      <short_desc>GNSS Systems for Secondary GPS (integer bitmask)</short_desc>
      <long_desc>This integer bitmask controls the set of GNSS systems used by the receiver. Check your receiver's documentation on how many systems are supported to be used in parallel. Currently this functionality is just implemented for u-blox receivers. When no bits are set, the receiver's default configuration should be used. Set bits true to enable: 0 : Use GPS (with QZSS) 1 : Use SBAS (multiple GPS augmentation systems) 2 : Use Galileo 3 : Use BeiDou 4 : Use GLONASS</long_desc>
      <min>0</min>
      <max>31</max>
      <reboot_required>true</reboot_required>
      <bitmask>
        <bit index="0">GPS (with QZSS)</bit>
        <bit index="1">SBAS</bit>
        <bit index="2">Galileo</bit>
        <bit index="3">BeiDou</bit>
        <bit index="4">GLONASS</bit>
      </bitmask>
    </parameter>
    <parameter default="1" name="GPS_2_PROTOCOL" type="INT32">
      <short_desc>Protocol for Secondary GPS</short_desc>
      <long_desc>Select the GPS protocol over serial. Auto-detection will probe all protocols, and thus is a bit slower.</long_desc>
      <min>0</min>
      <max>4</max>
      <reboot_required>true</reboot_required>
      <values>
        <value code="0">Auto detect</value>
        <value code="1">u-blox</value>
        <value code="2">MTK</value>
        <value code="3">Ashtech / Trimble</value>
        <value code="4">Emlid Reach</value>
      </values>
    </parameter>
    <parameter default="0" name="GPS_DUMP_COMM" type="INT32">
      <short_desc>Dump GPS communication to a file</short_desc>
      <long_desc>If this is set to 1, all GPS communication data will be published via uORB, and written to the log file as gps_dump message.</long_desc>
      <min>0</min>
      <max>1</max>
      <values>
        <value code="0">Disable</value>
        <value code="1">Enable</value>
      </values>
    </parameter>
    <parameter default="7" name="GPS_UBX_DYNMODEL" type="INT32">
      <short_desc>u-blox GPS dynamic platform model</short_desc>
      <long_desc>u-blox receivers support different dynamic platform models to adjust the navigation engine to the expected application environment.</long_desc>
      <min>0</min>
      <max>9</max>
      <reboot_required>true</reboot_required>
      <values>
        <value code="2">stationary</value>
        <value code="4">automotive</value>
        <value code="6">airborne with &lt;1g acceleration</value>
        <value code="7">airborne with &lt;2g acceleration</value>
        <value code="8">airborne with &lt;4g acceleration</value>
      </values>
    </parameter>
    <parameter default="0" name="GPS_UBX_MODE" type="INT32">
      <short_desc>u-blox GPS Mode</short_desc>
      <long_desc>Select the u-blox configuration setup. Most setups will use the default, including RTK and dual GPS without heading. The Heading mode requires 2 F9P devices to be attached. The main GPS will act as rover and output heading information, whereas the secondary will act as moving base, sending RTCM on UART2 to the rover GPS. RTK is still possible with this setup.</long_desc>
      <min>0</min>
      <max>1</max>
      <reboot_required>true</reboot_required>
      <values>
        <value code="0">Default</value>
        <value code="1">Heading</value>
      </values>
    </parameter>
    <parameter default="0." name="GPS_YAW_OFFSET" type="FLOAT">
      <short_desc>Heading/Yaw offset for dual antenna GPS</short_desc>
      <long_desc>Heading offset angle for dual antenna GPS setups that support heading estimation. (currently only for the Trimble MB-Two). Set this to 0 if the antennas are parallel to the forward-facing direction of the vehicle and the first antenna is in front. The offset angle increases clockwise. Set this to 90 if the first antenna is placed on the right side and the second on the left side of the vehicle.</long_desc>
      <min>0</min>
      <max>360</max>
      <unit>deg</unit>
      <decimal>0</decimal>
      <reboot_required>true</reboot_required>
    </parameter>
  </group>
  <group name="GPS Failure Navigation">
    <parameter default="0.0" name="NAV_GPSF_LT" type="FLOAT">
      <short_desc>Loiter time</short_desc>
      <long_desc>The time in seconds the system should do open loop loiter and wait for GPS recovery before it goes into flight termination. Set to 0 to disable.</long_desc>
      <min>0.0</min>
      <max>3600.0</max>
      <unit>s</unit>
      <decimal>0</decimal>
      <increment>1</increment>
    </parameter>
    <parameter default="0.0" name="NAV_GPSF_P" type="FLOAT">
      <short_desc>Fixed pitch angle</short_desc>
      <long_desc>Pitch in degrees during the open loop loiter</long_desc>
      <min>-30.0</min>
      <max>30.0</max>
      <unit>deg</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="15.0" name="NAV_GPSF_R" type="FLOAT">
      <short_desc>Fixed bank angle</short_desc>
      <long_desc>Roll in degrees during the loiter</long_desc>
      <min>0.0</min>
      <max>30.0</max>
      <unit>deg</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="0.0" name="NAV_GPSF_TR" type="FLOAT">
      <short_desc>Thrust</short_desc>
      <long_desc>Thrust value which is set during the open loop loiter</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.05</increment>
    </parameter>
  </group>
  <group name="Geofence">
    <parameter default="2" name="GF_ACTION" type="INT32">
      <short_desc>Geofence violation action</short_desc>
      <long_desc>Note: Setting this value to 4 enables flight termination, which will kill the vehicle on violation of the fence. Due to the inherent danger of this, this function is disabled using a software circuit breaker, which needs to be reset to 0 to really shut down the system.</long_desc>
      <min>0</min>
      <max>5</max>
      <values>
        <value code="0">None</value>
        <value code="1">Warning</value>
        <value code="2">Hold mode</value>
        <value code="3">Return mode</value>
        <value code="4">Terminate</value>
        <value code="5">Land mode</value>
      </values>
    </parameter>
    <parameter default="0" name="GF_ALTMODE" type="INT32">
      <short_desc>Geofence altitude mode</short_desc>
      <long_desc>Select which altitude (AMSL) source should be used for geofence calculations.</long_desc>
      <min>0</min>
      <max>1</max>
      <values>
        <value code="0">Autopilot estimator global position altitude (GPS)</value>
        <value code="1">Raw barometer altitude (assuming standard atmospheric pressure)</value>
      </values>
    </parameter>
    <parameter default="-1" name="GF_COUNT" type="INT32">
      <short_desc>Geofence counter limit</short_desc>
      <long_desc>Set how many subsequent position measurements outside of the fence are needed before geofence violation is triggered</long_desc>
      <min>-1</min>
      <max>10</max>
      <increment>1</increment>
    </parameter>
    <parameter default="0" name="GF_MAX_HOR_DIST" type="FLOAT">
      <short_desc>Max horizontal distance in meters</short_desc>
      <long_desc>Maximum horizontal distance in meters the vehicle can be from home before triggering a geofence action. Disabled if 0.</long_desc>
      <min>0</min>
      <max>10000</max>
      <unit>m</unit>
      <increment>1</increment>
    </parameter>
    <parameter default="0" name="GF_MAX_VER_DIST" type="FLOAT">
      <short_desc>Max vertical distance in meters</short_desc>
      <long_desc>Maximum vertical distance in meters the vehicle can be from home before triggering a geofence action. Disabled if 0.</long_desc>
      <min>0</min>
      <max>10000</max>
      <unit>m</unit>
      <increment>1</increment>
    </parameter>
    <parameter default="0" name="GF_SOURCE" type="INT32">
      <short_desc>Geofence source</short_desc>
      <long_desc>Select which position source should be used. Selecting GPS instead of global position makes sure that there is no dependence on the position estimator 0 = global position, 1 = GPS</long_desc>
      <min>0</min>
      <max>1</max>
      <values>
        <value code="0">GPOS</value>
        <value code="1">GPS</value>
      </values>
    </parameter>
  </group>
  <group name="Hover Thrust Estimator">
    <parameter default="3.0" name="HTE_ACC_GATE" type="FLOAT">
      <short_desc>Gate size for acceleration fusion</short_desc>
      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
      <min>1.0</min>
      <max>10.0</max>
      <unit>SD</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="0.1" name="HTE_HT_ERR_INIT" type="FLOAT">
      <short_desc>1-sigma initial hover thrust uncertainty</short_desc>
      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <unit>normalized_thrust</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0.0036" name="HTE_HT_NOISE" type="FLOAT">
      <short_desc>Hover thrust process noise</short_desc>
      <long_desc>Reduce to make the hover thrust estimate more stable, increase if the real hover thrust is expected to change quickly over time.</long_desc>
      <min>0.0001</min>
      <max>1.0</max>
      <unit>normalized_thrust/s</unit>
      <decimal>4</decimal>
    </parameter>
  </group>
  <group name="Land Detector">
    <parameter default="6.00" name="LNDFW_AIRSPD_MAX" type="FLOAT">
      <short_desc>Airspeed max</short_desc>
      <long_desc>Maximum airspeed allowed in the landed state</long_desc>
      <min>4</min>
      <max>20</max>
      <unit>m/s</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="5.0" name="LNDFW_VEL_XY_MAX" type="FLOAT">
      <short_desc>Fixedwing max horizontal velocity</short_desc>
      <long_desc>Maximum horizontal velocity allowed in the landed state</long_desc>
      <min>0.5</min>
      <max>10</max>
      <unit>m/s</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="3.0" name="LNDFW_VEL_Z_MAX" type="FLOAT">
      <short_desc>Fixedwing max climb rate</short_desc>
      <long_desc>Maximum vertical velocity allowed in the landed state</long_desc>
      <min>0.1</min>
      <max>20</max>
      <unit>m/s</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="8.0" name="LNDFW_XYACC_MAX" type="FLOAT">
      <short_desc>Fixedwing max horizontal acceleration</short_desc>
      <long_desc>Maximum horizontal (x,y body axes) acceleration allowed in the landed state</long_desc>
      <min>2</min>
      <max>15</max>
      <unit>m/s^2</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="-1.0" name="LNDMC_ALT_GND" type="FLOAT">
      <short_desc>Ground effect altitude for multicopters</short_desc>
      <long_desc>The height above ground below which ground effect creates barometric altitude errors. A negative value indicates no ground effect.</long_desc>
      <min>-1</min>
      <unit>m</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="-1.0" name="LNDMC_ALT_MAX" type="FLOAT">
      <short_desc>Maximum altitude for multicopters</short_desc>
      <long_desc>The system will obey this limit as a hard altitude limit. This setting will be consolidated with the GF_MAX_VER_DIST parameter. A negative value indicates no altitude limitation.</long_desc>
      <min>-1</min>
      <max>10000</max>
      <unit>m</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="20.0" name="LNDMC_ROT_MAX" type="FLOAT">
      <short_desc>Multicopter max rotation</short_desc>
      <long_desc>Maximum allowed angular velocity around each axis allowed in the landed state.</long_desc>
      <unit>deg/s</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="1.5" name="LNDMC_XY_VEL_MAX" type="FLOAT">
      <short_desc>Multicopter max horizontal velocity</short_desc>
      <long_desc>Maximum horizontal velocity allowed in the landed state</long_desc>
      <unit>m/s</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="0.50" name="LNDMC_Z_VEL_MAX" type="FLOAT">
      <short_desc>Multicopter max climb rate</short_desc>
      <long_desc>Maximum vertical velocity allowed in the landed state</long_desc>
      <unit>m/s</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter category="System" default="0" name="LND_FLIGHT_T_HI" type="INT32" volatile="true">
      <short_desc>Total flight time in microseconds</short_desc>
      <long_desc>Total flight time of this autopilot. Higher 32 bits of the value. Flight time in microseconds = (LND_FLIGHT_T_HI &lt;&lt; 32) | LND_FLIGHT_T_LO.</long_desc>
      <min>0</min>
    </parameter>
    <parameter category="System" default="0" name="LND_FLIGHT_T_LO" type="INT32" volatile="true">
      <short_desc>Total flight time in microseconds</short_desc>
      <long_desc>Total flight time of this autopilot. Lower 32 bits of the value. Flight time in microseconds = (LND_FLIGHT_T_HI &lt;&lt; 32) | LND_FLIGHT_T_LO.</long_desc>
      <min>0</min>
    </parameter>
  </group>
  <group name="Landing target Estimator">
    <parameter default="10.0" name="LTEST_ACC_UNC" type="FLOAT">
      <short_desc>Acceleration uncertainty</short_desc>
      <long_desc>Variance of acceleration measurement used for landing target position prediction. Higher values results in tighter following of the measurements and more lenient outlier rejection</long_desc>
      <min>0.01</min>
      <unit>(m/s^2)^2</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.005" name="LTEST_MEAS_UNC" type="FLOAT">
      <short_desc>Landing target measurement uncertainty</short_desc>
      <long_desc>Variance of the landing target measurement from the driver. Higher values results in less agressive following of the measurement and a smoother output as well as fewer rejected measurements.</long_desc>
      <unit>tan(rad)^2</unit>
      <decimal>4</decimal>
    </parameter>
    <parameter default="0" name="LTEST_MODE" type="INT32">
      <short_desc>Landing target mode</short_desc>
      <long_desc>Configure the mode of the landing target. Depending on the mode, the landing target observations are used differently to aid position estimation. Mode 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. Mode Stationary: The landing target is stationary. Measured velocity w.r.t. the landing target is used to aid velocity estimation.</long_desc>
      <min>0</min>
      <max>1</max>
      <values>
        <value code="0">Moving</value>
        <value code="1">Stationary</value>
      </values>
    </parameter>
    <parameter default="0.1" name="LTEST_POS_UNC_IN" type="FLOAT">
      <short_desc>Initial landing target position uncertainty</short_desc>
      <long_desc>Initial variance of the relative landing target position in x and y direction</long_desc>
      <min>0.001</min>
      <unit>m^2</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="1.0" name="LTEST_SCALE_X" type="FLOAT">
      <short_desc>Scale factor for sensor measurements in sensor x axis</short_desc>
      <long_desc>Landing target x measurements are scaled by this factor before being used</long_desc>
      <min>0.01</min>
      <decimal>3</decimal>
    </parameter>
    <parameter default="1.0" name="LTEST_SCALE_Y" type="FLOAT">
      <short_desc>Scale factor for sensor measurements in sensor y axis</short_desc>
      <long_desc>Landing target y measurements are scaled by this factor before being used</long_desc>
      <min>0.01</min>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0.1" name="LTEST_VEL_UNC_IN" type="FLOAT">
      <short_desc>Initial landing target velocity uncertainty</short_desc>
      <long_desc>Initial variance of the relative landing target velocity in x and y direction</long_desc>
      <min>0.001</min>
      <unit>(m/s)^2</unit>
      <decimal>3</decimal>
    </parameter>
  </group>
  <group name="Local Position Estimator">
    <parameter default="0.012" name="LPE_ACC_XY" type="FLOAT">
      <short_desc>Accelerometer xy noise density</short_desc>
      <long_desc>Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz) Larger than data sheet to account for tilt error.</long_desc>
      <min>0.00001</min>
      <max>2</max>
      <unit>m/s^2/sqrt(Hz)</unit>
      <decimal>4</decimal>
    </parameter>
    <parameter default="0.02" name="LPE_ACC_Z" type="FLOAT">
      <short_desc>Accelerometer z noise density</short_desc>
      <long_desc>Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz)</long_desc>
      <min>0.00001</min>
      <max>2</max>
      <unit>m/s^2/sqrt(Hz)</unit>
      <decimal>4</decimal>
    </parameter>
    <parameter default="3.0" name="LPE_BAR_Z" type="FLOAT">
      <short_desc>Barometric presssure altitude z standard deviation</short_desc>
      <min>0.01</min>
      <max>100</max>
      <unit>m</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="3.0" name="LPE_EPH_MAX" type="FLOAT">
      <short_desc>Max EPH allowed for GPS initialization</short_desc>
      <min>1.0</min>
      <max>5.0</max>
      <unit>m</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="5.0" name="LPE_EPV_MAX" type="FLOAT">
      <short_desc>Max EPV allowed for GPS initialization</short_desc>
      <min>1.0</min>
      <max>5.0</max>
      <unit>m</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0" name="LPE_FAKE_ORIGIN" type="INT32">
      <short_desc>Enable publishing of a fake global position (e.g for AUTO missions using Optical Flow)</short_desc>
      <long_desc>By initializing the estimator to the LPE_LAT/LON parameters when global information is unavailable</long_desc>
      <min>0</min>
      <max>1</max>
    </parameter>
    <parameter default="0.001" name="LPE_FGYRO_HP" type="FLOAT">
      <short_desc>Flow gyro high pass filter cut off frequency</short_desc>
      <min>0</min>
      <max>2</max>
      <unit>Hz</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0.0" name="LPE_FLW_OFF_Z" type="FLOAT">
      <short_desc>Optical flow z offset from center</short_desc>
      <min>-1</min>
      <max>1</max>
      <unit>m</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="150" name="LPE_FLW_QMIN" type="INT32">
      <short_desc>Optical flow minimum quality threshold</short_desc>
      <min>0</min>
      <max>255</max>
      <decimal>0</decimal>
    </parameter>
    <parameter default="7.0" name="LPE_FLW_R" type="FLOAT">
      <short_desc>Optical flow rotation (roll/pitch) noise gain</short_desc>
      <min>0.1</min>
      <max>10.0</max>
      <unit>m/s/rad</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="7.0" name="LPE_FLW_RR" type="FLOAT">
      <short_desc>Optical flow angular velocity noise gain</short_desc>
      <min>0.0</min>
      <max>10.0</max>
      <unit>m/rad</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="1.3" name="LPE_FLW_SCALE" type="FLOAT">
      <short_desc>Optical flow scale</short_desc>
      <min>0.1</min>
      <max>10.0</max>
      <unit>m</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="145" name="LPE_FUSION" type="INT32">
      <short_desc>Integer bitmask controlling data fusion</short_desc>
      <long_desc>Set bits in the following positions to enable: 0 : Set to true to fuse GPS data if available, also requires GPS for altitude init 1 : Set to true to fuse optical flow data if available 2 : Set to true to fuse vision position 3 : Set to true to enable landing target 4 : Set to true to fuse land detector 5 : Set to true to publish AGL as local position down component 6 : Set to true to enable flow gyro compensation 7 : Set to true to enable baro fusion default (145 - GPS, baro, land detector)</long_desc>
      <min>0</min>
      <max>255</max>
      <bitmask>
        <bit index="0">fuse GPS, requires GPS for alt. init</bit>
        <bit index="1">fuse optical flow</bit>
        <bit index="2">fuse vision position</bit>
        <bit index="3">fuse landing target</bit>
        <bit index="4">fuse land detector</bit>
        <bit index="5">pub agl as lpos down</bit>
        <bit index="6">flow gyro compensation</bit>
        <bit index="7">fuse baro</bit>
      </bitmask>
    </parameter>
    <parameter default="0.29" name="LPE_GPS_DELAY" type="FLOAT">
      <short_desc>GPS delay compensaton</short_desc>
      <min>0</min>
      <max>0.4</max>
      <unit>s</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.25" name="LPE_GPS_VXY" type="FLOAT">
      <short_desc>GPS xy velocity standard deviation</short_desc>
      <long_desc>EPV used if greater than this value.</long_desc>
      <min>0.01</min>
      <max>2</max>
      <unit>m/s</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0.25" name="LPE_GPS_VZ" type="FLOAT">
      <short_desc>GPS z velocity standard deviation</short_desc>
      <min>0.01</min>
      <max>2</max>
      <unit>m/s</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="1.0" name="LPE_GPS_XY" type="FLOAT">
      <short_desc>Minimum GPS xy standard deviation, uses reported EPH if greater</short_desc>
      <min>0.01</min>
      <max>5</max>
      <unit>m</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="3.0" name="LPE_GPS_Z" type="FLOAT">
      <short_desc>Minimum GPS z standard deviation, uses reported EPV if greater</short_desc>
      <min>0.01</min>
      <max>200</max>
      <unit>m</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.05" name="LPE_LAND_VXY" type="FLOAT">
      <short_desc>Land detector xy velocity standard deviation</short_desc>
      <min>0.01</min>
      <max>10.0</max>
      <unit>m/s</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0.03" name="LPE_LAND_Z" type="FLOAT">
      <short_desc>Land detector z standard deviation</short_desc>
      <min>0.001</min>
      <max>10.0</max>
      <unit>m</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="47.397742" name="LPE_LAT" type="FLOAT">
      <short_desc>Local origin latitude for nav w/o GPS</short_desc>
      <min>-90</min>
      <max>90</max>
      <unit>deg</unit>
      <decimal>8</decimal>
    </parameter>
    <parameter default="0.00" name="LPE_LDR_OFF_Z" type="FLOAT">
      <short_desc>Lidar z offset from center of vehicle +down</short_desc>
      <min>-1</min>
      <max>1</max>
      <unit>m</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0.03" name="LPE_LDR_Z" type="FLOAT">
      <short_desc>Lidar z standard deviation</short_desc>
      <min>0.01</min>
      <max>1</max>
      <unit>m</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="8.545594" name="LPE_LON" type="FLOAT">
      <short_desc>Local origin longitude for nav w/o GPS</short_desc>
      <min>-180</min>
      <max>180</max>
      <unit>deg</unit>
      <decimal>8</decimal>
    </parameter>
    <parameter default="0.0001" name="LPE_LT_COV" type="FLOAT">
      <short_desc>Minimum landing target standard covariance, uses reported covariance if greater</short_desc>
      <min>0.0</min>
      <max>10</max>
      <unit>m^2</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="1e-3" name="LPE_PN_B" type="FLOAT">
      <short_desc>Accel bias propagation noise density</short_desc>
      <min>0</min>
      <max>1</max>
      <unit>m/s^3/sqrt(Hz)</unit>
      <decimal>8</decimal>
    </parameter>
    <parameter default="0.1" name="LPE_PN_P" type="FLOAT">
      <short_desc>Position propagation noise density</short_desc>
      <long_desc>Increase to trust measurements more. Decrease to trust model more.</long_desc>
      <min>0</min>
      <max>1</max>
      <unit>m/s/sqrt(Hz)</unit>
      <decimal>8</decimal>
    </parameter>
    <parameter default="0.001" name="LPE_PN_T" type="FLOAT">
      <short_desc>Terrain random walk noise density, hilly/outdoor (0.1), flat/Indoor (0.001)</short_desc>
      <min>0</min>
      <max>1</max>
      <unit>m/s/sqrt(Hz)</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0.1" name="LPE_PN_V" type="FLOAT">
      <short_desc>Velocity propagation noise density</short_desc>
      <long_desc>Increase to trust measurements more. Decrease to trust model more.</long_desc>
      <min>0</min>
      <max>1</max>
      <unit>m/s^2/sqrt(Hz)</unit>
      <decimal>8</decimal>
    </parameter>
    <parameter default="0.00" name="LPE_SNR_OFF_Z" type="FLOAT">
      <short_desc>Sonar z offset from center of vehicle +down</short_desc>
      <min>-1</min>
      <max>1</max>
      <unit>m</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0.05" name="LPE_SNR_Z" type="FLOAT">
      <short_desc>Sonar z standard deviation</short_desc>
      <min>0.01</min>
      <max>1</max>
      <unit>m</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="1.0" name="LPE_T_MAX_GRADE" type="FLOAT">
      <short_desc>Terrain maximum percent grade, hilly/outdoor (100 = 45 deg), flat/Indoor (0 = 0 deg)</short_desc>
      <long_desc>Used to calculate increased terrain random walk nosie due to movement.</long_desc>
      <min>0</min>
      <max>100</max>
      <unit>%</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0.001" name="LPE_VIC_P" type="FLOAT">
      <short_desc>Vicon position standard deviation</short_desc>
      <min>0.0001</min>
      <max>1</max>
      <unit>m</unit>
      <decimal>4</decimal>
    </parameter>
    <parameter default="0.1" name="LPE_VIS_DELAY" type="FLOAT">
      <short_desc>Vision delay compensaton</short_desc>
      <long_desc>Set to zero to enable automatic compensation from measurement timestamps</long_desc>
      <min>0</min>
      <max>0.1</max>
      <unit>s</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.1" name="LPE_VIS_XY" type="FLOAT">
      <short_desc>Vision xy standard deviation</short_desc>
      <min>0.01</min>
      <max>1</max>
      <unit>m</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0.5" name="LPE_VIS_Z" type="FLOAT">
      <short_desc>Vision z standard deviation</short_desc>
      <min>0.01</min>
      <max>100</max>
      <unit>m</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0.3" name="LPE_VXY_PUB" type="FLOAT">
      <short_desc>Required velocity xy standard deviation to publish position</short_desc>
      <min>0.01</min>
      <max>1.0</max>
      <unit>m/s</unit>
      <decimal>3</decimal>
    </parameter>
    <parameter default="5.0" name="LPE_X_LP" type="FLOAT">
      <short_desc>Cut frequency for state publication</short_desc>
      <min>5</min>
      <max>1000</max>
      <unit>Hz</unit>
      <decimal>0</decimal>
    </parameter>
    <parameter default="1.0" name="LPE_Z_PUB" type="FLOAT">
      <short_desc>Required z standard deviation to publish altitude/ terrain</short_desc>
      <min>0.3</min>
      <max>5.0</max>
      <unit>m</unit>
      <decimal>1</decimal>
    </parameter>
  </group>
  <group name="MAVLink">
    <parameter default="1" name="MAV_0_BROADCAST" type="INT32">
      <short_desc>Broadcast heartbeats on local network for MAVLink instance 0</short_desc>
      <long_desc>This allows a ground control station to automatically find the drone on the local network.</long_desc>
      <values>
        <value code="0">Never broadcast</value>
        <value code="1">Always broadcast</value>
        <value code="2">Only multicast</value>
      </values>
    </parameter>
    <parameter boolean="true" default="1" name="MAV_0_FORWARD" type="INT32">
      <short_desc>Enable MAVLink Message forwarding for instance 0</short_desc>
      <long_desc>If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).</long_desc>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="0" name="MAV_0_MODE" type="INT32">
      <short_desc>MAVLink Mode for instance 0</short_desc>
      <long_desc>The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.</long_desc>
      <reboot_required>True</reboot_required>
      <values>
        <value code="0">Normal</value>
        <value code="1">Custom</value>
        <value code="2">Onboard</value>
        <value code="3">OSD</value>
        <value code="4">Magic</value>
        <value code="5">Config</value>
        <value code="7">Minimal</value>
        <value code="8">External Vision</value>
        <value code="10">Gimbal</value>
      </values>
    </parameter>
    <parameter boolean="true" default="1" name="MAV_0_RADIO_CTL" type="INT32">
      <short_desc>Enable software throttling of mavlink on instance 0</short_desc>
      <long_desc>If enabled, MAVLink messages will be throttled according to `txbuf` field reported by radio_status. Requires a radio to send the mavlink message RADIO_STATUS.</long_desc>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="1200" name="MAV_0_RATE" type="INT32">
      <short_desc>Maximum MAVLink sending rate for instance 0</short_desc>
      <long_desc>Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).</long_desc>
      <min>0</min>
      <unit>B/s</unit>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="14550" name="MAV_0_REMOTE_PRT" type="INT32">
      <short_desc>MAVLink Remote Port for instance 0</short_desc>
      <long_desc>If ethernet enabled and selected as configuration for MAVLink instance 0, selected remote port will be set and used in MAVLink instance 0.</long_desc>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="14556" name="MAV_0_UDP_PRT" type="INT32">
      <short_desc>MAVLink Network Port for instance 0</short_desc>
      <long_desc>If ethernet enabled and selected as configuration for MAVLink instance 0, selected udp port will be set and used in MAVLink instance 0.</long_desc>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="0" name="MAV_1_BROADCAST" type="INT32">
      <short_desc>Broadcast heartbeats on local network for MAVLink instance 1</short_desc>
      <long_desc>This allows a ground control station to automatically find the drone on the local network.</long_desc>
      <values>
        <value code="0">Never broadcast</value>
        <value code="1">Always broadcast</value>
        <value code="2">Only multicast</value>
      </values>
    </parameter>
    <parameter boolean="true" default="0" name="MAV_1_FORWARD" type="INT32">
      <short_desc>Enable MAVLink Message forwarding for instance 1</short_desc>
      <long_desc>If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).</long_desc>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="2" name="MAV_1_MODE" type="INT32">
      <short_desc>MAVLink Mode for instance 1</short_desc>
      <long_desc>The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.</long_desc>
      <reboot_required>True</reboot_required>
      <values>
        <value code="0">Normal</value>
        <value code="1">Custom</value>
        <value code="2">Onboard</value>
        <value code="3">OSD</value>
        <value code="4">Magic</value>
        <value code="5">Config</value>
        <value code="7">Minimal</value>
        <value code="8">External Vision</value>
        <value code="10">Gimbal</value>
      </values>
    </parameter>
    <parameter boolean="true" default="1" name="MAV_1_RADIO_CTL" type="INT32">
      <short_desc>Enable software throttling of mavlink on instance 1</short_desc>
      <long_desc>If enabled, MAVLink messages will be throttled according to `txbuf` field reported by radio_status. Requires a radio to send the mavlink message RADIO_STATUS.</long_desc>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="0" name="MAV_1_RATE" type="INT32">
      <short_desc>Maximum MAVLink sending rate for instance 1</short_desc>
      <long_desc>Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).</long_desc>
      <min>0</min>
      <unit>B/s</unit>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="0" name="MAV_1_REMOTE_PRT" type="INT32">
      <short_desc>MAVLink Remote Port for instance 1</short_desc>
      <long_desc>If ethernet enabled and selected as configuration for MAVLink instance 1, selected remote port will be set and used in MAVLink instance 1.</long_desc>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="0" name="MAV_1_UDP_PRT" type="INT32">
      <short_desc>MAVLink Network Port for instance 1</short_desc>
      <long_desc>If ethernet enabled and selected as configuration for MAVLink instance 1, selected udp port will be set and used in MAVLink instance 1.</long_desc>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="0" name="MAV_2_BROADCAST" type="INT32">
      <short_desc>Broadcast heartbeats on local network for MAVLink instance 2</short_desc>
      <long_desc>This allows a ground control station to automatically find the drone on the local network.</long_desc>
      <values>
        <value code="0">Never broadcast</value>
        <value code="1">Always broadcast</value>
        <value code="2">Only multicast</value>
      </values>
    </parameter>
    <parameter boolean="true" default="0" name="MAV_2_FORWARD" type="INT32">
      <short_desc>Enable MAVLink Message forwarding for instance 2</short_desc>
      <long_desc>If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).</long_desc>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="0" name="MAV_2_MODE" type="INT32">
      <short_desc>MAVLink Mode for instance 2</short_desc>
      <long_desc>The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.</long_desc>
      <reboot_required>True</reboot_required>
      <values>
        <value code="0">Normal</value>
        <value code="1">Custom</value>
        <value code="2">Onboard</value>
        <value code="3">OSD</value>
        <value code="4">Magic</value>
        <value code="5">Config</value>
        <value code="7">Minimal</value>
        <value code="8">External Vision</value>
        <value code="10">Gimbal</value>
      </values>
    </parameter>
    <parameter boolean="true" default="1" name="MAV_2_RADIO_CTL" type="INT32">
      <short_desc>Enable software throttling of mavlink on instance 2</short_desc>
      <long_desc>If enabled, MAVLink messages will be throttled according to `txbuf` field reported by radio_status. Requires a radio to send the mavlink message RADIO_STATUS.</long_desc>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="0" name="MAV_2_RATE" type="INT32">
      <short_desc>Maximum MAVLink sending rate for instance 2</short_desc>
      <long_desc>Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).</long_desc>
      <min>0</min>
      <unit>B/s</unit>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="0" name="MAV_2_REMOTE_PRT" type="INT32">
      <short_desc>MAVLink Remote Port for instance 2</short_desc>
      <long_desc>If ethernet enabled and selected as configuration for MAVLink instance 2, selected remote port will be set and used in MAVLink instance 2.</long_desc>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="0" name="MAV_2_UDP_PRT" type="INT32">
      <short_desc>MAVLink Network Port for instance 2</short_desc>
      <long_desc>If ethernet enabled and selected as configuration for MAVLink instance 2, selected udp port will be set and used in MAVLink instance 2.</long_desc>
      <reboot_required>True</reboot_required>
    </parameter>
    <parameter default="1" name="MAV_COMP_ID" type="INT32">
      <short_desc>MAVLink component ID</short_desc>
      <min>1</min>
      <max>250</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter boolean="true" default="1" name="MAV_FWDEXTSP" type="INT32">
      <short_desc>Forward external setpoint messages</short_desc>
      <long_desc>If set to 1 incoming external setpoint messages will be directly forwarded to the controllers if in offboard control mode</long_desc>
    </parameter>
    <parameter boolean="true" default="1" name="MAV_HASH_CHK_EN" type="INT32">
      <short_desc>Parameter hash check</short_desc>
      <long_desc>Disabling the parameter hash check functionality will make the mavlink instance stream parameters continuously.</long_desc>
    </parameter>
    <parameter boolean="true" default="1" name="MAV_HB_FORW_EN" type="INT32">
      <short_desc>Hearbeat message forwarding</short_desc>
      <long_desc>The mavlink hearbeat message will not be forwarded if this parameter is set to 'disabled'. The main reason for disabling heartbeats to be forwarded is because they confuse dronekit.</long_desc>
    </parameter>
    <parameter boolean="true" default="0" name="MAV_ODOM_LP" type="INT32">
      <short_desc>Activate ODOMETRY loopback</short_desc>
      <long_desc>If set, it gets the data from 'vehicle_visual_odometry' instead of 'vehicle_odometry' serving as a loopback of the received ODOMETRY messages on the Mavlink receiver.</long_desc>
    </parameter>
    <parameter default="0" name="MAV_PROTO_VER" type="INT32">
      <short_desc>MAVLink protocol version</short_desc>
      <values>
        <value code="0">Default to 1, switch to 2 if GCS sends version 2</value>
        <value code="1">Always use version 1</value>
        <value code="2">Always use version 2</value>
      </values>
    </parameter>
    <parameter default="5" name="MAV_RADIO_TOUT" type="INT32">
      <short_desc>Timeout in seconds for the RADIO_STATUS reports coming in</short_desc>
      <long_desc>If the connected radio stops reporting RADIO_STATUS for a certain time, a warning is triggered and, if MAV_X_RADIO_CTL is enabled, the software-flow control is reset.</long_desc>
      <min>1</min>
      <max>250</max>
      <unit>s</unit>
    </parameter>
    <parameter default="0" name="MAV_SIK_RADIO_ID" type="INT32">
      <short_desc>MAVLink SiK Radio ID</short_desc>
      <long_desc>When non-zero the MAVLink app will attempt to configure the SiK radio to this ID and re-set the parameter to 0. If the value is negative it will reset the complete radio config to factory defaults. Only applies if this mavlink instance is going through a SiK radio</long_desc>
      <min>-1</min>
      <max>240</max>
    </parameter>
    <parameter default="1" name="MAV_SYS_ID" type="INT32">
      <short_desc>MAVLink system ID</short_desc>
      <min>1</min>
      <max>250</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="2" name="MAV_TYPE" type="INT32">
      <short_desc>MAVLink airframe type</short_desc>
      <min>1</min>
      <max>27</max>
      <values>
        <value code="0">Generic micro air vehicle</value>
        <value code="1">Fixed wing aircraft</value>
        <value code="2">Quadrotor</value>
        <value code="3">Coaxial helicopter</value>
        <value code="4">Normal helicopter with tail rotor</value>
        <value code="5">Ground installation</value>
        <value code="6">Operator control unit / ground control station</value>
        <value code="7">Airship, controlled</value>
        <value code="8">Free balloon, uncontrolled</value>
        <value code="9">Rocket</value>
        <value code="10">Ground rover</value>
        <value code="11">Surface vessel, boat, ship</value>
        <value code="12">Submarine</value>
        <value code="13">Hexarotor</value>
        <value code="14">Octorotor</value>
        <value code="15">Tricopter</value>
        <value code="16">Flapping wing</value>
        <value code="17">Kite</value>
        <value code="18">Onboard companion controller</value>
        <value code="19">Two-rotor VTOL using control surfaces in vertical operation in addition. Tailsitter.</value>
        <value code="20">Quad-rotor VTOL using a V-shaped quad config in vertical operation. Tailsitter.</value>
        <value code="21">Tiltrotor VTOL</value>
        <value code="22">VTOL reserved 2</value>
        <value code="23">VTOL reserved 3</value>
        <value code="24">VTOL reserved 4</value>
        <value code="25">VTOL reserved 5</value>
        <value code="26">Onboard gimbal</value>
        <value code="27">Onboard ADSB peripheral</value>
      </values>
    </parameter>
    <parameter boolean="true" default="0" name="MAV_USEHILGPS" type="INT32">
      <short_desc>Use/Accept HIL GPS message even if not in HIL mode</short_desc>
      <long_desc>If set to 1 incoming HIL GPS messages are parsed.</long_desc>
    </parameter>
  </group>
  <group name="Mission">
    <parameter boolean="true" default="0" name="COM_OBS_AVOID" type="INT32">
      <short_desc>Flag to enable obstacle avoidance</short_desc>
    </parameter>
    <parameter default="0" name="COM_TAKEOFF_ACT" type="INT32">
      <short_desc>Action after TAKEOFF has been accepted</short_desc>
      <long_desc>The mode transition after TAKEOFF has completed successfully.</long_desc>
      <values>
        <value code="0">Hold</value>
        <value code="1">Mission (if valid)</value>
      </values>
    </parameter>
    <parameter default="900" name="MIS_DIST_1WP" type="FLOAT">
      <short_desc>Maximal horizontal distance from home to first waypoint</short_desc>
      <long_desc>Failsafe check to prevent running mission stored from previous flight at a new takeoff location. Set a value of zero or less to disable. The mission will not be started if the current waypoint is more distant than MIS_DIS_1WP from the home position.</long_desc>
      <min>0</min>
      <max>10000</max>
      <unit>m</unit>
      <decimal>1</decimal>
      <increment>100</increment>
    </parameter>
    <parameter default="900" name="MIS_DIST_WPS" type="FLOAT">
      <short_desc>Maximal horizontal distance between waypoint</short_desc>
      <long_desc>Failsafe check to prevent running missions which are way too big. Set a value of zero or less to disable. The mission will not be started if any distance between two subsequent waypoints is greater than MIS_DIST_WPS.</long_desc>
      <min>0</min>
      <max>10000</max>
      <unit>m</unit>
      <decimal>1</decimal>
      <increment>100</increment>
    </parameter>
    <parameter default="-1.0" name="MIS_LTRMIN_ALT" type="FLOAT">
      <short_desc>Minimum Loiter altitude</short_desc>
      <long_desc>This is the minimum altitude the system will always obey. The intent is to stay out of ground effect. set to -1, if there shouldn't be a minimum loiter altitude</long_desc>
      <min>-1</min>
      <max>80</max>
      <unit>m</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="0" name="MIS_MNT_YAW_CTL" type="INT32">
      <short_desc>Enable yaw control of the mount. (Only affects multicopters and ROI mission items)</short_desc>
      <long_desc>If enabled, yaw commands will be sent to the mount and the vehicle will follow its heading towards the flight direction. If disabled, the vehicle will yaw towards the ROI.</long_desc>
      <min>0</min>
      <max>1</max>
      <values>
        <value code="0">Disable</value>
        <value code="1">Enable</value>
      </values>
    </parameter>
    <parameter default="2.5" name="MIS_TAKEOFF_ALT" type="FLOAT">
      <short_desc>Take-off altitude</short_desc>
      <long_desc>This is the minimum altitude the system will take off to.</long_desc>
      <min>0</min>
      <max>80</max>
      <unit>m</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter boolean="true" default="0" name="MIS_TAKEOFF_REQ" type="INT32">
      <short_desc>Take-off waypoint required</short_desc>
      <long_desc>If set, the mission feasibility checker will check for a takeoff waypoint on the mission.</long_desc>
    </parameter>
    <parameter default="12.0" name="MIS_YAW_ERR" type="FLOAT">
      <short_desc>Max yaw error in degrees needed for waypoint heading acceptance</short_desc>
      <min>0</min>
      <max>90</max>
      <unit>deg</unit>
      <decimal>1</decimal>
      <increment>1</increment>
    </parameter>
    <parameter default="-1.0" name="MIS_YAW_TMT" type="FLOAT">
      <short_desc>Time in seconds we wait on reaching target heading at a waypoint if it is forced</short_desc>
      <long_desc>If set &gt; 0 it will ignore the target heading for normal waypoint acceptance. If the waypoint forces the heading the timeout will matter. For example on VTOL forwards transition. Mainly useful for VTOLs that have less yaw authority and might not reach target yaw in wind. Disabled by default.</long_desc>
      <min>-1</min>
      <max>20</max>
      <unit>s</unit>
      <decimal>1</decimal>
      <increment>1</increment>
    </parameter>
    <parameter default="0" name="MPC_YAW_MODE" type="INT32">
      <short_desc>Yaw mode</short_desc>
      <long_desc>Specifies the heading in Auto.</long_desc>
      <min>0</min>
      <max>4</max>
      <values>
        <value code="0">towards waypoint</value>
        <value code="1">towards home</value>
        <value code="2">away from home</value>
        <value code="3">along trajectory</value>
        <value code="4">towards waypoint (yaw first)</value>
      </values>
    </parameter>
    <parameter default="10.0" name="NAV_ACC_RAD" type="FLOAT">
      <short_desc>Acceptance Radius</short_desc>
      <long_desc>Default acceptance radius, overridden by acceptance radius of waypoint if set. For fixed wing the L1 turning distance is used for horizontal acceptance.</long_desc>
      <min>0.05</min>
      <max>200.0</max>
      <unit>m</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="0" name="NAV_DLL_ACT" type="INT32">
      <short_desc>Set data link loss failsafe mode</short_desc>
      <long_desc>The data link loss failsafe will only be entered after a timeout, set by COM_DL_LOSS_T in seconds. Once the timeout occurs the selected action will be executed.</long_desc>
      <values>
        <value code="0">Disabled</value>
        <value code="1">Hold mode</value>
        <value code="2">Return mode</value>
        <value code="3">Land mode</value>
        <value code="5">Terminate</value>
        <value code="6">Lockdown</value>
      </values>
    </parameter>
    <parameter boolean="true" default="1" name="NAV_FORCE_VT" type="INT32">
      <short_desc>Force VTOL mode takeoff and land</short_desc>
    </parameter>
    <parameter default="5.0" name="NAV_FW_ALTL_RAD" type="FLOAT">
      <short_desc>FW Altitude Acceptance Radius before a landing</short_desc>
      <long_desc>Altitude acceptance used for the last waypoint before a fixed-wing landing. This is usually smaller than the standard vertical acceptance because close to the ground higher accuracy is required.</long_desc>
      <min>0.05</min>
      <max>200.0</max>
      <unit>m</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="10.0" name="NAV_FW_ALT_RAD" type="FLOAT">
      <short_desc>FW Altitude Acceptance Radius</short_desc>
      <long_desc>Acceptance radius for fixedwing altitude.</long_desc>
      <min>0.05</min>
      <max>200.0</max>
      <unit>m</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="50.0" name="NAV_LOITER_RAD" type="FLOAT">
      <short_desc>Loiter radius (FW only)</short_desc>
      <long_desc>Default value of loiter radius for missions, Hold mode, Return mode, etc. (fixedwing only).</long_desc>
      <min>25</min>
      <max>1000</max>
      <unit>m</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="0.8" name="NAV_MC_ALT_RAD" type="FLOAT">
      <short_desc>MC Altitude Acceptance Radius</short_desc>
      <long_desc>Acceptance radius for multicopter altitude.</long_desc>
      <min>0.05</min>
      <max>200.0</max>
      <unit>m</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="2" name="NAV_RCL_ACT" type="INT32">
      <short_desc>Set RC loss failsafe mode</short_desc>
      <long_desc>The RC loss failsafe will only be entered after a timeout, set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled by setting the COM_RC_IN_MODE param it will not be triggered.</long_desc>
      <values>
        <value code="0">Disabled</value>
        <value code="1">Hold mode</value>
        <value code="2">Return mode</value>
        <value code="3">Land mode</value>
        <value code="5">Terminate</value>
        <value code="6">Lockdown</value>
      </values>
    </parameter>
    <parameter default="1" name="NAV_TRAFF_AVOID" type="INT32">
      <short_desc>Set traffic avoidance mode</short_desc>
      <long_desc>Enabling this will allow the system to respond to transponder data from e.g. ADSB transponders</long_desc>
      <values>
        <value code="0">Disabled</value>
        <value code="1">Warn only</value>
        <value code="2">Return mode</value>
        <value code="3">Land mode</value>
        <value code="4">Position Hold mode</value>
      </values>
    </parameter>
    <parameter default="500" name="NAV_TRAFF_A_RADM" type="FLOAT">
      <short_desc>Set NAV TRAFFIC AVOID RADIUS MANNED</short_desc>
      <long_desc>Defines the Radius where NAV TRAFFIC AVOID is Called For Manned Aviation</long_desc>
      <min>500</min>
      <unit>m</unit>
    </parameter>
    <parameter default="10" name="NAV_TRAFF_A_RADU" type="FLOAT">
      <short_desc>Set NAV TRAFFIC AVOID RADIUS</short_desc>
      <long_desc>Defines the Radius where NAV TRAFFIC AVOID is Called For Unmanned Aviation</long_desc>
      <min>10</min>
      <max>500</max>
      <unit>m</unit>
    </parameter>
  </group>
  <group name="Mixer Output">
    <parameter default="0" name="MC_AIRMODE" type="INT32">
      <short_desc>Multicopter air-mode</short_desc>
      <long_desc>The air-mode enables the mixer to increase the total thrust of the multirotor in order to keep attitude and rate control even at low and high throttle. This function should be disabled during tuning as it will help the controller to diverge if the closed-loop is unstable (i.e. the vehicle is not tuned yet). Enabling air-mode for yaw requires the use of an arming switch.</long_desc>
      <values>
        <value code="0">Disabled</value>
        <value code="1">Roll/Pitch</value>
        <value code="2">Roll/Pitch/Yaw</value>
      </values>
    </parameter>
    <parameter default="0" name="MOT_ORDERING" type="INT32">
      <short_desc>Motor Ordering</short_desc>
      <long_desc>Determines the motor ordering. This can be used for example in combination with a 4-in-1 ESC that assumes a motor ordering which is different from PX4. ONLY supported for Quads. When changing this, make sure to test the motor response without props first.</long_desc>
      <values>
        <value code="0">PX4</value>
        <value code="1">Betaflight / Cleanflight</value>
      </values>
    </parameter>
  </group>
  <group name="Mount">
    <parameter default="0" name="MNT_DO_STAB" type="INT32">
      <short_desc>Stabilize the mount</short_desc>
      <long_desc>Set to true for servo gimbal, false for passthrough. This is required for a gimbal which is not capable of stabilizing itself and relies on the IMU's attitude estimation.</long_desc>
      <min>0</min>
      <max>2</max>
      <values>
        <value code="0">Disable</value>
        <value code="1">Stabilize all axis</value>
        <value code="2">Stabilize yaw for absolute/lock mode.</value>
      </values>
    </parameter>
    <parameter default="0" name="MNT_MAN_PITCH" type="INT32">
      <short_desc>Auxiliary channel to control pitch (in AUX input or manual mode)</short_desc>
      <min>0</min>
      <max>6</max>
      <values>
        <value code="0">Disable</value>
        <value code="1">AUX1</value>
        <value code="2">AUX2</value>
        <value code="3">AUX3</value>
        <value code="4">AUX4</value>
        <value code="5">AUX5</value>
        <value code="6">AUX6</value>
      </values>
    </parameter>
    <parameter default="0" name="MNT_MAN_ROLL" type="INT32">
      <short_desc>Auxiliary channel to control roll (in AUX input or manual mode)</short_desc>
      <min>0</min>
      <max>6</max>
      <values>
        <value code="0">Disable</value>
        <value code="1">AUX1</value>
        <value code="2">AUX2</value>
        <value code="3">AUX3</value>
        <value code="4">AUX4</value>
        <value code="5">AUX5</value>
        <value code="6">AUX6</value>
      </values>
    </parameter>
    <parameter default="0" name="MNT_MAN_YAW" type="INT32">
      <short_desc>Auxiliary channel to control yaw (in AUX input or manual mode)</short_desc>
      <min>0</min>
      <max>6</max>
      <values>
        <value code="0">Disable</value>
        <value code="1">AUX1</value>
        <value code="2">AUX2</value>
        <value code="3">AUX3</value>
        <value code="4">AUX4</value>
        <value code="5">AUX5</value>
        <value code="6">AUX6</value>
      </values>
    </parameter>
    <parameter default="154" name="MNT_MAV_COMPID" type="INT32">
      <short_desc>Mavlink Component ID of the mount</short_desc>
      <long_desc>If MNT_MODE_OUT is MAVLink protocol v2, mount configure/control commands will be sent with this component ID.</long_desc>
    </parameter>
    <parameter default="1" name="MNT_MAV_SYSID" type="INT32">
      <short_desc>Mavlink System ID of the mount</short_desc>
      <long_desc>If MNT_MODE_OUT is MAVLink gimbal protocol v1, mount configure/control commands will be sent with this target ID.</long_desc>
    </parameter>
    <parameter default="-1" name="MNT_MODE_IN" type="INT32">
      <short_desc>Mount input mode</short_desc>
      <long_desc>RC uses the AUX input channels (see MNT_MAN_* parameters), MAVLINK_ROI uses the MAV_CMD_DO_SET_ROI Mavlink message, and MAVLINK_DO_MOUNT the MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL messages to control a mount.</long_desc>
      <min>-1</min>
      <max>3</max>
      <reboot_required>true</reboot_required>
      <values>
        <value code="-1">DISABLED</value>
        <value code="0">AUTO</value>
        <value code="1">RC</value>
        <value code="2">MAVLINK_ROI (protocol v1)</value>
        <value code="3">MAVLINK_DO_MOUNT (protocol v1)</value>
        <value code="4">MAVlink gimbal protocol v2</value>
      </values>
    </parameter>
    <parameter default="0" name="MNT_MODE_OUT" type="INT32">
      <short_desc>Mount output mode</short_desc>
      <long_desc>AUX uses the mixer output Control Group #2. MAVLINK uses the MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL MavLink messages to control a mount (set MNT_MAV_SYSID &amp; MNT_MAV_COMPID)</long_desc>
      <min>0</min>
      <max>2</max>
      <values>
        <value code="0">AUX</value>
        <value code="1">MAVLink gimbal protocol v1</value>
        <value code="2">MAVLink gimbal protocol v2</value>
      </values>
    </parameter>
    <parameter default="0.0" name="MNT_OB_LOCK_MODE" type="FLOAT">
      <short_desc>Mixer value for selecting a locking mode</short_desc>
      <long_desc>if required for the gimbal (only in AUX output mode)</long_desc>
      <min>-1.0</min>
      <max>1.0</max>
      <decimal>3</decimal>
    </parameter>
    <parameter default="-1.0" name="MNT_OB_NORM_MODE" type="FLOAT">
      <short_desc>Mixer value for selecting normal mode</short_desc>
      <long_desc>if required by the gimbal (only in AUX output mode)</long_desc>
      <min>-1.0</min>
      <max>1.0</max>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0.0" name="MNT_OFF_PITCH" type="FLOAT">
      <short_desc>Offset for pitch channel output in degrees</short_desc>
      <min>-360.0</min>
      <max>360.0</max>
      <decimal>1</decimal>
    </parameter>
    <parameter default="0.0" name="MNT_OFF_ROLL" type="FLOAT">
      <short_desc>Offset for roll channel output in degrees</short_desc>
      <min>-360.0</min>
      <max>360.0</max>
      <decimal>1</decimal>
    </parameter>
    <parameter default="0.0" name="MNT_OFF_YAW" type="FLOAT">
      <short_desc>Offset for yaw channel output in degrees</short_desc>
      <min>-360.0</min>
      <max>360.0</max>
      <decimal>1</decimal>
    </parameter>
    <parameter default="360.0" name="MNT_RANGE_PITCH" type="FLOAT">
      <short_desc>Range of pitch channel output in degrees (only in AUX output mode)</short_desc>
      <min>1.0</min>
      <max>720.0</max>
      <decimal>1</decimal>
    </parameter>
    <parameter default="360.0" name="MNT_RANGE_ROLL" type="FLOAT">
      <short_desc>Range of roll channel output in degrees (only in AUX output mode)</short_desc>
      <min>1.0</min>
      <max>720.0</max>
      <decimal>1</decimal>
    </parameter>
    <parameter default="360.0" name="MNT_RANGE_YAW" type="FLOAT">
      <short_desc>Range of yaw channel output in degrees (only in AUX output mode)</short_desc>
      <min>1.0</min>
      <max>720.0</max>
      <decimal>1</decimal>
    </parameter>
    <parameter default="30.0" name="MNT_RATE_PITCH" type="FLOAT">
      <short_desc>Angular pitch rate for manual input in degrees/second</short_desc>
      <long_desc>Full stick input [-1..1] translats to [-pitch rate..pitch rate].</long_desc>
      <min>1.0</min>
      <max>90.0</max>
    </parameter>
    <parameter default="30.0" name="MNT_RATE_YAW" type="FLOAT">
      <short_desc>Angular yaw rate for manual input in degrees/second</short_desc>
      <long_desc>Full stick input [-1..1] translats to [-yaw rate..yaw rate].</long_desc>
      <min>1.0</min>
      <max>90.0</max>
    </parameter>
  </group>
  <group name="Multicopter Attitude Control">
    <parameter default="220.0" name="MC_PITCHRATE_MAX" type="FLOAT">
      <short_desc>Max pitch rate</short_desc>
      <long_desc>Limit for pitch rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle's properties, but also by the maximum measurement rate of the gyro.</long_desc>
      <min>0.0</min>
      <max>1800.0</max>
      <unit>deg/s</unit>
      <decimal>1</decimal>
      <increment>5</increment>
    </parameter>
    <parameter default="6.5" name="MC_PITCH_P" type="FLOAT">
      <short_desc>Pitch P gain</short_desc>
      <long_desc>Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc>
      <min>0.0</min>
      <max>12</max>
      <decimal>2</decimal>
      <increment>0.1</increment>
    </parameter>
    <parameter default="220.0" name="MC_ROLLRATE_MAX" type="FLOAT">
      <short_desc>Max roll rate</short_desc>
      <long_desc>Limit for roll rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle's properties, but also by the maximum measurement rate of the gyro.</long_desc>
      <min>0.0</min>
      <max>1800.0</max>
      <unit>deg/s</unit>
      <decimal>1</decimal>
      <increment>5</increment>
    </parameter>
    <parameter default="6.5" name="MC_ROLL_P" type="FLOAT">
      <short_desc>Roll P gain</short_desc>
      <long_desc>Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc>
      <min>0.0</min>
      <max>12</max>
      <decimal>2</decimal>
      <increment>0.1</increment>
    </parameter>
    <parameter default="200.0" name="MC_YAWRATE_MAX" type="FLOAT">
      <short_desc>Max yaw rate</short_desc>
      <min>0.0</min>
      <max>1800.0</max>
      <unit>deg/s</unit>
      <decimal>1</decimal>
      <increment>5</increment>
    </parameter>
    <parameter default="2.8" name="MC_YAW_P" type="FLOAT">
      <short_desc>Yaw P gain</short_desc>
      <long_desc>Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</long_desc>
      <min>0.0</min>
      <max>5</max>
      <decimal>2</decimal>
      <increment>0.1</increment>
    </parameter>
    <parameter default="0.4" name="MC_YAW_WEIGHT" type="FLOAT">
      <short_desc>Yaw weight</short_desc>
      <long_desc>A fraction [0,1] deprioritizing yaw compared to roll and pitch in non-linear attitude control. Deprioritizing yaw is necessary because multicopters have much less control authority in yaw compared to the other axes and it makes sense because yaw is not critical for stable hovering or 3D navigation. For yaw control tuning use MC_YAW_P. This ratio has no inpact on the yaw gain.</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <decimal>2</decimal>
      <increment>0.1</increment>
    </parameter>
    <parameter default="45.0" name="MPC_YAWRAUTO_MAX" type="FLOAT">
      <short_desc>Max yaw rate in auto mode</short_desc>
      <long_desc>Limit the rate of change of the yaw setpoint in autonomous mode to avoid large control output and mixer saturation.</long_desc>
      <min>0.0</min>
      <max>360.0</max>
      <unit>deg/s</unit>
      <decimal>1</decimal>
      <increment>5</increment>
    </parameter>
  </group>
  <group name="Multicopter Position Control">
    <parameter default="0.4" name="CP_DELAY" type="FLOAT">
      <short_desc>Average delay of the range sensor message plus the tracking delay of the position controller in seconds</short_desc>
      <long_desc>Only used in Position mode.</long_desc>
      <min>0</min>
      <max>1</max>
      <unit>s</unit>
    </parameter>
    <parameter default="-1.0" name="CP_DIST" type="FLOAT">
      <short_desc>Minimum distance the vehicle should keep to all obstacles</short_desc>
      <long_desc>Only used in Position mode. Collision avoidance is disabled by setting this parameter to a negative value</long_desc>
      <min>-1</min>
      <max>15</max>
      <unit>m</unit>
    </parameter>
    <parameter boolean="true" default="0" name="CP_GO_NO_DATA" type="FLOAT">
      <short_desc>Boolean to allow moving into directions where there is no sensor data (outside FOV)</short_desc>
      <long_desc>Only used in Position mode.</long_desc>
    </parameter>
    <parameter default="30." name="CP_GUIDE_ANG" type="FLOAT">
      <short_desc>Angle left/right from the commanded setpoint by which the collision prevention algorithm can choose to change the setpoint direction</short_desc>
      <long_desc>Only used in Position mode.</long_desc>
      <min>0</min>
      <max>90</max>
      <unit>deg</unit>
    </parameter>
    <parameter default="0.0" name="MC_MAN_TILT_TAU" type="FLOAT">
      <short_desc>Manual tilt input filter time constant</short_desc>
      <long_desc>Setting this parameter to 0 disables the filter</long_desc>
      <min>0.0</min>
      <max>2.0</max>
      <unit>s</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="3.0" name="MPC_ACC_DOWN_MAX" type="FLOAT">
      <short_desc>Maximum vertical acceleration in velocity controlled modes down</short_desc>
      <min>2.0</min>
      <max>15.0</max>
      <unit>m/s^2</unit>
      <decimal>2</decimal>
      <increment>1</increment>
    </parameter>
    <parameter default="3.0" name="MPC_ACC_HOR" type="FLOAT">
      <short_desc>Acceleration for auto and for manual</short_desc>
      <long_desc>Note: In manual, this parameter is only used in MPC_POS_MODE 1.</long_desc>
      <min>2.0</min>
      <max>15.0</max>
      <unit>m/s^2</unit>
      <decimal>2</decimal>
      <increment>1</increment>
    </parameter>
    <parameter default="5.0" name="MPC_ACC_HOR_MAX" type="FLOAT">
      <short_desc>Maximum horizontal acceleration for auto mode and for manual mode</short_desc>
      <long_desc>MPC_POS_MODE 1 just deceleration 3 acceleration and deceleration 4 just acceleration</long_desc>
      <min>2.0</min>
      <max>15.0</max>
      <unit>m/s^2</unit>
      <decimal>2</decimal>
      <increment>1</increment>
    </parameter>
    <parameter default="4.0" name="MPC_ACC_UP_MAX" type="FLOAT">
      <short_desc>Maximum vertical acceleration in velocity controlled modes upward</short_desc>
      <min>2.0</min>
      <max>15.0</max>
      <unit>m/s^2</unit>
      <decimal>2</decimal>
      <increment>1</increment>
    </parameter>
    <parameter default="0" name="MPC_ALT_MODE" type="INT32">
      <short_desc>Altitude control mode</short_desc>
      <long_desc>Set to 0 to control height relative to the earth frame origin. This origin may move up and down in flight due to sensor drift. Set to 1 to control height relative to estimated distance to ground. The vehicle will move up and down with terrain height variation. Requires a distance to ground sensor. The height controller will revert to using height above origin if the distance to ground estimate becomes invalid as indicated by the local_position.distance_bottom_valid message being false. Set to 2 to control height relative to ground (requires a distance sensor) when stationary and relative to earth frame origin when moving horizontally. The speed threshold is controlled by the MPC_HOLD_MAX_XY parameter.</long_desc>
      <min>0</min>
      <max>2</max>
      <values>
        <value code="0">Altitude following</value>
        <value code="1">Terrain following</value>
        <value code="2">Terrain hold</value>
      </values>
    </parameter>
    <parameter default="0.1" name="MPC_HOLD_DZ" type="FLOAT">
      <short_desc>Deadzone of sticks where position hold is enabled</short_desc>
      <min>0.0</min>
      <max>1.0</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.8" name="MPC_HOLD_MAX_XY" type="FLOAT">
      <short_desc>Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)</short_desc>
      <min>0.0</min>
      <max>3.0</max>
      <unit>m/s</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.6" name="MPC_HOLD_MAX_Z" type="FLOAT">
      <short_desc>Maximum vertical velocity for which position hold is enabled (use 0 to disable check)</short_desc>
      <min>0.0</min>
      <max>3.0</max>
      <unit>m/s</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="4.0" name="MPC_JERK_AUTO" type="FLOAT">
      <short_desc>Jerk limit in auto mode</short_desc>
      <long_desc>Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother vehicle motions, but it also limits its agility.</long_desc>
      <min>1.0</min>
      <max>80.0</max>
      <unit>m/s^3</unit>
      <decimal>1</decimal>
      <increment>1</increment>
    </parameter>
    <parameter default="8.0" name="MPC_JERK_MAX" type="FLOAT">
      <short_desc>Maximum jerk limit</short_desc>
      <long_desc>Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother vehicle motions, but it also limits its agility (how fast it can change directions or break). Setting this to the maximum value essentially disables the limit. Note: This is only used when MPC_POS_MODE is set to a smoothing mode 1, 3 or 4.</long_desc>
      <min>0.5</min>
      <max>500.0</max>
      <unit>m/s^3</unit>
      <decimal>2</decimal>
      <increment>1</increment>
    </parameter>
    <parameter default="10.0" name="MPC_LAND_ALT1" type="FLOAT">
      <short_desc>Altitude for 1. step of slow landing (descend)</short_desc>
      <long_desc>Below this altitude: - descending velocity gets limited to a value between "MPC_Z_VEL_MAX_DN" and "MPC_LAND_SPEED" - horizontal velocity gets limited to a value between "MPC_VEL_MANUAL" and "MPC_LAND_VEL_XY" for a smooth descent and landing experience. Value needs to be higher than "MPC_LAND_ALT2"</long_desc>
      <min>0</min>
      <max>122</max>
      <unit>m</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="5.0" name="MPC_LAND_ALT2" type="FLOAT">
      <short_desc>Altitude for 2. step of slow landing (landing)</short_desc>
      <long_desc>Below this altitude descending and horizontal velocities get limited to "MPC_LAND_SPEED" and "MPC_LAND_VEL_XY", respectively. Value needs to be lower than "MPC_LAND_ALT1"</long_desc>
      <min>0</min>
      <max>122</max>
      <unit>m</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="0.7" name="MPC_LAND_SPEED" type="FLOAT">
      <short_desc>Landing descend rate</short_desc>
      <min>0.6</min>
      <unit>m/s</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="10.0" name="MPC_LAND_VEL_XY" type="FLOAT">
      <short_desc>Maximum horizontal position mode velocity when close to ground/home altitude</short_desc>
      <long_desc>Set the value higher than the otherwise expected maximum to disable any slowdown.</long_desc>
      <min>0</min>
      <unit>m/s</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="0.08" name="MPC_MANTHR_MIN" type="FLOAT">
      <short_desc>Minimum manual thrust</short_desc>
      <long_desc>Minimum vertical thrust. It's recommended to set it &gt; 0 to avoid free fall with zero thrust. With MC_AIRMODE set to 1, this can safely be set to 0.</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="35.0" name="MPC_MAN_TILT_MAX" type="FLOAT">
      <short_desc>Maximal tilt angle in manual or altitude mode</short_desc>
      <min>0.0</min>
      <max>90.0</max>
      <unit>deg</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="150.0" name="MPC_MAN_Y_MAX" type="FLOAT">
      <short_desc>Max manual yaw rate</short_desc>
      <min>0.0</min>
      <max>400</max>
      <unit>deg/s</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="0.08" name="MPC_MAN_Y_TAU" type="FLOAT">
      <short_desc>Manual yaw rate input filter time constant</short_desc>
      <long_desc>Setting this parameter to 0 disables the filter</long_desc>
      <min>0.0</min>
      <max>5.0</max>
      <unit>s</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="4" name="MPC_POS_MODE" type="INT32">
      <short_desc>Manual-Position control sub-mode</short_desc>
      <long_desc>The supported sub-modes are: 0 Simple position control where sticks map directly to velocity setpoints without smoothing. Useful for velocity control tuning. 3 Smooth position control with maximum acceleration and jerk limits based on jerk optimized trajectory generator (different algorithm than 1). 4 Smooth position control where sticks map to acceleration and there's a virtual brake drag</long_desc>
      <values>
        <value code="0">Simple position control</value>
        <value code="3">Smooth position control (Jerk optimized)</value>
        <value code="4">Acceleration based input</value>
      </values>
    </parameter>
    <parameter default="1.0" name="MPC_SPOOLUP_TIME" type="FLOAT">
      <short_desc>Enforced delay between arming and takeoff</short_desc>
      <long_desc>For altitude controlled modes the time from arming the motors until a takeoff is possible gets forced to be at least MPC_SPOOLUP_TIME seconds to ensure the motors and propellers can sppol up and reach idle speed before getting commanded to spin faster. This delay is particularly useful for vehicles with slow motor spin-up e.g. because of large propellers.</long_desc>
      <min>0</min>
      <max>10</max>
      <unit>s</unit>
    </parameter>
    <parameter default="0" name="MPC_THR_CURVE" type="INT32">
      <short_desc>Thrust curve in Manual Mode</short_desc>
      <long_desc>This parameter defines how the throttle stick input is mapped to commanded thrust in Manual/Stabilized flight mode. In case the default is used ('Rescale to hover thrust'), the stick input is linearly rescaled, such that a centered stick corresponds to the hover throttle (see MPC_THR_HOVER). Select 'No Rescale' to directly map the stick 1:1 to the output. This can be useful in case the hover thrust is very low and the default would lead to too much distortion (e.g. if hover thrust is set to 20%, 80% of the upper thrust range is squeezed into the upper half of the stick range). Note: In case MPC_THR_HOVER is set to 50%, the modes 0 and 1 are the same.</long_desc>
      <values>
        <value code="0">Rescale to hover thrust</value>
        <value code="1">No Rescale</value>
      </values>
    </parameter>
    <parameter default="0.5" name="MPC_THR_HOVER" type="FLOAT">
      <short_desc>Hover thrust</short_desc>
      <long_desc>Vertical thrust required to hover. This value is mapped to center stick for manual throttle control. With this value set to the thrust required to hover, transition from manual to Altitude or Position mode while hovering will occur with the throttle stick near center, which is then interpreted as (near) zero demand for vertical speed. This parameter is also important for the landing detection to work correctly.</long_desc>
      <min>0.1</min>
      <max>0.8</max>
      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="1.0" name="MPC_THR_MAX" type="FLOAT">
      <short_desc>Maximum thrust in auto thrust control</short_desc>
      <long_desc>Limit max allowed thrust</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.12" name="MPC_THR_MIN" type="FLOAT">
      <short_desc>Minimum thrust in auto thrust control</short_desc>
      <long_desc>It's recommended to set it &gt; 0 to avoid free fall with zero thrust.</long_desc>
      <min>0.05</min>
      <max>1.0</max>
      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="45.0" name="MPC_TILTMAX_AIR" type="FLOAT">
      <short_desc>Maximum tilt angle in air</short_desc>
      <long_desc>Limits maximum tilt in AUTO and POSCTRL modes during flight.</long_desc>
      <min>20.0</min>
      <max>89.0</max>
      <unit>deg</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="12.0" name="MPC_TILTMAX_LND" type="FLOAT">
      <short_desc>Maximum tilt during landing</short_desc>
      <long_desc>Limits maximum tilt angle on landing.</long_desc>
      <min>10.0</min>
      <max>89.0</max>
      <unit>deg</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="3.0" name="MPC_TKO_RAMP_T" type="FLOAT">
      <short_desc>Position control smooth takeoff ramp time constant</short_desc>
      <long_desc>Increasing this value will make automatic and manual takeoff slower. If it's too slow the drone might scratch the ground and tip over. A time constant of 0 disables the ramp</long_desc>
      <min>0</min>
      <max>5</max>
    </parameter>
    <parameter default="1.5" name="MPC_TKO_SPEED" type="FLOAT">
      <short_desc>Takeoff climb rate</short_desc>
      <min>1</min>
      <max>5</max>
      <unit>m/s</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter boolean="true" default="1" name="MPC_USE_HTE" type="INT32">
      <short_desc>Hover thrust source selector</short_desc>
      <long_desc>Set false to use the fixed parameter MPC_THR_HOVER Set true to use the value computed by the hover thrust estimator</long_desc>
    </parameter>
    <parameter default="5.0" name="MPC_VELD_LP" type="FLOAT">
      <short_desc>Low pass filter cut freq. for numerical velocity derivative</short_desc>
      <min>0.0</min>
      <max>10</max>
      <unit>Hz</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="10.0" name="MPC_VEL_MANUAL" type="FLOAT">
      <short_desc>Maximum horizontal velocity setpoint for manual controlled mode</short_desc>
      <long_desc>If velocity setpoint larger than MPC_XY_VEL_MAX is set, then the setpoint will be capped to MPC_XY_VEL_MAX</long_desc>
      <min>3.0</min>
      <max>20.0</max>
      <unit>m/s</unit>
      <decimal>2</decimal>
      <increment>1</increment>
    </parameter>
    <parameter default="5.0" name="MPC_XY_CRUISE" type="FLOAT">
      <short_desc>Maximum horizontal velocity in mission</short_desc>
      <long_desc>Horizontal velocity used when flying autonomously in e.g. Missions, RTL, Goto.</long_desc>
      <min>3.0</min>
      <max>20.0</max>
      <unit>m/s</unit>
      <decimal>2</decimal>
      <increment>1</increment>
    </parameter>
    <parameter default="2.0" name="MPC_XY_ERR_MAX" type="FLOAT">
      <short_desc>Maximum horizontal error allowed by the trajectory generator</short_desc>
      <long_desc>The integration speed of the trajectory setpoint is linearly reduced with the horizontal position tracking error. When the error is above this parameter, the integration of the trajectory is stopped to wait for the drone. This value can be adjusted depending on the tracking capabilities of the vehicle.</long_desc>
      <min>0.1</min>
      <max>10.0</max>
      <decimal>1</decimal>
    </parameter>
    <parameter default="0.6" name="MPC_XY_MAN_EXPO" type="FLOAT">
      <short_desc>Manual position control stick exponential curve sensitivity</short_desc>
      <long_desc>The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve (default) 1 Purely cubic input curve</long_desc>
      <min>0</min>
      <max>1</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.95" name="MPC_XY_P" type="FLOAT">
      <short_desc>Proportional gain for horizontal position error</short_desc>
      <min>0.0</min>
      <max>2.0</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.5" name="MPC_XY_TRAJ_P" type="FLOAT">
      <short_desc>Proportional gain for horizontal trajectory position error</short_desc>
      <min>0.1</min>
      <max>1.0</max>
      <decimal>1</decimal>
    </parameter>
    <parameter default="-10.0" name="MPC_XY_VEL_ALL" type="FLOAT">
      <short_desc>Overall Horizonal Velocity Limit</short_desc>
      <long_desc>If set to a value greater than zero, other parameters are automatically set (such as MPC_XY_VEL_MAX or MPC_VEL_MANUAL). If set to a negative value, the existing individual parameters are used.</long_desc>
      <min>-20</min>
      <max>20</max>
      <decimal>1</decimal>
      <increment>1</increment>
    </parameter>
    <parameter default="0.2" name="MPC_XY_VEL_D_ACC" type="FLOAT">
      <short_desc>Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again</short_desc>
      <long_desc>defined as correction acceleration in m/s^2 per m/s^2 velocity derivative</long_desc>
      <min>0.1</min>
      <max>2.0</max>
      <decimal>3</decimal>
    </parameter>
    <parameter default="0.4" name="MPC_XY_VEL_I_ACC" type="FLOAT">
      <short_desc>Integral gain for horizontal velocity error</short_desc>
      <long_desc>defined as correction acceleration in m/s^2 per m velocity integral Non-zero value allows to eliminate steady state errors in the presence of disturbances like wind.</long_desc>
      <min>0.0</min>
      <max>60.0</max>
      <decimal>3</decimal>
    </parameter>
    <parameter default="12.0" name="MPC_XY_VEL_MAX" type="FLOAT">
      <short_desc>Maximum horizontal velocity</short_desc>
      <long_desc>Maximum horizontal velocity in AUTO mode. If higher speeds are commanded in a mission they will be capped to this velocity.</long_desc>
      <min>0.0</min>
      <max>20.0</max>
      <unit>m/s</unit>
      <decimal>2</decimal>
      <increment>1</increment>
    </parameter>
    <parameter default="1.8" name="MPC_XY_VEL_P_ACC" type="FLOAT">
      <short_desc>Proportional gain for horizontal velocity error</short_desc>
      <long_desc>defined as correction acceleration in m/s^2 per m/s velocity error</long_desc>
      <min>1.2</min>
      <max>5.0</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.6" name="MPC_YAW_EXPO" type="FLOAT">
      <short_desc>Manual control stick yaw rotation exponential curve</short_desc>
      <long_desc>The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve (default) 1 Purely cubic input curve</long_desc>
      <min>0</min>
      <max>1</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.6" name="MPC_Z_MAN_EXPO" type="FLOAT">
      <short_desc>Manual control stick vertical exponential curve</short_desc>
      <long_desc>The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve (default) 1 Purely cubic input curve</long_desc>
      <min>0</min>
      <max>1</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="1.0" name="MPC_Z_P" type="FLOAT">
      <short_desc>Proportional gain for vertical position error</short_desc>
      <min>0.0</min>
      <max>1.5</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="-3.0" name="MPC_Z_VEL_ALL" type="FLOAT">
      <short_desc>Overall Vertical Velocity Limit</short_desc>
      <long_desc>If set to a value greater than zero, other parameters are automatically set (such as MPC_Z_VEL_MAX_UP or MPC_LAND_SPEED). If set to a negative value, the existing individual parameters are used.</long_desc>
      <min>-3</min>
      <max>8</max>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="0.0" name="MPC_Z_VEL_D_ACC" type="FLOAT">
      <short_desc>Differential gain for vertical velocity error</short_desc>
      <long_desc>defined as correction acceleration in m/s^2 per m/s^2 velocity derivative</long_desc>
      <min>0.0</min>
      <max>2.0</max>
      <decimal>3</decimal>
    </parameter>
    <parameter default="2.0" name="MPC_Z_VEL_I_ACC" type="FLOAT">
      <short_desc>Integral gain for vertical velocity error</short_desc>
      <long_desc>defined as correction acceleration in m/s^2 per m velocity integral Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.</long_desc>
      <min>0.2</min>
      <max>3.0</max>
      <decimal>3</decimal>
    </parameter>
    <parameter default="1.0" name="MPC_Z_VEL_MAX_DN" type="FLOAT">
      <short_desc>Maximum vertical descent velocity</short_desc>
      <long_desc>Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).</long_desc>
      <min>0.5</min>
      <max>4.0</max>
      <unit>m/s</unit>
    </parameter>
    <parameter default="3.0" name="MPC_Z_VEL_MAX_UP" type="FLOAT">
      <short_desc>Maximum vertical ascent velocity</short_desc>
      <long_desc>Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).</long_desc>
      <min>0.5</min>
      <max>8.0</max>
      <unit>m/s</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="4.0" name="MPC_Z_VEL_P_ACC" type="FLOAT">
      <short_desc>Proportional gain for vertical velocity error</short_desc>
      <long_desc>defined as correction acceleration in m/s^2 per m/s velocity error</long_desc>
      <min>2.0</min>
      <max>15.0</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="-0.4" name="SYS_VEHICLE_RESP" type="FLOAT">
      <short_desc>Responsiveness</short_desc>
      <long_desc>Changes the overall responsiveness of the vehicle. The higher the value, the faster the vehicle will react. If set to a value greater than zero, other parameters are automatically set (such as the acceleration or jerk limits). If set to a negative value, the existing individual parameters are used.</long_desc>
      <min>-1</min>
      <max>1</max>
      <decimal>2</decimal>
      <increment>0.05</increment>
    </parameter>
    <parameter boolean="true" default="0" name="WV_EN" type="INT32">
      <short_desc>Enable weathervane</short_desc>
    </parameter>
    <parameter default="1.0" name="WV_ROLL_MIN" type="FLOAT">
      <short_desc>Minimum roll angle setpoint for weathervane controller to demand a yaw-rate</short_desc>
      <min>0</min>
      <max>5</max>
      <unit>deg</unit>
    </parameter>
    <parameter default="90.0" name="WV_YRATE_MAX" type="FLOAT">
      <short_desc>Maximum yawrate the weathervane controller is allowed to demand</short_desc>
      <min>0</min>
      <max>120</max>
      <unit>deg/s</unit>
    </parameter>
  </group>
  <group name="Multicopter Rate Control">
    <parameter default="0.69" name="MC_ACRO_EXPO" type="FLOAT">
      <short_desc>Acro mode Expo factor for Roll and Pitch</short_desc>
      <long_desc>Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve</long_desc>
      <min>0</min>
      <max>1</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.69" name="MC_ACRO_EXPO_Y" type="FLOAT">
      <short_desc>Acro mode Expo factor for Yaw</short_desc>
      <long_desc>Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve</long_desc>
      <min>0</min>
      <max>1</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="720.0" name="MC_ACRO_P_MAX" type="FLOAT">
      <short_desc>Max acro pitch rate</short_desc>
      <long_desc>default: 2 turns per second</long_desc>
      <min>0.0</min>
      <max>1800.0</max>
      <unit>deg/s</unit>
      <decimal>1</decimal>
      <increment>5</increment>
    </parameter>
    <parameter default="720.0" name="MC_ACRO_R_MAX" type="FLOAT">
      <short_desc>Max acro roll rate</short_desc>
      <long_desc>default: 2 turns per second</long_desc>
      <min>0.0</min>
      <max>1800.0</max>
      <unit>deg/s</unit>
      <decimal>1</decimal>
      <increment>5</increment>
    </parameter>
    <parameter default="0.7" name="MC_ACRO_SUPEXPO" type="FLOAT">
      <short_desc>Acro mode SuperExpo factor for Roll and Pitch</short_desc>
      <long_desc>SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO. 0 Pure Expo function 0.7 resonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect</long_desc>
      <min>0</min>
      <max>0.95</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.7" name="MC_ACRO_SUPEXPOY" type="FLOAT">
      <short_desc>Acro mode SuperExpo factor for Yaw</short_desc>
      <long_desc>SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO_Y. 0 Pure Expo function 0.7 resonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect</long_desc>
      <min>0</min>
      <max>0.95</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="540.0" name="MC_ACRO_Y_MAX" type="FLOAT">
      <short_desc>Max acro yaw rate</short_desc>
      <long_desc>default 1.5 turns per second</long_desc>
      <min>0.0</min>
      <max>1800.0</max>
      <unit>deg/s</unit>
      <decimal>1</decimal>
      <increment>5</increment>
    </parameter>
    <parameter boolean="true" default="0" name="MC_BAT_SCALE_EN" type="INT32">
      <short_desc>Battery power level scaler</short_desc>
      <long_desc>This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The copter should constantly behave as if it was fully charged with reduced max acceleration at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery.</long_desc>
    </parameter>
    <parameter default="0.003" name="MC_PITCHRATE_D" type="FLOAT">
      <short_desc>Pitch rate D gain</short_desc>
      <long_desc>Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc>
      <min>0.0</min>
      <decimal>4</decimal>
      <increment>0.0005</increment>
    </parameter>
    <parameter default="0.0" name="MC_PITCHRATE_FF" type="FLOAT">
      <short_desc>Pitch rate feedforward</short_desc>
      <long_desc>Improves tracking performance.</long_desc>
      <min>0.0</min>
      <decimal>4</decimal>
    </parameter>
    <parameter default="0.2" name="MC_PITCHRATE_I" type="FLOAT">
      <short_desc>Pitch rate I gain</short_desc>
      <long_desc>Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</long_desc>
      <min>0.0</min>
      <decimal>3</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="1.0" name="MC_PITCHRATE_K" type="FLOAT">
      <short_desc>Pitch rate controller gain</short_desc>
      <long_desc>Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_PITCHRATE_K * (MC_PITCHRATE_P * error + MC_PITCHRATE_I * error_integral + MC_PITCHRATE_D * error_derivative) Set MC_PITCHRATE_P=1 to implement a PID in the ideal form. Set MC_PITCHRATE_K=1 to implement a PID in the parallel form.</long_desc>
      <min>0.01</min>
      <max>5.0</max>
      <decimal>4</decimal>
      <increment>0.0005</increment>
    </parameter>
    <parameter default="0.15" name="MC_PITCHRATE_P" type="FLOAT">
      <short_desc>Pitch rate P gain</short_desc>
      <long_desc>Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.</long_desc>
      <min>0.01</min>
      <max>0.6</max>
      <decimal>3</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.30" name="MC_PR_INT_LIM" type="FLOAT">
      <short_desc>Pitch rate integrator limit</short_desc>
      <long_desc>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.</long_desc>
      <min>0.0</min>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.003" name="MC_ROLLRATE_D" type="FLOAT">
      <short_desc>Roll rate D gain</short_desc>
      <long_desc>Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc>
      <min>0.0</min>
      <max>0.01</max>
      <decimal>4</decimal>
      <increment>0.0005</increment>
    </parameter>
    <parameter default="0.0" name="MC_ROLLRATE_FF" type="FLOAT">
      <short_desc>Roll rate feedforward</short_desc>
      <long_desc>Improves tracking performance.</long_desc>
      <min>0.0</min>
      <decimal>4</decimal>
    </parameter>
    <parameter default="0.2" name="MC_ROLLRATE_I" type="FLOAT">
      <short_desc>Roll rate I gain</short_desc>
      <long_desc>Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</long_desc>
      <min>0.0</min>
      <decimal>3</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="1.0" name="MC_ROLLRATE_K" type="FLOAT">
      <short_desc>Roll rate controller gain</short_desc>
      <long_desc>Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_ROLLRATE_K * (MC_ROLLRATE_P * error + MC_ROLLRATE_I * error_integral + MC_ROLLRATE_D * error_derivative) Set MC_ROLLRATE_P=1 to implement a PID in the ideal form. Set MC_ROLLRATE_K=1 to implement a PID in the parallel form.</long_desc>
      <min>0.01</min>
      <max>5.0</max>
      <decimal>4</decimal>
      <increment>0.0005</increment>
    </parameter>
    <parameter default="0.15" name="MC_ROLLRATE_P" type="FLOAT">
      <short_desc>Roll rate P gain</short_desc>
      <long_desc>Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.</long_desc>
      <min>0.01</min>
      <max>0.5</max>
      <decimal>3</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.30" name="MC_RR_INT_LIM" type="FLOAT">
      <short_desc>Roll rate integrator limit</short_desc>
      <long_desc>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.</long_desc>
      <min>0.0</min>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.0" name="MC_YAWRATE_D" type="FLOAT">
      <short_desc>Yaw rate D gain</short_desc>
      <long_desc>Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc>
      <min>0.0</min>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.0" name="MC_YAWRATE_FF" type="FLOAT">
      <short_desc>Yaw rate feedforward</short_desc>
      <long_desc>Improves tracking performance.</long_desc>
      <min>0.0</min>
      <decimal>4</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.1" name="MC_YAWRATE_I" type="FLOAT">
      <short_desc>Yaw rate I gain</short_desc>
      <long_desc>Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</long_desc>
      <min>0.0</min>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="1.0" name="MC_YAWRATE_K" type="FLOAT">
      <short_desc>Yaw rate controller gain</short_desc>
      <long_desc>Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_YAWRATE_K * (MC_YAWRATE_P * error + MC_YAWRATE_I * error_integral + MC_YAWRATE_D * error_derivative) Set MC_YAWRATE_P=1 to implement a PID in the ideal form. Set MC_YAWRATE_K=1 to implement a PID in the parallel form.</long_desc>
      <min>0.0</min>
      <max>5.0</max>
      <decimal>4</decimal>
      <increment>0.0005</increment>
    </parameter>
    <parameter default="0.2" name="MC_YAWRATE_P" type="FLOAT">
      <short_desc>Yaw rate P gain</short_desc>
      <long_desc>Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.</long_desc>
      <min>0.0</min>
      <max>0.6</max>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.30" name="MC_YR_INT_LIM" type="FLOAT">
      <short_desc>Yaw rate integrator limit</short_desc>
      <long_desc>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.</long_desc>
      <min>0.0</min>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
  </group>
  <group name="PWM Outputs">
    <parameter default="0.0" name="MOT_SLEW_MAX" type="FLOAT">
      <short_desc>Minimum motor rise time (slew rate limit)</short_desc>
      <long_desc>Minimum time allowed for the motor input signal to pass through a range of 1000 PWM units. A value x means that the motor signal can only go from 1000 to 2000 PWM in maximum x seconds. Zero means that slew rate limiting is disabled.</long_desc>
      <min>0.0</min>
      <unit>s/(1000*PWM)</unit>
    </parameter>
    <parameter default="0" name="PWM_AUX_DIS1" type="INT32">
      <short_desc>PWM aux 1 disarmed value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_AUX_DIS2" type="INT32">
      <short_desc>PWM aux 2 disarmed value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_AUX_DIS3" type="INT32">
      <short_desc>PWM aux 3 disarmed value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_AUX_DIS4" type="INT32">
      <short_desc>PWM aux 4 disarmed value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_AUX_DIS5" type="INT32">
      <short_desc>PWM aux 5 disarmed value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_AUX_DIS6" type="INT32">
      <short_desc>PWM aux 6 disarmed value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_AUX_DIS7" type="INT32">
      <short_desc>PWM aux 7 disarmed value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_AUX_DIS8" type="INT32">
      <short_desc>PWM aux 8 disarmed value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_AUX_DISARMED will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1500" name="PWM_AUX_DISARM" type="INT32">
      <short_desc>PWM aux disarmed value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed.</long_desc>
      <min>0</min>
      <max>2200</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_AUX_FAIL1" type="INT32">
      <short_desc>PWM aux 1 failsafe value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)</long_desc>
      <min>0</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_AUX_FAIL2" type="INT32">
      <short_desc>PWM aux 2 failsafe value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)</long_desc>
      <min>0</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_AUX_FAIL3" type="INT32">
      <short_desc>PWM aux 3 failsafe value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)</long_desc>
      <min>0</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_AUX_FAIL4" type="INT32">
      <short_desc>PWM aux 4 failsafe value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)</long_desc>
      <min>0</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_AUX_FAIL5" type="INT32">
      <short_desc>PWM aux 5 failsafe value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)</long_desc>
      <min>0</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_AUX_FAIL6" type="INT32">
      <short_desc>PWM aux 6 failsafe value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)</long_desc>
      <min>0</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_AUX_FAIL7" type="INT32">
      <short_desc>PWM aux 7 failsafe value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)</long_desc>
      <min>0</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_AUX_FAIL8" type="INT32">
      <short_desc>PWM aux 8 failsafe value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)</long_desc>
      <min>0</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="2000" name="PWM_AUX_MAX" type="INT32">
      <short_desc>PWM aux maximum value</short_desc>
      <long_desc>Set to 2000 for industry default or 2100 to increase servo travel.</long_desc>
      <min>1600</min>
      <max>2200</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_AUX_MAX1" type="INT32">
      <short_desc>PWM aux 1 maximum value</short_desc>
      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_AUX_MAX2" type="INT32">
      <short_desc>PWM aux 2 maximum value</short_desc>
      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_AUX_MAX3" type="INT32">
      <short_desc>PWM aux 3 maximum value</short_desc>
      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_AUX_MAX4" type="INT32">
      <short_desc>PWM aux 4 maximum value</short_desc>
      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_AUX_MAX5" type="INT32">
      <short_desc>PWM aux 5 maximum value</short_desc>
      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_AUX_MAX6" type="INT32">
      <short_desc>PWM aux 6 maximum value</short_desc>
      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_AUX_MAX7" type="INT32">
      <short_desc>PWM aux 7 maximum value</short_desc>
      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_AUX_MAX8" type="INT32">
      <short_desc>PWM aux 8 maximum value</short_desc>
      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MAX will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1000" name="PWM_AUX_MIN" type="INT32">
      <short_desc>PWM aux minimum value</short_desc>
      <long_desc>Set to 1000 for industry default or 900 to increase servo travel.</long_desc>
      <min>800</min>
      <max>1400</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_AUX_MIN1" type="INT32">
      <short_desc>PWM aux 1 minimum value</short_desc>
      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used</long_desc>
      <min>-1</min>
      <max>1600</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_AUX_MIN2" type="INT32">
      <short_desc>PWM aux 2 minimum value</short_desc>
      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used</long_desc>
      <min>-1</min>
      <max>1600</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_AUX_MIN3" type="INT32">
      <short_desc>PWM aux 3 minimum value</short_desc>
      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used</long_desc>
      <min>-1</min>
      <max>1600</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_AUX_MIN4" type="INT32">
      <short_desc>PWM aux 4 minimum value</short_desc>
      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used</long_desc>
      <min>-1</min>
      <max>1600</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_AUX_MIN5" type="INT32">
      <short_desc>PWM aux 5 minimum value</short_desc>
      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used</long_desc>
      <min>-1</min>
      <max>1600</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_AUX_MIN6" type="INT32">
      <short_desc>PWM aux 6 minimum value</short_desc>
      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used</long_desc>
      <min>-1</min>
      <max>1600</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_AUX_MIN7" type="INT32">
      <short_desc>PWM aux 7 minimum value</short_desc>
      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used</long_desc>
      <min>-1</min>
      <max>1600</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_AUX_MIN8" type="INT32">
      <short_desc>PWM aux 8 minimum value</short_desc>
      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_AUX_MIN will be used</long_desc>
      <min>-1</min>
      <max>1600</max>
      <unit>us</unit>
    </parameter>
    <parameter default="50" name="PWM_AUX_RATE" type="INT32">
      <short_desc>PWM aux output frequency</short_desc>
      <long_desc>Set to 400 for industry default or 1000 for high frequency ESCs. Set to 0 for Oneshot125.</long_desc>
      <min>-1</min>
      <max>2000</max>
      <unit>Hz</unit>
    </parameter>
    <parameter default="50" name="PWM_AUX_RATE1" type="INT32">
      <short_desc>PWM aux 1 rate</short_desc>
      <long_desc>Set the default PWM output frequency for the aux outputs</long_desc>
      <min>0</min>
      <max>400</max>
      <unit>Hz</unit>
    </parameter>
    <parameter boolean="true" default="0" name="PWM_AUX_REV1" type="INT32">
      <short_desc>PWM aux 1 reverse value</short_desc>
      <long_desc>Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.</long_desc>
    </parameter>
    <parameter boolean="true" default="0" name="PWM_AUX_REV2" type="INT32">
      <short_desc>PWM aux 2 reverse value</short_desc>
      <long_desc>Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.</long_desc>
    </parameter>
    <parameter boolean="true" default="0" name="PWM_AUX_REV3" type="INT32">
      <short_desc>PWM aux 3 reverse value</short_desc>
      <long_desc>Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.</long_desc>
    </parameter>
    <parameter boolean="true" default="0" name="PWM_AUX_REV4" type="INT32">
      <short_desc>PWM aux 4 reverse value</short_desc>
      <long_desc>Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.</long_desc>
    </parameter>
    <parameter boolean="true" default="0" name="PWM_AUX_REV5" type="INT32">
      <short_desc>PWM aux 5 reverse value</short_desc>
      <long_desc>Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.</long_desc>
    </parameter>
    <parameter boolean="true" default="0" name="PWM_AUX_REV6" type="INT32">
      <short_desc>PWM aux 6 reverse value</short_desc>
      <long_desc>Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.</long_desc>
    </parameter>
    <parameter boolean="true" default="0" name="PWM_AUX_REV7" type="INT32">
      <short_desc>PWM aux 7 reverse value</short_desc>
      <long_desc>Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.</long_desc>
    </parameter>
    <parameter boolean="true" default="0" name="PWM_AUX_REV8" type="INT32">
      <short_desc>PWM aux 8 reverse value</short_desc>
      <long_desc>Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.</long_desc>
    </parameter>
    <parameter default="0" name="PWM_AUX_TRIM1" type="FLOAT">
      <short_desc>PWM aux 1 trim value</short_desc>
      <long_desc>Set to normalized offset</long_desc>
      <min>-0.2</min>
      <max>0.2</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0" name="PWM_AUX_TRIM2" type="FLOAT">
      <short_desc>PWM aux 2 trim value</short_desc>
      <long_desc>Set to normalized offset</long_desc>
      <min>-0.2</min>
      <max>0.2</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0" name="PWM_AUX_TRIM3" type="FLOAT">
      <short_desc>PWM aux 3 trim value</short_desc>
      <long_desc>Set to normalized offset</long_desc>
      <min>-0.2</min>
      <max>0.2</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0" name="PWM_AUX_TRIM4" type="FLOAT">
      <short_desc>PWM aux 4 trim value</short_desc>
      <long_desc>Set to normalized offset</long_desc>
      <min>-0.2</min>
      <max>0.2</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0" name="PWM_AUX_TRIM5" type="FLOAT">
      <short_desc>PWM aux 5 trim value</short_desc>
      <long_desc>Set to normalized offset</long_desc>
      <min>-0.2</min>
      <max>0.2</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0" name="PWM_AUX_TRIM6" type="FLOAT">
      <short_desc>PWM aux 6 trim value</short_desc>
      <long_desc>Set to normalized offset</long_desc>
      <min>-0.2</min>
      <max>0.2</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0" name="PWM_AUX_TRIM7" type="FLOAT">
      <short_desc>PWM aux 7 trim value</short_desc>
      <long_desc>Set to normalized offset</long_desc>
      <min>-0.2</min>
      <max>0.2</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0" name="PWM_AUX_TRIM8" type="FLOAT">
      <short_desc>PWM aux 8 trim value</short_desc>
      <long_desc>Set to normalized offset</long_desc>
      <min>-0.2</min>
      <max>0.2</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="-1" name="PWM_EXTRA_DIS1" type="INT32">
      <short_desc>PWM extra 1 disarmed value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_EXTRA_DISARM will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_EXTRA_DIS2" type="INT32">
      <short_desc>PWM extra 2 disarmed value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_EXTRA_DISARM will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_EXTRA_DIS3" type="INT32">
      <short_desc>PWM extra 3 disarmed value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_EXTRA_DISARM will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_EXTRA_DIS4" type="INT32">
      <short_desc>PWM extra 4 disarmed value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_EXTRA_DISARM will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_EXTRA_DIS5" type="INT32">
      <short_desc>PWM extra 5 disarmed value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_EXTRA_DISARM will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_EXTRA_DIS6" type="INT32">
      <short_desc>PWM extra 6 disarmed value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_EXTRA_DISARM will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_EXTRA_DIS7" type="INT32">
      <short_desc>PWM extra 7 disarmed value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_EXTRA_DISARM will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_EXTRA_DIS8" type="INT32">
      <short_desc>PWM extra 8 disarmed value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_EXTRA_DISARM will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1500" name="PWM_EXTRA_DISARM" type="INT32">
      <short_desc>PWM extra disarmed value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed.</long_desc>
      <min>0</min>
      <max>2200</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_EXTRA_FAIL1" type="INT32">
      <short_desc>PWM extra 1 failsafe value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)</long_desc>
      <min>0</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_EXTRA_FAIL2" type="INT32">
      <short_desc>PWM extra 2 failsafe value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)</long_desc>
      <min>0</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_EXTRA_FAIL3" type="INT32">
      <short_desc>PWM extra 3 failsafe value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)</long_desc>
      <min>0</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_EXTRA_FAIL4" type="INT32">
      <short_desc>PWM extra 4 failsafe value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)</long_desc>
      <min>0</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_EXTRA_FAIL5" type="INT32">
      <short_desc>PWM extra 5 failsafe value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)</long_desc>
      <min>0</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_EXTRA_FAIL6" type="INT32">
      <short_desc>PWM extra 6 failsafe value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)</long_desc>
      <min>0</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_EXTRA_FAIL7" type="INT32">
      <short_desc>PWM extra 7 failsafe value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)</long_desc>
      <min>0</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_EXTRA_FAIL8" type="INT32">
      <short_desc>PWM extra 8 failsafe value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)</long_desc>
      <min>0</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="2000" name="PWM_EXTRA_MAX" type="INT32">
      <short_desc>PWM extra maximum value</short_desc>
      <long_desc>Set to 2000 for industry default or 2100 to increase servo travel.</long_desc>
      <min>1600</min>
      <max>2200</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_EXTRA_MAX1" type="INT32">
      <short_desc>PWM extra 1 maximum value</short_desc>
      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MAX will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_EXTRA_MAX2" type="INT32">
      <short_desc>PWM extra 2 maximum value</short_desc>
      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MAX will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_EXTRA_MAX3" type="INT32">
      <short_desc>PWM extra 3 maximum value</short_desc>
      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MAX will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_EXTRA_MAX4" type="INT32">
      <short_desc>PWM extra 4 maximum value</short_desc>
      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MAX will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_EXTRA_MAX5" type="INT32">
      <short_desc>PWM extra 5 maximum value</short_desc>
      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MAX will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_EXTRA_MAX6" type="INT32">
      <short_desc>PWM extra 6 maximum value</short_desc>
      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MAX will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_EXTRA_MAX7" type="INT32">
      <short_desc>PWM extra 7 maximum value</short_desc>
      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MAX will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_EXTRA_MAX8" type="INT32">
      <short_desc>PWM extra 8 maximum value</short_desc>
      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MAX will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1000" name="PWM_EXTRA_MIN" type="INT32">
      <short_desc>PWM extra minimum value</short_desc>
      <long_desc>Set to 1000 for industry default or 900 to increase servo travel.</long_desc>
      <min>800</min>
      <max>1400</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_EXTRA_MIN1" type="INT32">
      <short_desc>PWM extra 1 minimum value</short_desc>
      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MIN will be used</long_desc>
      <min>-1</min>
      <max>1600</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_EXTRA_MIN2" type="INT32">
      <short_desc>PWM extra 2 minimum value</short_desc>
      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MIN will be used</long_desc>
      <min>-1</min>
      <max>1600</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_EXTRA_MIN3" type="INT32">
      <short_desc>PWM extra 3 minimum value</short_desc>
      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MIN will be used</long_desc>
      <min>-1</min>
      <max>1600</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_EXTRA_MIN4" type="INT32">
      <short_desc>PWM extra 4 minimum value</short_desc>
      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MIN will be used</long_desc>
      <min>-1</min>
      <max>1600</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_EXTRA_MIN5" type="INT32">
      <short_desc>PWM extra 5 minimum value</short_desc>
      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MIN will be used</long_desc>
      <min>-1</min>
      <max>1600</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_EXTRA_MIN6" type="INT32">
      <short_desc>PWM extra 6 minimum value</short_desc>
      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MIN will be used</long_desc>
      <min>-1</min>
      <max>1600</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_EXTRA_MIN7" type="INT32">
      <short_desc>PWM extra 7 minimum value</short_desc>
      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MIN will be used</long_desc>
      <min>-1</min>
      <max>1600</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_EXTRA_MIN8" type="INT32">
      <short_desc>PWM extra 8 minimum value</short_desc>
      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_EXTRA_MIN will be used</long_desc>
      <min>-1</min>
      <max>1600</max>
      <unit>us</unit>
    </parameter>
    <parameter default="50" name="PWM_EXTRA_RATE" type="INT32">
      <short_desc>PWM extra output frequency</short_desc>
      <long_desc>Set to 400 for industry default or 1000 for high frequency ESCs. Set to 0 for Oneshot125.</long_desc>
      <min>-1</min>
      <max>2000</max>
      <unit>Hz</unit>
    </parameter>
    <parameter default="50" name="PWM_EXTRA_RATE1" type="INT32">
      <short_desc>PWM extra 1 rate</short_desc>
      <long_desc>Set the default PWM output frequency for the main outputs</long_desc>
      <min>0</min>
      <max>400</max>
      <unit>Hz</unit>
    </parameter>
    <parameter boolean="true" default="0" name="PWM_EXTRA_REV1" type="INT32">
      <short_desc>PWM extra 1 reverse value</short_desc>
      <long_desc>Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.</long_desc>
    </parameter>
    <parameter boolean="true" default="0" name="PWM_EXTRA_REV2" type="INT32">
      <short_desc>PWM extra 2 reverse value</short_desc>
      <long_desc>Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.</long_desc>
    </parameter>
    <parameter boolean="true" default="0" name="PWM_EXTRA_REV3" type="INT32">
      <short_desc>PWM extra 3 reverse value</short_desc>
      <long_desc>Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.</long_desc>
    </parameter>
    <parameter boolean="true" default="0" name="PWM_EXTRA_REV4" type="INT32">
      <short_desc>PWM extra 4 reverse value</short_desc>
      <long_desc>Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.</long_desc>
    </parameter>
    <parameter boolean="true" default="0" name="PWM_EXTRA_REV5" type="INT32">
      <short_desc>PWM extra 5 reverse value</short_desc>
      <long_desc>Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.</long_desc>
    </parameter>
    <parameter boolean="true" default="0" name="PWM_EXTRA_REV6" type="INT32">
      <short_desc>PWM extra 6 reverse value</short_desc>
      <long_desc>Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.</long_desc>
    </parameter>
    <parameter boolean="true" default="0" name="PWM_EXTRA_REV7" type="INT32">
      <short_desc>PWM extra 7 reverse value</short_desc>
      <long_desc>Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.</long_desc>
    </parameter>
    <parameter boolean="true" default="0" name="PWM_EXTRA_REV8" type="INT32">
      <short_desc>PWM extra 8 reverse value</short_desc>
      <long_desc>Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.</long_desc>
    </parameter>
    <parameter default="0" name="PWM_EXTRA_TRIM1" type="FLOAT">
      <short_desc>PWM extra 1 trim value</short_desc>
      <long_desc>Set to normalized offset</long_desc>
      <min>-0.2</min>
      <max>0.2</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0" name="PWM_EXTRA_TRIM2" type="FLOAT">
      <short_desc>PWM extra 2 trim value</short_desc>
      <long_desc>Set to normalized offset</long_desc>
      <min>-0.2</min>
      <max>0.2</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0" name="PWM_EXTRA_TRIM3" type="FLOAT">
      <short_desc>PWM extra 3 trim value</short_desc>
      <long_desc>Set to normalized offset</long_desc>
      <min>-0.2</min>
      <max>0.2</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0" name="PWM_EXTRA_TRIM4" type="FLOAT">
      <short_desc>PWM extra 4 trim value</short_desc>
      <long_desc>Set to normalized offset</long_desc>
      <min>-0.2</min>
      <max>0.2</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0" name="PWM_EXTRA_TRIM5" type="FLOAT">
      <short_desc>PWM extra 5 trim value</short_desc>
      <long_desc>Set to normalized offset</long_desc>
      <min>-0.2</min>
      <max>0.2</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0" name="PWM_EXTRA_TRIM6" type="FLOAT">
      <short_desc>PWM extra 6 trim value</short_desc>
      <long_desc>Set to normalized offset</long_desc>
      <min>-0.2</min>
      <max>0.2</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0" name="PWM_EXTRA_TRIM7" type="FLOAT">
      <short_desc>PWM extra 7 trim value</short_desc>
      <long_desc>Set to normalized offset</long_desc>
      <min>-0.2</min>
      <max>0.2</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0" name="PWM_EXTRA_TRIM8" type="FLOAT">
      <short_desc>PWM extra 8 trim value</short_desc>
      <long_desc>Set to normalized offset</long_desc>
      <min>-0.2</min>
      <max>0.2</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_DIS1" type="INT32">
      <short_desc>PWM main 1 disarmed value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_DIS10" type="INT32">
      <short_desc>PWM main 10 disarmed value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_DIS11" type="INT32">
      <short_desc>PWM main 11 disarmed value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_DIS12" type="INT32">
      <short_desc>PWM main 12 disarmed value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_DIS13" type="INT32">
      <short_desc>PWM main 13 disarmed value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_DIS14" type="INT32">
      <short_desc>PWM main 14 disarmed value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_DIS2" type="INT32">
      <short_desc>PWM main 2 disarmed value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_DIS3" type="INT32">
      <short_desc>PWM main 3 disarmed value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_DIS4" type="INT32">
      <short_desc>PWM main 4 disarmed value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_DIS5" type="INT32">
      <short_desc>PWM main 5 disarmed value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_DIS6" type="INT32">
      <short_desc>PWM main 6 disarmed value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_DIS7" type="INT32">
      <short_desc>PWM main 7 disarmed value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_DIS8" type="INT32">
      <short_desc>PWM main 8 disarmed value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_DIS9" type="INT32">
      <short_desc>PWM main 9 disarmed value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if not armed. When set to -1 the value for PWM_DISARMED will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="900" name="PWM_MAIN_DISARM" type="INT32">
      <short_desc>PWM main disarmed value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if not armed. The main use of this parameter is to silence ESCs when they are disarmed.</long_desc>
      <min>0</min>
      <max>2200</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_MAIN_FAIL1" type="INT32">
      <short_desc>PWM main 1 failsafe value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)</long_desc>
      <min>0</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_MAIN_FAIL10" type="INT32">
      <short_desc>PWM main 10 failsafe value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)</long_desc>
      <min>0</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_MAIN_FAIL11" type="INT32">
      <short_desc>PWM main 11 failsafe value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)</long_desc>
      <min>0</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_MAIN_FAIL12" type="INT32">
      <short_desc>PWM main 12 failsafe value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)</long_desc>
      <min>0</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_MAIN_FAIL13" type="INT32">
      <short_desc>PWM main 13 failsafe value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)</long_desc>
      <min>0</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_MAIN_FAIL14" type="INT32">
      <short_desc>PWM main 14 failsafe value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)</long_desc>
      <min>0</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_MAIN_FAIL2" type="INT32">
      <short_desc>PWM main 2 failsafe value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)</long_desc>
      <min>0</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_MAIN_FAIL3" type="INT32">
      <short_desc>PWM main 3 failsafe value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)</long_desc>
      <min>0</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_MAIN_FAIL4" type="INT32">
      <short_desc>PWM main 4 failsafe value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)</long_desc>
      <min>0</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_MAIN_FAIL5" type="INT32">
      <short_desc>PWM main 5 failsafe value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)</long_desc>
      <min>0</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_MAIN_FAIL6" type="INT32">
      <short_desc>PWM main 6 failsafe value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)</long_desc>
      <min>0</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_MAIN_FAIL7" type="INT32">
      <short_desc>PWM main 7 failsafe value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)</long_desc>
      <min>0</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_MAIN_FAIL8" type="INT32">
      <short_desc>PWM main 8 failsafe value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)</long_desc>
      <min>0</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="PWM_MAIN_FAIL9" type="INT32">
      <short_desc>PWM main 9 failsafe value</short_desc>
      <long_desc>This is the PWM pulse the autopilot is outputting if in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)</long_desc>
      <min>0</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="2000" name="PWM_MAIN_MAX" type="INT32">
      <short_desc>PWM main maximum value</short_desc>
      <long_desc>Set to 2000 for industry default or 2100 to increase servo travel.</long_desc>
      <min>1600</min>
      <max>2200</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_MAX1" type="INT32">
      <short_desc>PWM main 1 maximum value</short_desc>
      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_MAX10" type="INT32">
      <short_desc>PWM main 10 maximum value</short_desc>
      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_MAX11" type="INT32">
      <short_desc>PWM main 11 maximum value</short_desc>
      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_MAX12" type="INT32">
      <short_desc>PWM main 12 maximum value</short_desc>
      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_MAX13" type="INT32">
      <short_desc>PWM main 13 maximum value</short_desc>
      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_MAX14" type="INT32">
      <short_desc>PWM main 14 maximum value</short_desc>
      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_MAX2" type="INT32">
      <short_desc>PWM main 2 maximum value</short_desc>
      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_MAX3" type="INT32">
      <short_desc>PWM main 3 maximum value</short_desc>
      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_MAX4" type="INT32">
      <short_desc>PWM main 4 maximum value</short_desc>
      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_MAX5" type="INT32">
      <short_desc>PWM main 5 maximum value</short_desc>
      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_MAX6" type="INT32">
      <short_desc>PWM main 6 maximum value</short_desc>
      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_MAX7" type="INT32">
      <short_desc>PWM main 7 maximum value</short_desc>
      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_MAX8" type="INT32">
      <short_desc>PWM main 8 maximum value</short_desc>
      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_MAX9" type="INT32">
      <short_desc>PWM main 9 maximum value</short_desc>
      <long_desc>This is the maximum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MAX will be used</long_desc>
      <min>-1</min>
      <max>2150</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1000" name="PWM_MAIN_MIN" type="INT32">
      <short_desc>PWM main minimum value</short_desc>
      <long_desc>Set to 1000 for industry default or 900 to increase servo travel.</long_desc>
      <min>800</min>
      <max>1400</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_MIN1" type="INT32">
      <short_desc>PWM main 1 minimum value</short_desc>
      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used</long_desc>
      <min>-1</min>
      <max>1600</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_MIN10" type="INT32">
      <short_desc>PWM main 10 minimum value</short_desc>
      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used</long_desc>
      <min>-1</min>
      <max>1600</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_MIN11" type="INT32">
      <short_desc>PWM main 11 minimum value</short_desc>
      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used</long_desc>
      <min>-1</min>
      <max>1600</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_MIN12" type="INT32">
      <short_desc>PWM main 12 minimum value</short_desc>
      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used</long_desc>
      <min>-1</min>
      <max>1600</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_MIN13" type="INT32">
      <short_desc>PWM main 13 minimum value</short_desc>
      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used</long_desc>
      <min>-1</min>
      <max>1600</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_MIN14" type="INT32">
      <short_desc>PWM main 14 minimum value</short_desc>
      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used</long_desc>
      <min>-1</min>
      <max>1600</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_MIN2" type="INT32">
      <short_desc>PWM main 2 minimum value</short_desc>
      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used</long_desc>
      <min>-1</min>
      <max>1600</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_MIN3" type="INT32">
      <short_desc>PWM main 3 minimum value</short_desc>
      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used</long_desc>
      <min>-1</min>
      <max>1600</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_MIN4" type="INT32">
      <short_desc>PWM main 4 minimum value</short_desc>
      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used</long_desc>
      <min>-1</min>
      <max>1600</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_MIN5" type="INT32">
      <short_desc>PWM main 5 minimum value</short_desc>
      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used</long_desc>
      <min>-1</min>
      <max>1600</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_MIN6" type="INT32">
      <short_desc>PWM main 6 minimum value</short_desc>
      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used</long_desc>
      <min>-1</min>
      <max>1600</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_MIN7" type="INT32">
      <short_desc>PWM main 7 minimum value</short_desc>
      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used</long_desc>
      <min>-1</min>
      <max>1600</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_MIN8" type="INT32">
      <short_desc>PWM main 8 minimum value</short_desc>
      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used</long_desc>
      <min>-1</min>
      <max>1600</max>
      <unit>us</unit>
    </parameter>
    <parameter default="-1" name="PWM_MAIN_MIN9" type="INT32">
      <short_desc>PWM main 9 minimum value</short_desc>
      <long_desc>This is the minimum PWM pulse the autopilot is allowed to output. When set to -1 the value for PWM_MIN will be used</long_desc>
      <min>-1</min>
      <max>1600</max>
      <unit>us</unit>
    </parameter>
    <parameter default="400" name="PWM_MAIN_RATE" type="INT32">
      <short_desc>PWM main output frequency</short_desc>
      <long_desc>Set to 400 for industry default or 1000 for high frequency ESCs. Set to 0 for Oneshot125.</long_desc>
      <min>-1</min>
      <max>2000</max>
      <unit>Hz</unit>
    </parameter>
    <parameter default="50" name="PWM_MAIN_RATE1" type="INT32">
      <short_desc>PWM main 1 rate</short_desc>
      <long_desc>Set the default PWM output frequency for the main outputs</long_desc>
      <min>0</min>
      <max>400</max>
      <unit>Hz</unit>
    </parameter>
    <parameter boolean="true" default="0" name="PWM_MAIN_REV1" type="INT32">
      <short_desc>PWM main 1 reverse value</short_desc>
      <long_desc>Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.</long_desc>
    </parameter>
    <parameter boolean="true" default="0" name="PWM_MAIN_REV10" type="INT32">
      <short_desc>PWM main 10 reverse value</short_desc>
      <long_desc>Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.</long_desc>
    </parameter>
    <parameter boolean="true" default="0" name="PWM_MAIN_REV11" type="INT32">
      <short_desc>PWM main 11 reverse value</short_desc>
      <long_desc>Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.</long_desc>
    </parameter>
    <parameter boolean="true" default="0" name="PWM_MAIN_REV12" type="INT32">
      <short_desc>PWM main 12 reverse value</short_desc>
      <long_desc>Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.</long_desc>
    </parameter>
    <parameter boolean="true" default="0" name="PWM_MAIN_REV13" type="INT32">
      <short_desc>PWM main 13 reverse value</short_desc>
      <long_desc>Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.</long_desc>
    </parameter>
    <parameter boolean="true" default="0" name="PWM_MAIN_REV14" type="INT32">
      <short_desc>PWM main 14 reverse value</short_desc>
      <long_desc>Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.</long_desc>
    </parameter>
    <parameter boolean="true" default="0" name="PWM_MAIN_REV2" type="INT32">
      <short_desc>PWM main 2 reverse value</short_desc>
      <long_desc>Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.</long_desc>
    </parameter>
    <parameter boolean="true" default="0" name="PWM_MAIN_REV3" type="INT32">
      <short_desc>PWM main 3 reverse value</short_desc>
      <long_desc>Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.</long_desc>
    </parameter>
    <parameter boolean="true" default="0" name="PWM_MAIN_REV4" type="INT32">
      <short_desc>PWM main 4 reverse value</short_desc>
      <long_desc>Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.</long_desc>
    </parameter>
    <parameter boolean="true" default="0" name="PWM_MAIN_REV5" type="INT32">
      <short_desc>PWM main 5 reverse value</short_desc>
      <long_desc>Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.</long_desc>
    </parameter>
    <parameter boolean="true" default="0" name="PWM_MAIN_REV6" type="INT32">
      <short_desc>PWM main 6 reverse value</short_desc>
      <long_desc>Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.</long_desc>
    </parameter>
    <parameter boolean="true" default="0" name="PWM_MAIN_REV7" type="INT32">
      <short_desc>PWM main 7 reverse value</short_desc>
      <long_desc>Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.</long_desc>
    </parameter>
    <parameter boolean="true" default="0" name="PWM_MAIN_REV8" type="INT32">
      <short_desc>PWM main 8 reverse value</short_desc>
      <long_desc>Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.</long_desc>
    </parameter>
    <parameter boolean="true" default="0" name="PWM_MAIN_REV9" type="INT32">
      <short_desc>PWM main 9 reverse value</short_desc>
      <long_desc>Enable to invert the channel. Warning: Use this parameter when connected to a servo only. For a brushless motor, invert manually two phases to reverse the direction.</long_desc>
    </parameter>
    <parameter default="0" name="PWM_MAIN_TRIM1" type="FLOAT">
      <short_desc>PWM main 1 trim value</short_desc>
      <long_desc>Set to normalized offset</long_desc>
      <min>-0.2</min>
      <max>0.2</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0" name="PWM_MAIN_TRIM10" type="FLOAT">
      <short_desc>PWM main 10 trim value</short_desc>
      <long_desc>Set to normalized offset</long_desc>
      <min>-0.2</min>
      <max>0.2</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0" name="PWM_MAIN_TRIM11" type="FLOAT">
      <short_desc>PWM main 11 trim value</short_desc>
      <long_desc>Set to normalized offset</long_desc>
      <min>-0.2</min>
      <max>0.2</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0" name="PWM_MAIN_TRIM12" type="FLOAT">
      <short_desc>PWM main 12 trim value</short_desc>
      <long_desc>Set to normalized offset</long_desc>
      <min>-0.2</min>
      <max>0.2</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0" name="PWM_MAIN_TRIM13" type="FLOAT">
      <short_desc>PWM main 13 trim value</short_desc>
      <long_desc>Set to normalized offset</long_desc>
      <min>-0.2</min>
      <max>0.2</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0" name="PWM_MAIN_TRIM14" type="FLOAT">
      <short_desc>PWM main 14 trim value</short_desc>
      <long_desc>Set to normalized offset</long_desc>
      <min>-0.2</min>
      <max>0.2</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0" name="PWM_MAIN_TRIM2" type="FLOAT">
      <short_desc>PWM main 2 trim value</short_desc>
      <long_desc>Set to normalized offset</long_desc>
      <min>-0.2</min>
      <max>0.2</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0" name="PWM_MAIN_TRIM3" type="FLOAT">
      <short_desc>PWM main 3 trim value</short_desc>
      <long_desc>Set to normalized offset</long_desc>
      <min>-0.2</min>
      <max>0.2</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0" name="PWM_MAIN_TRIM4" type="FLOAT">
      <short_desc>PWM main 4 trim value</short_desc>
      <long_desc>Set to normalized offset</long_desc>
      <min>-0.2</min>
      <max>0.2</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0" name="PWM_MAIN_TRIM5" type="FLOAT">
      <short_desc>PWM main 5 trim value</short_desc>
      <long_desc>Set to normalized offset</long_desc>
      <min>-0.2</min>
      <max>0.2</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0" name="PWM_MAIN_TRIM6" type="FLOAT">
      <short_desc>PWM main 6 trim value</short_desc>
      <long_desc>Set to normalized offset</long_desc>
      <min>-0.2</min>
      <max>0.2</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0" name="PWM_MAIN_TRIM7" type="FLOAT">
      <short_desc>PWM main 7 trim value</short_desc>
      <long_desc>Set to normalized offset</long_desc>
      <min>-0.2</min>
      <max>0.2</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0" name="PWM_MAIN_TRIM8" type="FLOAT">
      <short_desc>PWM main 8 trim value</short_desc>
      <long_desc>Set to normalized offset</long_desc>
      <min>-0.2</min>
      <max>0.2</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0" name="PWM_MAIN_TRIM9" type="FLOAT">
      <short_desc>PWM main 9 trim value</short_desc>
      <long_desc>Set to normalized offset</long_desc>
      <min>-0.2</min>
      <max>0.2</max>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.0" name="THR_MDL_FAC" type="FLOAT">
      <short_desc>Thrust to motor control signal model parameter</short_desc>
      <long_desc>Parameter used to model the nonlinear relationship between motor control signal (e.g. PWM) and static thrust. The model is: rel_thrust = factor * rel_signal^2 + (1-factor) * rel_signal, where rel_thrust is the normalized thrust between 0 and 1, and rel_signal is the relative motor control signal between 0 and 1.</long_desc>
      <min>0.0</min>
      <max>1.0</max>
    </parameter>
  </group>
  <group name="Precision Land">
    <parameter default="5.0" name="PLD_BTOUT" type="FLOAT">
      <short_desc>Landing Target Timeout</short_desc>
      <long_desc>Time after which the landing target is considered lost without any new measurements.</long_desc>
      <min>0.0</min>
      <max>50</max>
      <unit>s</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="0.1" name="PLD_FAPPR_ALT" type="FLOAT">
      <short_desc>Final approach altitude</short_desc>
      <long_desc>Allow final approach (without horizontal positioning) if losing landing target closer than this to the ground.</long_desc>
      <min>0.0</min>
      <max>10</max>
      <unit>m</unit>
      <decimal>2</decimal>
      <increment>0.1</increment>
    </parameter>
    <parameter default="0.2" name="PLD_HACC_RAD" type="FLOAT">
      <short_desc>Horizontal acceptance radius</short_desc>
      <long_desc>Start descending if closer above landing target than this.</long_desc>
      <min>0.0</min>
      <max>10</max>
      <unit>m</unit>
      <decimal>2</decimal>
      <increment>0.1</increment>
    </parameter>
    <parameter default="3" name="PLD_MAX_SRCH" type="INT32">
      <short_desc>Maximum number of search attempts</short_desc>
      <long_desc>Maximum number of times to seach for the landing target if it is lost during the precision landing.</long_desc>
      <min>0</min>
      <max>100</max>
    </parameter>
    <parameter default="10.0" name="PLD_SRCH_ALT" type="FLOAT">
      <short_desc>Search altitude</short_desc>
      <long_desc>Altitude above home to which to climb when searching for the landing target.</long_desc>
      <min>0.0</min>
      <max>100</max>
      <unit>m</unit>
      <decimal>1</decimal>
      <increment>0.1</increment>
    </parameter>
    <parameter default="10.0" name="PLD_SRCH_TOUT" type="FLOAT">
      <short_desc>Search timeout</short_desc>
      <long_desc>Time allowed to search for the landing target before falling back to normal landing.</long_desc>
      <min>0.0</min>
      <max>100</max>
      <unit>s</unit>
      <decimal>1</decimal>
      <increment>0.1</increment>
    </parameter>
  </group>
  <group name="Radio Calibration">
    <parameter default="0.0" name="RC10_DZ" type="FLOAT">
      <short_desc>RC channel 10 dead zone</short_desc>
      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
      <min>0.0</min>
      <max>100.0</max>
    </parameter>
    <parameter default="2000" name="RC10_MAX" type="FLOAT">
      <short_desc>RC channel 10 maximum</short_desc>
      <long_desc>Maximum value for this channel.</long_desc>
      <min>1500.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1000" name="RC10_MIN" type="FLOAT">
      <short_desc>RC channel 10 minimum</short_desc>
      <long_desc>Minimum value for this channel.</long_desc>
      <min>800.0</min>
      <max>1500.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1.0" name="RC10_REV" type="FLOAT">
      <short_desc>RC channel 10 reverse</short_desc>
      <long_desc>Set to -1 to reverse channel.</long_desc>
      <min>-1.0</min>
      <max>1.0</max>
      <values>
        <value code="-1.0">Reverse</value>
        <value code="1.0">Normal</value>
      </values>
    </parameter>
    <parameter default="1500" name="RC10_TRIM" type="FLOAT">
      <short_desc>RC channel 10 trim</short_desc>
      <long_desc>Mid point value (has to be set to the same as min for throttle channel).</long_desc>
      <min>800.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0.0" name="RC11_DZ" type="FLOAT">
      <short_desc>RC channel 11 dead zone</short_desc>
      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
      <min>0.0</min>
      <max>100.0</max>
    </parameter>
    <parameter default="2000" name="RC11_MAX" type="FLOAT">
      <short_desc>RC channel 11 maximum</short_desc>
      <long_desc>Maximum value for this channel.</long_desc>
      <min>1500.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1000" name="RC11_MIN" type="FLOAT">
      <short_desc>RC channel 11 minimum</short_desc>
      <long_desc>Minimum value for this channel.</long_desc>
      <min>800.0</min>
      <max>1500.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1.0" name="RC11_REV" type="FLOAT">
      <short_desc>RC channel 11 reverse</short_desc>
      <long_desc>Set to -1 to reverse channel.</long_desc>
      <min>-1.0</min>
      <max>1.0</max>
      <values>
        <value code="-1.0">Reverse</value>
        <value code="1.0">Normal</value>
      </values>
    </parameter>
    <parameter default="1500" name="RC11_TRIM" type="FLOAT">
      <short_desc>RC channel 11 trim</short_desc>
      <long_desc>Mid point value (has to be set to the same as min for throttle channel).</long_desc>
      <min>800.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0.0" name="RC12_DZ" type="FLOAT">
      <short_desc>RC channel 12 dead zone</short_desc>
      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
      <min>0.0</min>
      <max>100.0</max>
    </parameter>
    <parameter default="2000" name="RC12_MAX" type="FLOAT">
      <short_desc>RC channel 12 maximum</short_desc>
      <long_desc>Maximum value for this channel.</long_desc>
      <min>1500.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1000" name="RC12_MIN" type="FLOAT">
      <short_desc>RC channel 12 minimum</short_desc>
      <long_desc>Minimum value for this channel.</long_desc>
      <min>800.0</min>
      <max>1500.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1.0" name="RC12_REV" type="FLOAT">
      <short_desc>RC channel 12 reverse</short_desc>
      <long_desc>Set to -1 to reverse channel.</long_desc>
      <min>-1.0</min>
      <max>1.0</max>
      <values>
        <value code="-1.0">Reverse</value>
        <value code="1.0">Normal</value>
      </values>
    </parameter>
    <parameter default="1500" name="RC12_TRIM" type="FLOAT">
      <short_desc>RC channel 12 trim</short_desc>
      <long_desc>Mid point value (has to be set to the same as min for throttle channel).</long_desc>
      <min>800.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0.0" name="RC13_DZ" type="FLOAT">
      <short_desc>RC channel 13 dead zone</short_desc>
      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
      <min>0.0</min>
      <max>100.0</max>
    </parameter>
    <parameter default="2000" name="RC13_MAX" type="FLOAT">
      <short_desc>RC channel 13 maximum</short_desc>
      <long_desc>Maximum value for this channel.</long_desc>
      <min>1500.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1000" name="RC13_MIN" type="FLOAT">
      <short_desc>RC channel 13 minimum</short_desc>
      <long_desc>Minimum value for this channel.</long_desc>
      <min>800.0</min>
      <max>1500.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1.0" name="RC13_REV" type="FLOAT">
      <short_desc>RC channel 13 reverse</short_desc>
      <long_desc>Set to -1 to reverse channel.</long_desc>
      <min>-1.0</min>
      <max>1.0</max>
      <values>
        <value code="-1.0">Reverse</value>
        <value code="1.0">Normal</value>
      </values>
    </parameter>
    <parameter default="1500" name="RC13_TRIM" type="FLOAT">
      <short_desc>RC channel 13 trim</short_desc>
      <long_desc>Mid point value (has to be set to the same as min for throttle channel).</long_desc>
      <min>800.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0.0" name="RC14_DZ" type="FLOAT">
      <short_desc>RC channel 14 dead zone</short_desc>
      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
      <min>0.0</min>
      <max>100.0</max>
    </parameter>
    <parameter default="2000" name="RC14_MAX" type="FLOAT">
      <short_desc>RC channel 14 maximum</short_desc>
      <long_desc>Maximum value for this channel.</long_desc>
      <min>1500.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1000" name="RC14_MIN" type="FLOAT">
      <short_desc>RC channel 14 minimum</short_desc>
      <long_desc>Minimum value for this channel.</long_desc>
      <min>800.0</min>
      <max>1500.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1.0" name="RC14_REV" type="FLOAT">
      <short_desc>RC channel 14 reverse</short_desc>
      <long_desc>Set to -1 to reverse channel.</long_desc>
      <min>-1.0</min>
      <max>1.0</max>
      <values>
        <value code="-1.0">Reverse</value>
        <value code="1.0">Normal</value>
      </values>
    </parameter>
    <parameter default="1500" name="RC14_TRIM" type="FLOAT">
      <short_desc>RC channel 14 trim</short_desc>
      <long_desc>Mid point value (has to be set to the same as min for throttle channel).</long_desc>
      <min>800.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0.0" name="RC15_DZ" type="FLOAT">
      <short_desc>RC channel 15 dead zone</short_desc>
      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
      <min>0.0</min>
      <max>100.0</max>
    </parameter>
    <parameter default="2000" name="RC15_MAX" type="FLOAT">
      <short_desc>RC channel 15 maximum</short_desc>
      <long_desc>Maximum value for this channel.</long_desc>
      <min>1500.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1000" name="RC15_MIN" type="FLOAT">
      <short_desc>RC channel 15 minimum</short_desc>
      <long_desc>Minimum value for this channel.</long_desc>
      <min>800.0</min>
      <max>1500.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1.0" name="RC15_REV" type="FLOAT">
      <short_desc>RC channel 15 reverse</short_desc>
      <long_desc>Set to -1 to reverse channel.</long_desc>
      <min>-1.0</min>
      <max>1.0</max>
      <values>
        <value code="-1.0">Reverse</value>
        <value code="1.0">Normal</value>
      </values>
    </parameter>
    <parameter default="1500" name="RC15_TRIM" type="FLOAT">
      <short_desc>RC channel 15 trim</short_desc>
      <long_desc>Mid point value (has to be set to the same as min for throttle channel).</long_desc>
      <min>800.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0.0" name="RC16_DZ" type="FLOAT">
      <short_desc>RC channel 16 dead zone</short_desc>
      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
      <min>0.0</min>
      <max>100.0</max>
    </parameter>
    <parameter default="2000" name="RC16_MAX" type="FLOAT">
      <short_desc>RC channel 16 maximum</short_desc>
      <long_desc>Maximum value for this channel.</long_desc>
      <min>1500.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1000" name="RC16_MIN" type="FLOAT">
      <short_desc>RC channel 16 minimum</short_desc>
      <long_desc>Minimum value for this channel.</long_desc>
      <min>800.0</min>
      <max>1500.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1.0" name="RC16_REV" type="FLOAT">
      <short_desc>RC channel 16 reverse</short_desc>
      <long_desc>Set to -1 to reverse channel.</long_desc>
      <min>-1.0</min>
      <max>1.0</max>
      <values>
        <value code="-1.0">Reverse</value>
        <value code="1.0">Normal</value>
      </values>
    </parameter>
    <parameter default="1500" name="RC16_TRIM" type="FLOAT">
      <short_desc>RC channel 16 trim</short_desc>
      <long_desc>Mid point value (has to be set to the same as min for throttle channel).</long_desc>
      <min>800.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0.0" name="RC17_DZ" type="FLOAT">
      <short_desc>RC channel 17 dead zone</short_desc>
      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
      <min>0.0</min>
      <max>100.0</max>
    </parameter>
    <parameter default="2000" name="RC17_MAX" type="FLOAT">
      <short_desc>RC channel 17 maximum</short_desc>
      <long_desc>Maximum value for this channel.</long_desc>
      <min>1500.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1000" name="RC17_MIN" type="FLOAT">
      <short_desc>RC channel 17 minimum</short_desc>
      <long_desc>Minimum value for this channel.</long_desc>
      <min>800.0</min>
      <max>1500.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1.0" name="RC17_REV" type="FLOAT">
      <short_desc>RC channel 17 reverse</short_desc>
      <long_desc>Set to -1 to reverse channel.</long_desc>
      <min>-1.0</min>
      <max>1.0</max>
      <values>
        <value code="-1.0">Reverse</value>
        <value code="1.0">Normal</value>
      </values>
    </parameter>
    <parameter default="1500" name="RC17_TRIM" type="FLOAT">
      <short_desc>RC channel 17 trim</short_desc>
      <long_desc>Mid point value (has to be set to the same as min for throttle channel).</long_desc>
      <min>800.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0.0" name="RC18_DZ" type="FLOAT">
      <short_desc>RC channel 18 dead zone</short_desc>
      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
      <min>0.0</min>
      <max>100.0</max>
    </parameter>
    <parameter default="2000" name="RC18_MAX" type="FLOAT">
      <short_desc>RC channel 18 maximum</short_desc>
      <long_desc>Maximum value for this channel.</long_desc>
      <min>1500.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1000" name="RC18_MIN" type="FLOAT">
      <short_desc>RC channel 18 minimum</short_desc>
      <long_desc>Minimum value for this channel.</long_desc>
      <min>800.0</min>
      <max>1500.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1.0" name="RC18_REV" type="FLOAT">
      <short_desc>RC channel 18 reverse</short_desc>
      <long_desc>Set to -1 to reverse channel.</long_desc>
      <min>-1.0</min>
      <max>1.0</max>
      <values>
        <value code="-1.0">Reverse</value>
        <value code="1.0">Normal</value>
      </values>
    </parameter>
    <parameter default="1500" name="RC18_TRIM" type="FLOAT">
      <short_desc>RC channel 18 trim</short_desc>
      <long_desc>Mid point value (has to be set to the same as min for throttle channel).</long_desc>
      <min>800.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="10.0" name="RC1_DZ" type="FLOAT">
      <short_desc>RC channel 1 dead zone</short_desc>
      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
      <min>0.0</min>
      <max>100.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="2000.0" name="RC1_MAX" type="FLOAT">
      <short_desc>RC channel 1 maximum</short_desc>
      <long_desc>Maximum value for RC channel 1</long_desc>
      <min>1500.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1000.0" name="RC1_MIN" type="FLOAT">
      <short_desc>RC channel 1 minimum</short_desc>
      <long_desc>Minimum value for RC channel 1</long_desc>
      <min>800.0</min>
      <max>1500.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1.0" name="RC1_REV" type="FLOAT">
      <short_desc>RC channel 1 reverse</short_desc>
      <long_desc>Set to -1 to reverse channel.</long_desc>
      <min>-1.0</min>
      <max>1.0</max>
      <values>
        <value code="-1.0">Reverse</value>
        <value code="1.0">Normal</value>
      </values>
    </parameter>
    <parameter default="1500.0" name="RC1_TRIM" type="FLOAT">
      <short_desc>RC channel 1 trim</short_desc>
      <long_desc>Mid point value (same as min for throttle)</long_desc>
      <min>800.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="10.0" name="RC2_DZ" type="FLOAT">
      <short_desc>RC channel 2 dead zone</short_desc>
      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
      <min>0.0</min>
      <max>100.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="2000.0" name="RC2_MAX" type="FLOAT">
      <short_desc>RC channel 2 maximum</short_desc>
      <long_desc>Maximum value for this channel.</long_desc>
      <min>1500.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1000.0" name="RC2_MIN" type="FLOAT">
      <short_desc>RC channel 2 minimum</short_desc>
      <long_desc>Minimum value for this channel.</long_desc>
      <min>800.0</min>
      <max>1500.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1.0" name="RC2_REV" type="FLOAT">
      <short_desc>RC channel 2 reverse</short_desc>
      <long_desc>Set to -1 to reverse channel.</long_desc>
      <min>-1.0</min>
      <max>1.0</max>
      <values>
        <value code="-1.0">Reverse</value>
        <value code="1.0">Normal</value>
      </values>
    </parameter>
    <parameter default="1500.0" name="RC2_TRIM" type="FLOAT">
      <short_desc>RC channel 2 trim</short_desc>
      <long_desc>Mid point value (has to be set to the same as min for throttle channel).</long_desc>
      <min>800.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="10.0" name="RC3_DZ" type="FLOAT">
      <short_desc>RC channel 3 dead zone</short_desc>
      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
      <min>0.0</min>
      <max>100.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="2000" name="RC3_MAX" type="FLOAT">
      <short_desc>RC channel 3 maximum</short_desc>
      <long_desc>Maximum value for this channel.</long_desc>
      <min>1500.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1000" name="RC3_MIN" type="FLOAT">
      <short_desc>RC channel 3 minimum</short_desc>
      <long_desc>Minimum value for this channel.</long_desc>
      <min>800.0</min>
      <max>1500.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1.0" name="RC3_REV" type="FLOAT">
      <short_desc>RC channel 3 reverse</short_desc>
      <long_desc>Set to -1 to reverse channel.</long_desc>
      <min>-1.0</min>
      <max>1.0</max>
      <values>
        <value code="-1.0">Reverse</value>
        <value code="1.0">Normal</value>
      </values>
    </parameter>
    <parameter default="1500" name="RC3_TRIM" type="FLOAT">
      <short_desc>RC channel 3 trim</short_desc>
      <long_desc>Mid point value (has to be set to the same as min for throttle channel).</long_desc>
      <min>800.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="10.0" name="RC4_DZ" type="FLOAT">
      <short_desc>RC channel 4 dead zone</short_desc>
      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
      <min>0.0</min>
      <max>100.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="2000" name="RC4_MAX" type="FLOAT">
      <short_desc>RC channel 4 maximum</short_desc>
      <long_desc>Maximum value for this channel.</long_desc>
      <min>1500.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1000" name="RC4_MIN" type="FLOAT">
      <short_desc>RC channel 4 minimum</short_desc>
      <long_desc>Minimum value for this channel.</long_desc>
      <min>800.0</min>
      <max>1500.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1.0" name="RC4_REV" type="FLOAT">
      <short_desc>RC channel 4 reverse</short_desc>
      <long_desc>Set to -1 to reverse channel.</long_desc>
      <min>-1.0</min>
      <max>1.0</max>
      <values>
        <value code="-1.0">Reverse</value>
        <value code="1.0">Normal</value>
      </values>
    </parameter>
    <parameter default="1500" name="RC4_TRIM" type="FLOAT">
      <short_desc>RC channel 4 trim</short_desc>
      <long_desc>Mid point value (has to be set to the same as min for throttle channel).</long_desc>
      <min>800.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="10.0" name="RC5_DZ" type="FLOAT">
      <short_desc>RC channel 5 dead zone</short_desc>
      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
      <min>0.0</min>
      <max>100.0</max>
    </parameter>
    <parameter default="2000" name="RC5_MAX" type="FLOAT">
      <short_desc>RC channel 5 maximum</short_desc>
      <long_desc>Maximum value for this channel.</long_desc>
      <min>1500.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1000" name="RC5_MIN" type="FLOAT">
      <short_desc>RC channel 5 minimum</short_desc>
      <long_desc>Minimum value for this channel.</long_desc>
      <min>800.0</min>
      <max>1500.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1.0" name="RC5_REV" type="FLOAT">
      <short_desc>RC channel 5 reverse</short_desc>
      <long_desc>Set to -1 to reverse channel.</long_desc>
      <min>-1.0</min>
      <max>1.0</max>
      <values>
        <value code="-1.0">Reverse</value>
        <value code="1.0">Normal</value>
      </values>
    </parameter>
    <parameter default="1500" name="RC5_TRIM" type="FLOAT">
      <short_desc>RC channel 5 trim</short_desc>
      <long_desc>Mid point value (has to be set to the same as min for throttle channel).</long_desc>
      <min>800.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="10.0" name="RC6_DZ" type="FLOAT">
      <short_desc>RC channel 6 dead zone</short_desc>
      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
      <min>0.0</min>
      <max>100.0</max>
    </parameter>
    <parameter default="2000" name="RC6_MAX" type="FLOAT">
      <short_desc>RC channel 6 maximum</short_desc>
      <long_desc>Maximum value for this channel.</long_desc>
      <min>1500.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1000" name="RC6_MIN" type="FLOAT">
      <short_desc>RC channel 6 minimum</short_desc>
      <long_desc>Minimum value for this channel.</long_desc>
      <min>800.0</min>
      <max>1500.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1.0" name="RC6_REV" type="FLOAT">
      <short_desc>RC channel 6 reverse</short_desc>
      <long_desc>Set to -1 to reverse channel.</long_desc>
      <min>-1.0</min>
      <max>1.0</max>
      <values>
        <value code="-1.0">Reverse</value>
        <value code="1.0">Normal</value>
      </values>
    </parameter>
    <parameter default="1500" name="RC6_TRIM" type="FLOAT">
      <short_desc>RC channel 6 trim</short_desc>
      <long_desc>Mid point value (has to be set to the same as min for throttle channel).</long_desc>
      <min>800.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="10.0" name="RC7_DZ" type="FLOAT">
      <short_desc>RC channel 7 dead zone</short_desc>
      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
      <min>0.0</min>
      <max>100.0</max>
    </parameter>
    <parameter default="2000" name="RC7_MAX" type="FLOAT">
      <short_desc>RC channel 7 maximum</short_desc>
      <long_desc>Maximum value for this channel.</long_desc>
      <min>1500.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1000" name="RC7_MIN" type="FLOAT">
      <short_desc>RC channel 7 minimum</short_desc>
      <long_desc>Minimum value for this channel.</long_desc>
      <min>800.0</min>
      <max>1500.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1.0" name="RC7_REV" type="FLOAT">
      <short_desc>RC channel 7 reverse</short_desc>
      <long_desc>Set to -1 to reverse channel.</long_desc>
      <min>-1.0</min>
      <max>1.0</max>
      <values>
        <value code="-1.0">Reverse</value>
        <value code="1.0">Normal</value>
      </values>
    </parameter>
    <parameter default="1500" name="RC7_TRIM" type="FLOAT">
      <short_desc>RC channel 7 trim</short_desc>
      <long_desc>Mid point value (has to be set to the same as min for throttle channel).</long_desc>
      <min>800.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="10.0" name="RC8_DZ" type="FLOAT">
      <short_desc>RC channel 8 dead zone</short_desc>
      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
      <min>0.0</min>
      <max>100.0</max>
    </parameter>
    <parameter default="2000" name="RC8_MAX" type="FLOAT">
      <short_desc>RC channel 8 maximum</short_desc>
      <long_desc>Maximum value for this channel.</long_desc>
      <min>1500.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1000" name="RC8_MIN" type="FLOAT">
      <short_desc>RC channel 8 minimum</short_desc>
      <long_desc>Minimum value for this channel.</long_desc>
      <min>800.0</min>
      <max>1500.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1.0" name="RC8_REV" type="FLOAT">
      <short_desc>RC channel 8 reverse</short_desc>
      <long_desc>Set to -1 to reverse channel.</long_desc>
      <min>-1.0</min>
      <max>1.0</max>
      <values>
        <value code="-1.0">Reverse</value>
        <value code="1.0">Normal</value>
      </values>
    </parameter>
    <parameter default="1500" name="RC8_TRIM" type="FLOAT">
      <short_desc>RC channel 8 trim</short_desc>
      <long_desc>Mid point value (has to be set to the same as min for throttle channel).</long_desc>
      <min>800.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0.0" name="RC9_DZ" type="FLOAT">
      <short_desc>RC channel 9 dead zone</short_desc>
      <long_desc>The +- range of this value around the trim value will be considered as zero.</long_desc>
      <min>0.0</min>
      <max>100.0</max>
    </parameter>
    <parameter default="2000" name="RC9_MAX" type="FLOAT">
      <short_desc>RC channel 9 maximum</short_desc>
      <long_desc>Maximum value for this channel.</long_desc>
      <min>1500.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1000" name="RC9_MIN" type="FLOAT">
      <short_desc>RC channel 9 minimum</short_desc>
      <long_desc>Minimum value for this channel.</long_desc>
      <min>800.0</min>
      <max>1500.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="1.0" name="RC9_REV" type="FLOAT">
      <short_desc>RC channel 9 reverse</short_desc>
      <long_desc>Set to -1 to reverse channel.</long_desc>
      <min>-1.0</min>
      <max>1.0</max>
      <values>
        <value code="-1.0">Reverse</value>
        <value code="1.0">Normal</value>
      </values>
    </parameter>
    <parameter default="1500" name="RC9_TRIM" type="FLOAT">
      <short_desc>RC channel 9 trim</short_desc>
      <long_desc>Mid point value (has to be set to the same as min for throttle channel).</long_desc>
      <min>800.0</min>
      <max>2200.0</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="RC_CHAN_CNT" type="INT32">
      <short_desc>RC channel count</short_desc>
      <long_desc>This parameter is used by Ground Station software to save the number of channels which were used during RC calibration. It is only meant for ground station use.</long_desc>
      <min>0</min>
      <max>18</max>
    </parameter>
    <parameter default="0" name="RC_FAILS_THR" type="INT32">
      <short_desc>Failsafe channel PWM threshold</short_desc>
      <long_desc>Set to a value slightly above the PWM value assumed by throttle in a failsafe event, but ensure it is below the PWM value assumed by throttle during normal operation. Use RC_MAP_FAILSAFE to specify which channel is used to check. Note: The default value of 0 is below the epxed range and hence disables the feature.</long_desc>
      <min>0</min>
      <max>2200</max>
      <unit>us</unit>
    </parameter>
    <parameter default="0" name="RC_MAP_AUX1" type="INT32">
      <short_desc>AUX1 Passthrough RC channel</short_desc>
      <long_desc>Default function: Camera pitch</long_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="0">Unassigned</value>
        <value code="1">Channel 1</value>
        <value code="2">Channel 2</value>
        <value code="3">Channel 3</value>
        <value code="4">Channel 4</value>
        <value code="5">Channel 5</value>
        <value code="6">Channel 6</value>
        <value code="7">Channel 7</value>
        <value code="8">Channel 8</value>
        <value code="9">Channel 9</value>
        <value code="10">Channel 10</value>
        <value code="11">Channel 11</value>
        <value code="12">Channel 12</value>
        <value code="13">Channel 13</value>
        <value code="14">Channel 14</value>
        <value code="15">Channel 15</value>
        <value code="16">Channel 16</value>
        <value code="17">Channel 17</value>
        <value code="18">Channel 18</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_AUX2" type="INT32">
      <short_desc>AUX2 Passthrough RC channel</short_desc>
      <long_desc>Default function: Camera roll</long_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="0">Unassigned</value>
        <value code="1">Channel 1</value>
        <value code="2">Channel 2</value>
        <value code="3">Channel 3</value>
        <value code="4">Channel 4</value>
        <value code="5">Channel 5</value>
        <value code="6">Channel 6</value>
        <value code="7">Channel 7</value>
        <value code="8">Channel 8</value>
        <value code="9">Channel 9</value>
        <value code="10">Channel 10</value>
        <value code="11">Channel 11</value>
        <value code="12">Channel 12</value>
        <value code="13">Channel 13</value>
        <value code="14">Channel 14</value>
        <value code="15">Channel 15</value>
        <value code="16">Channel 16</value>
        <value code="17">Channel 17</value>
        <value code="18">Channel 18</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_AUX3" type="INT32">
      <short_desc>AUX3 Passthrough RC channel</short_desc>
      <long_desc>Default function: Camera azimuth / yaw</long_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="0">Unassigned</value>
        <value code="1">Channel 1</value>
        <value code="2">Channel 2</value>
        <value code="3">Channel 3</value>
        <value code="4">Channel 4</value>
        <value code="5">Channel 5</value>
        <value code="6">Channel 6</value>
        <value code="7">Channel 7</value>
        <value code="8">Channel 8</value>
        <value code="9">Channel 9</value>
        <value code="10">Channel 10</value>
        <value code="11">Channel 11</value>
        <value code="12">Channel 12</value>
        <value code="13">Channel 13</value>
        <value code="14">Channel 14</value>
        <value code="15">Channel 15</value>
        <value code="16">Channel 16</value>
        <value code="17">Channel 17</value>
        <value code="18">Channel 18</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_AUX4" type="INT32">
      <short_desc>AUX4 Passthrough RC channel</short_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="0">Unassigned</value>
        <value code="1">Channel 1</value>
        <value code="2">Channel 2</value>
        <value code="3">Channel 3</value>
        <value code="4">Channel 4</value>
        <value code="5">Channel 5</value>
        <value code="6">Channel 6</value>
        <value code="7">Channel 7</value>
        <value code="8">Channel 8</value>
        <value code="9">Channel 9</value>
        <value code="10">Channel 10</value>
        <value code="11">Channel 11</value>
        <value code="12">Channel 12</value>
        <value code="13">Channel 13</value>
        <value code="14">Channel 14</value>
        <value code="15">Channel 15</value>
        <value code="16">Channel 16</value>
        <value code="17">Channel 17</value>
        <value code="18">Channel 18</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_AUX5" type="INT32">
      <short_desc>AUX5 Passthrough RC channel</short_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="0">Unassigned</value>
        <value code="1">Channel 1</value>
        <value code="2">Channel 2</value>
        <value code="3">Channel 3</value>
        <value code="4">Channel 4</value>
        <value code="5">Channel 5</value>
        <value code="6">Channel 6</value>
        <value code="7">Channel 7</value>
        <value code="8">Channel 8</value>
        <value code="9">Channel 9</value>
        <value code="10">Channel 10</value>
        <value code="11">Channel 11</value>
        <value code="12">Channel 12</value>
        <value code="13">Channel 13</value>
        <value code="14">Channel 14</value>
        <value code="15">Channel 15</value>
        <value code="16">Channel 16</value>
        <value code="17">Channel 17</value>
        <value code="18">Channel 18</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_AUX6" type="INT32">
      <short_desc>AUX6 Passthrough RC channel</short_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="0">Unassigned</value>
        <value code="1">Channel 1</value>
        <value code="2">Channel 2</value>
        <value code="3">Channel 3</value>
        <value code="4">Channel 4</value>
        <value code="5">Channel 5</value>
        <value code="6">Channel 6</value>
        <value code="7">Channel 7</value>
        <value code="8">Channel 8</value>
        <value code="9">Channel 9</value>
        <value code="10">Channel 10</value>
        <value code="11">Channel 11</value>
        <value code="12">Channel 12</value>
        <value code="13">Channel 13</value>
        <value code="14">Channel 14</value>
        <value code="15">Channel 15</value>
        <value code="16">Channel 16</value>
        <value code="17">Channel 17</value>
        <value code="18">Channel 18</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_FAILSAFE" type="INT32">
      <short_desc>Failsafe channel mapping</short_desc>
      <long_desc>Configures which channel is used by the receiver to indicate the signal was lost. Futaba receivers do report that way. If 0, whichever channel is mapped to throttle is used otherwise the value indicates the specific RC channel to use Use RC_FAILS_THR to set the threshold indicating lost signal. By default it's below the expected range and hence diabled.</long_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="0">Unassigned</value>
        <value code="1">Channel 1</value>
        <value code="2">Channel 2</value>
        <value code="3">Channel 3</value>
        <value code="4">Channel 4</value>
        <value code="5">Channel 5</value>
        <value code="6">Channel 6</value>
        <value code="7">Channel 7</value>
        <value code="8">Channel 8</value>
        <value code="9">Channel 9</value>
        <value code="10">Channel 10</value>
        <value code="11">Channel 11</value>
        <value code="12">Channel 12</value>
        <value code="13">Channel 13</value>
        <value code="14">Channel 14</value>
        <value code="15">Channel 15</value>
        <value code="16">Channel 16</value>
        <value code="17">Channel 17</value>
        <value code="18">Channel 18</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_PARAM1" type="INT32">
      <short_desc>PARAM1 tuning channel</short_desc>
      <long_desc>Can be used for parameter tuning with the RC. This one is further referenced as the 1st parameter channel. Set to 0 to deactivate *</long_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="0">Unassigned</value>
        <value code="1">Channel 1</value>
        <value code="2">Channel 2</value>
        <value code="3">Channel 3</value>
        <value code="4">Channel 4</value>
        <value code="5">Channel 5</value>
        <value code="6">Channel 6</value>
        <value code="7">Channel 7</value>
        <value code="8">Channel 8</value>
        <value code="9">Channel 9</value>
        <value code="10">Channel 10</value>
        <value code="11">Channel 11</value>
        <value code="12">Channel 12</value>
        <value code="13">Channel 13</value>
        <value code="14">Channel 14</value>
        <value code="15">Channel 15</value>
        <value code="16">Channel 16</value>
        <value code="17">Channel 17</value>
        <value code="18">Channel 18</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_PARAM2" type="INT32">
      <short_desc>PARAM2 tuning channel</short_desc>
      <long_desc>Can be used for parameter tuning with the RC. This one is further referenced as the 2nd parameter channel. Set to 0 to deactivate *</long_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="0">Unassigned</value>
        <value code="1">Channel 1</value>
        <value code="2">Channel 2</value>
        <value code="3">Channel 3</value>
        <value code="4">Channel 4</value>
        <value code="5">Channel 5</value>
        <value code="6">Channel 6</value>
        <value code="7">Channel 7</value>
        <value code="8">Channel 8</value>
        <value code="9">Channel 9</value>
        <value code="10">Channel 10</value>
        <value code="11">Channel 11</value>
        <value code="12">Channel 12</value>
        <value code="13">Channel 13</value>
        <value code="14">Channel 14</value>
        <value code="15">Channel 15</value>
        <value code="16">Channel 16</value>
        <value code="17">Channel 17</value>
        <value code="18">Channel 18</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_PARAM3" type="INT32">
      <short_desc>PARAM3 tuning channel</short_desc>
      <long_desc>Can be used for parameter tuning with the RC. This one is further referenced as the 3th parameter channel. Set to 0 to deactivate *</long_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="0">Unassigned</value>
        <value code="1">Channel 1</value>
        <value code="2">Channel 2</value>
        <value code="3">Channel 3</value>
        <value code="4">Channel 4</value>
        <value code="5">Channel 5</value>
        <value code="6">Channel 6</value>
        <value code="7">Channel 7</value>
        <value code="8">Channel 8</value>
        <value code="9">Channel 9</value>
        <value code="10">Channel 10</value>
        <value code="11">Channel 11</value>
        <value code="12">Channel 12</value>
        <value code="13">Channel 13</value>
        <value code="14">Channel 14</value>
        <value code="15">Channel 15</value>
        <value code="16">Channel 16</value>
        <value code="17">Channel 17</value>
        <value code="18">Channel 18</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_PITCH" type="INT32">
      <short_desc>Pitch control channel mapping</short_desc>
      <long_desc>The channel index (starting from 1 for channel 1) indicates which channel should be used for reading pitch inputs from. A value of zero indicates the switch is not assigned.</long_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="0">Unassigned</value>
        <value code="1">Channel 1</value>
        <value code="2">Channel 2</value>
        <value code="3">Channel 3</value>
        <value code="4">Channel 4</value>
        <value code="5">Channel 5</value>
        <value code="6">Channel 6</value>
        <value code="7">Channel 7</value>
        <value code="8">Channel 8</value>
        <value code="9">Channel 9</value>
        <value code="10">Channel 10</value>
        <value code="11">Channel 11</value>
        <value code="12">Channel 12</value>
        <value code="13">Channel 13</value>
        <value code="14">Channel 14</value>
        <value code="15">Channel 15</value>
        <value code="16">Channel 16</value>
        <value code="17">Channel 17</value>
        <value code="18">Channel 18</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_ROLL" type="INT32">
      <short_desc>Roll control channel mapping</short_desc>
      <long_desc>The channel index (starting from 1 for channel 1) indicates which channel should be used for reading roll inputs from. A value of zero indicates the switch is not assigned.</long_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="0">Unassigned</value>
        <value code="1">Channel 1</value>
        <value code="2">Channel 2</value>
        <value code="3">Channel 3</value>
        <value code="4">Channel 4</value>
        <value code="5">Channel 5</value>
        <value code="6">Channel 6</value>
        <value code="7">Channel 7</value>
        <value code="8">Channel 8</value>
        <value code="9">Channel 9</value>
        <value code="10">Channel 10</value>
        <value code="11">Channel 11</value>
        <value code="12">Channel 12</value>
        <value code="13">Channel 13</value>
        <value code="14">Channel 14</value>
        <value code="15">Channel 15</value>
        <value code="16">Channel 16</value>
        <value code="17">Channel 17</value>
        <value code="18">Channel 18</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_THROTTLE" type="INT32">
      <short_desc>Throttle control channel mapping</short_desc>
      <long_desc>The channel index (starting from 1 for channel 1) indicates which channel should be used for reading throttle inputs from. A value of zero indicates the switch is not assigned.</long_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="0">Unassigned</value>
        <value code="1">Channel 1</value>
        <value code="2">Channel 2</value>
        <value code="3">Channel 3</value>
        <value code="4">Channel 4</value>
        <value code="5">Channel 5</value>
        <value code="6">Channel 6</value>
        <value code="7">Channel 7</value>
        <value code="8">Channel 8</value>
        <value code="9">Channel 9</value>
        <value code="10">Channel 10</value>
        <value code="11">Channel 11</value>
        <value code="12">Channel 12</value>
        <value code="13">Channel 13</value>
        <value code="14">Channel 14</value>
        <value code="15">Channel 15</value>
        <value code="16">Channel 16</value>
        <value code="17">Channel 17</value>
        <value code="18">Channel 18</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_YAW" type="INT32">
      <short_desc>Yaw control channel mapping</short_desc>
      <long_desc>The channel index (starting from 1 for channel 1) indicates which channel should be used for reading yaw inputs from. A value of zero indicates the switch is not assigned.</long_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="0">Unassigned</value>
        <value code="1">Channel 1</value>
        <value code="2">Channel 2</value>
        <value code="3">Channel 3</value>
        <value code="4">Channel 4</value>
        <value code="5">Channel 5</value>
        <value code="6">Channel 6</value>
        <value code="7">Channel 7</value>
        <value code="8">Channel 8</value>
        <value code="9">Channel 9</value>
        <value code="10">Channel 10</value>
        <value code="11">Channel 11</value>
        <value code="12">Channel 12</value>
        <value code="13">Channel 13</value>
        <value code="14">Channel 14</value>
        <value code="15">Channel 15</value>
        <value code="16">Channel 16</value>
        <value code="17">Channel 17</value>
        <value code="18">Channel 18</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_RSSI_PWM_CHAN" type="INT32">
      <short_desc>PWM input channel that provides RSSI</short_desc>
      <long_desc>0: do not read RSSI from input channel 1-18: read RSSI from specified input channel Specify the range for RSSI input with RC_RSSI_PWM_MIN and RC_RSSI_PWM_MAX parameters.</long_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="0">Unassigned</value>
        <value code="1">Channel 1</value>
        <value code="2">Channel 2</value>
        <value code="3">Channel 3</value>
        <value code="4">Channel 4</value>
        <value code="5">Channel 5</value>
        <value code="6">Channel 6</value>
        <value code="7">Channel 7</value>
        <value code="8">Channel 8</value>
        <value code="9">Channel 9</value>
        <value code="10">Channel 10</value>
        <value code="11">Channel 11</value>
        <value code="12">Channel 12</value>
        <value code="13">Channel 13</value>
        <value code="14">Channel 14</value>
        <value code="15">Channel 15</value>
        <value code="16">Channel 16</value>
        <value code="17">Channel 17</value>
        <value code="18">Channel 18</value>
      </values>
    </parameter>
    <parameter default="2000" name="RC_RSSI_PWM_MAX" type="INT32">
      <short_desc>Max input value for RSSI reading</short_desc>
      <long_desc>Only used if RC_RSSI_PWM_CHAN &gt; 0</long_desc>
      <min>0</min>
      <max>2000</max>
    </parameter>
    <parameter default="1000" name="RC_RSSI_PWM_MIN" type="INT32">
      <short_desc>Min input value for RSSI reading</short_desc>
      <long_desc>Only used if RC_RSSI_PWM_CHAN &gt; 0</long_desc>
      <min>0</min>
      <max>2000</max>
    </parameter>
    <parameter default="0.0" name="TRIM_PITCH" type="FLOAT">
      <short_desc>Pitch trim</short_desc>
      <long_desc>The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS.</long_desc>
      <min>-0.25</min>
      <max>0.25</max>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.0" name="TRIM_ROLL" type="FLOAT">
      <short_desc>Roll trim</short_desc>
      <long_desc>The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS.</long_desc>
      <min>-0.25</min>
      <max>0.25</max>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.0" name="TRIM_YAW" type="FLOAT">
      <short_desc>Yaw trim</short_desc>
      <long_desc>The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS.</long_desc>
      <min>-0.25</min>
      <max>0.25</max>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
  </group>
  <group name="Radio Switches">
    <parameter default="0.75" name="RC_ACRO_TH" type="FLOAT">
      <short_desc>Threshold for selecting acro mode</short_desc>
      <long_desc>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</long_desc>
      <min>-1</min>
      <max>1</max>
    </parameter>
    <parameter default="0.75" name="RC_ARMSWITCH_TH" type="FLOAT">
      <short_desc>Threshold for the arm switch</short_desc>
      <long_desc>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</long_desc>
      <min>-1</min>
      <max>1</max>
    </parameter>
    <parameter default="0.25" name="RC_ASSIST_TH" type="FLOAT">
      <short_desc>Threshold for selecting assist mode</short_desc>
      <long_desc>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</long_desc>
      <min>-1</min>
      <max>1</max>
    </parameter>
    <parameter default="0.75" name="RC_AUTO_TH" type="FLOAT">
      <short_desc>Threshold for selecting auto mode</short_desc>
      <long_desc>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</long_desc>
      <min>-1</min>
      <max>1</max>
    </parameter>
    <parameter default="0.75" name="RC_GEAR_TH" type="FLOAT">
      <short_desc>Threshold for the landing gear switch</short_desc>
      <long_desc>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</long_desc>
      <min>-1</min>
      <max>1</max>
    </parameter>
    <parameter default="0.75" name="RC_KILLSWITCH_TH" type="FLOAT">
      <short_desc>Threshold for the kill switch</short_desc>
      <long_desc>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</long_desc>
      <min>-1</min>
      <max>1</max>
    </parameter>
    <parameter default="0.75" name="RC_LOITER_TH" type="FLOAT">
      <short_desc>Threshold for selecting loiter mode</short_desc>
      <long_desc>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</long_desc>
      <min>-1</min>
      <max>1</max>
    </parameter>
    <parameter default="0.75" name="RC_MAN_TH" type="FLOAT">
      <short_desc>Threshold for the manual switch</short_desc>
      <long_desc>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</long_desc>
      <min>-1</min>
      <max>1</max>
    </parameter>
    <parameter default="0" name="RC_MAP_ACRO_SW" type="INT32">
      <short_desc>Acro switch channel</short_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="0">Unassigned</value>
        <value code="1">Channel 1</value>
        <value code="2">Channel 2</value>
        <value code="3">Channel 3</value>
        <value code="4">Channel 4</value>
        <value code="5">Channel 5</value>
        <value code="6">Channel 6</value>
        <value code="7">Channel 7</value>
        <value code="8">Channel 8</value>
        <value code="9">Channel 9</value>
        <value code="10">Channel 10</value>
        <value code="11">Channel 11</value>
        <value code="12">Channel 12</value>
        <value code="13">Channel 13</value>
        <value code="14">Channel 14</value>
        <value code="15">Channel 15</value>
        <value code="16">Channel 16</value>
        <value code="17">Channel 17</value>
        <value code="18">Channel 18</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_ARM_SW" type="INT32">
      <short_desc>Arm switch channel</short_desc>
      <long_desc>Use it to arm/disarm via switch instead of default throttle stick. If this is assigned, arming and disarming via stick is disabled.</long_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="0">Unassigned</value>
        <value code="1">Channel 1</value>
        <value code="2">Channel 2</value>
        <value code="3">Channel 3</value>
        <value code="4">Channel 4</value>
        <value code="5">Channel 5</value>
        <value code="6">Channel 6</value>
        <value code="7">Channel 7</value>
        <value code="8">Channel 8</value>
        <value code="9">Channel 9</value>
        <value code="10">Channel 10</value>
        <value code="11">Channel 11</value>
        <value code="12">Channel 12</value>
        <value code="13">Channel 13</value>
        <value code="14">Channel 14</value>
        <value code="15">Channel 15</value>
        <value code="16">Channel 16</value>
        <value code="17">Channel 17</value>
        <value code="18">Channel 18</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_FLAPS" type="INT32">
      <short_desc>Flaps channel</short_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="0">Unassigned</value>
        <value code="1">Channel 1</value>
        <value code="2">Channel 2</value>
        <value code="3">Channel 3</value>
        <value code="4">Channel 4</value>
        <value code="5">Channel 5</value>
        <value code="6">Channel 6</value>
        <value code="7">Channel 7</value>
        <value code="8">Channel 8</value>
        <value code="9">Channel 9</value>
        <value code="10">Channel 10</value>
        <value code="11">Channel 11</value>
        <value code="12">Channel 12</value>
        <value code="13">Channel 13</value>
        <value code="14">Channel 14</value>
        <value code="15">Channel 15</value>
        <value code="16">Channel 16</value>
        <value code="17">Channel 17</value>
        <value code="18">Channel 18</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_FLTMODE" type="INT32">
      <short_desc>Single channel flight mode selection</short_desc>
      <long_desc>If this parameter is non-zero, flight modes are only selected by this channel and are assigned to six slots.</long_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="0">Unassigned</value>
        <value code="1">Channel 1</value>
        <value code="2">Channel 2</value>
        <value code="3">Channel 3</value>
        <value code="4">Channel 4</value>
        <value code="5">Channel 5</value>
        <value code="6">Channel 6</value>
        <value code="7">Channel 7</value>
        <value code="8">Channel 8</value>
        <value code="9">Channel 9</value>
        <value code="10">Channel 10</value>
        <value code="11">Channel 11</value>
        <value code="12">Channel 12</value>
        <value code="13">Channel 13</value>
        <value code="14">Channel 14</value>
        <value code="15">Channel 15</value>
        <value code="16">Channel 16</value>
        <value code="17">Channel 17</value>
        <value code="18">Channel 18</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_GEAR_SW" type="INT32">
      <short_desc>Landing gear switch channel</short_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="0">Unassigned</value>
        <value code="1">Channel 1</value>
        <value code="2">Channel 2</value>
        <value code="3">Channel 3</value>
        <value code="4">Channel 4</value>
        <value code="5">Channel 5</value>
        <value code="6">Channel 6</value>
        <value code="7">Channel 7</value>
        <value code="8">Channel 8</value>
        <value code="9">Channel 9</value>
        <value code="10">Channel 10</value>
        <value code="11">Channel 11</value>
        <value code="12">Channel 12</value>
        <value code="13">Channel 13</value>
        <value code="14">Channel 14</value>
        <value code="15">Channel 15</value>
        <value code="16">Channel 16</value>
        <value code="17">Channel 17</value>
        <value code="18">Channel 18</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_KILL_SW" type="INT32">
      <short_desc>Emergency Kill switch channel</short_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="0">Unassigned</value>
        <value code="1">Channel 1</value>
        <value code="2">Channel 2</value>
        <value code="3">Channel 3</value>
        <value code="4">Channel 4</value>
        <value code="5">Channel 5</value>
        <value code="6">Channel 6</value>
        <value code="7">Channel 7</value>
        <value code="8">Channel 8</value>
        <value code="9">Channel 9</value>
        <value code="10">Channel 10</value>
        <value code="11">Channel 11</value>
        <value code="12">Channel 12</value>
        <value code="13">Channel 13</value>
        <value code="14">Channel 14</value>
        <value code="15">Channel 15</value>
        <value code="16">Channel 16</value>
        <value code="17">Channel 17</value>
        <value code="18">Channel 18</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_LOITER_SW" type="INT32">
      <short_desc>Loiter switch channel</short_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="0">Unassigned</value>
        <value code="1">Channel 1</value>
        <value code="2">Channel 2</value>
        <value code="3">Channel 3</value>
        <value code="4">Channel 4</value>
        <value code="5">Channel 5</value>
        <value code="6">Channel 6</value>
        <value code="7">Channel 7</value>
        <value code="8">Channel 8</value>
        <value code="9">Channel 9</value>
        <value code="10">Channel 10</value>
        <value code="11">Channel 11</value>
        <value code="12">Channel 12</value>
        <value code="13">Channel 13</value>
        <value code="14">Channel 14</value>
        <value code="15">Channel 15</value>
        <value code="16">Channel 16</value>
        <value code="17">Channel 17</value>
        <value code="18">Channel 18</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_MAN_SW" type="INT32">
      <short_desc>Manual switch channel mapping</short_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="0">Unassigned</value>
        <value code="1">Channel 1</value>
        <value code="2">Channel 2</value>
        <value code="3">Channel 3</value>
        <value code="4">Channel 4</value>
        <value code="5">Channel 5</value>
        <value code="6">Channel 6</value>
        <value code="7">Channel 7</value>
        <value code="8">Channel 8</value>
        <value code="9">Channel 9</value>
        <value code="10">Channel 10</value>
        <value code="11">Channel 11</value>
        <value code="12">Channel 12</value>
        <value code="13">Channel 13</value>
        <value code="14">Channel 14</value>
        <value code="15">Channel 15</value>
        <value code="16">Channel 16</value>
        <value code="17">Channel 17</value>
        <value code="18">Channel 18</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_MODE_SW" type="INT32">
      <short_desc>Mode switch channel mapping</short_desc>
      <long_desc>This is the main flight mode selector. The channel index (starting from 1 for channel 1) indicates which channel should be used for deciding about the main mode. A value of zero indicates the switch is not assigned.</long_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="0">Unassigned</value>
        <value code="1">Channel 1</value>
        <value code="2">Channel 2</value>
        <value code="3">Channel 3</value>
        <value code="4">Channel 4</value>
        <value code="5">Channel 5</value>
        <value code="6">Channel 6</value>
        <value code="7">Channel 7</value>
        <value code="8">Channel 8</value>
        <value code="9">Channel 9</value>
        <value code="10">Channel 10</value>
        <value code="11">Channel 11</value>
        <value code="12">Channel 12</value>
        <value code="13">Channel 13</value>
        <value code="14">Channel 14</value>
        <value code="15">Channel 15</value>
        <value code="16">Channel 16</value>
        <value code="17">Channel 17</value>
        <value code="18">Channel 18</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_OFFB_SW" type="INT32">
      <short_desc>Offboard switch channel</short_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="0">Unassigned</value>
        <value code="1">Channel 1</value>
        <value code="2">Channel 2</value>
        <value code="3">Channel 3</value>
        <value code="4">Channel 4</value>
        <value code="5">Channel 5</value>
        <value code="6">Channel 6</value>
        <value code="7">Channel 7</value>
        <value code="8">Channel 8</value>
        <value code="9">Channel 9</value>
        <value code="10">Channel 10</value>
        <value code="11">Channel 11</value>
        <value code="12">Channel 12</value>
        <value code="13">Channel 13</value>
        <value code="14">Channel 14</value>
        <value code="15">Channel 15</value>
        <value code="16">Channel 16</value>
        <value code="17">Channel 17</value>
        <value code="18">Channel 18</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_POSCTL_SW" type="INT32">
      <short_desc>Position Control switch channel</short_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="0">Unassigned</value>
        <value code="1">Channel 1</value>
        <value code="2">Channel 2</value>
        <value code="3">Channel 3</value>
        <value code="4">Channel 4</value>
        <value code="5">Channel 5</value>
        <value code="6">Channel 6</value>
        <value code="7">Channel 7</value>
        <value code="8">Channel 8</value>
        <value code="9">Channel 9</value>
        <value code="10">Channel 10</value>
        <value code="11">Channel 11</value>
        <value code="12">Channel 12</value>
        <value code="13">Channel 13</value>
        <value code="14">Channel 14</value>
        <value code="15">Channel 15</value>
        <value code="16">Channel 16</value>
        <value code="17">Channel 17</value>
        <value code="18">Channel 18</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_RETURN_SW" type="INT32">
      <short_desc>Return switch channel</short_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="0">Unassigned</value>
        <value code="1">Channel 1</value>
        <value code="2">Channel 2</value>
        <value code="3">Channel 3</value>
        <value code="4">Channel 4</value>
        <value code="5">Channel 5</value>
        <value code="6">Channel 6</value>
        <value code="7">Channel 7</value>
        <value code="8">Channel 8</value>
        <value code="9">Channel 9</value>
        <value code="10">Channel 10</value>
        <value code="11">Channel 11</value>
        <value code="12">Channel 12</value>
        <value code="13">Channel 13</value>
        <value code="14">Channel 14</value>
        <value code="15">Channel 15</value>
        <value code="16">Channel 16</value>
        <value code="17">Channel 17</value>
        <value code="18">Channel 18</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_STAB_SW" type="INT32">
      <short_desc>Stabilize switch channel mapping</short_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="0">Unassigned</value>
        <value code="1">Channel 1</value>
        <value code="2">Channel 2</value>
        <value code="3">Channel 3</value>
        <value code="4">Channel 4</value>
        <value code="5">Channel 5</value>
        <value code="6">Channel 6</value>
        <value code="7">Channel 7</value>
        <value code="8">Channel 8</value>
        <value code="9">Channel 9</value>
        <value code="10">Channel 10</value>
        <value code="11">Channel 11</value>
        <value code="12">Channel 12</value>
        <value code="13">Channel 13</value>
        <value code="14">Channel 14</value>
        <value code="15">Channel 15</value>
        <value code="16">Channel 16</value>
        <value code="17">Channel 17</value>
        <value code="18">Channel 18</value>
      </values>
    </parameter>
    <parameter default="0" name="RC_MAP_TRANS_SW" type="INT32">
      <short_desc>VTOL transition switch channel mapping</short_desc>
      <min>0</min>
      <max>18</max>
      <values>
        <value code="0">Unassigned</value>
        <value code="1">Channel 1</value>
        <value code="2">Channel 2</value>
        <value code="3">Channel 3</value>
        <value code="4">Channel 4</value>
        <value code="5">Channel 5</value>
        <value code="6">Channel 6</value>
        <value code="7">Channel 7</value>
        <value code="8">Channel 8</value>
        <value code="9">Channel 9</value>
        <value code="10">Channel 10</value>
        <value code="11">Channel 11</value>
        <value code="12">Channel 12</value>
        <value code="13">Channel 13</value>
        <value code="14">Channel 14</value>
        <value code="15">Channel 15</value>
        <value code="16">Channel 16</value>
        <value code="17">Channel 17</value>
        <value code="18">Channel 18</value>
      </values>
    </parameter>
    <parameter default="0.75" name="RC_OFFB_TH" type="FLOAT">
      <short_desc>Threshold for selecting offboard mode</short_desc>
      <long_desc>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</long_desc>
      <min>-1</min>
      <max>1</max>
    </parameter>
    <parameter default="0.75" name="RC_POSCTL_TH" type="FLOAT">
      <short_desc>Threshold for selecting posctl mode</short_desc>
      <long_desc>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</long_desc>
      <min>-1</min>
      <max>1</max>
    </parameter>
    <parameter default="0.75" name="RC_RETURN_TH" type="FLOAT">
      <short_desc>Threshold for selecting return to launch mode</short_desc>
      <long_desc>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</long_desc>
      <min>-1</min>
      <max>1</max>
    </parameter>
    <parameter default="0.5" name="RC_STAB_TH" type="FLOAT">
      <short_desc>Threshold for the stabilize switch</short_desc>
      <long_desc>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</long_desc>
      <min>-1</min>
      <max>1</max>
    </parameter>
    <parameter default="0.75" name="RC_TRANS_TH" type="FLOAT">
      <short_desc>Threshold for the VTOL transition switch</short_desc>
      <long_desc>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</long_desc>
      <min>-1</min>
      <max>1</max>
    </parameter>
  </group>
  <group name="Return Mode">
    <parameter default="45" name="RTL_CONE_ANG" type="INT32">
      <short_desc>Half-angle of the return mode altitude cone</short_desc>
      <long_desc>Defines the half-angle of a cone centered around the destination position that affects the altitude at which the vehicle returns.</long_desc>
      <min>0</min>
      <max>90</max>
      <unit>deg</unit>
      <values>
        <value code="0">No cone, always climb to RTL_RETURN_ALT above destination.</value>
        <value code="25">25 degrees half cone angle.</value>
        <value code="45">45 degrees half cone angle.</value>
        <value code="65">65 degrees half cone angle.</value>
        <value code="80">80 degrees half cone angle.</value>
        <value code="90">Only climb to at least RTL_DESCEND_ALT above destination.</value>
      </values>
    </parameter>
    <parameter default="30" name="RTL_DESCEND_ALT" type="FLOAT">
      <short_desc>Return mode loiter altitude</short_desc>
      <long_desc>Descend to this altitude (above destination position) after return, and wait for time defined in RTL_LAND_DELAY. Land (i.e. slowly descend) from this altitude if autolanding allowed.</long_desc>
      <min>2</min>
      <max>100</max>
      <unit>m</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="0.0" name="RTL_LAND_DELAY" type="FLOAT">
      <short_desc>Return mode delay</short_desc>
      <long_desc>Delay before landing (after initial descent) in Return mode. If set to -1 the system will not land but loiter at RTL_DESCEND_ALT.</long_desc>
      <min>-1</min>
      <max>300</max>
      <unit>s</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="50.0" name="RTL_LOITER_RAD" type="FLOAT">
      <short_desc>Loiter radius for rtl descend</short_desc>
      <long_desc>Set the radius for loitering to a safe altitude for VTOL transition.</long_desc>
      <min>25</min>
      <max>1000</max>
      <unit>m</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="10.0" name="RTL_MIN_DIST" type="FLOAT">
      <short_desc>Horizontal radius from return point within which special rules for return mode apply</short_desc>
      <long_desc>The return altitude will be calculated based on RTL_CONE_ANG parameter. The yaw setpoint will switch to the one defined by corresponding waypoint.</long_desc>
      <min>0.5</min>
      <max>100</max>
      <unit>m</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="60" name="RTL_RETURN_ALT" type="FLOAT">
      <short_desc>Return mode return altitude</short_desc>
      <long_desc>Default minimum altitude above destination (e.g. home, safe point, landing pattern) for return flight. This is affected by RTL_MIN_DIST and RTL_CONE_ANG.</long_desc>
      <min>0</min>
      <max>150</max>
      <unit>m</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="0" name="RTL_TYPE" type="INT32">
      <short_desc>Return type</short_desc>
      <long_desc>Return mode destination and flight path (home location, rally point, mission landing pattern, reverse mission)</long_desc>
      <values>
        <value code="0">Return to closest safe point (home or rally point) via direct path.</value>
        <value code="1">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.</value>
        <value code="2">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>
        <value code="3">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>
      </values>
    </parameter>
  </group>
  <group name="Return To Land">
    <parameter default="0" name="RTL_PLD_MD" type="INT32">
      <short_desc>RTL precision land mode</short_desc>
      <long_desc>Use precision landing when doing an RTL landing phase.</long_desc>
      <values>
        <value code="0">No precision landing</value>
        <value code="1">Opportunistic precision landing</value>
        <value code="2">Required precision landing</value>
      </values>
    </parameter>
  </group>
  <group name="Rover Position Control">
    <parameter default="0.75" name="GND_L1_DAMPING" type="FLOAT">
      <short_desc>L1 damping</short_desc>
      <long_desc>Damping factor for L1 control.</long_desc>
      <min>0.6</min>
      <max>0.9</max>
      <decimal>2</decimal>
      <increment>0.05</increment>
    </parameter>
    <parameter default="1.0" name="GND_L1_DIST" type="FLOAT">
      <short_desc>L1 distance</short_desc>
      <long_desc>This is the distance at which the next waypoint is activated. This should be set to about 2-4x of GND_WHEEL_BASE and not smaller than one meter (due to GPS accuracy).</long_desc>
      <min>1.0</min>
      <max>50.0</max>
      <unit>m</unit>
      <decimal>1</decimal>
      <increment>0.1</increment>
    </parameter>
    <parameter default="5.0" name="GND_L1_PERIOD" type="FLOAT">
      <short_desc>L1 period</short_desc>
      <long_desc>This is the L1 distance and defines the tracking point ahead of the rover it's following. Use values around 2-5m for a 0.3m wheel base. Tuning instructions: Shorten slowly during tuning until response is sharp without oscillation.</long_desc>
      <min>0.5</min>
      <max>50.0</max>
      <unit>m</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="150.0" name="GND_MAN_Y_MAX" type="FLOAT">
      <short_desc>Max manual yaw rate</short_desc>
      <min>0.0</min>
      <max>400</max>
      <unit>deg/s</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter default="0.7854" name="GND_MAX_ANG" type="FLOAT">
      <short_desc>Maximum turn angle for Ackerman steering</short_desc>
      <long_desc>At a control output of 0, the steering wheels are at 0 radians. At a control output of 1, the steering wheels are at GND_MAX_ANG radians.</long_desc>
      <min>0.0</min>
      <max>3.14159</max>
      <unit>rad</unit>
      <decimal>3</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.001" name="GND_SPEED_D" type="FLOAT">
      <short_desc>Speed proportional gain</short_desc>
      <long_desc>This is the derivative gain for the speed closed loop controller</long_desc>
      <min>0.00</min>
      <max>50.0</max>
      <unit>%m/s</unit>
      <decimal>3</decimal>
      <increment>0.005</increment>
    </parameter>
    <parameter default="3.0" name="GND_SPEED_I" type="FLOAT">
      <short_desc>Speed Integral gain</short_desc>
      <long_desc>This is the integral gain for the speed closed loop controller</long_desc>
      <min>0.00</min>
      <max>50.0</max>
      <unit>%m/s</unit>
      <decimal>3</decimal>
      <increment>0.005</increment>
    </parameter>
    <parameter default="1.0" name="GND_SPEED_IMAX" type="FLOAT">
      <short_desc>Speed integral maximum value</short_desc>
      <long_desc>This is the maxim value the integral can reach to prevent wind-up.</long_desc>
      <min>0.005</min>
      <max>50.0</max>
      <unit>%m/s</unit>
      <decimal>3</decimal>
      <increment>0.005</increment>
    </parameter>
    <parameter default="10.0" name="GND_SPEED_MAX" type="FLOAT">
      <short_desc>Maximum ground speed</short_desc>
      <min>0.0</min>
      <max>40</max>
      <unit>m/s</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="2.0" name="GND_SPEED_P" type="FLOAT">
      <short_desc>Speed proportional gain</short_desc>
      <long_desc>This is the proportional gain for the speed closed loop controller</long_desc>
      <min>0.005</min>
      <max>50.0</max>
      <unit>%m/s</unit>
      <decimal>3</decimal>
      <increment>0.005</increment>
    </parameter>
    <parameter default="1.0" name="GND_SPEED_THR_SC" type="FLOAT">
      <short_desc>Speed to throttle scaler</short_desc>
      <long_desc>This is a gain to map the speed control output to the throttle linearly.</long_desc>
      <min>0.005</min>
      <max>50.0</max>
      <unit>%m/s</unit>
      <decimal>3</decimal>
      <increment>0.005</increment>
    </parameter>
    <parameter default="3.0" name="GND_SPEED_TRIM" type="FLOAT">
      <short_desc>Trim ground speed</short_desc>
      <min>0.0</min>
      <max>40</max>
      <unit>m/s</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="1" name="GND_SP_CTRL_MODE" type="INT32">
      <short_desc>Control mode for speed</short_desc>
      <long_desc>This allows the user to choose between closed loop gps speed or open loop cruise throttle speed</long_desc>
      <min>0</min>
      <max>1</max>
      <values>
        <value code="0">open loop control</value>
        <value code="1">close the loop with gps speed</value>
      </values>
    </parameter>
    <parameter default="0.1" name="GND_THR_CRUISE" type="FLOAT">
      <short_desc>Cruise throttle</short_desc>
      <long_desc>This is the throttle setting required to achieve the desired cruise speed. 10% is ok for a traxxas stampede vxl with ESC set to training mode</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.3" name="GND_THR_MAX" type="FLOAT">
      <short_desc>Throttle limit max</short_desc>
      <long_desc>This is the maximum throttle % that can be used by the controller. For a Traxxas stampede vxl with the ESC set to training, 30 % is enough</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.0" name="GND_THR_MIN" type="FLOAT">
      <short_desc>Throttle limit min</short_desc>
      <long_desc>This is the minimum throttle % that can be used by the controller. Set to 0 for rover</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.31" name="GND_WHEEL_BASE" type="FLOAT">
      <short_desc>Distance from front axle to rear axle</short_desc>
      <long_desc>A value of 0.31 is typical for 1/10 RC cars.</long_desc>
      <min>0.0</min>
      <unit>m</unit>
      <decimal>3</decimal>
      <increment>0.01</increment>
    </parameter>
  </group>
  <group name="Runway Takeoff">
    <parameter default="1.3" name="RWTO_AIRSPD_SCL" type="FLOAT">
      <short_desc>Min airspeed scaling factor for takeoff</short_desc>
      <long_desc>Pitch up will be commanded when the following airspeed is reached: FW_AIRSPD_MIN * RWTO_AIRSPD_SCL</long_desc>
      <min>0.0</min>
      <max>2.0</max>
      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0" name="RWTO_HDG" type="INT32">
      <short_desc>Specifies which heading should be held during runnway takeoff</short_desc>
      <long_desc>0: airframe heading, 1: heading towards takeoff waypoint</long_desc>
      <min>0</min>
      <max>1</max>
      <values>
        <value code="0">Airframe</value>
        <value code="1">Waypoint</value>
      </values>
    </parameter>
    <parameter default="20.0" name="RWTO_MAX_PITCH" type="FLOAT">
      <short_desc>Max pitch during takeoff</short_desc>
      <long_desc>Fixed-wing settings are used if set to 0. Note that there is also a minimum pitch of 10 degrees during takeoff, so this must be larger if set.</long_desc>
      <min>0.0</min>
      <max>60.0</max>
      <unit>deg</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="25.0" name="RWTO_MAX_ROLL" type="FLOAT">
      <short_desc>Max roll during climbout</short_desc>
      <long_desc>Roll is limited during climbout to ensure enough lift and prevents aggressive navigation before we're on a safe height.</long_desc>
      <min>0.0</min>
      <max>60.0</max>
      <unit>deg</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="1.0" name="RWTO_MAX_THR" type="FLOAT">
      <short_desc>Max throttle during runway takeoff</short_desc>
      <long_desc>Can be used to test taxi on runway</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <unit>norm</unit>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="5.0" name="RWTO_NAV_ALT" type="FLOAT">
      <short_desc>Altitude AGL at which we have enough ground clearance to allow some roll</short_desc>
      <long_desc>Until RWTO_NAV_ALT is reached the plane is held level and only rudder is used to keep the heading (see RWTO_HDG). This should be below FW_CLMBOUT_DIFF if FW_CLMBOUT_DIFF &gt; 0.</long_desc>
      <min>0.0</min>
      <max>100.0</max>
      <unit>m</unit>
      <decimal>1</decimal>
      <increment>1</increment>
    </parameter>
    <parameter default="0.0" name="RWTO_PSP" type="FLOAT">
      <short_desc>Pitch setpoint during taxi / before takeoff airspeed is reached</short_desc>
      <long_desc>A taildragger with steerable wheel might need to pitch up a little to keep its wheel on the ground before airspeed to takeoff is reached.</long_desc>
      <min>-10.0</min>
      <max>20.0</max>
      <unit>deg</unit>
      <decimal>1</decimal>
      <increment>0.5</increment>
    </parameter>
    <parameter default="2.0" name="RWTO_RAMP_TIME" type="FLOAT">
      <short_desc>Throttle ramp up time for runway takeoff</short_desc>
      <min>1.0</min>
      <max>15.0</max>
      <unit>s</unit>
      <decimal>2</decimal>
      <increment>0.1</increment>
    </parameter>
    <parameter boolean="true" default="0" name="RWTO_TKOFF" type="INT32">
      <short_desc>Runway takeoff with landing gear</short_desc>
    </parameter>
  </group>
  <group name="SD Logging">
    <parameter boolean="true" default="0" name="SDLOG_BOOT_BAT" type="INT32">
      <short_desc>Battery-only Logging</short_desc>
      <long_desc>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.</long_desc>
    </parameter>
    <parameter default="0" name="SDLOG_DIRS_MAX" type="INT32">
      <short_desc>Maximum number of log directories to keep</short_desc>
      <long_desc>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.</long_desc>
      <min>0</min>
      <max>1000</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="SDLOG_MISSION" type="INT32">
      <short_desc>Mission Log</short_desc>
      <long_desc>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).</long_desc>
      <reboot_required>true</reboot_required>
      <values>
        <value code="0">Disabled</value>
        <value code="1">All mission messages</value>
        <value code="2">Geotagging messages</value>
      </values>
    </parameter>
    <parameter default="0" name="SDLOG_MODE" type="INT32">
      <short_desc>Logging Mode</short_desc>
      <long_desc>Determines when to start and stop logging. By default, logging is started when arming the system, and stopped when disarming.</long_desc>
      <reboot_required>true</reboot_required>
      <values>
        <value code="-1">disabled</value>
        <value code="0">when armed until disarm (default)</value>
        <value code="1">from boot until disarm</value>
        <value code="2">from boot until shutdown</value>
        <value code="3">depending on AUX1 RC channel</value>
      </values>
    </parameter>
    <parameter default="1" name="SDLOG_PROFILE" type="INT32">
      <short_desc>Logging topic profile (integer bitmask)</short_desc>
      <long_desc>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 Magnetomer data) 7 : Topics for computer vision and collision avoidance 8 : Raw FIFO high-rate IMU (Gyro) 9 : Raw FIFO high-rate IMU (Accel)</long_desc>
      <min>0</min>
      <max>1023</max>
      <reboot_required>true</reboot_required>
      <bitmask>
        <bit index="0">Default set (general log analysis)</bit>
        <bit index="1">Estimator replay (EKF2)</bit>
        <bit index="2">Thermal calibration</bit>
        <bit index="3">System identification</bit>
        <bit index="4">High rate</bit>
        <bit index="5">Debug</bit>
        <bit index="6">Sensor comparison</bit>
        <bit index="7">Computer Vision and Avoidance</bit>
        <bit index="8">Raw FIFO high-rate IMU (Gyro)</bit>
        <bit index="9">Raw FIFO high-rate IMU (Accel)</bit>
      </bitmask>
    </parameter>
    <parameter default="0" name="SDLOG_UTC_OFFSET" type="INT32">
      <short_desc>UTC offset (unit: min)</short_desc>
      <long_desc>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</long_desc>
      <min>-1000</min>
      <max>1000</max>
      <unit>min</unit>
    </parameter>
    <parameter boolean="true" default="1" name="SDLOG_UUID" type="INT32">
      <short_desc>Log UUID</short_desc>
      <long_desc>If set to 1, add an ID to the log, which uniquely identifies the vehicle</long_desc>
    </parameter>
  </group>
  <group name="SITL">
    <parameter default="60" name="SIM_BAT_DRAIN" type="FLOAT">
      <short_desc>Simulator Battery drain interval</short_desc>
      <min>1</min>
      <max>86400</max>
      <unit>s</unit>
      <increment>1</increment>
    </parameter>
    <parameter default="50.0" name="SIM_BAT_MIN_PCT" type="FLOAT">
      <short_desc>Simulator Battery minimal percentage</short_desc>
      <long_desc>Can be used to alter the battery level during SITL- or HITL-simulation on the fly. Particularly useful for testing different low-battery behaviour.</long_desc>
      <min>0</min>
      <max>100</max>
      <unit>%</unit>
      <increment>0.1</increment>
    </parameter>
  </group>
  <group name="Sensor Calibration">
    <parameter category="System" default="0" name="CAL_ACC0_ID" type="INT32">
      <short_desc>ID of the Accelerometer that the calibration is for</short_desc>
    </parameter>
    <parameter category="System" default="-1" name="CAL_ACC0_PRIO" type="INT32">
      <short_desc>Accelerometer 0 priority</short_desc>
      <values>
        <value code="-1"> Uninitialized</value>
        <value code="0">  Disabled</value>
        <value code="1">  Min</value>
        <value code="25"> Low</value>
        <value code="50"> Medium (Default)</value>
        <value code="75"> High</value>
        <value code="100">Max</value>
      </values>
    </parameter>
    <parameter category="System" default="-1" name="CAL_ACC0_ROT" type="INT32">
      <short_desc>Rotation of accelerometer 0 relative to airframe</short_desc>
      <long_desc>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.</long_desc>
      <min>-1</min>
      <max>40</max>
      <reboot_required>true</reboot_required>
      <values>
        <value code="-1">Internal</value>
        <value code="0">No rotation</value>
        <value code="1">Yaw 45°</value>
        <value code="2">Yaw 90°</value>
        <value code="3">Yaw 135°</value>
        <value code="4">Yaw 180°</value>
        <value code="5">Yaw 225°</value>
        <value code="6">Yaw 270°</value>
        <value code="7">Yaw 315°</value>
        <value code="8">Roll 180°</value>
        <value code="9">Roll 180°, Yaw 45°</value>
        <value code="10">Roll 180°, Yaw 90°</value>
        <value code="11">Roll 180°, Yaw 135°</value>
        <value code="12">Pitch 180°</value>
        <value code="13">Roll 180°, Yaw 225°</value>
        <value code="14">Roll 180°, Yaw 270°</value>
        <value code="15">Roll 180°, Yaw 315°</value>
        <value code="16">Roll 90°</value>
        <value code="17">Roll 90°, Yaw 45°</value>
        <value code="18">Roll 90°, Yaw 90°</value>
        <value code="19">Roll 90°, Yaw 135°</value>
        <value code="20">Roll 270°</value>
        <value code="21">Roll 270°, Yaw 45°</value>
        <value code="22">Roll 270°, Yaw 90°</value>
        <value code="23">Roll 270°, Yaw 135°</value>
        <value code="24">Pitch 90°</value>
        <value code="25">Pitch 270°</value>
        <value code="26">Pitch 180°, Yaw 90°</value>
        <value code="27">Pitch 180°, Yaw 270°</value>
        <value code="28">Roll 90°, Pitch 90°</value>
        <value code="29">Roll 180°, Pitch 90°</value>
        <value code="30">Roll 270°, Pitch 90°</value>
        <value code="31">Roll 90°, Pitch 180°</value>
        <value code="32">Roll 270°, Pitch 180°</value>
        <value code="33">Roll 90°, Pitch 270°</value>
        <value code="34">Roll 180°, Pitch 270°</value>
        <value code="35">Roll 270°, Pitch 270°</value>
        <value code="36">Roll 90°, Pitch 180°, Yaw 90°</value>
        <value code="37">Roll 90°, Yaw 270°</value>
        <value code="38">Roll 90°, Pitch 68°, Yaw 293°</value>
        <value code="39">Pitch 315°</value>
        <value code="40">Roll 90°, Pitch 315°</value>
      </values>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_ACC0_XOFF" type="FLOAT" volatile="true">
      <short_desc>Accelerometer X-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="1.0" name="CAL_ACC0_XSCALE" type="FLOAT" volatile="true">
      <short_desc>Accelerometer X-axis scaling factor</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_ACC0_YOFF" type="FLOAT" volatile="true">
      <short_desc>Accelerometer Y-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="1.0" name="CAL_ACC0_YSCALE" type="FLOAT" volatile="true">
      <short_desc>Accelerometer Y-axis scaling factor</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_ACC0_ZOFF" type="FLOAT" volatile="true">
      <short_desc>Accelerometer Z-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="1.0" name="CAL_ACC0_ZSCALE" type="FLOAT" volatile="true">
      <short_desc>Accelerometer Z-axis scaling factor</short_desc>
    </parameter>
    <parameter category="System" default="0" name="CAL_ACC1_ID" type="INT32">
      <short_desc>ID of the Accelerometer that the calibration is for</short_desc>
    </parameter>
    <parameter category="System" default="-1" name="CAL_ACC1_PRIO" type="INT32">
      <short_desc>Accelerometer 1 priority</short_desc>
      <values>
        <value code="-1"> Uninitialized</value>
        <value code="0">  Disabled</value>
        <value code="1">  Min</value>
        <value code="25"> Low</value>
        <value code="50"> Medium (Default)</value>
        <value code="75"> High</value>
        <value code="100">Max</value>
      </values>
    </parameter>
    <parameter category="System" default="-1" name="CAL_ACC1_ROT" type="INT32">
      <short_desc>Rotation of accelerometer 1 relative to airframe</short_desc>
      <long_desc>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.</long_desc>
      <min>-1</min>
      <max>40</max>
      <reboot_required>true</reboot_required>
      <values>
        <value code="-1">Internal</value>
        <value code="0">No rotation</value>
        <value code="1">Yaw 45°</value>
        <value code="2">Yaw 90°</value>
        <value code="3">Yaw 135°</value>
        <value code="4">Yaw 180°</value>
        <value code="5">Yaw 225°</value>
        <value code="6">Yaw 270°</value>
        <value code="7">Yaw 315°</value>
        <value code="8">Roll 180°</value>
        <value code="9">Roll 180°, Yaw 45°</value>
        <value code="10">Roll 180°, Yaw 90°</value>
        <value code="11">Roll 180°, Yaw 135°</value>
        <value code="12">Pitch 180°</value>
        <value code="13">Roll 180°, Yaw 225°</value>
        <value code="14">Roll 180°, Yaw 270°</value>
        <value code="15">Roll 180°, Yaw 315°</value>
        <value code="16">Roll 90°</value>
        <value code="17">Roll 90°, Yaw 45°</value>
        <value code="18">Roll 90°, Yaw 90°</value>
        <value code="19">Roll 90°, Yaw 135°</value>
        <value code="20">Roll 270°</value>
        <value code="21">Roll 270°, Yaw 45°</value>
        <value code="22">Roll 270°, Yaw 90°</value>
        <value code="23">Roll 270°, Yaw 135°</value>
        <value code="24">Pitch 90°</value>
        <value code="25">Pitch 270°</value>
        <value code="26">Pitch 180°, Yaw 90°</value>
        <value code="27">Pitch 180°, Yaw 270°</value>
        <value code="28">Roll 90°, Pitch 90°</value>
        <value code="29">Roll 180°, Pitch 90°</value>
        <value code="30">Roll 270°, Pitch 90°</value>
        <value code="31">Roll 90°, Pitch 180°</value>
        <value code="32">Roll 270°, Pitch 180°</value>
        <value code="33">Roll 90°, Pitch 270°</value>
        <value code="34">Roll 180°, Pitch 270°</value>
        <value code="35">Roll 270°, Pitch 270°</value>
        <value code="36">Roll 90°, Pitch 180°, Yaw 90°</value>
        <value code="37">Roll 90°, Yaw 270°</value>
        <value code="38">Roll 90°, Pitch 68°, Yaw 293°</value>
        <value code="39">Pitch 315°</value>
        <value code="40">Roll 90°, Pitch 315°</value>
      </values>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_ACC1_XOFF" type="FLOAT" volatile="true">
      <short_desc>Accelerometer X-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="1.0" name="CAL_ACC1_XSCALE" type="FLOAT" volatile="true">
      <short_desc>Accelerometer X-axis scaling factor</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_ACC1_YOFF" type="FLOAT" volatile="true">
      <short_desc>Accelerometer Y-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="1.0" name="CAL_ACC1_YSCALE" type="FLOAT" volatile="true">
      <short_desc>Accelerometer Y-axis scaling factor</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_ACC1_ZOFF" type="FLOAT" volatile="true">
      <short_desc>Accelerometer Z-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="1.0" name="CAL_ACC1_ZSCALE" type="FLOAT" volatile="true">
      <short_desc>Accelerometer Z-axis scaling factor</short_desc>
    </parameter>
    <parameter category="System" default="0" name="CAL_ACC2_ID" type="INT32">
      <short_desc>ID of the Accelerometer that the calibration is for</short_desc>
    </parameter>
    <parameter category="System" default="-1" name="CAL_ACC2_PRIO" type="INT32">
      <short_desc>Accelerometer 2 priority</short_desc>
      <values>
        <value code="-1"> Uninitialized</value>
        <value code="0">  Disabled</value>
        <value code="1">  Min</value>
        <value code="25"> Low</value>
        <value code="50"> Medium (Default)</value>
        <value code="75"> High</value>
        <value code="100">Max</value>
      </values>
    </parameter>
    <parameter category="System" default="-1" name="CAL_ACC2_ROT" type="INT32">
      <short_desc>Rotation of accelerometer 2 relative to airframe</short_desc>
      <long_desc>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.</long_desc>
      <min>-1</min>
      <max>40</max>
      <reboot_required>true</reboot_required>
      <values>
        <value code="-1">Internal</value>
        <value code="0">No rotation</value>
        <value code="1">Yaw 45°</value>
        <value code="2">Yaw 90°</value>
        <value code="3">Yaw 135°</value>
        <value code="4">Yaw 180°</value>
        <value code="5">Yaw 225°</value>
        <value code="6">Yaw 270°</value>
        <value code="7">Yaw 315°</value>
        <value code="8">Roll 180°</value>
        <value code="9">Roll 180°, Yaw 45°</value>
        <value code="10">Roll 180°, Yaw 90°</value>
        <value code="11">Roll 180°, Yaw 135°</value>
        <value code="12">Pitch 180°</value>
        <value code="13">Roll 180°, Yaw 225°</value>
        <value code="14">Roll 180°, Yaw 270°</value>
        <value code="15">Roll 180°, Yaw 315°</value>
        <value code="16">Roll 90°</value>
        <value code="17">Roll 90°, Yaw 45°</value>
        <value code="18">Roll 90°, Yaw 90°</value>
        <value code="19">Roll 90°, Yaw 135°</value>
        <value code="20">Roll 270°</value>
        <value code="21">Roll 270°, Yaw 45°</value>
        <value code="22">Roll 270°, Yaw 90°</value>
        <value code="23">Roll 270°, Yaw 135°</value>
        <value code="24">Pitch 90°</value>
        <value code="25">Pitch 270°</value>
        <value code="26">Pitch 180°, Yaw 90°</value>
        <value code="27">Pitch 180°, Yaw 270°</value>
        <value code="28">Roll 90°, Pitch 90°</value>
        <value code="29">Roll 180°, Pitch 90°</value>
        <value code="30">Roll 270°, Pitch 90°</value>
        <value code="31">Roll 90°, Pitch 180°</value>
        <value code="32">Roll 270°, Pitch 180°</value>
        <value code="33">Roll 90°, Pitch 270°</value>
        <value code="34">Roll 180°, Pitch 270°</value>
        <value code="35">Roll 270°, Pitch 270°</value>
        <value code="36">Roll 90°, Pitch 180°, Yaw 90°</value>
        <value code="37">Roll 90°, Yaw 270°</value>
        <value code="38">Roll 90°, Pitch 68°, Yaw 293°</value>
        <value code="39">Pitch 315°</value>
        <value code="40">Roll 90°, Pitch 315°</value>
      </values>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_ACC2_XOFF" type="FLOAT" volatile="true">
      <short_desc>Accelerometer X-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="1.0" name="CAL_ACC2_XSCALE" type="FLOAT" volatile="true">
      <short_desc>Accelerometer X-axis scaling factor</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_ACC2_YOFF" type="FLOAT" volatile="true">
      <short_desc>Accelerometer Y-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="1.0" name="CAL_ACC2_YSCALE" type="FLOAT" volatile="true">
      <short_desc>Accelerometer Y-axis scaling factor</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_ACC2_ZOFF" type="FLOAT" volatile="true">
      <short_desc>Accelerometer Z-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="1.0" name="CAL_ACC2_ZSCALE" type="FLOAT" volatile="true">
      <short_desc>Accelerometer Z-axis scaling factor</short_desc>
    </parameter>
    <parameter category="System" default="0" name="CAL_ACC3_ID" type="INT32">
      <short_desc>ID of the Accelerometer that the calibration is for</short_desc>
    </parameter>
    <parameter category="System" default="-1" name="CAL_ACC3_PRIO" type="INT32">
      <short_desc>Accelerometer 3 priority</short_desc>
      <values>
        <value code="-1"> Uninitialized</value>
        <value code="0">  Disabled</value>
        <value code="1">  Min</value>
        <value code="25"> Low</value>
        <value code="50"> Medium (Default)</value>
        <value code="75"> High</value>
        <value code="100">Max</value>
      </values>
    </parameter>
    <parameter category="System" default="-1" name="CAL_ACC3_ROT" type="INT32">
      <short_desc>Rotation of accelerometer 3 relative to airframe</short_desc>
      <long_desc>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.</long_desc>
      <min>-1</min>
      <max>40</max>
      <reboot_required>true</reboot_required>
      <values>
        <value code="-1">Internal</value>
        <value code="0">No rotation</value>
        <value code="1">Yaw 45°</value>
        <value code="2">Yaw 90°</value>
        <value code="3">Yaw 135°</value>
        <value code="4">Yaw 180°</value>
        <value code="5">Yaw 225°</value>
        <value code="6">Yaw 270°</value>
        <value code="7">Yaw 315°</value>
        <value code="8">Roll 180°</value>
        <value code="9">Roll 180°, Yaw 45°</value>
        <value code="10">Roll 180°, Yaw 90°</value>
        <value code="11">Roll 180°, Yaw 135°</value>
        <value code="12">Pitch 180°</value>
        <value code="13">Roll 180°, Yaw 225°</value>
        <value code="14">Roll 180°, Yaw 270°</value>
        <value code="15">Roll 180°, Yaw 315°</value>
        <value code="16">Roll 90°</value>
        <value code="17">Roll 90°, Yaw 45°</value>
        <value code="18">Roll 90°, Yaw 90°</value>
        <value code="19">Roll 90°, Yaw 135°</value>
        <value code="20">Roll 270°</value>
        <value code="21">Roll 270°, Yaw 45°</value>
        <value code="22">Roll 270°, Yaw 90°</value>
        <value code="23">Roll 270°, Yaw 135°</value>
        <value code="24">Pitch 90°</value>
        <value code="25">Pitch 270°</value>
        <value code="26">Pitch 180°, Yaw 90°</value>
        <value code="27">Pitch 180°, Yaw 270°</value>
        <value code="28">Roll 90°, Pitch 90°</value>
        <value code="29">Roll 180°, Pitch 90°</value>
        <value code="30">Roll 270°, Pitch 90°</value>
        <value code="31">Roll 90°, Pitch 180°</value>
        <value code="32">Roll 270°, Pitch 180°</value>
        <value code="33">Roll 90°, Pitch 270°</value>
        <value code="34">Roll 180°, Pitch 270°</value>
        <value code="35">Roll 270°, Pitch 270°</value>
        <value code="36">Roll 90°, Pitch 180°, Yaw 90°</value>
        <value code="37">Roll 90°, Yaw 270°</value>
        <value code="38">Roll 90°, Pitch 68°, Yaw 293°</value>
        <value code="39">Pitch 315°</value>
        <value code="40">Roll 90°, Pitch 315°</value>
      </values>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_ACC3_XOFF" type="FLOAT" volatile="true">
      <short_desc>Accelerometer X-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="1.0" name="CAL_ACC3_XSCALE" type="FLOAT" volatile="true">
      <short_desc>Accelerometer X-axis scaling factor</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_ACC3_YOFF" type="FLOAT" volatile="true">
      <short_desc>Accelerometer Y-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="1.0" name="CAL_ACC3_YSCALE" type="FLOAT" volatile="true">
      <short_desc>Accelerometer Y-axis scaling factor</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_ACC3_ZOFF" type="FLOAT" volatile="true">
      <short_desc>Accelerometer Z-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="1.0" name="CAL_ACC3_ZSCALE" type="FLOAT" volatile="true">
      <short_desc>Accelerometer Z-axis scaling factor</short_desc>
    </parameter>
    <parameter category="System" default="0" name="CAL_GYRO0_ID" type="INT32">
      <short_desc>ID of the Gyro that the calibration is for</short_desc>
    </parameter>
    <parameter category="System" default="-1" name="CAL_GYRO0_PRIO" type="INT32">
      <short_desc>Gyro 0 priority</short_desc>
      <values>
        <value code="-1"> Uninitialized</value>
        <value code="0">  Disabled</value>
        <value code="1">  Min</value>
        <value code="25"> Low</value>
        <value code="50"> Medium (Default)</value>
        <value code="75"> High</value>
        <value code="100">Max</value>
      </values>
    </parameter>
    <parameter category="System" default="-1" name="CAL_GYRO0_ROT" type="INT32">
      <short_desc>Rotation of gyro 0 relative to airframe</short_desc>
      <long_desc>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.</long_desc>
      <min>-1</min>
      <max>40</max>
      <reboot_required>true</reboot_required>
      <values>
        <value code="-1">Internal</value>
        <value code="0">No rotation</value>
        <value code="1">Yaw 45°</value>
        <value code="2">Yaw 90°</value>
        <value code="3">Yaw 135°</value>
        <value code="4">Yaw 180°</value>
        <value code="5">Yaw 225°</value>
        <value code="6">Yaw 270°</value>
        <value code="7">Yaw 315°</value>
        <value code="8">Roll 180°</value>
        <value code="9">Roll 180°, Yaw 45°</value>
        <value code="10">Roll 180°, Yaw 90°</value>
        <value code="11">Roll 180°, Yaw 135°</value>
        <value code="12">Pitch 180°</value>
        <value code="13">Roll 180°, Yaw 225°</value>
        <value code="14">Roll 180°, Yaw 270°</value>
        <value code="15">Roll 180°, Yaw 315°</value>
        <value code="16">Roll 90°</value>
        <value code="17">Roll 90°, Yaw 45°</value>
        <value code="18">Roll 90°, Yaw 90°</value>
        <value code="19">Roll 90°, Yaw 135°</value>
        <value code="20">Roll 270°</value>
        <value code="21">Roll 270°, Yaw 45°</value>
        <value code="22">Roll 270°, Yaw 90°</value>
        <value code="23">Roll 270°, Yaw 135°</value>
        <value code="24">Pitch 90°</value>
        <value code="25">Pitch 270°</value>
        <value code="26">Pitch 180°, Yaw 90°</value>
        <value code="27">Pitch 180°, Yaw 270°</value>
        <value code="28">Roll 90°, Pitch 90°</value>
        <value code="29">Roll 180°, Pitch 90°</value>
        <value code="30">Roll 270°, Pitch 90°</value>
        <value code="31">Roll 90°, Pitch 180°</value>
        <value code="32">Roll 270°, Pitch 180°</value>
        <value code="33">Roll 90°, Pitch 270°</value>
        <value code="34">Roll 180°, Pitch 270°</value>
        <value code="35">Roll 270°, Pitch 270°</value>
        <value code="36">Roll 90°, Pitch 180°, Yaw 90°</value>
        <value code="37">Roll 90°, Yaw 270°</value>
        <value code="38">Roll 90°, Pitch 68°, Yaw 293°</value>
        <value code="39">Pitch 315°</value>
        <value code="40">Roll 90°, Pitch 315°</value>
      </values>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_GYRO0_XOFF" type="FLOAT" volatile="true">
      <short_desc>Gyro X-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_GYRO0_YOFF" type="FLOAT" volatile="true">
      <short_desc>Gyro Y-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_GYRO0_ZOFF" type="FLOAT" volatile="true">
      <short_desc>Gyro Z-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="0" name="CAL_GYRO1_ID" type="INT32">
      <short_desc>ID of the Gyro that the calibration is for</short_desc>
    </parameter>
    <parameter category="System" default="-1" name="CAL_GYRO1_PRIO" type="INT32">
      <short_desc>Gyro 1 priority</short_desc>
      <values>
        <value code="-1"> Uninitialized</value>
        <value code="0">  Disabled</value>
        <value code="1">  Min</value>
        <value code="25"> Low</value>
        <value code="50"> Medium (Default)</value>
        <value code="75"> High</value>
        <value code="100">Max</value>
      </values>
    </parameter>
    <parameter category="System" default="-1" name="CAL_GYRO1_ROT" type="INT32">
      <short_desc>Rotation of gyro 1 relative to airframe</short_desc>
      <long_desc>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.</long_desc>
      <min>-1</min>
      <max>40</max>
      <reboot_required>true</reboot_required>
      <values>
        <value code="-1">Internal</value>
        <value code="0">No rotation</value>
        <value code="1">Yaw 45°</value>
        <value code="2">Yaw 90°</value>
        <value code="3">Yaw 135°</value>
        <value code="4">Yaw 180°</value>
        <value code="5">Yaw 225°</value>
        <value code="6">Yaw 270°</value>
        <value code="7">Yaw 315°</value>
        <value code="8">Roll 180°</value>
        <value code="9">Roll 180°, Yaw 45°</value>
        <value code="10">Roll 180°, Yaw 90°</value>
        <value code="11">Roll 180°, Yaw 135°</value>
        <value code="12">Pitch 180°</value>
        <value code="13">Roll 180°, Yaw 225°</value>
        <value code="14">Roll 180°, Yaw 270°</value>
        <value code="15">Roll 180°, Yaw 315°</value>
        <value code="16">Roll 90°</value>
        <value code="17">Roll 90°, Yaw 45°</value>
        <value code="18">Roll 90°, Yaw 90°</value>
        <value code="19">Roll 90°, Yaw 135°</value>
        <value code="20">Roll 270°</value>
        <value code="21">Roll 270°, Yaw 45°</value>
        <value code="22">Roll 270°, Yaw 90°</value>
        <value code="23">Roll 270°, Yaw 135°</value>
        <value code="24">Pitch 90°</value>
        <value code="25">Pitch 270°</value>
        <value code="26">Pitch 180°, Yaw 90°</value>
        <value code="27">Pitch 180°, Yaw 270°</value>
        <value code="28">Roll 90°, Pitch 90°</value>
        <value code="29">Roll 180°, Pitch 90°</value>
        <value code="30">Roll 270°, Pitch 90°</value>
        <value code="31">Roll 90°, Pitch 180°</value>
        <value code="32">Roll 270°, Pitch 180°</value>
        <value code="33">Roll 90°, Pitch 270°</value>
        <value code="34">Roll 180°, Pitch 270°</value>
        <value code="35">Roll 270°, Pitch 270°</value>
        <value code="36">Roll 90°, Pitch 180°, Yaw 90°</value>
        <value code="37">Roll 90°, Yaw 270°</value>
        <value code="38">Roll 90°, Pitch 68°, Yaw 293°</value>
        <value code="39">Pitch 315°</value>
        <value code="40">Roll 90°, Pitch 315°</value>
      </values>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_GYRO1_XOFF" type="FLOAT" volatile="true">
      <short_desc>Gyro X-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_GYRO1_YOFF" type="FLOAT" volatile="true">
      <short_desc>Gyro Y-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_GYRO1_ZOFF" type="FLOAT" volatile="true">
      <short_desc>Gyro Z-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="0" name="CAL_GYRO2_ID" type="INT32">
      <short_desc>ID of the Gyro that the calibration is for</short_desc>
    </parameter>
    <parameter category="System" default="-1" name="CAL_GYRO2_PRIO" type="INT32">
      <short_desc>Gyro 2 priority</short_desc>
      <values>
        <value code="-1"> Uninitialized</value>
        <value code="0">  Disabled</value>
        <value code="1">  Min</value>
        <value code="25"> Low</value>
        <value code="50"> Medium (Default)</value>
        <value code="75"> High</value>
        <value code="100">Max</value>
      </values>
    </parameter>
    <parameter category="System" default="-1" name="CAL_GYRO2_ROT" type="INT32">
      <short_desc>Rotation of gyro 2 relative to airframe</short_desc>
      <long_desc>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.</long_desc>
      <min>-1</min>
      <max>40</max>
      <reboot_required>true</reboot_required>
      <values>
        <value code="-1">Internal</value>
        <value code="0">No rotation</value>
        <value code="1">Yaw 45°</value>
        <value code="2">Yaw 90°</value>
        <value code="3">Yaw 135°</value>
        <value code="4">Yaw 180°</value>
        <value code="5">Yaw 225°</value>
        <value code="6">Yaw 270°</value>
        <value code="7">Yaw 315°</value>
        <value code="8">Roll 180°</value>
        <value code="9">Roll 180°, Yaw 45°</value>
        <value code="10">Roll 180°, Yaw 90°</value>
        <value code="11">Roll 180°, Yaw 135°</value>
        <value code="12">Pitch 180°</value>
        <value code="13">Roll 180°, Yaw 225°</value>
        <value code="14">Roll 180°, Yaw 270°</value>
        <value code="15">Roll 180°, Yaw 315°</value>
        <value code="16">Roll 90°</value>
        <value code="17">Roll 90°, Yaw 45°</value>
        <value code="18">Roll 90°, Yaw 90°</value>
        <value code="19">Roll 90°, Yaw 135°</value>
        <value code="20">Roll 270°</value>
        <value code="21">Roll 270°, Yaw 45°</value>
        <value code="22">Roll 270°, Yaw 90°</value>
        <value code="23">Roll 270°, Yaw 135°</value>
        <value code="24">Pitch 90°</value>
        <value code="25">Pitch 270°</value>
        <value code="26">Pitch 180°, Yaw 90°</value>
        <value code="27">Pitch 180°, Yaw 270°</value>
        <value code="28">Roll 90°, Pitch 90°</value>
        <value code="29">Roll 180°, Pitch 90°</value>
        <value code="30">Roll 270°, Pitch 90°</value>
        <value code="31">Roll 90°, Pitch 180°</value>
        <value code="32">Roll 270°, Pitch 180°</value>
        <value code="33">Roll 90°, Pitch 270°</value>
        <value code="34">Roll 180°, Pitch 270°</value>
        <value code="35">Roll 270°, Pitch 270°</value>
        <value code="36">Roll 90°, Pitch 180°, Yaw 90°</value>
        <value code="37">Roll 90°, Yaw 270°</value>
        <value code="38">Roll 90°, Pitch 68°, Yaw 293°</value>
        <value code="39">Pitch 315°</value>
        <value code="40">Roll 90°, Pitch 315°</value>
      </values>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_GYRO2_XOFF" type="FLOAT" volatile="true">
      <short_desc>Gyro X-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_GYRO2_YOFF" type="FLOAT" volatile="true">
      <short_desc>Gyro Y-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_GYRO2_ZOFF" type="FLOAT" volatile="true">
      <short_desc>Gyro Z-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="0" name="CAL_GYRO3_ID" type="INT32">
      <short_desc>ID of the Gyro that the calibration is for</short_desc>
    </parameter>
    <parameter category="System" default="-1" name="CAL_GYRO3_PRIO" type="INT32">
      <short_desc>Gyro 3 priority</short_desc>
      <values>
        <value code="-1"> Uninitialized</value>
        <value code="0">  Disabled</value>
        <value code="1">  Min</value>
        <value code="25"> Low</value>
        <value code="50"> Medium (Default)</value>
        <value code="75"> High</value>
        <value code="100">Max</value>
      </values>
    </parameter>
    <parameter category="System" default="-1" name="CAL_GYRO3_ROT" type="INT32">
      <short_desc>Rotation of gyro 3 relative to airframe</short_desc>
      <long_desc>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.</long_desc>
      <min>-1</min>
      <max>40</max>
      <reboot_required>true</reboot_required>
      <values>
        <value code="-1">Internal</value>
        <value code="0">No rotation</value>
        <value code="1">Yaw 45°</value>
        <value code="2">Yaw 90°</value>
        <value code="3">Yaw 135°</value>
        <value code="4">Yaw 180°</value>
        <value code="5">Yaw 225°</value>
        <value code="6">Yaw 270°</value>
        <value code="7">Yaw 315°</value>
        <value code="8">Roll 180°</value>
        <value code="9">Roll 180°, Yaw 45°</value>
        <value code="10">Roll 180°, Yaw 90°</value>
        <value code="11">Roll 180°, Yaw 135°</value>
        <value code="12">Pitch 180°</value>
        <value code="13">Roll 180°, Yaw 225°</value>
        <value code="14">Roll 180°, Yaw 270°</value>
        <value code="15">Roll 180°, Yaw 315°</value>
        <value code="16">Roll 90°</value>
        <value code="17">Roll 90°, Yaw 45°</value>
        <value code="18">Roll 90°, Yaw 90°</value>
        <value code="19">Roll 90°, Yaw 135°</value>
        <value code="20">Roll 270°</value>
        <value code="21">Roll 270°, Yaw 45°</value>
        <value code="22">Roll 270°, Yaw 90°</value>
        <value code="23">Roll 270°, Yaw 135°</value>
        <value code="24">Pitch 90°</value>
        <value code="25">Pitch 270°</value>
        <value code="26">Pitch 180°, Yaw 90°</value>
        <value code="27">Pitch 180°, Yaw 270°</value>
        <value code="28">Roll 90°, Pitch 90°</value>
        <value code="29">Roll 180°, Pitch 90°</value>
        <value code="30">Roll 270°, Pitch 90°</value>
        <value code="31">Roll 90°, Pitch 180°</value>
        <value code="32">Roll 270°, Pitch 180°</value>
        <value code="33">Roll 90°, Pitch 270°</value>
        <value code="34">Roll 180°, Pitch 270°</value>
        <value code="35">Roll 270°, Pitch 270°</value>
        <value code="36">Roll 90°, Pitch 180°, Yaw 90°</value>
        <value code="37">Roll 90°, Yaw 270°</value>
        <value code="38">Roll 90°, Pitch 68°, Yaw 293°</value>
        <value code="39">Pitch 315°</value>
        <value code="40">Roll 90°, Pitch 315°</value>
      </values>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_GYRO3_XOFF" type="FLOAT" volatile="true">
      <short_desc>Gyro X-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_GYRO3_YOFF" type="FLOAT" volatile="true">
      <short_desc>Gyro Y-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_GYRO3_ZOFF" type="FLOAT" volatile="true">
      <short_desc>Gyro Z-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="0" name="CAL_MAG0_ID" type="INT32">
      <short_desc>ID of Magnetometer the calibration is for</short_desc>
    </parameter>
    <parameter category="System" default="-1" name="CAL_MAG0_PRIO" type="INT32">
      <short_desc>Mag 0 priority</short_desc>
      <values>
        <value code="-1"> Uninitialized</value>
        <value code="0">  Disabled</value>
        <value code="1">  Min</value>
        <value code="25"> Low</value>
        <value code="50"> Medium (Default)</value>
        <value code="75"> High</value>
        <value code="100">Max</value>
      </values>
    </parameter>
    <parameter category="System" default="-1" name="CAL_MAG0_ROT" type="INT32">
      <short_desc>Rotation of magnetometer 0 relative to airframe</short_desc>
      <long_desc>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.</long_desc>
      <min>-1</min>
      <max>40</max>
      <reboot_required>true</reboot_required>
      <values>
        <value code="-1">Internal</value>
        <value code="0">No rotation</value>
        <value code="1">Yaw 45°</value>
        <value code="2">Yaw 90°</value>
        <value code="3">Yaw 135°</value>
        <value code="4">Yaw 180°</value>
        <value code="5">Yaw 225°</value>
        <value code="6">Yaw 270°</value>
        <value code="7">Yaw 315°</value>
        <value code="8">Roll 180°</value>
        <value code="9">Roll 180°, Yaw 45°</value>
        <value code="10">Roll 180°, Yaw 90°</value>
        <value code="11">Roll 180°, Yaw 135°</value>
        <value code="12">Pitch 180°</value>
        <value code="13">Roll 180°, Yaw 225°</value>
        <value code="14">Roll 180°, Yaw 270°</value>
        <value code="15">Roll 180°, Yaw 315°</value>
        <value code="16">Roll 90°</value>
        <value code="17">Roll 90°, Yaw 45°</value>
        <value code="18">Roll 90°, Yaw 90°</value>
        <value code="19">Roll 90°, Yaw 135°</value>
        <value code="20">Roll 270°</value>
        <value code="21">Roll 270°, Yaw 45°</value>
        <value code="22">Roll 270°, Yaw 90°</value>
        <value code="23">Roll 270°, Yaw 135°</value>
        <value code="24">Pitch 90°</value>
        <value code="25">Pitch 270°</value>
        <value code="26">Pitch 180°, Yaw 90°</value>
        <value code="27">Pitch 180°, Yaw 270°</value>
        <value code="28">Roll 90°, Pitch 90°</value>
        <value code="29">Roll 180°, Pitch 90°</value>
        <value code="30">Roll 270°, Pitch 90°</value>
        <value code="31">Roll 90°, Pitch 180°</value>
        <value code="32">Roll 270°, Pitch 180°</value>
        <value code="33">Roll 90°, Pitch 270°</value>
        <value code="34">Roll 180°, Pitch 270°</value>
        <value code="35">Roll 270°, Pitch 270°</value>
        <value code="36">Roll 90°, Pitch 180°, Yaw 90°</value>
        <value code="37">Roll 90°, Yaw 270°</value>
        <value code="38">Roll 90°, Pitch 68°, Yaw 293°</value>
        <value code="39">Pitch 315°</value>
        <value code="40">Roll 90°, Pitch 315°</value>
      </values>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG0_XCOMP" type="FLOAT">
      <short_desc>X Axis throttle compensation for Mag 0</short_desc>
      <long_desc>Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</long_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG0_XODIAG" type="FLOAT" volatile="true">
      <short_desc>Magnetometer X-axis off diagonal factor</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG0_XOFF" type="FLOAT" volatile="true">
      <short_desc>Magnetometer X-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="1.0" name="CAL_MAG0_XSCALE" type="FLOAT" volatile="true">
      <short_desc>Magnetometer X-axis scaling factor</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG0_YCOMP" type="FLOAT">
      <short_desc>Y Axis throttle compensation for Mag 0</short_desc>
      <long_desc>Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</long_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG0_YODIAG" type="FLOAT" volatile="true">
      <short_desc>Magnetometer Y-axis off diagonal factor</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG0_YOFF" type="FLOAT" volatile="true">
      <short_desc>Magnetometer Y-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="1.0" name="CAL_MAG0_YSCALE" type="FLOAT" volatile="true">
      <short_desc>Magnetometer Y-axis scaling factor</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG0_ZCOMP" type="FLOAT">
      <short_desc>Z Axis throttle compensation for Mag 0</short_desc>
      <long_desc>Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</long_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG0_ZODIAG" type="FLOAT" volatile="true">
      <short_desc>Magnetometer Z-axis off diagonal factor</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG0_ZOFF" type="FLOAT" volatile="true">
      <short_desc>Magnetometer Z-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="1.0" name="CAL_MAG0_ZSCALE" type="FLOAT" volatile="true">
      <short_desc>Magnetometer Z-axis scaling factor</short_desc>
    </parameter>
    <parameter category="System" default="0" name="CAL_MAG1_ID" type="INT32">
      <short_desc>ID of Magnetometer the calibration is for</short_desc>
    </parameter>
    <parameter category="System" default="-1" name="CAL_MAG1_PRIO" type="INT32">
      <short_desc>Mag 1 priority</short_desc>
      <values>
        <value code="-1"> Uninitialized</value>
        <value code="0">  Disabled</value>
        <value code="1">  Min</value>
        <value code="25"> Low</value>
        <value code="50"> Medium (Default)</value>
        <value code="75"> High</value>
        <value code="100">Max</value>
      </values>
    </parameter>
    <parameter category="System" default="-1" name="CAL_MAG1_ROT" type="INT32">
      <short_desc>Rotation of magnetometer 1 relative to airframe</short_desc>
      <long_desc>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.</long_desc>
      <min>-1</min>
      <max>40</max>
      <reboot_required>true</reboot_required>
      <values>
        <value code="-1">Internal</value>
        <value code="0">No rotation</value>
        <value code="1">Yaw 45°</value>
        <value code="2">Yaw 90°</value>
        <value code="3">Yaw 135°</value>
        <value code="4">Yaw 180°</value>
        <value code="5">Yaw 225°</value>
        <value code="6">Yaw 270°</value>
        <value code="7">Yaw 315°</value>
        <value code="8">Roll 180°</value>
        <value code="9">Roll 180°, Yaw 45°</value>
        <value code="10">Roll 180°, Yaw 90°</value>
        <value code="11">Roll 180°, Yaw 135°</value>
        <value code="12">Pitch 180°</value>
        <value code="13">Roll 180°, Yaw 225°</value>
        <value code="14">Roll 180°, Yaw 270°</value>
        <value code="15">Roll 180°, Yaw 315°</value>
        <value code="16">Roll 90°</value>
        <value code="17">Roll 90°, Yaw 45°</value>
        <value code="18">Roll 90°, Yaw 90°</value>
        <value code="19">Roll 90°, Yaw 135°</value>
        <value code="20">Roll 270°</value>
        <value code="21">Roll 270°, Yaw 45°</value>
        <value code="22">Roll 270°, Yaw 90°</value>
        <value code="23">Roll 270°, Yaw 135°</value>
        <value code="24">Pitch 90°</value>
        <value code="25">Pitch 270°</value>
        <value code="26">Pitch 180°, Yaw 90°</value>
        <value code="27">Pitch 180°, Yaw 270°</value>
        <value code="28">Roll 90°, Pitch 90°</value>
        <value code="29">Roll 180°, Pitch 90°</value>
        <value code="30">Roll 270°, Pitch 90°</value>
        <value code="31">Roll 90°, Pitch 180°</value>
        <value code="32">Roll 270°, Pitch 180°</value>
        <value code="33">Roll 90°, Pitch 270°</value>
        <value code="34">Roll 180°, Pitch 270°</value>
        <value code="35">Roll 270°, Pitch 270°</value>
        <value code="36">Roll 90°, Pitch 180°, Yaw 90°</value>
        <value code="37">Roll 90°, Yaw 270°</value>
        <value code="38">Roll 90°, Pitch 68°, Yaw 293°</value>
        <value code="39">Pitch 315°</value>
        <value code="40">Roll 90°, Pitch 315°</value>
      </values>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG1_XCOMP" type="FLOAT">
      <short_desc>X Axis throttle compensation for Mag 1</short_desc>
      <long_desc>Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</long_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG1_XODIAG" type="FLOAT" volatile="true">
      <short_desc>Magnetometer X-axis off diagonal factor</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG1_XOFF" type="FLOAT" volatile="true">
      <short_desc>Magnetometer X-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="1.0" name="CAL_MAG1_XSCALE" type="FLOAT" volatile="true">
      <short_desc>Magnetometer X-axis scaling factor</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG1_YCOMP" type="FLOAT">
      <short_desc>Y Axis throttle compensation for Mag 1</short_desc>
      <long_desc>Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</long_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG1_YODIAG" type="FLOAT" volatile="true">
      <short_desc>Magnetometer Y-axis off diagonal factor</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG1_YOFF" type="FLOAT" volatile="true">
      <short_desc>Magnetometer Y-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="1.0" name="CAL_MAG1_YSCALE" type="FLOAT" volatile="true">
      <short_desc>Magnetometer Y-axis scaling factor</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG1_ZCOMP" type="FLOAT">
      <short_desc>Z Axis throttle compensation for Mag 1</short_desc>
      <long_desc>Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</long_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG1_ZODIAG" type="FLOAT" volatile="true">
      <short_desc>Magnetometer Z-axis off diagonal factor</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG1_ZOFF" type="FLOAT" volatile="true">
      <short_desc>Magnetometer Z-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="1.0" name="CAL_MAG1_ZSCALE" type="FLOAT" volatile="true">
      <short_desc>Magnetometer Z-axis scaling factor</short_desc>
    </parameter>
    <parameter category="System" default="0" name="CAL_MAG2_ID" type="INT32">
      <short_desc>ID of Magnetometer the calibration is for</short_desc>
    </parameter>
    <parameter category="System" default="-1" name="CAL_MAG2_PRIO" type="INT32">
      <short_desc>Mag 2 priority</short_desc>
      <values>
        <value code="-1"> Uninitialized</value>
        <value code="0">  Disabled</value>
        <value code="1">  Min</value>
        <value code="25"> Low</value>
        <value code="50"> Medium (Default)</value>
        <value code="75"> High</value>
        <value code="100">Max</value>
      </values>
    </parameter>
    <parameter category="System" default="-1" name="CAL_MAG2_ROT" type="INT32">
      <short_desc>Rotation of magnetometer 2 relative to airframe</short_desc>
      <long_desc>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.</long_desc>
      <min>-1</min>
      <max>40</max>
      <reboot_required>true</reboot_required>
      <values>
        <value code="-1">Internal</value>
        <value code="0">No rotation</value>
        <value code="1">Yaw 45°</value>
        <value code="2">Yaw 90°</value>
        <value code="3">Yaw 135°</value>
        <value code="4">Yaw 180°</value>
        <value code="5">Yaw 225°</value>
        <value code="6">Yaw 270°</value>
        <value code="7">Yaw 315°</value>
        <value code="8">Roll 180°</value>
        <value code="9">Roll 180°, Yaw 45°</value>
        <value code="10">Roll 180°, Yaw 90°</value>
        <value code="11">Roll 180°, Yaw 135°</value>
        <value code="12">Pitch 180°</value>
        <value code="13">Roll 180°, Yaw 225°</value>
        <value code="14">Roll 180°, Yaw 270°</value>
        <value code="15">Roll 180°, Yaw 315°</value>
        <value code="16">Roll 90°</value>
        <value code="17">Roll 90°, Yaw 45°</value>
        <value code="18">Roll 90°, Yaw 90°</value>
        <value code="19">Roll 90°, Yaw 135°</value>
        <value code="20">Roll 270°</value>
        <value code="21">Roll 270°, Yaw 45°</value>
        <value code="22">Roll 270°, Yaw 90°</value>
        <value code="23">Roll 270°, Yaw 135°</value>
        <value code="24">Pitch 90°</value>
        <value code="25">Pitch 270°</value>
        <value code="26">Pitch 180°, Yaw 90°</value>
        <value code="27">Pitch 180°, Yaw 270°</value>
        <value code="28">Roll 90°, Pitch 90°</value>
        <value code="29">Roll 180°, Pitch 90°</value>
        <value code="30">Roll 270°, Pitch 90°</value>
        <value code="31">Roll 90°, Pitch 180°</value>
        <value code="32">Roll 270°, Pitch 180°</value>
        <value code="33">Roll 90°, Pitch 270°</value>
        <value code="34">Roll 180°, Pitch 270°</value>
        <value code="35">Roll 270°, Pitch 270°</value>
        <value code="36">Roll 90°, Pitch 180°, Yaw 90°</value>
        <value code="37">Roll 90°, Yaw 270°</value>
        <value code="38">Roll 90°, Pitch 68°, Yaw 293°</value>
        <value code="39">Pitch 315°</value>
        <value code="40">Roll 90°, Pitch 315°</value>
      </values>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG2_XCOMP" type="FLOAT">
      <short_desc>X Axis throttle compensation for Mag 2</short_desc>
      <long_desc>Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</long_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG2_XODIAG" type="FLOAT" volatile="true">
      <short_desc>Magnetometer X-axis off diagonal factor</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG2_XOFF" type="FLOAT" volatile="true">
      <short_desc>Magnetometer X-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="1.0" name="CAL_MAG2_XSCALE" type="FLOAT" volatile="true">
      <short_desc>Magnetometer X-axis scaling factor</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG2_YCOMP" type="FLOAT">
      <short_desc>Y Axis throttle compensation for Mag 2</short_desc>
      <long_desc>Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</long_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG2_YODIAG" type="FLOAT" volatile="true">
      <short_desc>Magnetometer Y-axis off diagonal factor</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG2_YOFF" type="FLOAT" volatile="true">
      <short_desc>Magnetometer Y-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="1.0" name="CAL_MAG2_YSCALE" type="FLOAT" volatile="true">
      <short_desc>Magnetometer Y-axis scaling factor</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG2_ZCOMP" type="FLOAT">
      <short_desc>Z Axis throttle compensation for Mag 2</short_desc>
      <long_desc>Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</long_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG2_ZODIAG" type="FLOAT" volatile="true">
      <short_desc>Magnetometer Z-axis off diagonal factor</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG2_ZOFF" type="FLOAT" volatile="true">
      <short_desc>Magnetometer Z-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="1.0" name="CAL_MAG2_ZSCALE" type="FLOAT" volatile="true">
      <short_desc>Magnetometer Z-axis scaling factor</short_desc>
    </parameter>
    <parameter category="System" default="0" name="CAL_MAG3_ID" type="INT32">
      <short_desc>ID of Magnetometer the calibration is for</short_desc>
    </parameter>
    <parameter category="System" default="-1" name="CAL_MAG3_PRIO" type="INT32">
      <short_desc>Mag 3 priority</short_desc>
      <values>
        <value code="-1"> Uninitialized</value>
        <value code="0">  Disabled</value>
        <value code="1">  Min</value>
        <value code="25"> Low</value>
        <value code="50"> Medium (Default)</value>
        <value code="75"> High</value>
        <value code="100">Max</value>
      </values>
    </parameter>
    <parameter category="System" default="-1" name="CAL_MAG3_ROT" type="INT32">
      <short_desc>Rotation of magnetometer 3 relative to airframe</short_desc>
      <long_desc>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.</long_desc>
      <min>-1</min>
      <max>40</max>
      <reboot_required>true</reboot_required>
      <values>
        <value code="-1">Internal</value>
        <value code="0">No rotation</value>
        <value code="1">Yaw 45°</value>
        <value code="2">Yaw 90°</value>
        <value code="3">Yaw 135°</value>
        <value code="4">Yaw 180°</value>
        <value code="5">Yaw 225°</value>
        <value code="6">Yaw 270°</value>
        <value code="7">Yaw 315°</value>
        <value code="8">Roll 180°</value>
        <value code="9">Roll 180°, Yaw 45°</value>
        <value code="10">Roll 180°, Yaw 90°</value>
        <value code="11">Roll 180°, Yaw 135°</value>
        <value code="12">Pitch 180°</value>
        <value code="13">Roll 180°, Yaw 225°</value>
        <value code="14">Roll 180°, Yaw 270°</value>
        <value code="15">Roll 180°, Yaw 315°</value>
        <value code="16">Roll 90°</value>
        <value code="17">Roll 90°, Yaw 45°</value>
        <value code="18">Roll 90°, Yaw 90°</value>
        <value code="19">Roll 90°, Yaw 135°</value>
        <value code="20">Roll 270°</value>
        <value code="21">Roll 270°, Yaw 45°</value>
        <value code="22">Roll 270°, Yaw 90°</value>
        <value code="23">Roll 270°, Yaw 135°</value>
        <value code="24">Pitch 90°</value>
        <value code="25">Pitch 270°</value>
        <value code="26">Pitch 180°, Yaw 90°</value>
        <value code="27">Pitch 180°, Yaw 270°</value>
        <value code="28">Roll 90°, Pitch 90°</value>
        <value code="29">Roll 180°, Pitch 90°</value>
        <value code="30">Roll 270°, Pitch 90°</value>
        <value code="31">Roll 90°, Pitch 180°</value>
        <value code="32">Roll 270°, Pitch 180°</value>
        <value code="33">Roll 90°, Pitch 270°</value>
        <value code="34">Roll 180°, Pitch 270°</value>
        <value code="35">Roll 270°, Pitch 270°</value>
        <value code="36">Roll 90°, Pitch 180°, Yaw 90°</value>
        <value code="37">Roll 90°, Yaw 270°</value>
        <value code="38">Roll 90°, Pitch 68°, Yaw 293°</value>
        <value code="39">Pitch 315°</value>
        <value code="40">Roll 90°, Pitch 315°</value>
      </values>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG3_XCOMP" type="FLOAT">
      <short_desc>X Axis throttle compensation for Mag 3</short_desc>
      <long_desc>Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</long_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG3_XODIAG" type="FLOAT" volatile="true">
      <short_desc>Magnetometer X-axis off diagonal factor</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG3_XOFF" type="FLOAT" volatile="true">
      <short_desc>Magnetometer X-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="1.0" name="CAL_MAG3_XSCALE" type="FLOAT" volatile="true">
      <short_desc>Magnetometer X-axis scaling factor</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG3_YCOMP" type="FLOAT">
      <short_desc>Y Axis throttle compensation for Mag 3</short_desc>
      <long_desc>Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</long_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG3_YODIAG" type="FLOAT" volatile="true">
      <short_desc>Magnetometer Y-axis off diagonal factor</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG3_YOFF" type="FLOAT" volatile="true">
      <short_desc>Magnetometer Y-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="1.0" name="CAL_MAG3_YSCALE" type="FLOAT" volatile="true">
      <short_desc>Magnetometer Y-axis scaling factor</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG3_ZCOMP" type="FLOAT">
      <short_desc>Z Axis throttle compensation for Mag 3</short_desc>
      <long_desc>Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</long_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG3_ZODIAG" type="FLOAT" volatile="true">
      <short_desc>Magnetometer Z-axis off diagonal factor</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="CAL_MAG3_ZOFF" type="FLOAT" volatile="true">
      <short_desc>Magnetometer Z-axis offset</short_desc>
    </parameter>
    <parameter category="System" default="1.0" name="CAL_MAG3_ZSCALE" type="FLOAT" volatile="true">
      <short_desc>Magnetometer Z-axis scaling factor</short_desc>
    </parameter>
    <parameter category="System" default="0" name="CAL_MAG_COMP_TYP" type="INT32">
      <short_desc>Type of magnetometer compensation</short_desc>
      <values>
        <value code="0">Disabled</value>
        <value code="1">Throttle-based compensation</value>
        <value code="2">Current-based compensation (battery_status instance 0)</value>
        <value code="3">Current-based compensation (battery_status instance 1)</value>
      </values>
    </parameter>
    <parameter default="0" name="SENS_DPRES_ANSC" type="FLOAT">
      <short_desc>Differential pressure sensor analog scaling</short_desc>
      <long_desc>Pick the appropriate scaling from the datasheet. this number defines the (linear) conversion from voltage to Pascal (pa). For the MPXV7002DP this is 1000. NOTE: If the sensor always registers zero, try switching the static and dynamic tubes.</long_desc>
    </parameter>
    <parameter category="System" default="0.0" name="SENS_DPRES_OFF" type="FLOAT" volatile="true">
      <short_desc>Differential pressure sensor offset</short_desc>
      <long_desc>The offset (zero-reading) in Pascal</long_desc>
    </parameter>
    <parameter default="3.0" name="SENS_FLOW_MAXHGT" type="FLOAT">
      <short_desc>Maximum height above ground when reliant on optical flow</short_desc>
      <long_desc>This parameter defines the maximum distance from ground at which the optical flow sensor operates reliably. The height setpoint will be limited to be no greater than this value when the navigation system is completely reliant on optical flow data and the height above ground estimate is valid. The sensor may be usable above this height, but accuracy will progressively degrade.</long_desc>
      <min>1.0</min>
      <max>25.0</max>
      <unit>m</unit>
      <decimal>1</decimal>
      <increment>0.1</increment>
    </parameter>
    <parameter default="2.5" name="SENS_FLOW_MAXR" type="FLOAT">
      <short_desc>Magnitude of maximum angular flow rate reliably measurable by the optical flow sensor</short_desc>
      <long_desc>Optical flow data will not fused by the estimators if the magnitude of the flow rate exceeds this value and control loops will be instructed to limit ground speed such that the flow rate produced by movement over ground is less than 50% of this value.</long_desc>
      <min>1.0</min>
      <unit>rad/s</unit>
      <decimal>2</decimal>
    </parameter>
    <parameter default="0.7" name="SENS_FLOW_MINHGT" type="FLOAT">
      <short_desc>Minimum height above ground when reliant on optical flow</short_desc>
      <long_desc>This parameter defines the minimum distance from ground at which the optical flow sensor operates reliably. The sensor may be usable below this height, but accuracy will progressively reduce to loss of focus.</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <unit>m</unit>
      <decimal>1</decimal>
      <increment>0.1</increment>
    </parameter>
  </group>
  <group name="Sensors">
    <parameter default="0" name="CAL_AIR_CMODEL" type="INT32">
      <short_desc>Airspeed sensor compensation model for the SDP3x</short_desc>
      <long_desc>Model with Pitot CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Model without Pitot (1.5 mm tubes) CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Tube Pressure Drop CAL_AIR_TUBED_MM: Diameter in mm of the pitot and tubes, must have the same diameter. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor and the static + dynamic port length of the pitot.</long_desc>
      <values>
        <value code="0">Model with Pitot</value>
        <value code="1">Model without Pitot (1.5 mm tubes)</value>
        <value code="2">Tube Pressure Drop</value>
      </values>
    </parameter>
    <parameter default="1.5" name="CAL_AIR_TUBED_MM" type="FLOAT">
      <short_desc>Airspeed sensor tube diameter. Only used for the Tube Pressure Drop Compensation</short_desc>
      <min>0.1</min>
      <max>100</max>
      <unit>mm</unit>
    </parameter>
    <parameter default="0.2" name="CAL_AIR_TUBELEN" type="FLOAT">
      <short_desc>Airspeed sensor tube length</short_desc>
      <long_desc>See the CAL_AIR_CMODEL explanation on how this parameter should be set.</long_desc>
      <min>0.01</min>
      <max>2.00</max>
      <unit>m</unit>
    </parameter>
    <parameter boolean="true" default="1" name="CAL_MAG_ROT_AUTO" type="INT32">
      <short_desc>Automatically set external rotations</short_desc>
      <long_desc>During calibration attempt to automatically determine the rotation of external magnetometers.</long_desc>
    </parameter>
    <parameter default="63" name="CAL_MAG_SIDES" type="INT32">
      <short_desc>Bitfield selecting mag sides for calibration</short_desc>
      <long_desc>If set to two side calibration, only the offsets are estimated, the scale calibration is left unchanged. Thus an initial six side calibration is recommended. Bits: ORIENTATION_TAIL_DOWN = 1 ORIENTATION_NOSE_DOWN = 2 ORIENTATION_LEFT = 4 ORIENTATION_RIGHT = 8 ORIENTATION_UPSIDE_DOWN = 16 ORIENTATION_RIGHTSIDE_UP = 32</long_desc>
      <min>34</min>
      <max>63</max>
      <values>
        <value code="34">Two side calibration</value>
        <value code="38">Three side calibration</value>
        <value code="63">Six side calibration</value>
      </values>
    </parameter>
    <parameter default="30.0" name="IMU_ACCEL_CUTOFF" type="FLOAT">
      <short_desc>Low pass filter cutoff frequency for accel</short_desc>
      <long_desc>The cutoff frequency for the 2nd order butterworth filter on the primary accelerometer. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.</long_desc>
      <min>0</min>
      <max>1000</max>
      <unit>Hz</unit>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="10.0" name="IMU_DGYRO_CUTOFF" type="FLOAT">
      <short_desc>Cutoff frequency for angular acceleration (D-Term filter)</short_desc>
      <long_desc>The cutoff frequency for the 2nd order butterworth filter used on the time derivative of the measured angular velocity, also known as the D-term filter in the rate controller. The D-term uses the derivative of the rate and thus is the most susceptible to noise. Therefore, using a D-term filter allows to increase IMU_GYRO_CUTOFF, which leads to reduced control latency and permits to increase the P gains. A value of 0 disables the filter.</long_desc>
      <min>0</min>
      <max>1000</max>
      <unit>Hz</unit>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter boolean="true" default="1" name="IMU_GYRO_CAL_EN" type="INT32">
      <short_desc>IMU gyro auto calibration enable</short_desc>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="30.0" name="IMU_GYRO_CUTOFF" type="FLOAT">
      <short_desc>Low pass filter cutoff frequency for gyro</short_desc>
      <long_desc>The cutoff frequency for the 2nd order butterworth filter on the primary gyro. This only affects the angular velocity sent to the controllers, not the estimators. It applies also to the angular acceleration (D-Term filter), see IMU_DGYRO_CUTOFF. A value of 0 disables the filter.</long_desc>
      <min>0</min>
      <max>1000</max>
      <unit>Hz</unit>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="IMU_GYRO_DYN_NF" type="INT32">
      <short_desc>IMU gyro dynamic notch filtering</short_desc>
      <long_desc>Enable bank of dynamically updating notch filters. Requires ESC RPM feedback or onboard FFT (IMU_GYRO_FFT_EN).</long_desc>
      <min>0</min>
      <max>3</max>
      <bitmask>
        <bit index="0">ESC RPM</bit>
        <bit index="1">FFT</bit>
      </bitmask>
    </parameter>
    <parameter boolean="true" default="0" name="IMU_GYRO_FFT_EN" type="INT32">
      <short_desc>IMU gyro FFT enable</short_desc>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="1024" name="IMU_GYRO_FFT_LEN" type="INT32">
      <short_desc>IMU gyro FFT length</short_desc>
      <unit>Hz</unit>
      <reboot_required>true</reboot_required>
      <values>
        <value code="256">256</value>
        <value code="1024">1024</value>
        <value code="4096">4096</value>
      </values>
    </parameter>
    <parameter default="192." name="IMU_GYRO_FFT_MAX" type="FLOAT">
      <short_desc>IMU gyro FFT maximum frequency</short_desc>
      <min>1</min>
      <max>1000</max>
      <unit>Hz</unit>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="32." name="IMU_GYRO_FFT_MIN" type="FLOAT">
      <short_desc>IMU gyro FFT minimum frequency</short_desc>
      <min>1</min>
      <max>1000</max>
      <unit>Hz</unit>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="20.0" name="IMU_GYRO_NF_BW" type="FLOAT">
      <short_desc>Notch filter bandwidth for gyro</short_desc>
      <long_desc>The frequency width of the stop band for the 2nd order notch filter on the primary gyro. See "IMU_GYRO_NF_FREQ" to activate the filter and to set the notch frequency. Applies to both angular velocity and angular acceleration sent to the controllers.</long_desc>
      <min>0</min>
      <max>100</max>
      <unit>Hz</unit>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0.0" name="IMU_GYRO_NF_FREQ" type="FLOAT">
      <short_desc>Notch filter frequency for gyro</short_desc>
      <long_desc>The center frequency for the 2nd order notch filter on the primary gyro. This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency. This only affects the signal sent to the controllers, not the estimators. Applies to both angular velocity and angular acceleration sent to the controllers. See "IMU_GYRO_NF_BW" to set the bandwidth of the filter. A value of 0 disables the filter.</long_desc>
      <min>0</min>
      <max>1000</max>
      <unit>Hz</unit>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="400" name="IMU_GYRO_RATEMAX" type="INT32">
      <short_desc>Gyro control data maximum publication rate</short_desc>
      <long_desc>This is the maximum rate the gyro control data (sensor_gyro) will be allowed to publish at. Set to 0 to disable and publish at the native sensor sample rate.</long_desc>
      <min>0</min>
      <max>2000</max>
      <unit>Hz</unit>
      <reboot_required>true</reboot_required>
      <values>
        <value code="0">0 (driver minimum)</value>
        <value code="100">100 Hz</value>
        <value code="250">250 Hz</value>
        <value code="400">400 Hz</value>
        <value code="1000">1000 Hz</value>
        <value code="2000">2000 Hz</value>
      </values>
    </parameter>
    <parameter default="200" name="IMU_INTEG_RATE" type="INT32">
      <short_desc>IMU integration rate</short_desc>
      <long_desc>The rate at which raw IMU data is integrated to produce delta angles and delta velocities. Recommended to set this to a multiple of the estimator update period (currently 10 ms for ekf2).</long_desc>
      <min>100</min>
      <max>1000</max>
      <unit>Hz</unit>
      <reboot_required>true</reboot_required>
      <values>
        <value code="100">100 Hz</value>
        <value code="200">200 Hz</value>
        <value code="400">400 Hz</value>
      </values>
    </parameter>
    <parameter default="1013.25" name="SENS_BARO_QNH" type="FLOAT">
      <short_desc>QNH for barometer</short_desc>
      <min>500</min>
      <max>1500</max>
      <unit>hPa</unit>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="20.0" name="SENS_BARO_RATE" type="FLOAT">
      <short_desc>Baro max rate</short_desc>
      <long_desc>Barometric air data maximum publication rate. This is an upper bound, actual barometric data rate is still dependant on the sensor.</long_desc>
      <min>1</min>
      <max>200</max>
      <unit>Hz</unit>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="SENS_BOARD_ROT" type="INT32">
      <short_desc>Board rotation</short_desc>
      <long_desc>This parameter defines the rotation of the FMU board relative to the platform.</long_desc>
      <min>-1</min>
      <max>40</max>
      <reboot_required>true</reboot_required>
      <values>
        <value code="0">No rotation</value>
        <value code="1">Yaw 45°</value>
        <value code="2">Yaw 90°</value>
        <value code="3">Yaw 135°</value>
        <value code="4">Yaw 180°</value>
        <value code="5">Yaw 225°</value>
        <value code="6">Yaw 270°</value>
        <value code="7">Yaw 315°</value>
        <value code="8">Roll 180°</value>
        <value code="9">Roll 180°, Yaw 45°</value>
        <value code="10">Roll 180°, Yaw 90°</value>
        <value code="11">Roll 180°, Yaw 135°</value>
        <value code="12">Pitch 180°</value>
        <value code="13">Roll 180°, Yaw 225°</value>
        <value code="14">Roll 180°, Yaw 270°</value>
        <value code="15">Roll 180°, Yaw 315°</value>
        <value code="16">Roll 90°</value>
        <value code="17">Roll 90°, Yaw 45°</value>
        <value code="18">Roll 90°, Yaw 90°</value>
        <value code="19">Roll 90°, Yaw 135°</value>
        <value code="20">Roll 270°</value>
        <value code="21">Roll 270°, Yaw 45°</value>
        <value code="22">Roll 270°, Yaw 90°</value>
        <value code="23">Roll 270°, Yaw 135°</value>
        <value code="24">Pitch 90°</value>
        <value code="25">Pitch 270°</value>
        <value code="26">Pitch 180°, Yaw 90°</value>
        <value code="27">Pitch 180°, Yaw 270°</value>
        <value code="28">Roll 90°, Pitch 90°</value>
        <value code="29">Roll 180°, Pitch 90°</value>
        <value code="30">Roll 270°, Pitch 90°</value>
        <value code="31">Roll 90°, Pitch 180°</value>
        <value code="32">Roll 270°, Pitch 180°</value>
        <value code="33">Roll 90°, Pitch 270°</value>
        <value code="34">Roll 180°, Pitch 270°</value>
        <value code="35">Roll 270°, Pitch 270°</value>
        <value code="36">Roll 90°, Pitch 180°, Yaw 90°</value>
        <value code="37">Roll 90°, Yaw 270°</value>
        <value code="38">Roll 90°, Pitch 68°, Yaw 293°</value>
        <value code="39">Pitch 315°</value>
        <value code="40">Roll 90°, Pitch 315°</value>
      </values>
    </parameter>
    <parameter default="0.0" name="SENS_BOARD_X_OFF" type="FLOAT">
      <short_desc>Board rotation X (Roll) offset</short_desc>
      <long_desc>This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user to fine tune the board offset in the event of misalignment.</long_desc>
      <unit>deg</unit>
    </parameter>
    <parameter default="0.0" name="SENS_BOARD_Y_OFF" type="FLOAT">
      <short_desc>Board rotation Y (Pitch) offset</short_desc>
      <long_desc>This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user to fine tune the board offset in the event of misalignment.</long_desc>
      <unit>deg</unit>
    </parameter>
    <parameter default="0.0" name="SENS_BOARD_Z_OFF" type="FLOAT">
      <short_desc>Board rotation Z (YAW) offset</short_desc>
      <long_desc>This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user to fine tune the board offset in the event of misalignment.</long_desc>
      <unit>deg</unit>
    </parameter>
    <parameter category="System" default="-1" name="SENS_EN_THERMAL" type="INT32">
      <short_desc>Thermal control of sensor temperature</short_desc>
      <values>
        <value code="-1">Thermal control unavailable</value>
        <value code="0">Thermal control off</value>
        <value code="1">Thermal control enabled</value>
      </values>
    </parameter>
    <parameter boolean="true" category="System" default="1" name="SENS_EXT_I2C_PRB" type="INT32">
      <short_desc>External I2C probe</short_desc>
      <long_desc>Probe for optional external I2C devices.</long_desc>
    </parameter>
    <parameter default="6" name="SENS_FLOW_ROT" type="INT32">
      <short_desc>PX4Flow board rotation</short_desc>
      <long_desc>This parameter defines the yaw rotation of the PX4FLOW board relative to the vehicle body frame. Zero rotation is defined as X on flow board pointing towards front of vehicle. The recommneded installation default for the PX4FLOW board is with the Y axis forward (270 deg yaw).</long_desc>
      <reboot_required>true</reboot_required>
      <values>
        <value code="0">No rotation</value>
        <value code="1">Yaw 45°</value>
        <value code="2">Yaw 90°</value>
        <value code="3">Yaw 135°</value>
        <value code="4">Yaw 180°</value>
        <value code="5">Yaw 225°</value>
        <value code="6">Yaw 270°</value>
        <value code="7">Yaw 315°</value>
      </values>
    </parameter>
    <parameter default="0" name="SENS_GPS_MASK" type="INT32">
      <short_desc>Multi GPS Blending Control Mask</short_desc>
      <long_desc>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. 0 : Set to true to use speed accuracy 1 : Set to true to use horizontal position accuracy 2 : Set to true to use vertical position accuracy</long_desc>
      <min>0</min>
      <max>7</max>
      <bitmask>
        <bit index="0">use speed accuracy</bit>
        <bit index="1">use hpos accuracy</bit>
        <bit index="2">use vpos accuracy</bit>
      </bitmask>
    </parameter>
    <parameter default="0" name="SENS_GPS_PRIME" type="INT32">
      <short_desc>Multi GPS primary instance</short_desc>
      <long_desc>When no blending is active, this defines the preferred GPS receiver instance. The GPS selection logic waits until the primary receiver is available to send data to the EKF even if a secondary instance is already available. The secondary instance is then only used if the primary one times out. To have an equal priority of all the instances, set this parameter to -1 and the best receiver will be used. This parameter has no effect if blending is active.</long_desc>
      <min>-1</min>
      <max>1</max>
    </parameter>
    <parameter default="10.0" name="SENS_GPS_TAU" type="FLOAT">
      <short_desc>Multi GPS Blending Time Constant</short_desc>
      <long_desc>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.</long_desc>
      <min>1.0</min>
      <max>100.0</max>
      <unit>s</unit>
      <decimal>1</decimal>
    </parameter>
    <parameter category="System" default="1" name="SENS_IMU_MODE" type="INT32">
      <short_desc>Sensors hub IMU mode</short_desc>
      <reboot_required>true</reboot_required>
      <values>
        <value code="0">Disabled</value>
        <value code="1">Publish primary IMU selection</value>
      </values>
    </parameter>
    <parameter boolean="true" category="System" default="1" name="SENS_INT_BARO_EN" type="INT32">
      <short_desc>Enable internal barometers</short_desc>
      <long_desc>For systems with an external barometer, this should be set to false to make sure that the external is used.</long_desc>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter category="System" default="1" name="SENS_MAG_MODE" type="INT32">
      <short_desc>Sensors hub mag mode</short_desc>
      <reboot_required>true</reboot_required>
      <values>
        <value code="0">Publish all magnetometers</value>
        <value code="1">Publish primary magnetometer</value>
      </values>
    </parameter>
    <parameter default="50.0" name="SENS_MAG_RATE" type="FLOAT">
      <short_desc>Magnetometer max rate</short_desc>
      <long_desc>Magnetometer data maximum publication rate. This is an upper bound, actual magnetometer data rate is still dependant on the sensor.</long_desc>
      <min>1</min>
      <max>200</max>
      <unit>Hz</unit>
      <reboot_required>true</reboot_required>
    </parameter>
  </group>
  <group name="System">
    <parameter default="0" name="SYS_AUTOCONFIG" type="INT32">
      <short_desc>Automatically configure default values</short_desc>
      <long_desc>Set to 1 to reset parameters on next system startup (setting defaults). Platform-specific values are used if available. RC* parameters are preserved.</long_desc>
      <values>
        <value code="0">Keep parameters</value>
        <value code="1">Reset parameters</value>
        <value code="2">Reload airframe parameters</value>
      </values>
    </parameter>
    <parameter default="0" name="SYS_AUTOSTART" type="INT32">
      <short_desc>Auto-start script index</short_desc>
      <long_desc>CHANGING THIS VALUE REQUIRES A RESTART. Defines the auto-start script used to bootstrap the system.</long_desc>
      <min>0</min>
      <max>9999999</max>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter boolean="true" default="0" name="SYS_BL_UPDATE" type="INT32">
      <short_desc>Bootloader update</short_desc>
      <long_desc>If enabled, update the bootloader on the next boot. WARNING: do not cut the power during an update process, otherwise you will have to recover using some alternative method (e.g. JTAG). Instructions: - Insert an SD card - Enable this parameter - Reboot the board (plug the power or send a reboot command) - Wait until the board comes back up (or at least 2 minutes) - If it does not come back, check the file bootlog.txt on the SD card</long_desc>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="SYS_CAL_ACCEL" type="INT32">
      <short_desc>Enable auto start of accelerometer thermal calibration at the next power up</short_desc>
      <long_desc>0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the temperature calibration starts. default (0, no calibration)</long_desc>
      <min>0</min>
      <max>1</max>
    </parameter>
    <parameter default="0" name="SYS_CAL_BARO" type="INT32">
      <short_desc>Enable auto start of barometer thermal calibration at the next power up</short_desc>
      <long_desc>0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the temperature calibration starts. default (0, no calibration)</long_desc>
      <min>0</min>
      <max>1</max>
    </parameter>
    <parameter default="0" name="SYS_CAL_GYRO" type="INT32">
      <short_desc>Enable auto start of rate gyro thermal calibration at the next power up</short_desc>
      <long_desc>0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the temperature calibration starts. default (0, no calibration)</long_desc>
      <min>0</min>
      <max>1</max>
    </parameter>
    <parameter default="24" name="SYS_CAL_TDEL" type="INT32">
      <short_desc>Required temperature rise during thermal calibration</short_desc>
      <long_desc>A temperature increase greater than this value is required during calibration. Calibration will complete for each sensor when the temperature increase above the starting temeprature exceeds the value set by SYS_CAL_TDEL. If the temperature rise is insufficient, the calibration will continue indefinitely and the board will need to be repowered to exit.</long_desc>
      <min>10</min>
      <unit>celcius</unit>
    </parameter>
    <parameter default="10" name="SYS_CAL_TMAX" type="INT32">
      <short_desc>Maximum starting temperature for thermal calibration</short_desc>
      <long_desc>Temperature calibration will not start if the temperature of any sensor is higher than the value set by SYS_CAL_TMAX.</long_desc>
      <unit>celcius</unit>
    </parameter>
    <parameter default="5" name="SYS_CAL_TMIN" type="INT32">
      <short_desc>Minimum starting temperature for thermal calibration</short_desc>
      <long_desc>Temperature calibration for each sensor will ignore data if the temperature is lower than the value set by SYS_CAL_TMIN.</long_desc>
      <unit>celcius</unit>
    </parameter>
    <parameter boolean="true" default="0" name="SYS_FAC_CAL_MODE" type="INT32">
      <short_desc>Enable factory calibration mode</short_desc>
      <long_desc>If enabled, future sensor calibrations will be stored to /fs/mtd_caldata. Note: this is only supported on boards with a separate calibration storage /fs/mtd_caldata.</long_desc>
    </parameter>
    <parameter boolean="true" default="0" name="SYS_FAILURE_EN" type="INT32">
      <short_desc>Enable failure injection</short_desc>
      <long_desc>If enabled allows MAVLink INJECT_FAILURE commands. WARNING: the failures can easily cause crashes and are to be used with caution!</long_desc>
    </parameter>
    <parameter boolean="true" default="1" name="SYS_HAS_BARO" type="INT32">
      <short_desc>Control if the vehicle has a barometer</short_desc>
      <long_desc>Disable this if the board has no barometer, such as some of the Omnibus F4 SD variants. If disabled, the preflight checks will not check for the presence of a barometer.</long_desc>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter boolean="true" default="1" name="SYS_HAS_MAG" type="INT32">
      <short_desc>Control if the vehicle has a magnetometer</short_desc>
      <long_desc>Disable this if the board has no magnetometer, such as the Omnibus F4 SD. If disabled, the preflight checks will not check for the presence of a magnetometer.</long_desc>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter default="0" name="SYS_HITL" type="INT32">
      <short_desc>Enable HITL/SIH mode on next boot</short_desc>
      <long_desc>While enabled the system will boot in Hardware-In-The-Loop (HITL) or Simulation-In-Hardware (SIH) mode and not enable all sensors and checks. When disabled the same vehicle can be flown normally. Set to 'external HITL', if the system should perform as if it were a real vehicle (the only difference to a real system is then only the parameter value, which can be used for log analysis).</long_desc>
      <reboot_required>true</reboot_required>
      <values>
        <value code="-1">external HITL</value>
        <value code="0">HITL and SIH disabled</value>
        <value code="1">HITL enabled</value>
        <value code="2">SIH enabled</value>
      </values>
    </parameter>
    <parameter default="2" name="SYS_MC_EST_GROUP" type="INT32">
      <short_desc>Set multicopter estimator group</short_desc>
      <long_desc>Set the group of estimators used for multicopters and VTOLs</long_desc>
      <reboot_required>true</reboot_required>
      <values>
        <value code="1">local_position_estimator, attitude_estimator_q (unsupported)</value>
        <value code="2">ekf2 (recommended)</value>
        <value code="3">Q attitude estimator (no position)</value>
      </values>
    </parameter>
    <parameter default="1" name="SYS_PARAM_VER" type="INT32">
      <short_desc>Parameter version</short_desc>
      <long_desc>This is used internally only: an airframe configuration might set an expected parameter version value via PARAM_DEFAULTS_VER. This is checked on bootup against SYS_PARAM_VER, and if they do not match, parameters from the airframe configuration are reloaded.</long_desc>
      <min>0</min>
    </parameter>
    <parameter category="System" default="2" name="SYS_RESTART_TYPE" type="INT32" volatile="true">
      <short_desc>Set restart type</short_desc>
      <long_desc>Set by px4io to indicate type of restart</long_desc>
      <min>0</min>
      <max>2</max>
      <values>
        <value code="0">Data survives resets</value>
        <value code="1">Data survives in-flight resets only</value>
        <value code="2">Data does not survive reset</value>
      </values>
    </parameter>
    <parameter boolean="true" default="1" name="SYS_STCK_EN" type="INT32">
      <short_desc>Enable stack checking</short_desc>
    </parameter>
  </group>
  <group name="Testing">
    <parameter default="2" name="TEST_1" type="INT32">
      <short_desc>TEST_1</short_desc>
    </parameter>
    <parameter default="4" name="TEST_2" type="INT32">
      <short_desc>TEST_2</short_desc>
    </parameter>
    <parameter default="5.0" name="TEST_3" type="FLOAT">
      <short_desc>TEST_3</short_desc>
    </parameter>
    <parameter default="0.01" name="TEST_D" type="FLOAT">
      <short_desc>TEST_D</short_desc>
    </parameter>
    <parameter default="2.0" name="TEST_DEV" type="FLOAT">
      <short_desc>TEST_DEV</short_desc>
    </parameter>
    <parameter default="10.0" name="TEST_D_LP" type="FLOAT">
      <short_desc>TEST_D_LP</short_desc>
    </parameter>
    <parameter default="10.0" name="TEST_HP" type="FLOAT">
      <short_desc>TEST_HP</short_desc>
    </parameter>
    <parameter default="0.1" name="TEST_I" type="FLOAT">
      <short_desc>TEST_I</short_desc>
    </parameter>
    <parameter default="1.0" name="TEST_I_MAX" type="FLOAT">
      <short_desc>TEST_I_MAX</short_desc>
    </parameter>
    <parameter default="10.0" name="TEST_LP" type="FLOAT">
      <short_desc>TEST_LP</short_desc>
    </parameter>
    <parameter default="1.0" name="TEST_MAX" type="FLOAT">
      <short_desc>TEST_MAX</short_desc>
    </parameter>
    <parameter default="1.0" name="TEST_MEAN" type="FLOAT">
      <short_desc>TEST_MEAN</short_desc>
    </parameter>
    <parameter default="-1.0" name="TEST_MIN" type="FLOAT">
      <short_desc>TEST_MIN</short_desc>
    </parameter>
    <parameter default="0.2" name="TEST_P" type="FLOAT">
      <short_desc>TEST_P</short_desc>
    </parameter>
    <parameter default="12345678" name="TEST_PARAMS" type="INT32">
      <short_desc>TEST_PARAMS</short_desc>
    </parameter>
    <parameter default="16" name="TEST_RC2_X" type="INT32">
      <short_desc>TEST_RC2_X</short_desc>
    </parameter>
    <parameter default="8" name="TEST_RC_X" type="INT32">
      <short_desc>TEST_RC_X</short_desc>
    </parameter>
    <parameter default="0.5" name="TEST_TRIM" type="FLOAT">
      <short_desc>TEST_TRIM</short_desc>
    </parameter>
  </group>
  <group name="Thermal Compensation">
    <parameter category="System" default="0" name="TC_A0_ID" type="INT32">
      <short_desc>ID of Accelerometer that the calibration is for</short_desc>
    </parameter>
    <parameter category="System" default="100.0" name="TC_A0_TMAX" type="FLOAT">
      <short_desc>Accelerometer calibration maximum temperature</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A0_TMIN" type="FLOAT">
      <short_desc>Accelerometer calibration minimum temperature</short_desc>
    </parameter>
    <parameter category="System" default="25.0" name="TC_A0_TREF" type="FLOAT">
      <short_desc>Accelerometer calibration reference temperature</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A0_X0_0" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^0 polynomial coefficient - X axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A0_X0_1" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^0 polynomial coefficient - Y axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A0_X0_2" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^0 polynomial coefficient - Z axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A0_X1_0" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^1 polynomial coefficient - X axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A0_X1_1" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^1 polynomial coefficient - Y axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A0_X1_2" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^1 polynomial coefficient - Z axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A0_X2_0" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^2 polynomial coefficient - X axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A0_X2_1" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^2 polynomial coefficient - Y axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A0_X2_2" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^2 polynomial coefficient - Z axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A0_X3_0" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^3 polynomial coefficient - X axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A0_X3_1" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^3 polynomial coefficient - Y axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A0_X3_2" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^3 polynomial coefficient - Z axis</short_desc>
    </parameter>
    <parameter category="System" default="0" name="TC_A1_ID" type="INT32">
      <short_desc>ID of Accelerometer that the calibration is for</short_desc>
    </parameter>
    <parameter category="System" default="100.0" name="TC_A1_TMAX" type="FLOAT">
      <short_desc>Accelerometer calibration maximum temperature</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A1_TMIN" type="FLOAT">
      <short_desc>Accelerometer calibration minimum temperature</short_desc>
    </parameter>
    <parameter category="System" default="25.0" name="TC_A1_TREF" type="FLOAT">
      <short_desc>Accelerometer calibration reference temperature</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A1_X0_0" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^0 polynomial coefficient - X axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A1_X0_1" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^0 polynomial coefficient - Y axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A1_X0_2" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^0 polynomial coefficient - Z axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A1_X1_0" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^1 polynomial coefficient - X axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A1_X1_1" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^1 polynomial coefficient - Y axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A1_X1_2" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^1 polynomial coefficient - Z axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A1_X2_0" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^2 polynomial coefficient - X axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A1_X2_1" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^2 polynomial coefficient - Y axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A1_X2_2" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^2 polynomial coefficient - Z axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A1_X3_0" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^3 polynomial coefficient - X axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A1_X3_1" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^3 polynomial coefficient - Y axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A1_X3_2" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^3 polynomial coefficient - Z axis</short_desc>
    </parameter>
    <parameter category="System" default="0" name="TC_A2_ID" type="INT32">
      <short_desc>ID of Accelerometer that the calibration is for</short_desc>
    </parameter>
    <parameter category="System" default="100.0" name="TC_A2_TMAX" type="FLOAT">
      <short_desc>Accelerometer calibration maximum temperature</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A2_TMIN" type="FLOAT">
      <short_desc>Accelerometer calibration minimum temperature</short_desc>
    </parameter>
    <parameter category="System" default="25.0" name="TC_A2_TREF" type="FLOAT">
      <short_desc>Accelerometer calibration reference temperature</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A2_X0_0" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^0 polynomial coefficient - X axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A2_X0_1" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^0 polynomial coefficient - Y axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A2_X0_2" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^0 polynomial coefficient - Z axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A2_X1_0" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^1 polynomial coefficient - X axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A2_X1_1" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^1 polynomial coefficient - Y axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A2_X1_2" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^1 polynomial coefficient - Z axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A2_X2_0" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^2 polynomial coefficient - X axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A2_X2_1" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^2 polynomial coefficient - Y axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A2_X2_2" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^2 polynomial coefficient - Z axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A2_X3_0" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^3 polynomial coefficient - X axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A2_X3_1" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^3 polynomial coefficient - Y axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A2_X3_2" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^3 polynomial coefficient - Z axis</short_desc>
    </parameter>
    <parameter category="System" default="0" name="TC_A3_ID" type="INT32">
      <short_desc>ID of Accelerometer that the calibration is for</short_desc>
    </parameter>
    <parameter category="System" default="100.0" name="TC_A3_TMAX" type="FLOAT">
      <short_desc>Accelerometer calibration maximum temperature</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A3_TMIN" type="FLOAT">
      <short_desc>Accelerometer calibration minimum temperature</short_desc>
    </parameter>
    <parameter category="System" default="25.0" name="TC_A3_TREF" type="FLOAT">
      <short_desc>Accelerometer calibration reference temperature</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A3_X0_0" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^0 polynomial coefficient - X axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A3_X0_1" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^0 polynomial coefficient - Y axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A3_X0_2" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^0 polynomial coefficient - Z axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A3_X1_0" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^1 polynomial coefficient - X axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A3_X1_1" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^1 polynomial coefficient - Y axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A3_X1_2" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^1 polynomial coefficient - Z axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A3_X2_0" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^2 polynomial coefficient - X axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A3_X2_1" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^2 polynomial coefficient - Y axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A3_X2_2" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^2 polynomial coefficient - Z axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A3_X3_0" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^3 polynomial coefficient - X axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A3_X3_1" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^3 polynomial coefficient - Y axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_A3_X3_2" type="FLOAT">
      <short_desc>Accelerometer offset temperature ^3 polynomial coefficient - Z axis</short_desc>
    </parameter>
    <parameter boolean="true" default="0" name="TC_A_ENABLE" type="INT32">
      <short_desc>Thermal compensation for accelerometer sensors</short_desc>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter category="System" default="0" name="TC_B0_ID" type="INT32">
      <short_desc>ID of Barometer that the calibration is for</short_desc>
    </parameter>
    <parameter category="System" default="75.0" name="TC_B0_TMAX" type="FLOAT">
      <short_desc>Barometer calibration maximum temperature</short_desc>
    </parameter>
    <parameter category="System" default="5.0" name="TC_B0_TMIN" type="FLOAT">
      <short_desc>Barometer calibration minimum temperature</short_desc>
    </parameter>
    <parameter category="System" default="40.0" name="TC_B0_TREF" type="FLOAT">
      <short_desc>Barometer calibration reference temperature</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_B0_X0" type="FLOAT">
      <short_desc>Barometer offset temperature ^0 polynomial coefficient</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_B0_X1" type="FLOAT">
      <short_desc>Barometer offset temperature ^1 polynomial coefficients</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_B0_X2" type="FLOAT">
      <short_desc>Barometer offset temperature ^2 polynomial coefficient</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_B0_X3" type="FLOAT">
      <short_desc>Barometer offset temperature ^3 polynomial coefficient</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_B0_X4" type="FLOAT">
      <short_desc>Barometer offset temperature ^4 polynomial coefficient</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_B0_X5" type="FLOAT">
      <short_desc>Barometer offset temperature ^5 polynomial coefficient</short_desc>
    </parameter>
    <parameter category="System" default="0" name="TC_B1_ID" type="INT32">
      <short_desc>ID of Barometer that the calibration is for</short_desc>
    </parameter>
    <parameter category="System" default="75.0" name="TC_B1_TMAX" type="FLOAT">
      <short_desc>Barometer calibration maximum temperature</short_desc>
    </parameter>
    <parameter category="System" default="5.0" name="TC_B1_TMIN" type="FLOAT">
      <short_desc>Barometer calibration minimum temperature</short_desc>
    </parameter>
    <parameter category="System" default="40.0" name="TC_B1_TREF" type="FLOAT">
      <short_desc>Barometer calibration reference temperature</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_B1_X0" type="FLOAT">
      <short_desc>Barometer offset temperature ^0 polynomial coefficient</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_B1_X1" type="FLOAT">
      <short_desc>Barometer offset temperature ^1 polynomial coefficients</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_B1_X2" type="FLOAT">
      <short_desc>Barometer offset temperature ^2 polynomial coefficient</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_B1_X3" type="FLOAT">
      <short_desc>Barometer offset temperature ^3 polynomial coefficient</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_B1_X4" type="FLOAT">
      <short_desc>Barometer offset temperature ^4 polynomial coefficient</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_B1_X5" type="FLOAT">
      <short_desc>Barometer offset temperature ^5 polynomial coefficient</short_desc>
    </parameter>
    <parameter category="System" default="0" name="TC_B2_ID" type="INT32">
      <short_desc>ID of Barometer that the calibration is for</short_desc>
    </parameter>
    <parameter category="System" default="75.0" name="TC_B2_TMAX" type="FLOAT">
      <short_desc>Barometer calibration maximum temperature</short_desc>
    </parameter>
    <parameter category="System" default="5.0" name="TC_B2_TMIN" type="FLOAT">
      <short_desc>Barometer calibration minimum temperature</short_desc>
    </parameter>
    <parameter category="System" default="40.0" name="TC_B2_TREF" type="FLOAT">
      <short_desc>Barometer calibration reference temperature</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_B2_X0" type="FLOAT">
      <short_desc>Barometer offset temperature ^0 polynomial coefficient</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_B2_X1" type="FLOAT">
      <short_desc>Barometer offset temperature ^1 polynomial coefficients</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_B2_X2" type="FLOAT">
      <short_desc>Barometer offset temperature ^2 polynomial coefficient</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_B2_X3" type="FLOAT">
      <short_desc>Barometer offset temperature ^3 polynomial coefficient</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_B2_X4" type="FLOAT">
      <short_desc>Barometer offset temperature ^4 polynomial coefficient</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_B2_X5" type="FLOAT">
      <short_desc>Barometer offset temperature ^5 polynomial coefficient</short_desc>
    </parameter>
    <parameter category="System" default="0" name="TC_B3_ID" type="INT32">
      <short_desc>ID of Barometer that the calibration is for</short_desc>
    </parameter>
    <parameter category="System" default="75.0" name="TC_B3_TMAX" type="FLOAT">
      <short_desc>Barometer calibration maximum temperature</short_desc>
    </parameter>
    <parameter category="System" default="5.0" name="TC_B3_TMIN" type="FLOAT">
      <short_desc>Barometer calibration minimum temperature</short_desc>
    </parameter>
    <parameter category="System" default="40.0" name="TC_B3_TREF" type="FLOAT">
      <short_desc>Barometer calibration reference temperature</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_B3_X0" type="FLOAT">
      <short_desc>Barometer offset temperature ^0 polynomial coefficient</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_B3_X1" type="FLOAT">
      <short_desc>Barometer offset temperature ^1 polynomial coefficients</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_B3_X2" type="FLOAT">
      <short_desc>Barometer offset temperature ^2 polynomial coefficient</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_B3_X3" type="FLOAT">
      <short_desc>Barometer offset temperature ^3 polynomial coefficient</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_B3_X4" type="FLOAT">
      <short_desc>Barometer offset temperature ^4 polynomial coefficient</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_B3_X5" type="FLOAT">
      <short_desc>Barometer offset temperature ^5 polynomial coefficient</short_desc>
    </parameter>
    <parameter boolean="true" default="0" name="TC_B_ENABLE" type="INT32">
      <short_desc>Thermal compensation for barometric pressure sensors</short_desc>
      <reboot_required>true</reboot_required>
    </parameter>
    <parameter category="System" default="0" name="TC_G0_ID" type="INT32">
      <short_desc>ID of Gyro that the calibration is for</short_desc>
    </parameter>
    <parameter category="System" default="100.0" name="TC_G0_TMAX" type="FLOAT">
      <short_desc>Gyro calibration maximum temperature</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G0_TMIN" type="FLOAT">
      <short_desc>Gyro calibration minimum temperature</short_desc>
    </parameter>
    <parameter category="System" default="25.0" name="TC_G0_TREF" type="FLOAT">
      <short_desc>Gyro calibration reference temperature</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G0_X0_0" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^0 polynomial coefficient - X axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G0_X0_1" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^0 polynomial coefficient - Y axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G0_X0_2" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^0 polynomial coefficient - Z axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G0_X1_0" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^1 polynomial coefficient - X axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G0_X1_1" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^1 polynomial coefficient - Y axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G0_X1_2" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^1 polynomial coefficient - Z axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G0_X2_0" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^2 polynomial coefficient - X axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G0_X2_1" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^2 polynomial coefficient - Y axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G0_X2_2" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^2 polynomial coefficient - Z axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G0_X3_0" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^3 polynomial coefficient - X axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G0_X3_1" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^3 polynomial coefficient - Y axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G0_X3_2" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^3 polynomial coefficient - Z axis</short_desc>
    </parameter>
    <parameter category="System" default="0" name="TC_G1_ID" type="INT32">
      <short_desc>ID of Gyro that the calibration is for</short_desc>
    </parameter>
    <parameter category="System" default="100.0" name="TC_G1_TMAX" type="FLOAT">
      <short_desc>Gyro calibration maximum temperature</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G1_TMIN" type="FLOAT">
      <short_desc>Gyro calibration minimum temperature</short_desc>
    </parameter>
    <parameter category="System" default="25.0" name="TC_G1_TREF" type="FLOAT">
      <short_desc>Gyro calibration reference temperature</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G1_X0_0" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^0 polynomial coefficient - X axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G1_X0_1" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^0 polynomial coefficient - Y axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G1_X0_2" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^0 polynomial coefficient - Z axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G1_X1_0" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^1 polynomial coefficient - X axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G1_X1_1" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^1 polynomial coefficient - Y axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G1_X1_2" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^1 polynomial coefficient - Z axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G1_X2_0" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^2 polynomial coefficient - X axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G1_X2_1" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^2 polynomial coefficient - Y axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G1_X2_2" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^2 polynomial coefficient - Z axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G1_X3_0" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^3 polynomial coefficient - X axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G1_X3_1" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^3 polynomial coefficient - Y axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G1_X3_2" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^3 polynomial coefficient - Z axis</short_desc>
    </parameter>
    <parameter category="System" default="0" name="TC_G2_ID" type="INT32">
      <short_desc>ID of Gyro that the calibration is for</short_desc>
    </parameter>
    <parameter category="System" default="100.0" name="TC_G2_TMAX" type="FLOAT">
      <short_desc>Gyro calibration maximum temperature</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G2_TMIN" type="FLOAT">
      <short_desc>Gyro calibration minimum temperature</short_desc>
    </parameter>
    <parameter category="System" default="25.0" name="TC_G2_TREF" type="FLOAT">
      <short_desc>Gyro calibration reference temperature</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G2_X0_0" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^0 polynomial coefficient - X axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G2_X0_1" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^0 polynomial coefficient - Y axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G2_X0_2" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^0 polynomial coefficient - Z axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G2_X1_0" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^1 polynomial coefficient - X axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G2_X1_1" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^1 polynomial coefficient - Y axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G2_X1_2" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^1 polynomial coefficient - Z axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G2_X2_0" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^2 polynomial coefficient - X axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G2_X2_1" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^2 polynomial coefficient - Y axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G2_X2_2" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^2 polynomial coefficient - Z axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G2_X3_0" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^3 polynomial coefficient - X axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G2_X3_1" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^3 polynomial coefficient - Y axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G2_X3_2" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^3 polynomial coefficient - Z axis</short_desc>
    </parameter>
    <parameter category="System" default="0" name="TC_G3_ID" type="INT32">
      <short_desc>ID of Gyro that the calibration is for</short_desc>
    </parameter>
    <parameter category="System" default="100.0" name="TC_G3_TMAX" type="FLOAT">
      <short_desc>Gyro calibration maximum temperature</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G3_TMIN" type="FLOAT">
      <short_desc>Gyro calibration minimum temperature</short_desc>
    </parameter>
    <parameter category="System" default="25.0" name="TC_G3_TREF" type="FLOAT">
      <short_desc>Gyro calibration reference temperature</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G3_X0_0" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^0 polynomial coefficient - X axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G3_X0_1" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^0 polynomial coefficient - Y axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G3_X0_2" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^0 polynomial coefficient - Z axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G3_X1_0" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^1 polynomial coefficient - X axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G3_X1_1" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^1 polynomial coefficient - Y axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G3_X1_2" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^1 polynomial coefficient - Z axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G3_X2_0" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^2 polynomial coefficient - X axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G3_X2_1" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^2 polynomial coefficient - Y axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G3_X2_2" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^2 polynomial coefficient - Z axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G3_X3_0" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^3 polynomial coefficient - X axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G3_X3_1" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^3 polynomial coefficient - Y axis</short_desc>
    </parameter>
    <parameter category="System" default="0.0" name="TC_G3_X3_2" type="FLOAT">
      <short_desc>Gyro rate offset temperature ^3 polynomial coefficient - Z axis</short_desc>
    </parameter>
    <parameter boolean="true" default="0" name="TC_G_ENABLE" type="INT32">
      <short_desc>Thermal compensation for rate gyro sensors</short_desc>
      <reboot_required>true</reboot_required>
    </parameter>
  </group>
  <group name="UUV Attitude Control">
    <parameter default="0.0" name="UUV_DIRCT_PITCH" type="FLOAT">
      <short_desc>Direct pitch input</short_desc>
    </parameter>
    <parameter default="0.0" name="UUV_DIRCT_ROLL" type="FLOAT">
      <short_desc>Direct roll input</short_desc>
    </parameter>
    <parameter default="0.0" name="UUV_DIRCT_THRUST" type="FLOAT">
      <short_desc>Direct thrust input</short_desc>
    </parameter>
    <parameter default="0.0" name="UUV_DIRCT_YAW" type="FLOAT">
      <short_desc>Direct yaw input</short_desc>
    </parameter>
    <parameter default="0" name="UUV_INPUT_MODE" type="INT32">
      <short_desc>Select Input Mode</short_desc>
      <values>
        <value code="0">use Attitude Setpoints</value>
        <value code="1">Direct Feedthrough</value>
      </values>
    </parameter>
    <parameter default="2.0" name="UUV_PITCH_D" type="FLOAT">
      <short_desc>Pitch differential gain</short_desc>
    </parameter>
    <parameter default="4.0" name="UUV_PITCH_P" type="FLOAT">
      <short_desc>Pitch proportional gain</short_desc>
    </parameter>
    <parameter default="1.5" name="UUV_ROLL_D" type="FLOAT">
      <short_desc>Roll differential gain</short_desc>
    </parameter>
    <parameter default="4.0" name="UUV_ROLL_P" type="FLOAT">
      <short_desc>Roll proportional gain</short_desc>
    </parameter>
    <parameter default="2.0" name="UUV_YAW_D" type="FLOAT">
      <short_desc>Yaw differential gain</short_desc>
    </parameter>
    <parameter default="4.0" name="UUV_YAW_P" type="FLOAT">
      <short_desc>Yawh proportional gain</short_desc>
    </parameter>
  </group>
  <group name="UUV Position Control">
    <parameter default="0.2" name="UUV_GAIN_X_D" type="FLOAT">
      <short_desc>Gain of D controller X</short_desc>
    </parameter>
    <parameter default="1.0" name="UUV_GAIN_X_P" type="FLOAT">
      <short_desc>Gain of P controller X</short_desc>
    </parameter>
    <parameter default="0.2" name="UUV_GAIN_Y_D" type="FLOAT">
      <short_desc>Gain of D controller Y</short_desc>
    </parameter>
    <parameter default="1.0" name="UUV_GAIN_Y_P" type="FLOAT">
      <short_desc>Gain of P controller Y</short_desc>
    </parameter>
    <parameter default="0.2" name="UUV_GAIN_Z_D" type="FLOAT">
      <short_desc>Gain of D controller Z</short_desc>
    </parameter>
    <parameter default="1.0" name="UUV_GAIN_Z_P" type="FLOAT">
      <short_desc>Gain of P controller Z</short_desc>
    </parameter>
    <parameter default="1" name="UUV_STAB_MODE" type="INT32">
      <short_desc>Stabilization mode(1) or Position Control(0)</short_desc>
      <values>
        <value code="0">Position Control</value>
        <value code="1">Stabilization Mode</value>
      </values>
    </parameter>
  </group>
  <group name="VTOL Attitude Control">
    <parameter default="8.0" name="VT_ARSP_BLEND" type="FLOAT">
      <short_desc>Transition blending airspeed</short_desc>
      <long_desc>Airspeed at which we can start blending both fw and mc controls. Set to 0 to disable.</long_desc>
      <min>0.00</min>
      <max>30.00</max>
      <unit>m/s</unit>
      <decimal>2</decimal>
      <increment>1</increment>
    </parameter>
    <parameter default="10.0" name="VT_ARSP_TRANS" type="FLOAT">
      <short_desc>Transition airspeed</short_desc>
      <long_desc>Airspeed at which we can switch to fw mode</long_desc>
      <min>0.00</min>
      <max>30.00</max>
      <unit>m/s</unit>
      <decimal>2</decimal>
      <increment>1</increment>
    </parameter>
    <parameter default="0.12" name="VT_B_DEC_FF" type="FLOAT">
      <short_desc>Backtransition deceleration setpoint to pitch feedforward gain</short_desc>
      <min>0</min>
      <max>0.2</max>
      <unit>rad s^2/m</unit>
      <decimal>1</decimal>
      <increment>0.05</increment>
    </parameter>
    <parameter default="0.1" name="VT_B_DEC_I" type="FLOAT">
      <short_desc>Backtransition deceleration setpoint to pitch I gain</short_desc>
      <min>0</min>
      <max>0.3</max>
      <unit>rad s/m</unit>
      <decimal>1</decimal>
      <increment>0.05</increment>
    </parameter>
    <parameter default="2.0" name="VT_B_DEC_MSS" type="FLOAT">
      <short_desc>Approximate deceleration during back transition</short_desc>
      <long_desc>The approximate deceleration during a back transition in m/s/s Used to calculate back transition distance in mission mode. A lower value will make the VTOL transition further from the destination waypoint. For standard vtol and tiltrotors a controller is used to track this value during the transition.</long_desc>
      <min>0.5</min>
      <max>10</max>
      <unit>m/s^2</unit>
      <decimal>2</decimal>
      <increment>0.1</increment>
    </parameter>
    <parameter default="0.0" name="VT_B_REV_DEL" type="FLOAT">
      <short_desc>Delay in seconds before applying back transition throttle</short_desc>
      <long_desc>Set this to a value greater than 0 to give the motor time to spin down. unit s</long_desc>
      <min>0</min>
      <max>10</max>
      <decimal>2</decimal>
      <increment>1</increment>
    </parameter>
    <parameter default="0.0" name="VT_B_REV_OUT" type="FLOAT">
      <short_desc>Output on airbrakes channel during back transition</short_desc>
      <long_desc>Used for airbrakes or with ESCs that have reverse thrust enabled on a seperate channel Airbrakes need to be enables for your selected model/mixer</long_desc>
      <min>0</min>
      <max>1</max>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="4.0" name="VT_B_TRANS_DUR" type="FLOAT">
      <short_desc>Duration of a back transition</short_desc>
      <long_desc>Time in seconds used for a back transition</long_desc>
      <min>0.00</min>
      <max>20.00</max>
      <unit>s</unit>
      <decimal>2</decimal>
      <increment>1</increment>
    </parameter>
    <parameter default="3.0" name="VT_B_TRANS_RAMP" type="FLOAT">
      <short_desc>Back transition MC motor ramp up time</short_desc>
      <long_desc>This sets the duration during which the MC motors ramp up to the commanded thrust during the back transition stage.</long_desc>
      <min>0.0</min>
      <max>20.0</max>
      <unit>s</unit>
    </parameter>
    <parameter default="0.0" name="VT_B_TRANS_THR" type="FLOAT">
      <short_desc>Target throttle value for the transition to hover flight</short_desc>
      <long_desc>standard vtol: pusher tailsitter, tiltrotor: main throttle Note for standard vtol: For ESCs and mixers that support reverse thrust on low PWM values set this to a negative value to apply active breaking For ESCs that support thrust reversal with a control channel please set VT_B_REV_OUT and set this to a positive value to apply active breaking</long_desc>
      <min>-1</min>
      <max>1</max>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="5.0" name="VT_DWN_PITCH_MAX" type="FLOAT">
      <short_desc>Maximum allowed angle the vehicle is allowed to pitch down to generate forward force</short_desc>
      <long_desc>When fixed-wing forward actuation is active (see VT_FW_TRHUST_EN). If demanded down pitch exceeds this limmit, the fixed-wing forward actuators are used instead.</long_desc>
      <min>0.0</min>
      <max>45.0</max>
    </parameter>
    <parameter boolean="true" default="1" name="VT_ELEV_MC_LOCK" type="INT32">
      <short_desc>Lock elevons in multicopter mode</short_desc>
      <long_desc>If set to 1 the elevons are locked in multicopter mode</long_desc>
    </parameter>
    <parameter default="0" name="VT_FWD_THRUST_EN" type="INT32">
      <short_desc>Enable/disable usage of fixed-wing actuators in hover to generate forward force (instead of pitching down)</short_desc>
      <long_desc>This technique can be used to avoid the plane having to pitch down in order to move forward. This prevents large, negative lift values being created when facing strong winds. Fixed-wing forward actuators refers to puller/pusher (standard VTOL), or forward-tilt (tiltrotor VTOL). Only active if demaded down pitch is above VT_DWN_PITCH_MAX, and uses VT_FWD_THRUST_SC to get from demanded down pitch to fixed-wing actuation.</long_desc>
      <values>
        <value code="0">Disable FW forward actuation in hover.</value>
        <value code="1">Enable FW forward actuation in hover in altitude, position and auto modes (except LANDING).</value>
        <value code="2">Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT1.</value>
        <value code="3">Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT2.</value>
        <value code="4">Enable FW forward actuation in hover in altitude, position and auto modes.</value>
        <value code="5">Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT1 (except LANDING).</value>
        <value code="6">Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT2 (except LANDING).</value>
      </values>
    </parameter>
    <parameter default="0.7" name="VT_FWD_THRUST_SC" type="FLOAT">
      <short_desc>Fixed-wing actuator thrust scale for hover forward flight</short_desc>
      <long_desc>Scale applied to the demanded down-pitch to get the fixed-wing forward actuation in hover mode. Only active if demaded down pitch is above VT_DWN_PITCH_MAX. Enabled via VT_FWD_THRUST_EN.</long_desc>
      <min>0.0</min>
      <max>2.0</max>
    </parameter>
    <parameter default="0.0" name="VT_FW_ALT_ERR" type="FLOAT">
      <short_desc>Adaptive QuadChute</short_desc>
      <long_desc>Maximum negative altitude error for fixed wing flight. If the altitude drops below this value below the altitude setpoint the vehicle will transition back to MC mode and enter failsafe RTL.</long_desc>
      <min>0.0</min>
      <max>200.0</max>
    </parameter>
    <parameter default="0" name="VT_FW_DIFTHR_EN" type="INT32">
      <short_desc>Differential thrust in forwards flight</short_desc>
      <long_desc>Set to 1 to enable differential thrust in fixed-wing flight.</long_desc>
      <min>0</min>
      <max>1</max>
      <decimal>0</decimal>
    </parameter>
    <parameter default="0.1" name="VT_FW_DIFTHR_SC" type="FLOAT">
      <short_desc>Differential thrust scaling factor</short_desc>
      <long_desc>This factor specifies how the yaw input gets mapped to differential thrust in forwards flight.</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <decimal>2</decimal>
      <increment>0.1</increment>
    </parameter>
    <parameter default="0.0" name="VT_FW_MIN_ALT" type="FLOAT">
      <short_desc>QuadChute Altitude</short_desc>
      <long_desc>Minimum altitude for fixed wing flight, when in fixed wing the altitude drops below this altitude the vehicle will transition back to MC mode and enter failsafe RTL</long_desc>
      <min>0.0</min>
      <max>200.0</max>
    </parameter>
    <parameter default="0" name="VT_FW_MOT_OFFID" type="INT32">
      <short_desc>The channel number of motors that must be turned off in fixed wing mode</short_desc>
      <min>0</min>
      <max>12345678</max>
      <decimal>0</decimal>
      <increment>1</increment>
    </parameter>
    <parameter boolean="true" default="0" name="VT_FW_PERM_STAB" type="INT32">
      <short_desc>Permanent stabilization in fw mode</short_desc>
      <long_desc>If set to one this parameter will cause permanent attitude stabilization in fw mode. This parameter has been introduced for pure convenience sake.</long_desc>
    </parameter>
    <parameter default="0" name="VT_FW_QC_P" type="INT32">
      <short_desc>QuadChute Max Pitch</short_desc>
      <long_desc>Maximum pitch angle before QuadChute engages Above this the vehicle will transition back to MC mode and enter failsafe RTL</long_desc>
      <min>0</min>
      <max>180</max>
    </parameter>
    <parameter default="0" name="VT_FW_QC_R" type="INT32">
      <short_desc>QuadChute Max Roll</short_desc>
      <long_desc>Maximum roll angle before QuadChute engages Above this the vehicle will transition back to MC mode and enter failsafe RTL</long_desc>
      <min>0</min>
      <max>180</max>
    </parameter>
    <parameter default="5.0" name="VT_F_TRANS_DUR" type="FLOAT">
      <short_desc>Duration of a front transition</short_desc>
      <long_desc>Time in seconds used for a transition</long_desc>
      <min>0.00</min>
      <max>20.00</max>
      <unit>s</unit>
      <decimal>2</decimal>
      <increment>1</increment>
    </parameter>
    <parameter default="1.0" name="VT_F_TRANS_THR" type="FLOAT">
      <short_desc>Target throttle value for the transition to fixed wing flight</short_desc>
      <long_desc>standard vtol: pusher tailsitter, tiltrotor: main throttle</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <decimal>3</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="6.0" name="VT_F_TR_OL_TM" type="FLOAT">
      <short_desc>Airspeed less front transition time (open loop)</short_desc>
      <long_desc>The duration of the front transition when there is no airspeed feedback available.</long_desc>
      <min>1.0</min>
      <max>30.0</max>
      <unit>s</unit>
    </parameter>
    <parameter default="900" name="VT_IDLE_PWM_MC" type="INT32">
      <short_desc>Idle speed of VTOL when in multicopter mode</short_desc>
      <min>900</min>
      <max>2000</max>
      <unit>us</unit>
      <decimal>0</decimal>
      <increment>1</increment>
    </parameter>
    <parameter boolean="true" default="0" name="VT_MC_ON_FMU" type="INT32">
      <short_desc>Enable the usage of AUX outputs for hover motors</short_desc>
      <long_desc>Set this parameter to true if the vehicle's hover motors are connected to the FMU (AUX) port. Not required for boards that only have a FMU, and no IO. Only applies for standard VTOL and tiltrotor.</long_desc>
    </parameter>
    <parameter default="0" name="VT_MOT_ID" type="INT32">
      <short_desc>The channel number of motors which provide lift during hover</short_desc>
      <min>0</min>
      <max>12345678</max>
      <decimal>0</decimal>
      <increment>1</increment>
    </parameter>
    <parameter default="3.0" name="VT_PSHER_RMP_DT" type="FLOAT">
      <short_desc>Pusher throttle ramp up window</short_desc>
      <long_desc>Defines the time window during which the pusher throttle will be ramped up linearly to VT_F_TRANS_THR during a transition to fixed wing mode. Zero or negative values will produce an instant throttle rise to VT_F_TRANS_THR.</long_desc>
      <max>20</max>
      <decimal>2</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="1.0" name="VT_TILT_FW" type="FLOAT">
      <short_desc>Position of tilt servo in fw mode</short_desc>
      <min>0.0</min>
      <max>1.0</max>
      <decimal>3</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.0" name="VT_TILT_MC" type="FLOAT">
      <short_desc>Position of tilt servo in mc mode</short_desc>
      <min>0.0</min>
      <max>1.0</max>
      <decimal>3</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.0" name="VT_TILT_SPINUP" type="FLOAT">
      <short_desc>Tilt actuator control value commanded when disarmed and during the first second after arming</short_desc>
      <long_desc>This specific tilt during spin-up is necessary for some systems whose motors otherwise don't spin-up freely.</long_desc>
      <min>0.0</min>
      <max>1.0</max>
      <decimal>3</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="0.3" name="VT_TILT_TRANS" type="FLOAT">
      <short_desc>Position of tilt servo in transition mode</short_desc>
      <min>0.0</min>
      <max>1.0</max>
      <decimal>3</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="2.0" name="VT_TRANS_MIN_TM" type="FLOAT">
      <short_desc>Front transition minimum time</short_desc>
      <long_desc>Minimum time in seconds for front transition.</long_desc>
      <min>0.0</min>
      <max>20.0</max>
      <unit>s</unit>
    </parameter>
    <parameter default="0.5" name="VT_TRANS_P2_DUR" type="FLOAT">
      <short_desc>Duration of front transition phase 2</short_desc>
      <long_desc>Time in seconds it should take for the rotors to rotate forward completely from the point when the plane has picked up enough airspeed and is ready to go into fixed wind mode.</long_desc>
      <min>0.1</min>
      <max>5.0</max>
      <unit>s</unit>
      <decimal>3</decimal>
      <increment>0.01</increment>
    </parameter>
    <parameter default="15.0" name="VT_TRANS_TIMEOUT" type="FLOAT">
      <short_desc>Front transition timeout</short_desc>
      <long_desc>Time in seconds after which transition will be cancelled. Disabled if set to 0.</long_desc>
      <min>0.00</min>
      <max>30.00</max>
      <unit>s</unit>
      <decimal>2</decimal>
      <increment>1</increment>
    </parameter>
    <parameter default="0" name="VT_TYPE" type="INT32">
      <short_desc>VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2)</short_desc>
      <min>0</min>
      <max>2</max>
      <decimal>0</decimal>
      <reboot_required>true</reboot_required>
      <values>
        <value code="0">Tailsitter</value>
        <value code="1">Tiltrotor</value>
        <value code="2">Standard</value>
      </values>
    </parameter>
    <parameter default="1.0" name="WV_GAIN" type="FLOAT">
      <short_desc>Weather-vane roll angle to yawrate</short_desc>
      <long_desc>The desired gain to convert roll sp into yaw rate sp.</long_desc>
      <min>0.0</min>
      <max>3.0</max>
      <unit>Hz</unit>
      <decimal>3</decimal>
      <increment>0.01</increment>
    </parameter>
  </group>
  <group name="Miscellaneous">
    <parameter default="0.1" name="EXFW_HDNG_P" type="FLOAT">
      <short_desc>EXFW_HDNG_P</short_desc>
    </parameter>
    <parameter default="0.2" name="EXFW_PITCH_P" type="FLOAT">
      <short_desc>EXFW_PITCH_P</short_desc>
    </parameter>
    <parameter default="0.2" name="EXFW_ROLL_P" type="FLOAT">
      <short_desc>EXFW_ROLL_P</short_desc>
    </parameter>
    <parameter default="0" name="MPC_LAND_RC_HELP" type="INT32">
      <short_desc>Enable user assisted descent speed for autonomous land routine</short_desc>
      <long_desc>When enabled, descent speed will be: stick full up - 0 stick centered - MPC_LAND_SPEED stick full down - 2 * MPC_LAND_SPEED</long_desc>
      <min>0</min>
      <max>1</max>
      <values>
        <value code="0">Fixed descent speed of MPC_LAND_SPEED</value>
        <value code="1">User assisted descent speed</value>
      </values>
    </parameter>
    <parameter default="0.1" name="RV_YAW_P" type="FLOAT">
      <short_desc>RV_YAW_P</short_desc>
    </parameter>
    <parameter default="0" name="UUV_SKIP_CTRL" type="INT32">
      <short_desc>Skip the controller</short_desc>
      <values>
        <value code="0">use the module's controller</value>
        <value code="1">skip the controller and feedthrough the setpoints</value>
      </values>
    </parameter>
  </group>
</parameters>